+ python -m lidar_slam --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters 0.2979995725293949 Centerline is valid? [0, False] SLAMing on 0.03864 meters 0.32084148376733096 Centerline is valid? [False, False] Translation: X:0.04, Y:0.00, Z:0.00 [[ 9.99984990e-01 7.43731237e-04 5.42837820e-03 3.75793348e-02] [-7.46799379e-04 9.99999563e-01 5.63199062e-04 3.44374697e-03] [-5.42795696e-03 -5.67244517e-04 9.99985108e-01 3.02207342e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06863999999999999 meters 0.3206715037292212 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.00 [[ 9.99984941e-01 7.92643333e-04 5.43043183e-03 3.75575065e-02] [-7.94265574e-04 9.99999641e-01 2.96581404e-04 5.07491777e-03] [-5.43019479e-03 -3.00890143e-04 9.99985211e-01 2.92697347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09863999999999999 meters 0.32339380421775044 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.01 [[ 9.99769909e-01 1.17443166e-03 2.14184451e-02 1.11835189e-02] [-1.19074842e-03 9.99999011e-01 7.49071140e-04 5.26719636e-03] [-2.14175442e-02 -7.74402765e-04 9.99770318e-01 -1.43170671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12864 meters 0.3228857870939037 Centerline is valid? [False, False] Translation: X:0.05, Y:0.01, Z:-0.01 [[ 9.99992595e-01 2.99191609e-04 3.83679616e-03 4.59191790e-02] [-2.96720026e-04 9.99999748e-01 -6.44731844e-04 8.96963248e-03] [-3.83698809e-03 6.43588615e-04 9.99992432e-01 -6.80260459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15864 meters 0.3241045073442007 Centerline is valid? [False, False] Translation: X:0.07, Y:0.01, Z:-0.03 [[ 9.99999763e-01 6.52408065e-04 -2.21668986e-04 6.92635180e-02] [-6.52720725e-04 9.99998788e-01 -1.41334989e-03 1.49720273e-02] [ 2.20746636e-04 1.41349424e-03 9.99998977e-01 -3.09686865e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18864 meters 0.3236599631621375 Centerline is valid? [False, False] Translation: X:0.07, Y:0.02, Z:-0.03 [[ 9.99999706e-01 7.28960172e-04 -2.36903407e-04 6.93008939e-02] [-7.29398203e-04 9.99998015e-01 -1.85419267e-03 1.76755844e-02] [ 2.35551304e-04 1.85436492e-03 9.99998253e-01 -3.09907952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21864 meters 0.27692760659655014 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:0.07 [[ 9.99906305e-01 7.54240728e-04 -1.36679123e-02 1.17696515e-01] [-7.82261305e-04 9.99997603e-01 -2.04486902e-03 2.33484031e-02] [ 1.36663372e-02 2.05536931e-03 9.99904499e-01 7.36912344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24864 meters 0.3099278744714849 Centerline is valid? [False, False] Translation: X:0.11, Y:0.02, Z:0.03 [[ 9.99994772e-01 2.26198011e-03 -2.31070005e-03 1.13042442e-01] [-2.26214344e-03 9.99997439e-01 -6.80734587e-05 2.30416940e-02] [ 2.31054015e-03 7.33002378e-05 9.99997328e-01 3.01491648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27864 meters 0.3302878985209974 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.02 [[ 9.99989076e-01 2.31894640e-03 -4.05833340e-03 1.24835517e-01] [-2.32199890e-03 9.99997025e-01 -7.47605085e-04 2.71835280e-02] [ 4.05658767e-03 7.57020364e-04 9.99991485e-01 1.78325331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30863999999999997 meters 0.27101286439239997 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:0.08 [[ 0.999995 0.00176002 -0.0026283 0.14505004] [-0.00176579 0.99999604 -0.00219328 0.03180199] [ 0.00262443 0.00219791 0.99999414 0.08325101] [ 0. 0. 0. 1. ]] SLAMing on 0.33863999999999994 meters 0.276317269942043 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.06 [[ 0.99992249 0.00257291 0.01218138 0.12213053] [-0.0025549 0.99999562 -0.00149348 0.03231661] [-0.01218517 0.00146224 0.99992469 0.05952653] [ 0. 0. 0. 1. ]] SLAMing on 0.36863999999999997 meters 0.2777355238953665 Centerline is valid? [False, False] Translation: X:0.12, Y:0.03, Z:0.04 [[ 9.99947596e-01 -5.22729347e-03 8.80227186e-03 1.15864615e-01] [ 5.22922966e-03 9.99986308e-01 -1.96964205e-04 3.20698369e-02] [-8.80112175e-03 2.42982985e-04 9.99961240e-01 4.29186136e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39864 meters 0.28579160359409983 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:0.02 [[ 0.99998188 0.00403957 0.0044639 0.11526509] [-0.00403491 0.99999131 -0.00105156 0.03567543] [-0.00446811 0.00103353 0.99998948 0.02129387] [ 0. 0. 0. 1. ]] SLAMing on 0.42863999999999997 meters 0.28265296964633874 Centerline is valid? [False, False] Translation: X:0.13, Y:0.03, Z:0.03 [[ 0.99997747 -0.00319013 0.00590611 0.13034838] [ 0.00318051 0.9999936 0.00163761 0.03277897] [-0.00591129 -0.00161879 0.99998122 0.02869481] [ 0. 0. 0. 1. ]] SLAMing on 0.45863999999999994 meters 0.27219005007314834 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:0.04 [[ 9.99914893e-01 -1.35356896e-04 -1.30456623e-02 1.76239418e-01] [ 1.30016675e-04 9.99999907e-01 -4.10195634e-04 3.52126931e-02] [ 1.30457166e-02 4.08464570e-04 9.99914818e-01 4.46834390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48863999999999996 meters 0.2900289934916886 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:0.00 [[ 9.99999374e-01 -5.07313333e-04 -9.97538939e-04 1.69378101e-01] [ 5.07232376e-04 9.99999868e-01 -8.14083378e-05 3.40982635e-02] [ 9.97580107e-04 8.09023027e-05 9.99999499e-01 3.47291292e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51864 meters 0.2802171328994302 Centerline is valid? [False, False] Translation: X:0.20, Y:0.03, Z:0.01 [[ 9.99982733e-01 -5.08378389e-04 5.85451356e-03 2.00157961e-01] [ 5.05581609e-04 9.99999757e-01 4.79183691e-04 3.45456519e-02] [-5.85475575e-03 -4.76215483e-04 9.99982747e-01 1.30769609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54864 meters 0.2718497647419847 Centerline is valid? [False, False] Translation: X:0.22, Y:0.04, Z:0.04 [[ 9.99918410e-01 -6.94320486e-04 1.27550794e-02 2.17506669e-01] [ 6.94109140e-04 9.99999759e-01 2.09964266e-05 3.67104927e-02] [-1.27550909e-02 -1.21412963e-05 9.99918650e-01 4.29625319e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5786399999999999 meters 0.2674347465264511 Centerline is valid? [False, False] Translation: X:0.25, Y:0.04, Z:0.05 [[ 0.99998615 -0.00218118 -0.00478982 0.25330479] [ 0.00217618 0.99999708 -0.00104932 0.03746403] [ 0.00479209 0.00103889 0.99998798 0.05161965] [ 0. 0. 0. 1. ]] SLAMing on 0.60864 meters 0.275029318474364 Centerline is valid? [False, False] Translation: X:0.23, Y:0.03, Z:0.03 [[ 9.99944025e-01 -2.39543373e-03 1.03057857e-02 2.32949566e-01] [ 2.40290102e-03 9.99996859e-01 -7.12251182e-04 3.37481909e-02] [-1.03040472e-02 7.36975097e-04 9.99946640e-01 2.74879240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63864 meters 0.28150117720011647 Centerline is valid? [False, False] Translation: X:0.23, Y:0.04, Z:0.01 [[ 0.99995836 0.00573085 0.00710212 0.22764087] [-0.00571473 0.99998105 -0.00228762 0.03559381] [-0.0071151 0.00224694 0.99997216 0.01015999] [ 0. 0. 0. 1. ]] SLAMing on 0.6686399999999999 meters 0.27587747421329717 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:0.02 [[ 0.99995168 -0.00353107 0.00917406 0.23759528] [ 0.00354465 0.99999265 -0.00146371 0.03211529] [-0.00916882 0.00149616 0.99995685 0.02337635] [ 0. 0. 0. 1. ]] SLAMing on 0.6986399999999999 meters 0.26943824667154165 Centerline is valid? [False, False] Translation: X:0.28, Y:0.03, Z:0.04 [[ 0.99998518 0.00305834 -0.00450462 0.28300965] [-0.00307114 0.99999126 -0.0028358 0.03099836] [ 0.00449591 0.00284959 0.99998583 0.04210738] [ 0. 0. 0. 1. ]] SLAMing on 0.72864 meters 0.2601304847197718 Centerline is valid? [False, False] Translation: X:0.31, Y:0.03, Z:0.06 [[ 0.99999519 0.00208253 0.00229988 0.31084314] [-0.00207519 0.99999277 -0.00318729 0.02954963] [-0.0023065 0.0031825 0.99999228 0.05539551] [ 0. 0. 0. 1. ]] SLAMing on 0.75864 meters Centerline is valid? [False, False] Translation: X:0.30, Y:0.03, Z:0.01 [[ 0.99988842 0.00237355 0.01474825 0.30192248] [-0.00233534 0.99999387 -0.00260771 0.02623665] [-0.01475434 0.00257297 0.99988784 0.01471978] [ 0. 0. 0. 1. ]] SLAMing on 0.78864 meters 0.3387823008926478 Centerline is valid? [False, False] Translation: X:0.34, Y:0.03, Z:0.02 [[ 0.99999047 0.00231156 -0.00370307 0.34128189] [-0.00232238 0.99999304 -0.0029193 0.02572284] [ 0.0036963 0.00292787 0.99998888 0.01804586] [ 0. 0. 0. 1. ]] SLAMing on 0.8186399999999999 meters 0.34861473569348045 Centerline is valid? [False, False] Translation: X:0.36, Y:0.02, Z:0.04 [[ 0.99998748 0.00251471 0.00432588 0.36242825] [-0.00250547 0.99999457 -0.00213958 0.02418306] [-0.00433124 0.00212872 0.99998835 0.03836794] [ 0. 0. 0. 1. ]] SLAMing on 0.84864 meters Centerline is valid? [False, False] Translation: X:0.37, Y:0.02, Z:0.03 [[ 0.99999386 0.00238192 0.0025693 0.37432192] [-0.00237653 0.99999498 -0.00209786 0.02342462] [-0.00257429 0.00209174 0.9999945 0.02580099] [ 0. 0. 0. 1. ]] SLAMing on 0.87864 meters 0.33762905149666333 Centerline is valid? [False, False] Translation: X:0.41, Y:0.02, Z:0.04 [[ 0.99995702 0.00230381 0.00898023 0.40521094] [-0.00228777 0.99999577 -0.00179674 0.02334964] [-0.00898433 0.00177612 0.99995806 0.03601298] [ 0. 0. 0. 1. ]] SLAMing on 0.9086399999999999 meters 0.2666660765827106 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.05 [[ 9.99972125e-01 -6.15058480e-03 -4.23309645e-03 4.48226737e-01] [ 6.14832319e-03 9.99980949e-01 -5.47075601e-04 2.22380117e-02] [ 4.23638064e-03 5.21033906e-04 9.99990891e-01 5.48137715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9386399999999999 meters 0.9868875612334195 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:0.03 [[ 9.99922436e-01 -6.00420534e-03 1.09120289e-02 4.25975333e-01] [ 6.00166075e-03 9.99981955e-01 2.65922263e-04 2.03724177e-02] [-1.09134286e-02 -2.00411341e-04 9.99940427e-01 2.95987839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96864 meters SLAMing on 0.99864 meters 0.8790325919280108 Centerline is valid? [False, False] Translation: X:0.45, Y:0.02, Z:0.05 [[ 0.99983472 -0.00583259 0.01721932 0.45206244] [ 0.0058109 0.99998226 0.00130952 0.01821137] [-0.01722665 -0.00120925 0.99985088 0.04633014] [ 0. 0. 0. 1. ]] SLAMing on 1.02864 meters SLAMing on 1.05864 meters 0.275837031020385 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.04 [[ 9.99843195e-01 6.95260611e-06 1.77083546e-02 4.76093991e-01] [ 3.52083035e-05 9.99997166e-01 -2.38053563e-03 1.91365919e-02] [-1.77083209e-02 2.38078584e-03 9.99840361e-01 4.45026623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.08864 meters 0.275837031020385 Centerline is valid? [False, False] Translation: X:0.48, Y:0.02, Z:0.04 [[ 9.99843195e-01 6.95260611e-06 1.77083546e-02 4.76093991e-01] [ 3.52083035e-05 9.99997166e-01 -2.38053563e-03 1.91365919e-02] [-1.77083209e-02 2.38078584e-03 9.99840361e-01 4.45026623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1186399999999999 meters 0.2733612982795292 Centerline is valid? [False, False] Translation: X:0.51, Y:0.02, Z:0.06 [[ 9.99999771e-01 3.37862739e-04 5.86177424e-04 5.09721287e-01] [-3.35352537e-04 9.99990797e-01 -4.27715161e-03 1.91721610e-02] [-5.87617119e-04 4.27695406e-03 9.99990681e-01 5.57970256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1486399999999999 meters 0.2744900532499719 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:0.06 [[ 9.99990008e-01 -4.36230175e-03 9.76376391e-04 5.29802585e-01] [ 4.36048162e-03 9.99988766e-01 1.85859217e-03 1.15251188e-02] [-9.84473162e-04 -1.85431613e-03 9.99997796e-01 5.79507024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.17864 meters 0.2795865183645947 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:0.04 [[ 9.99991697e-01 3.73161733e-03 -1.63719284e-03 5.23395683e-01] [-3.73101313e-03 9.99992971e-01 3.71942539e-04 1.31783350e-02] [ 1.63856928e-03 -3.65831063e-04 9.99998591e-01 4.17762659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.20864 meters 0.2813366793687665 Centerline is valid? [False, False] Translation: X:0.53, Y:0.01, Z:0.05 [[ 0.99998239 -0.00577498 0.00136955 0.53307834] [ 0.0057733 0.99998258 0.00123133 0.00917346] [-0.00137663 -0.0012234 0.9999983 0.05444304] [ 0. 0. 0. 1. ]] SLAMing on 1.23864 meters 0.29158504969731486 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:0.03 [[ 0.99984539 -0.0056562 0.01664937 0.51013359] [ 0.00562857 0.9999827 0.00170598 0.00627454] [-0.01665873 -0.00161201 0.99985993 0.03025132] [ 0. 0. 0. 1. ]] SLAMing on 1.26864 meters 0.2769509528078323 Centerline is valid? [False, False] Translation: X:0.53, Y:0.00, Z:0.10 [[ 0.99980549 -0.00625845 0.01870353 0.526599 ] [ 0.0062314 0.99997945 0.00150419 0.00373673] [-0.01871256 -0.00138734 0.99982394 0.1039663 ] [ 0. 0. 0. 1. ]] SLAMing on 1.29864 meters 0.29266401068475884 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:0.07 [[ 9.99454702e-01 -7.91688088e-03 3.20565330e-02 5.15189104e-01] [ 7.89607790e-03 9.99968525e-01 7.75489577e-04 -2.51537765e-03] [-3.20616635e-02 -5.21945822e-04 9.99485756e-01 6.55130200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3286399999999998 meters 0.2968163771107033 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.01, Z:0.05 [[ 0.99954403 -0.00669076 0.02944438 0.53136848] [ 0.00661241 0.99997434 0.00275761 -0.00685726] [-0.02946207 -0.00256166 0.99956262 0.04805864] [ 0. 0. 0. 1. ]] SLAMing on 1.3586399999999998 meters 0.29315864680723547 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:0.05 [[ 0.99992928 -0.00374535 0.01128774 0.57084407] [ 0.00372343 0.99999114 0.0019619 -0.00918064] [-0.01129498 -0.00191973 0.99993437 0.05297206] [ 0. 0. 0. 1. ]] SLAMing on 1.3886399999999999 meters 0.2987507243958857 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.01, Z:0.04 [[ 0.99993808 0.00471302 0.01008053 0.5615007 ] [-0.00472456 0.99998821 0.00112093 -0.00849843] [-0.01007513 -0.00116848 0.99994856 0.03921291] [ 0. 0. 0. 1. ]] SLAMing on 1.41864 meters 0.30444797523421374 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:0.02 [[ 9.99966562e-01 2.89525189e-03 7.64798027e-03 5.77732559e-01] [-2.88988465e-03 9.99995570e-01 -7.12743181e-04 -8.04645497e-03] [-7.65000997e-03 6.90617567e-04 9.99970500e-01 2.22240717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.44864 meters 0.30534105017386864 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:0.03 [[ 0.99989417 0.0047406 0.01375418 0.60839104] [-0.00476471 0.99998717 0.00172079 -0.01024577] [-0.01374584 -0.00178614 0.99990393 0.03208554] [ 0. 0. 0. 1. ]] SLAMing on 1.47864 meters 0.30672380862246595 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.00, Z:0.03 [[ 9.99979025e-01 6.30072963e-03 1.50037480e-03 6.32706328e-01] [-6.30004888e-03 9.99980050e-01 -4.58012876e-04 -4.41526208e-03] [-1.50323068e-03 4.48550835e-04 9.99998770e-01 2.69543290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.50864 meters 0.3065520568488831 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:0.04 [[ 9.99951376e-01 6.76497202e-03 7.17498073e-03 6.63562566e-01] [-6.76489526e-03 9.99977117e-01 -3.49686226e-05 -3.50293914e-03] [-7.17505311e-03 -1.35710709e-05 9.99974259e-01 3.71535476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53864 meters 0.31290761086599944 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:0.04 [[ 9.99970140e-01 -2.31335228e-03 7.37336718e-03 6.84522290e-01] [ 2.30864320e-03 9.99997126e-01 6.47107547e-04 -5.08188561e-03] [-7.37484297e-03 -6.30065751e-04 9.99972607e-01 3.90688472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56864 meters 0.32154438242824906 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.00, Z:0.02 [[ 9.99976245e-01 4.97599460e-03 4.76954032e-03 6.79246117e-01] [-4.96617219e-03 9.99985528e-01 -2.06903899e-03 -7.55653030e-04] [-4.77976682e-03 2.04530348e-03 9.99986485e-01 2.21955821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5986399999999998 meters 0.41696947751975405 Centerline is valid? [False, False] Translation: X:0.69, Y:0.00, Z:0.03 [[ 9.99968162e-01 -1.78149278e-03 7.77823655e-03 6.93086809e-01] [ 1.78053884e-03 9.99998406e-01 1.29564858e-04 2.30758987e-03] [-7.77845498e-03 -1.15711280e-04 9.99969741e-01 2.96916115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6286399999999999 meters 0.41802740698191104 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:0.05 [[ 9.99889917e-01 -8.24559275e-04 1.48146409e-02 7.12828291e-01] [ 8.12537387e-04 9.99999336e-01 8.17487720e-04 5.58832600e-03] [-1.48153052e-02 -8.05360279e-04 9.99889923e-01 5.19366275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65864 meters 0.4255022568279383 Centerline is valid? [False, False] Translation: X:0.72, Y:0.01, Z:0.04 [[ 9.99912675e-01 -7.58534695e-04 1.31934204e-02 7.24385768e-01] [ 7.54840728e-04 9.99999675e-01 2.84962988e-04 8.69095423e-03] [-1.31936322e-02 -2.74979173e-04 9.99912922e-01 4.00133046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68864 meters 0.43281911242220195 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:0.03 [[ 9.99932284e-01 -6.68445691e-04 1.16181542e-02 7.35236583e-01] [ 6.71297570e-04 9.99999746e-01 -2.41569448e-04 1.19403530e-02] [-1.16179897e-02 2.49352329e-04 9.99932478e-01 2.93018280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.71864 meters 0.32797858326262425 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:0.05 [[ 9.99827759e-01 -5.57339955e-04 1.85510503e-02 7.56131426e-01] [ 5.59477504e-04 9.99999837e-01 -1.10035575e-04 1.35738920e-02] [-1.85509859e-02 1.20395517e-04 9.99827908e-01 4.99386798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74864 meters 0.4437516751312747 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:0.02 [[ 0.99983042 -0.0073839 0.01687031 0.75787517] [ 0.00735008 0.99997085 0.00206563 0.01299596] [-0.01688507 -0.00194128 0.99985555 0.02365902] [ 0. 0. 0. 1. ]] SLAMing on 1.77864 meters 0.4494736321486526 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:0.01 [[ 9.99864054e-01 1.43070317e-03 1.64263923e-02 7.46923948e-01] [-1.44724193e-03 9.99998458e-01 9.94997831e-04 1.65322820e-02] [-1.64249434e-02 -1.01863553e-03 9.99864583e-01 1.15555901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8086399999999998 meters 0.4520705181813841 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:0.01 [[ 9.99875145e-01 -6.14703739e-04 1.57897575e-02 7.52562723e-01] [ 6.36616656e-04 9.99998841e-01 -1.38280427e-03 1.86956955e-02] [-1.57888892e-02 1.39268364e-03 9.99874378e-01 5.77263658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8386399999999998 meters 0.3539905792995655 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:0.02 [[ 0.99975548 -0.00254273 0.02196634 0.78072467] [ 0.00260313 0.99999291 -0.00272173 0.01746832] [-0.02195926 0.00277825 0.99975501 0.01835046] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999999 meters 0.35758826776914476 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:0.01 [[ 9.99772783e-01 -6.52893520e-04 2.13062488e-02 7.86278614e-01] [ 6.49971575e-04 9.99999778e-01 1.44065042e-04 1.29833636e-02] [-2.13063381e-02 -1.30183852e-04 9.99772986e-01 1.24762613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8986399999999999 meters 0.3633525362901906 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.01 [[ 0.99981686 -0.00287247 0.01892089 0.80296852] [ 0.00290789 0.99999407 -0.00184472 0.01160986] [-0.01891548 0.0018994 0.99981928 -0.00516044] [ 0. 0. 0. 1. ]] SLAMing on 1.92864 meters 0.36998814630506904 Centerline is valid? [False, False] Translation: X:0.83, Y:0.01, Z:-0.00 [[ 0.99985875 0.00167341 0.01672387 0.82622554] [-0.00157094 0.99997993 -0.00613788 0.00993319] [-0.0167338 0.00611074 0.99984131 -0.00381568] [ 0. 0. 0. 1. ]] SLAMing on 1.95864 meters 0.3757506778465346 Centerline is valid? [False, False] Translation: X:0.82, Y:0.00, Z:-0.02 [[ 0.99984983 -0.00695049 0.01587492 0.81664534] [ 0.00702774 0.99996371 -0.00481551 0.00471266] [-0.01584087 0.00492635 0.99986239 -0.01700666] [ 0. 0. 0. 1. ]] SLAMing on 1.98864 meters 0.3757719744527874 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.01 [[ 0.99977143 -0.00581345 0.02057388 0.84713917] [ 0.00585977 0.99998043 -0.00219175 -0.00204666] [-0.02056073 0.00231181 0.99978593 -0.00630101] [ 0. 0. 0. 1. ]] SLAMing on 2.01864 meters 0.3766833397209476 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.01 [[ 9.99792004e-01 -3.82412305e-03 2.00331152e-02 8.52445129e-01] [ 3.81566120e-03 9.99992614e-01 4.60600303e-04 -4.89900786e-03] [-2.00347286e-02 -3.84064920e-04 9.99799211e-01 -1.20502376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0486400000000002 meters 0.39011261988559204 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:-0.02 [[ 9.99805107e-01 5.41876418e-03 1.89838105e-02 8.41283155e-01] [-5.42247629e-03 9.99985288e-01 1.44071764e-04 -3.32847405e-03] [-1.89827505e-02 -2.46982948e-04 9.99819781e-01 -2.35049395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07864 meters 0.3985354140547389 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.00, Z:-0.04 [[ 0.99985506 0.00363764 0.01663224 0.85699652] [-0.0036071 0.99999175 -0.00186541 -0.00189293] [-0.01663889 0.00180515 0.99985993 -0.03963677] [ 0. 0. 0. 1. ]] SLAMing on 2.1086400000000003 meters 0.4000129374507059 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.00, Z:-0.04 [[ 0.99985418 0.00366907 0.0166783 0.85692606] [-0.00363604 0.99999137 -0.00201026 -0.00108535] [-0.01668553 0.00194932 0.99985889 -0.03943208] [ 0. 0. 0. 1. ]] SLAMing on 2.13864 meters 0.40090561773639816 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.00, Z:-0.04 [[ 9.99854816e-01 5.68676469e-03 1.60626218e-02 8.62221611e-01] [-5.68667595e-03 9.99983829e-01 -5.11990911e-05 -1.13786626e-03] [-1.60626532e-02 -4.01512674e-05 9.99870986e-01 -4.48744220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1686400000000003 meters 0.40505668676848133 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.05 [[ 9.99874228e-01 3.60545367e-03 1.54443938e-02 8.67616295e-01] [-3.56521213e-03 9.99990180e-01 -2.63231704e-03 8.88252239e-04] [-1.54537328e-02 2.57692343e-03 9.99877263e-01 -5.06721266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.19864 meters 0.34985173502974476 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.00, Z:-0.04 [[ 9.99857636e-01 -3.23319836e-03 1.65606229e-02 8.81859631e-01] [ 3.22407562e-03 9.99994636e-01 5.77537650e-04 -2.12897683e-03] [-1.65624013e-02 -5.24062729e-04 9.99862697e-01 -4.29880798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22864 meters 0.42141766807738673 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.00, Z:-0.05 [[ 0.99991318 -0.00197549 0.01302835 0.84778655] [ 0.00195684 0.99999704 0.00144382 -0.00147117] [-0.01303117 -0.0014182 0.99991409 -0.05036553] [ 0. 0. 0. 1. ]] SLAMing on 2.25864 meters 0.3744202291580995 Centerline is valid? [False, False] Translation: X:0.85, Y:0.00, Z:-0.05 [[ 9.99934974e-01 -2.81558250e-03 1.10508074e-02 8.52491339e-01] [ 2.81668077e-03 9.99996030e-01 -8.38214969e-05 2.38390091e-03] [-1.10505275e-02 1.14942643e-04 9.99938934e-01 -5.30890296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28864 meters 0.3784876420311769 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.06 [[ 9.99945460e-01 -7.20355851e-04 1.04190839e-02 8.57941633e-01] [ 6.97508926e-04 9.99997345e-01 2.19626353e-03 1.67304721e-03] [-1.04206383e-02 -2.18887634e-03 9.99943308e-01 -5.88854401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3186400000000003 meters 0.4291277916561424 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.07 [[ 9.99961227e-01 -6.58242303e-04 8.78132685e-03 8.69143888e-01] [ 6.45377587e-04 9.99998715e-01 1.46776147e-03 5.42415874e-03] [-8.78228171e-03 -1.46203729e-03 9.99960366e-01 -7.05809718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34864 meters 0.39368847248789346 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.07 [[ 9.99961080e-01 -5.61457241e-04 8.80474271e-03 8.69143460e-01] [ 5.53150038e-04 9.99999400e-01 9.45898633e-04 8.21289275e-03] [-8.80526850e-03 -9.40991475e-04 9.99960790e-01 -7.02531812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3786400000000003 meters 0.2842297930292459 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:-0.07 [[ 9.99962360e-01 -9.71326218e-04 -8.62178337e-03 9.06074053e-01] [ 9.83262278e-04 9.99998564e-01 1.38027652e-03 1.21750760e-02] [ 8.62043029e-03 -1.38870204e-03 9.99961879e-01 -6.78167732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40864 meters 0.25722671302254174 Centerline is valid? [False, False] Translation: X:0.92, Y:0.02, Z:-0.06 [[ 0.99995559 0.0056376 -0.00755217 0.91983228] [-0.00565536 0.99998129 -0.00233313 0.01800815] [ 0.00753888 0.00237573 0.99996876 -0.0593506 ] [ 0. 0. 0. 1. ]] SLAMing on 2.43864 meters 0.15485430209870957 Centerline is valid? [False, False] Translation: X:0.93, Y:0.02, Z:-0.05 [[ 9.99975890e-01 -1.05876630e-03 -6.86279476e-03 9.33871459e-01] [ 1.06495057e-03 9.99999030e-01 8.97539132e-04 1.59352778e-02] [ 6.86183782e-03 -9.04826030e-04 9.99976048e-01 -5.09642272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46864 meters 0.1987525940550548 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.06 [[ 0.99995692 0.0033619 -0.00865136 0.94540517] [-0.00332433 0.999985 0.0043533 0.02066685] [ 0.00866587 -0.00432435 0.9999531 -0.06225426] [ 0. 0. 0. 1. ]] SLAMing on 2.49864 meters 0.21755773845834434 Centerline is valid? [False, False] Translation: X:0.96, Y:0.03, Z:-0.07 [[ 9.99942663e-01 -5.00072990e-04 -1.06967938e-02 9.56576738e-01] [ 4.89371233e-04 9.99999377e-01 -1.00305805e-03 2.88137412e-02] [ 1.06972887e-02 9.97765833e-04 9.99942285e-01 -7.26811260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52864 meters 0.12769448899815583 Centerline is valid? [False, False] Translation: X:0.95, Y:0.03, Z:-0.07 [[ 9.99953565e-01 2.34066868e-04 9.63391329e-03 9.46884963e-01] [-2.25399953e-04 9.99999569e-01 -9.00701581e-04 3.39894142e-02] [-9.63411996e-03 8.98488274e-04 9.99953187e-01 -6.95903562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55864 meters 0.032188032254686444 Centerline is valid? [False, True] Translation: X:0.95, Y:0.04, Z:-0.07 [[ 9.99953054e-01 2.90739049e-04 9.68530232e-03 9.46823839e-01] [-2.78649228e-04 9.99999180e-01 -1.24959072e-03 3.57633313e-02] [-9.68565769e-03 1.24683325e-03 9.99952316e-01 -6.92734668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5886400000000003 meters 0.03222579046661897 Centerline is valid? [True, True] Translation: X:0.98, Y:0.04, Z:-0.07 [[ 9.99919196e-01 -4.16342835e-04 1.27054440e-02 9.79260603e-01] [ 4.14856728e-04 9.99999907e-01 1.19601547e-04 3.70069967e-02] [-1.27054926e-02 -1.14320943e-04 9.99919275e-01 -7.02781538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61864 meters 0.03164828951656024 Centerline is valid? [True, True] Translation: X:1.01, Y:0.04, Z:-0.07 [[ 9.99813823e-01 -3.84930910e-03 1.89077207e-02 1.01046376e+00] [ 3.84679754e-03 9.99992587e-01 1.69201082e-04 4.28838586e-02] [-1.89082318e-02 -9.64354075e-05 9.99821219e-01 -6.95533774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64864 meters 0.031430428233468845 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:-0.07 [[ 9.99748784e-01 -3.91083337e-03 2.20697474e-02 1.04301403e+00] [ 3.90739417e-03 9.99992346e-01 1.98954031e-04 4.55732869e-02] [-2.20703565e-02 -1.12668849e-04 9.99756414e-01 -7.02428976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67864 meters 0.031117111556890006 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.07 [[ 9.99568261e-01 -7.43353678e-03 2.84259262e-02 1.07443303e+00] [ 7.42955038e-03 9.99972370e-01 2.45854579e-04 4.89307342e-02] [-2.84269684e-02 -3.45565832e-05 9.99595871e-01 -6.89644543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70864 meters 0.03094651591678439 Centerline is valid? [True, True] Translation: X:1.11, Y:0.05, Z:-0.07 [[ 9.99443674e-01 -9.25711728e-03 3.20413591e-02 1.10669357e+00] [ 9.25273530e-03 9.99957152e-01 2.85033791e-04 5.09184390e-02] [-3.20426247e-02 1.15949943e-05 9.99486503e-01 -7.00582152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73864 meters 0.03086401113955538 Centerline is valid? [True, True] Translation: X:1.14, Y:0.05, Z:-0.07 [[ 9.99445351e-01 -1.16806350e-02 3.11857984e-02 1.13922932e+00] [ 1.16780918e-02 9.99931774e-01 2.63692885e-04 5.27203755e-02] [-3.11867508e-02 1.00643989e-04 9.99513570e-01 -7.02573585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76864 meters 0.030763950914059188 Centerline is valid? [True, True] Translation: X:1.17, Y:0.05, Z:-0.07 [[ 9.99215186e-01 -1.64018803e-02 3.60553709e-02 1.17170443e+00] [ 1.64022945e-02 9.99865433e-01 2.84323647e-04 5.49903772e-02] [-3.60551825e-02 3.07290307e-04 9.99349753e-01 -6.99300255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7986400000000002 meters 0.030817399705497128 Centerline is valid? [True, True] Translation: X:1.20, Y:0.06, Z:-0.07 [[ 9.99076341e-01 -1.82157127e-02 3.89185292e-02 1.20427683e+00] [ 1.82183499e-02 9.99833991e-01 2.86913992e-04 5.57203809e-02] [-3.89172948e-02 4.22382404e-04 9.99242346e-01 -7.15290685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82864 meters 0.030814217846425455 Centerline is valid? [True, True] Translation: X:1.24, Y:0.06, Z:-0.07 [[ 9.98882996e-01 -2.11376753e-02 4.22606183e-02 1.23699203e+00] [ 2.11442507e-02 9.99776393e-01 2.91437587e-04 5.53815554e-02] [-4.22573288e-02 6.02457056e-04 9.99106579e-01 -7.12367639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8586400000000003 meters 0.03082051330502705 Centerline is valid? [True, True] Translation: X:1.27, Y:0.05, Z:-0.07 [[ 9.98815705e-01 -2.18566358e-02 4.34680888e-02 1.26974026e+00] [ 2.18652909e-02 9.99760888e-01 2.76379326e-04 5.47787362e-02] [-4.34637358e-02 6.74390397e-04 9.99054778e-01 -7.24757849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88864 meters 0.030869379667482533 Centerline is valid? [True, True] Translation: X:1.30, Y:0.05, Z:-0.07 [[ 9.98652079e-01 -2.22396206e-02 4.68980308e-02 1.30217788e+00] [ 2.22513886e-02 9.99752370e-01 2.71182590e-04 5.35057143e-02] [-4.68924484e-02 7.72729251e-04 9.98899645e-01 -7.31497961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91864 meters 0.030679381120109237 Centerline is valid? [True, True] Translation: X:1.33, Y:0.05, Z:-0.07 [[ 9.98451136e-01 -2.13806641e-02 5.13633797e-02 1.33484767e+00] [ 2.13950707e-02 9.99771063e-01 2.69388384e-04 5.03848493e-02] [-5.13573804e-02 8.29952001e-04 9.98679994e-01 -7.44576256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94864 meters 0.030374709190643216 Centerline is valid? [True, True] Translation: X:1.37, Y:0.05, Z:-0.08 [[ 9.98452602e-01 -1.97940176e-02 5.19672739e-02 1.36741994e+00] [ 1.98069535e-02 9.99803788e-01 2.66119641e-04 4.85487635e-02] [-5.19623448e-02 7.63605528e-04 9.98648753e-01 -7.50346419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97864 meters 0.030244721496469246 Centerline is valid? [True, True] Translation: X:1.40, Y:0.04, Z:-0.08 [[ 9.98405135e-01 -1.77032869e-02 5.36076464e-02 1.39991813e+00] [ 1.77153841e-02 9.99843039e-01 2.49550075e-04 4.33937992e-02] [-5.36036499e-02 7.00527968e-04 9.98562045e-01 -7.55977403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.00864 meters 0.030244721496469246 Centerline is valid? [True, True] Translation: X:1.43, Y:0.04, Z:-0.08 [[ 9.98414104e-01 -1.71897324e-02 5.36077466e-02 1.43241872e+00] [ 1.72023742e-02 9.99852003e-01 2.25628258e-04 4.38556691e-02] [-5.36036912e-02 6.96910079e-04 9.98562045e-01 -7.75158531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03864 meters 0.030153270978881746 Centerline is valid? [True, True] Translation: X:1.46, Y:0.04, Z:-0.08 [[ 9.98368216e-01 -1.56101359e-02 5.49293005e-02 1.46494049e+00] [ 1.56226298e-02 9.99877939e-01 2.01957816e-04 4.16924671e-02] [-5.49257484e-02 6.56511863e-04 9.98490226e-01 -7.86906801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0686400000000003 meters 0.029984930602014476 Centerline is valid? [True, True] Translation: X:1.50, Y:0.04, Z:-0.08 [[ 9.98226362e-01 -1.40758404e-02 5.78446257e-02 1.49706844e+00] [ 1.40887142e-02 9.99900732e-01 1.85276350e-04 3.98315219e-02] [-5.78414915e-02 6.30008659e-04 9.98325581e-01 -8.13505766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09864 meters 0.03001389046243099 Centerline is valid? [True, True] Translation: X:1.53, Y:0.03, Z:-0.08 [[ 9.98043288e-01 -1.11627377e-02 6.15222671e-02 1.52963334e+00] [ 1.11735984e-02 9.99937559e-01 1.67513757e-04 3.46330273e-02] [-6.15202955e-02 5.20239124e-04 9.98105697e-01 -8.37550306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1286400000000003 meters 0.029793892199807194 Centerline is valid? [True, True] Translation: X:1.56, Y:0.03, Z:-0.09 [[ 9.97912473e-01 -9.78498932e-03 6.38353302e-02 1.56231623e+00] [ 9.79580634e-03 9.99952010e-01 1.43531740e-04 3.25326493e-02] [-6.38336712e-02 4.82086419e-04 9.97960435e-01 -8.52707625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15864 meters 0.0298156379689247 Centerline is valid? [True, True] Translation: X:1.59, Y:0.03, Z:-0.09 [[ 9.97840799e-01 -6.65898937e-03 6.53406271e-02 1.59499425e+00] [ 6.66591384e-03 9.99977776e-01 1.12037330e-04 3.03654162e-02] [-6.53399210e-02 3.23759571e-04 9.97863012e-01 -8.65524968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18864 meters 0.029786603506613343 Centerline is valid? [True, True] Translation: X:1.63, Y:0.02, Z:-0.09 [[ 9.97717076e-01 -2.92374651e-03 6.74691636e-02 1.62826696e+00] [ 2.92505840e-03 9.99995719e-01 7.93441119e-05 2.48377814e-02] [-6.74691068e-02 1.18188269e-04 9.97721357e-01 -8.82702641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21864 meters 0.02989594339445228 Centerline is valid? [True, True] Translation: X:1.66, Y:0.02, Z:-0.09 [[ 9.97561210e-01 -7.83517321e-05 6.97970416e-02 1.66109996e+00] [ 7.54417809e-05 9.99999996e-01 4.43276320e-05 2.13178669e-02] [-6.97970448e-02 -3.89539130e-05 9.97561212e-01 -9.09240804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24864 meters 0.03003246589630294 Centerline is valid? [True, True] Translation: X:1.69, Y:0.02, Z:-0.09 [[ 9.97330037e-01 4.55432313e-03 7.28838492e-02 1.69316662e+00] [-4.56698798e-03 9.99989571e-01 7.11631309e-06 1.62559578e-02] [-7.28830567e-02 -3.39956976e-04 9.97340436e-01 -9.18546026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27864 meters 0.030193650173272205 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:-0.09 [[ 9.97247667e-01 7.72223163e-03 7.37391218e-02 1.72522760e+00] [-7.74130493e-03 9.99970035e-01 -2.71491977e-05 1.44284073e-02] [-7.37371219e-02 -5.43762553e-04 9.97277565e-01 -9.36335149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30864 meters 0.03030725020548757 Centerline is valid? [True, True] Translation: X:1.76, Y:0.01, Z:-0.10 [[ 9.97034357e-01 1.17513746e-02 7.60552127e-02 1.75746209e+00] [-1.17806320e-02 9.99930604e-01 -6.39558386e-05 1.18446444e-02] [-7.60506863e-02 -8.32212308e-04 9.97103606e-01 -9.56035673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3386400000000003 meters 0.03098915981592969 Centerline is valid? [True, True] Translation: X:1.79, Y:0.01, Z:-0.10 [[ 9.96855592e-01 2.03349767e-02 7.65860078e-02 1.78919628e+00] [-2.03872496e-02 9.99792153e-01 -9.93180872e-05 5.86326932e-03] [-7.65721093e-02 -1.46237227e-03 9.97062974e-01 -9.56483991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36864 meters 0.03132020852712761 Centerline is valid? [True, True] Translation: X:1.82, Y:0.00, Z:-0.10 [[ 9.96582618e-01 2.45280394e-02 7.88762400e-02 1.82082528e+00] [-2.45938791e-02 9.99697515e-01 -1.36767132e-04 4.84548047e-03] [-7.88557357e-02 -1.80357296e-03 9.96884407e-01 -9.75954478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39864 meters 0.03223302462840906 Centerline is valid? [True, True] Translation: X:1.85, Y:0.00, Z:-0.10 [[ 9.96430532e-01 3.13579804e-02 7.83764720e-02 1.85315843e+00] [-3.14418777e-02 9.99505569e-01 -1.63684432e-04 3.04148697e-03] [-7.83428530e-02 -2.30120329e-03 9.96923819e-01 -1.00159630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42864 meters 0.032395242883846626 Centerline is valid? [True, True] Translation: X:1.89, Y:0.00, Z:-0.10 [[ 9.96274041e-01 3.46621948e-02 7.89719400e-02 1.88529534e+00] [-3.47564074e-02 9.99395797e-01 -1.81650706e-04 2.81591684e-03] [-7.89305214e-02 -2.56380704e-03 9.96876823e-01 -1.01603533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45864 meters 0.0329926912007274 Centerline is valid? [True, True] Translation: X:1.92, Y:0.00, Z:-0.10 [[ 9.95983775e-01 3.89539580e-02 8.06158125e-02 1.91675775e+00] [-3.90632641e-02 9.99236715e-01 -2.21393157e-04 1.85047827e-03] [-8.05629038e-02 -2.92861278e-03 9.96745224e-01 -1.04206910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48864 meters 0.03394164924411939 Centerline is valid? [True, True] Translation: X:1.95, Y:0.00, Z:-0.10 [[ 9.95944370e-01 4.56470917e-02 7.75316388e-02 1.94905042e+00] [-4.57663512e-02 9.98952143e-01 -2.38873054e-04 3.66833229e-03] [-7.74613006e-02 -3.31043594e-03 9.96989863e-01 -1.04448693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51864 meters 0.03432236838905335 Centerline is valid? [True, True] Translation: X:1.98, Y:0.01, Z:-0.11 [[ 9.95667634e-01 4.88918235e-02 7.90920541e-02 1.98061909e+00] [-4.90249093e-02 9.98797523e-01 -2.59403311e-04 6.19422552e-03] [-7.90096304e-02 -3.61920130e-03 9.96867283e-01 -1.07168079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5486400000000002 meters 0.034817394670840454 Centerline is valid? [True, True] Translation: X:2.01, Y:0.01, Z:-0.11 [[ 9.95481450e-01 5.16327565e-02 7.96915356e-02 2.01253746e+00] [-5.17744953e-02 9.98658760e-01 -2.88046838e-04 7.77757092e-03] [-7.95995227e-02 -3.83924375e-03 9.96819530e-01 -1.07487071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57864 meters 0.03544407697774083 Centerline is valid? [True, True] Translation: X:2.04, Y:0.01, Z:-0.11 [[ 9.95194477e-01 5.46496909e-02 8.12487827e-02 2.04452929e+00] [-5.48062308e-02 9.98496963e-01 -3.03907731e-04 1.05489616e-02] [-8.11432713e-02 -4.15049225e-03 9.96693806e-01 -1.09306478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60864 meters 0.035517602845738114 Centerline is valid? [True, True] Translation: X:2.08, Y:0.01, Z:-0.11 [[ 9.95033945e-01 5.58943030e-02 8.23606416e-02 2.07676285e+00] [-5.60579883e-02 9.98427462e-01 -3.25468181e-04 1.10650390e-02] [-8.22493182e-02 -4.29312000e-03 9.96602538e-01 -1.10687783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63864 meters 0.03491096160860661 Centerline is valid? [True, True] Translation: X:2.11, Y:0.01, Z:-0.11 [[ 9.94928480e-01 5.56315457e-02 8.38000686e-02 2.10929982e+00] [-5.57976235e-02 9.98442034e-01 -3.60725807e-04 1.31887145e-02] [-8.36895787e-02 -4.31694830e-03 9.96482523e-01 -1.13583025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66864 meters 0.03548223201259045 Centerline is valid? [True, True] Translation: X:2.14, Y:0.01, Z:-0.12 [[ 9.95003476e-01 5.58104418e-02 8.27845278e-02 2.14105672e+00] [-5.59714988e-02 9.98432296e-01 -3.75816544e-04 1.23865268e-02] [-8.26757207e-02 -4.25963533e-03 9.96567399e-01 -1.15785147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.69864 meters 0.035065145140172595 Centerline is valid? [True, True] Translation: X:2.17, Y:0.01, Z:-0.12 [[ 9.94969056e-01 5.47463590e-02 8.39012142e-02 2.17345951e+00] [-5.49049500e-02 9.98491498e-01 -4.17727360e-04 1.31845823e-02] [-8.37975181e-02 -4.19096617e-03 9.96473990e-01 -1.18373231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72864 meters 0.03457663528784194 Centerline is valid? [True, True] Translation: X:2.21, Y:0.01, Z:-0.12 [[ 9.94901840e-01 5.37559628e-02 8.53265777e-02 2.20549867e+00] [-5.39132331e-02 9.98545517e-01 -4.61765518e-04 1.42496663e-02] [-8.52272943e-02 -4.14082031e-03 9.96352930e-01 -1.20546489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75864 meters 0.034411372520583905 Centerline is valid? [True, True] Translation: X:2.24, Y:0.02, Z:-0.12 [[ 9.94926374e-01 5.25307302e-02 8.58022850e-02 2.23788816e+00] [-5.26820420e-02 9.98611211e-01 -5.01420548e-04 1.66863151e-02] [-8.57094637e-02 -4.02136306e-03 9.96312058e-01 -1.22543134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78864 meters 0.03412887226139779 Centerline is valid? [True, True] Translation: X:2.27, Y:0.02, Z:-0.12 [[ 9.95040863e-01 5.32416475e-02 8.40179060e-02 2.27066076e+00] [-5.33866144e-02 9.98573781e-01 -5.21916484e-04 1.88093682e-02] [-8.39258658e-02 -3.96610333e-03 9.96464108e-01 -1.22670530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8186400000000003 meters 0.03461366574451622 Centerline is valid? [True, True] Translation: X:2.30, Y:0.02, Z:-0.12 [[ 9.94800102e-01 5.59688502e-02 8.50896309e-02 2.30277735e+00] [-5.61260153e-02 9.98423544e-01 -5.45919444e-04 2.18139354e-02] [-8.49860453e-02 -4.23266121e-03 9.96373151e-01 -1.24738892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84864 meters 0.034868086633238725 Centerline is valid? [True, True] Translation: X:2.33, Y:0.02, Z:-0.13 [[ 9.94587855e-01 5.78308436e-02 8.63168177e-02 2.33440419e+00] [-5.79979915e-02 9.98316536e-01 -5.72189082e-04 2.42153812e-02] [-8.62045966e-02 -4.43710975e-03 9.96267574e-01 -1.26891117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87864 meters 0.035183926887898606 Centerline is valid? [True, True] Translation: X:2.37, Y:0.03, Z:-0.13 [[ 9.94414044e-01 6.07101543e-02 8.63422636e-02 2.36685171e+00] [-6.08851630e-02 9.98144593e-01 -6.07479064e-04 3.12356742e-02] [-8.62189436e-02 -4.65287708e-03 9.96265348e-01 -1.28734754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90864 meters 0.035249163177442255 Centerline is valid? [True, True] Translation: X:2.40, Y:0.04, Z:-0.13 [[ 9.94275826e-01 6.11552983e-02 8.76105701e-02 2.39872351e+00] [-6.13339519e-02 9.98117087e-01 -6.53831778e-04 3.53939237e-02] [-8.74855923e-02 -4.72341336e-03 9.96154587e-01 -1.31694922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.93864 meters 0.03493980540650203 Centerline is valid? [True, True] Translation: X:2.43, Y:0.04, Z:-0.13 [[ 9.94323911e-01 6.14561090e-02 8.68510557e-02 2.43080913e+00] [-6.16295710e-02 9.98098856e-01 -6.85265296e-04 3.95077606e-02] [-8.67280531e-02 -4.67121763e-03 9.96221072e-01 -1.33769795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96864 meters 0.03446415189793981 Centerline is valid? [True, True] Translation: X:2.46, Y:0.05, Z:-0.14 [[ 9.94676732e-01 5.78058832e-02 8.53034555e-02 2.46228683e+00] [-5.79575530e-02 9.98318803e-01 -6.99511236e-04 4.62661405e-02] [-8.52004794e-02 -4.24819199e-03 9.96354772e-01 -1.35371354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99864 meters 0.03364360259243921 Centerline is valid? [True, True] Translation: X:2.49, Y:0.05, Z:-0.14 [[ 9.94770585e-01 5.57484797e-02 8.55779804e-02 2.49469252e+00] [-5.58922401e-02 9.98436549e-01 -7.17046657e-04 5.12015634e-02] [-8.54841577e-02 -4.06984810e-03 9.96331218e-01 -1.35950395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters 0.03293844131658601 Centerline is valid? [True, True] Translation: X:2.53, Y:0.06, Z:-0.14 [[ 9.95002207e-01 4.96248422e-02 8.66486193e-02 2.52615974e+00] [-4.97466990e-02 9.98761582e-01 -7.53740627e-04 6.17087086e-02] [-8.65787163e-02 -3.56050920e-03 9.96238650e-01 -1.37645412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05864 meters 0.03226514599437907 Centerline is valid? [True, True] Translation: X:2.56, Y:0.07, Z:-0.14 [[ 9.95025153e-01 4.66903009e-02 8.80054577e-02 2.55833685e+00] [-4.68031211e-02 9.98903827e-01 -7.82196180e-04 6.70303636e-02] [-8.79455095e-02 -3.34062522e-03 9.96119685e-01 -1.40523289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08864 meters 0.0319149568383311 Centerline is valid? [True, True] Translation: X:2.59, Y:0.07, Z:-0.14 [[ 9.95135819e-01 4.39770697e-02 8.81516786e-02 2.59084938e+00] [-4.40761895e-02 9.99027834e-01 -8.22693079e-04 7.07707501e-02] [-8.81021601e-02 -3.06669874e-03 9.96106724e-01 -1.42875347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.118639999999999 meters 0.031043730037211385 Centerline is valid? [True, True] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.95293499e-01 3.63245039e-02 8.98408705e-02 2.62265353e+00] [-3.63936910e-02 9.99337153e-01 -8.68449204e-04 7.82936537e-02] [-8.98128657e-02 -2.40527903e-03 9.95955754e-01 -1.45770676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.148639999999999 meters 0.03076734143435047 Centerline is valid? [True, True] Translation: X:2.66, Y:0.08, Z:-0.15 [[ 9.95422160e-01 3.33780917e-02 8.95579499e-02 2.65505346e+00] [-3.34331734e-02 9.99440563e-01 -8.85427287e-04 8.17226202e-02] [-8.95374017e-02 -2.11283253e-03 9.95981220e-01 -1.47410506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17864 meters 0.030241326037624503 Centerline is valid? [True, True] Translation: X:2.69, Y:0.09, Z:-0.15 [[ 9.95651459e-01 2.50409126e-02 8.97280581e-02 2.68689130e+00] [-2.50597192e-02 9.99685535e-01 -9.17127837e-04 8.74320985e-02] [-8.97228075e-02 -1.33542027e-03 9.95965880e-01 -1.51187660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20864 meters 0.029919881410077353 Centerline is valid? [True, True] Translation: X:2.72, Y:0.09, Z:-0.15 [[ 9.95954796e-01 2.07996392e-02 8.74152140e-02 2.71935619e+00] [-2.08002660e-02 9.99783243e-01 -9.03802917e-04 8.93722151e-02] [-8.74150649e-02 -9.18112850e-04 9.96171553e-01 -1.53997770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.238639999999999 meters 0.02970662856676348 Centerline is valid? [True, True] Translation: X:2.75, Y:0.09, Z:-0.16 [[ 9.96102569e-01 1.61145460e-02 8.67178975e-02 2.75192295e+00] [-1.60962183e-02 9.99870033e-01 -9.10622028e-04 9.11465171e-02] [-8.67213013e-02 -4.88757266e-04 9.96232491e-01 -1.56463280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2686399999999995 meters 0.029454119760819367 Centerline is valid? [True, True] Translation: X:2.78, Y:0.09, Z:-0.16 [[ 9.96291850e-01 9.81615955e-03 8.54762750e-02 2.78415149e+00] [-9.77337138e-03 9.99951817e-01 -9.19042523e-04 9.43966435e-02] [-8.54811780e-02 8.02431955e-05 9.96339782e-01 -1.58185510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29864 meters 0.02936377429326646 Centerline is valid? [True, True] Translation: X:2.82, Y:0.10, Z:-0.16 [[ 9.96252579e-01 6.99131314e-03 8.62085812e-02 2.81678796e+00] [-6.93385120e-03 9.99975494e-01 -9.65967253e-04 9.56869461e-02] [-8.62132219e-02 3.64589894e-04 9.96276642e-01 -1.60003945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32864 meters 0.029814165810680086 Centerline is valid? [True, True] Translation: X:2.85, Y:0.10, Z:-0.16 [[ 9.96149657e-01 2.01429343e-03 8.76458947e-02 2.84920437e+00] [-1.93220574e-03 9.99997612e-01 -1.02141161e-03 9.75708214e-02] [-8.76477428e-02 8.48128920e-04 9.96151170e-01 -1.63023380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.358639999999999 meters 0.029985102533622802 Centerline is valid? [True, True] Translation: X:2.88, Y:0.10, Z:-0.17 [[ 9.96190205e-01 -1.15933954e-03 8.71993810e-02 2.88144848e+00] [ 1.25606104e-03 9.99998655e-01 -1.05433922e-03 9.84876606e-02] [-8.71980415e-02 1.15985015e-03 9.96190321e-01 -1.65405992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38864 meters 0.03021781800052036 Centerline is valid? [True, True] Translation: X:2.91, Y:0.10, Z:-0.17 [[ 9.96086466e-01 -4.40681147e-03 8.82741882e-02 2.91369358e+00] [ 4.52208117e-03 9.99989164e-01 -1.10587402e-03 9.83133302e-02] [-8.82683582e-02 1.50072918e-03 9.96095600e-01 -1.68704291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41864 meters 0.030808873844664485 Centerline is valid? [True, True] Translation: X:2.95, Y:0.09, Z:-0.17 [[ 9.95989689e-01 -1.00539342e-02 8.89013908e-02 2.94602056e+00] [ 1.01959200e-02 9.99947367e-01 -1.14313311e-03 9.42438785e-02] [-8.88852187e-02 2.04498026e-03 9.96039776e-01 -1.72111919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters 0.03128079904655296 Centerline is valid? [True, True] Translation: X:2.98, Y:0.09, Z:-0.17 [[ 9.95890330e-01 -1.29952076e-02 8.96302099e-02 2.97842837e+00] [ 1.31532608e-02 9.99912804e-01 -1.17293903e-03 9.18696869e-02] [-8.96071519e-02 2.34704816e-03 9.95974422e-01 -1.74043862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4786399999999995 meters 0.0317543030612948 Centerline is valid? [True, True] Translation: X:3.01, Y:0.09, Z:-0.18 [[ 9.95996172e-01 -1.77173547e-02 8.76226092e-02 3.00993931e+00] [ 1.78897446e-02 9.99839266e-01 -1.18245977e-03 8.57050453e-02] [-8.75875753e-02 2.74527151e-03 9.96153041e-01 -1.75988456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50864 meters 0.03184868821347912 Centerline is valid? [True, True] Translation: X:3.04, Y:0.08, Z:-0.18 [[ 9.96051149e-01 -1.87495055e-02 8.67788251e-02 3.04174525e+00] [ 1.89254883e-02 9.99820170e-01 -1.20560092e-03 8.13473997e-02] [-8.67406152e-02 2.84317182e-03 9.96226873e-01 -1.77777560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53864 meters 0.03199910705959127 Centerline is valid? [True, True] Translation: X:3.07, Y:0.08, Z:-0.18 [[ 9.96038291e-01 -1.86580791e-02 8.69459585e-02 3.07414885e+00] [ 1.88376643e-02 9.99821780e-01 -1.24538388e-03 7.64431323e-02] [-8.69072265e-02 2.87830881e-03 9.96212251e-01 -1.80719466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters 0.03135268716759283 Centerline is valid? [True, True] Translation: X:3.11, Y:0.07, Z:-0.18 [[ 9.96176099e-01 -1.59822584e-02 8.58938135e-02 3.10593558e+00] [ 1.61508281e-02 9.99868763e-01 -1.26793809e-03 6.56080517e-02] [-8.58622765e-02 2.65034584e-03 9.96303490e-01 -1.82199721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59864 meters 0.030981536774601564 Centerline is valid? [True, True] Translation: X:3.14, Y:0.06, Z:-0.18 [[ 9.96182443e-01 -1.27307076e-02 8.63624322e-02 3.13828239e+00] [ 1.28920947e-02 9.99916034e-01 -1.31121427e-03 5.97227644e-02] [-8.63384880e-02 2.41960129e-03 9.96262923e-01 -1.84362151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62864 meters 0.030230510581220418 Centerline is valid? [True, True] Translation: X:3.17, Y:0.05, Z:-0.19 [[ 9.96119708e-01 -6.78125402e-03 8.77470376e-02 3.17062117e+00] [ 6.92747790e-03 9.99975077e-01 -1.36200894e-03 4.66001654e-02] [-8.77356146e-02 1.96458962e-03 9.96141859e-01 -1.86200486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.658639999999999 meters 0.02980941061444102 Centerline is valid? [True, True] Translation: X:3.20, Y:0.04, Z:-0.19 [[ 9.96125407e-01 -2.22779804e-03 8.79159253e-02 3.20284689e+00] [ 2.35880114e-03 9.99996257e-01 -1.38623402e-03 4.11603543e-02] [-8.79125080e-02 1.58823912e-03 9.96126934e-01 -1.87691156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters 0.02969867335428443 Centerline is valid? [True, True] Translation: X:3.24, Y:0.04, Z:-0.19 [[ 9.96145151e-01 6.35557975e-04 8.77179229e-02 3.23534638e+00] [-5.13580566e-04 9.99998870e-01 -1.41312586e-03 3.72452456e-02] [-8.77187219e-02 1.36262825e-03 9.96144352e-01 -1.89952425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71864 meters 0.02896860160972294 Centerline is valid? [True, True] Translation: X:3.27, Y:0.03, Z:-0.19 [[ 9.96413161e-01 7.70943843e-03 8.42696646e-02 3.26676578e+00] [-7.62119349e-03 9.99970021e-01 -1.36881775e-03 3.13289764e-02] [-8.42776911e-02 7.21672604e-04 9.96442045e-01 -1.91136475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74864 meters 0.028958011479379812 Centerline is valid? [True, True] Translation: X:3.30, Y:0.03, Z:-0.19 [[ 9.96406763e-01 1.18540885e-02 8.38632410e-02 3.29893267e+00] [-1.17799411e-02 9.99929663e-01 -1.37893319e-03 2.70013858e-02] [-8.38736884e-02 3.86074324e-04 9.96476320e-01 -1.93419176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.778639999999999 meters 0.02906966730634834 Centerline is valid? [True, True] Translation: X:3.33, Y:0.02, Z:-0.20 [[ 9.96371383e-01 1.41990356e-02 8.39193343e-02 3.33222373e+00] [-1.41297800e-02 9.99899163e-01 -1.41916481e-03 2.29967971e-02] [-8.39310228e-02 2.28253472e-04 9.96471541e-01 -1.95678476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.80864 meters 0.0290139412426015 Centerline is valid? [True, True] Translation: X:3.36, Y:0.02, Z:-0.20 [[ 9.96366866e-01 1.86668323e-02 8.30940317e-02 3.36459170e+00] [-1.86110125e-02 9.99825754e-01 -1.44635520e-03 1.79675689e-02] [-8.31065517e-02 -1.05363665e-04 9.96540661e-01 -1.96573095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83864 meters 0.029066622426054914 Centerline is valid? [True, True] Translation: X:3.40, Y:0.02, Z:-0.20 [[ 9.96219523e-01 2.05840504e-02 8.43976282e-02 3.39679961e+00] [-2.05300299e-02 9.99788099e-01 -1.50800497e-03 1.58546286e-02] [-8.44107851e-02 -2.30381836e-04 9.96431014e-01 -1.99059410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters 0.029197494728583042 Centerline is valid? [True, True] Translation: X:3.43, Y:0.01, Z:-0.20 [[ 9.96075707e-01 2.36606781e-02 8.52839883e-02 3.42921835e+00] [-2.36133967e-02 9.99719943e-01 -1.56325905e-03 1.21031255e-02] [-8.52970916e-02 -4.56720281e-04 9.96355457e-01 -1.99397051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.898639999999999 meters 0.029197494728583042 Centerline is valid? [True, True] Translation: X:3.46, Y:0.01, Z:-0.20 [[ 9.96063217e-01 2.41834633e-02 8.52832243e-02 3.46171470e+00] [-2.41346032e-02 9.99707431e-01 -1.60403713e-03 1.18344674e-02] [-8.52970643e-02 -4.60554394e-04 9.96355458e-01 -2.01315588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92864 meters 0.029531190003841096 Centerline is valid? [True, True] Translation: X:3.49, Y:0.01, Z:-0.20 [[ 9.95934891e-01 2.58840968e-02 8.62769118e-02 3.49337590e+00] [-2.58367516e-02 9.99664788e-01 -1.66554178e-03 1.13875694e-02] [-8.62911018e-02 -5.70343962e-04 9.96269803e-01 -2.03446899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95864 meters 0.02946410313975432 Centerline is valid? [True, True] Translation: X:3.53, Y:0.01, Z:-0.21 [[ 9.95885023e-01 2.77636043e-02 8.62682082e-02 3.52676969e+00] [-2.77198892e-02 9.99614276e-01 -1.70483096e-03 1.19637348e-02] [-8.62822647e-02 -6.93529554e-04 9.96270490e-01 -2.05570290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters 0.029545095248476934 Centerline is valid? [True, True] Translation: X:3.56, Y:0.01, Z:-0.21 [[ 9.95881092e-01 3.04518507e-02 8.54021930e-02 3.55985916e+00] [-3.04150435e-02 9.99535854e-01 -1.73238897e-03 1.24953369e-02] [-8.54153083e-02 -8.72258000e-04 9.96345053e-01 -2.07991741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0186399999999995 meters 0.029405959169285276 Centerline is valid? [True, True] Translation: X:3.59, Y:0.01, Z:-0.21 [[ 9.95892281e-01 3.19239132e-02 8.47315057e-02 3.59269521e+00] [-3.18892385e-02 9.99489854e-01 -1.76299032e-03 1.19024987e-02] [-8.47445619e-02 -9.46274747e-04 9.96402260e-01 -2.08444539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04864 meters 0.029538326287151532 Centerline is valid? [True, True] Translation: X:3.62, Y:0.01, Z:-0.21 [[ 9.95703223e-01 3.24462145e-02 8.67313944e-02 3.62488252e+00] [-3.24079912e-02 9.99473013e-01 -1.84909304e-03 1.24233366e-02] [-8.67456842e-02 -9.69642366e-04 9.96230017e-01 -2.11195483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.078639999999999 meters 0.029536032187722962 Centerline is valid? [True, True] Translation: X:3.66, Y:0.02, Z:-0.21 [[ 9.95704886e-01 3.46245204e-02 8.58657259e-02 3.65836479e+00] [-3.45916218e-02 9.99399779e-01 -1.87142325e-03 1.58331087e-02] [-8.58789846e-02 -1.10684944e-03 9.96304961e-01 -2.12378069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters 0.02946374589934247 Centerline is valid? [True, True] Translation: X:3.69, Y:0.02, Z:-0.21 [[ 9.95793101e-01 3.44173819e-02 8.49208101e-02 3.69100996e+00] [-3.43814954e-02 9.99407003e-01 -1.88548146e-03 1.64396215e-02] [-8.49353457e-02 -1.04215501e-03 9.96385920e-01 -2.14324036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13864 meters 0.029268036608980436 Centerline is valid? [True, True] Translation: X:3.72, Y:0.02, Z:-0.22 [[ 9.96069672e-01 3.38984837e-02 8.18297092e-02 3.72343560e+00] [-3.38617758e-02 9.99424838e-01 -1.83672559e-03 1.82757034e-02] [-8.18449061e-02 -9.41392605e-04 9.96644633e-01 -2.15940179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16864 meters 0.02921978223928972 Centerline is valid? [True, True] Translation: X:3.76, Y:0.02, Z:-0.22 [[ 9.95988361e-01 3.29267425e-02 8.32046508e-02 3.75690171e+00] [-3.28820401e-02 9.99457418e-01 -1.90791988e-03 2.03220466e-02] [-8.32223271e-02 -8.35672668e-04 9.96530655e-01 -2.17753634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.198639999999999 meters 0.02902746966687736 Centerline is valid? [True, True] Translation: X:3.79, Y:0.02, Z:-0.22 [[ 9.96121523e-01 3.31253880e-02 8.15145433e-02 3.78933663e+00] [-3.30798219e-02 9.99450888e-01 -1.90979305e-03 2.30261147e-02] [-8.15330454e-02 -7.94100609e-04 9.96670323e-01 -2.18867053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2286399999999995 meters 0.029106705374580287 Centerline is valid? [True, True] Translation: X:3.82, Y:0.03, Z:-0.22 [[ 9.96277578e-01 3.23524686e-02 7.99018534e-02 3.82109525e+00] [-3.23033043e-02 9.99476291e-01 -1.90818478e-03 2.65304640e-02] [-7.99217426e-02 -6.80012178e-04 9.96800909e-01 -2.21430273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25864 meters 0.029277937452513145 Centerline is valid? [True, True] Translation: X:3.85, Y:0.03, Z:-0.22 [[ 9.96200220e-01 3.25759727e-02 8.07708399e-02 3.85356797e+00] [-3.25233674e-02 9.99469039e-01 -1.96717573e-03 2.70117905e-02] [-8.07920365e-02 -6.67238806e-04 9.96730757e-01 -2.24082957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.288639999999999 meters 0.02898778948976315 Centerline is valid? [True, True] Translation: X:3.89, Y:0.03, Z:-0.23 [[ 9.96294938e-01 3.15048987e-02 8.00239800e-02 3.88614530e+00] [-3.14467201e-02 9.99503454e-01 -1.98749182e-03 2.91700715e-02] [-8.00468601e-02 -5.36363659e-04 9.96790957e-01 -2.25170872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.318639999999999 meters 0.028947959235722884 Centerline is valid? [True, True] Translation: X:3.92, Y:0.03, Z:-0.23 [[ 9.96291365e-01 3.06404266e-02 8.04032323e-02 3.91951395e+00] [-3.05757879e-02 9.99530379e-01 -2.03528876e-03 2.98553914e-02] [-8.04278354e-02 -4.30651555e-04 9.96760341e-01 -2.28080267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34864 meters 0.029013590457723386 Centerline is valid? [True, True] Translation: X:3.95, Y:0.03, Z:-0.23 [[ 9.96338350e-01 3.03889266e-02 7.99149848e-02 3.95264148e+00] [-3.03208966e-02 9.99538083e-01 -2.06491120e-03 2.94769751e-02] [-7.99408211e-02 -3.65743771e-04 9.96799544e-01 -2.30291177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37864 meters 0.02882787823116844 Centerline is valid? [True, True] Translation: X:3.99, Y:0.03, Z:-0.23 [[ 9.96415216e-01 2.90752593e-02 7.94439847e-02 3.98555103e+00] [-2.90005472e-02 9.99577202e-01 -2.09430346e-03 2.88307093e-02] [-7.94712883e-02 -2.17123195e-04 9.96837132e-01 -2.31387353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.408639999999999 meters 0.028924950062963334 Centerline is valid? [True, True] Translation: X:4.02, Y:0.03, Z:-0.23 [[ 9.96383427e-01 2.96599011e-02 7.96263608e-02 4.01889975e+00] [-2.95833982e-02 9.99560024e-01 -2.14054469e-03 2.83241929e-02] [-7.96548154e-02 -2.22815088e-04 9.96822482e-01 -2.33945040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4386399999999995 meters 0.028939157000297016 Centerline is valid? [True, True] Translation: X:4.05, Y:0.03, Z:-0.24 [[ 9.96015277e-01 3.25163380e-02 8.30436921e-02 4.05090039e+00] [-3.24394452e-02 9.99471113e-01 -2.27539823e-03 2.70145906e-02] [-8.30737589e-02 -4.27559900e-04 9.96543310e-01 -2.36254374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46864 meters 0.02906946230890793 Centerline is valid? [True, True] Translation: X:4.08, Y:0.03, Z:-0.24 [[ 9.95993777e-01 3.41391684e-02 8.26493446e-02 4.08433018e+00] [-3.40653339e-02 9.99416953e-01 -2.30374585e-03 2.58696732e-02] [-8.26798041e-02 -5.20960988e-04 9.96576028e-01 -2.37506790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49864 meters 0.029102501371284506 Centerline is valid? [True, True] Translation: X:4.12, Y:0.02, Z:-0.24 [[ 9.95902627e-01 3.55963071e-02 8.31315862e-02 4.11722164e+00] [-3.55230176e-02 9.99366069e-01 -2.36101563e-03 2.47222446e-02] [-8.31629300e-02 -6.01743134e-04 9.96535782e-01 -2.40115872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters 0.029042783262153746 Centerline is valid? [True, True] Translation: X:4.15, Y:0.02, Z:-0.24 [[ 9.95953581e-01 3.49668666e-02 8.27875714e-02 4.15000821e+00] [-3.48883976e-02 9.99388345e-01 -2.39473608e-03 2.49005381e-02] [-8.28206704e-02 -5.03279738e-04 9.96564340e-01 -2.42980888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55864 meters 0.029065901992394692 Centerline is valid? [True, True] Translation: X:4.18, Y:0.02, Z:-0.25 [[ 9.95931754e-01 3.44627036e-02 8.32602150e-02 4.18271222e+00] [-3.43779230e-02 9.99405896e-01 -2.45211992e-03 2.42428765e-02] [-8.32952565e-02 -4.20169164e-04 9.96524823e-01 -2.45099856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58864 meters 0.029043578158317537 Centerline is valid? [True, True] Translation: X:4.22, Y:0.02, Z:-0.25 [[ 9.95994831e-01 3.21862215e-02 8.34166852e-02 4.21530706e+00] [-3.20895123e-02 9.99481872e-01 -2.50017783e-03 2.42049232e-02] [-8.34539360e-02 -1.86636550e-04 9.96511618e-01 -2.46089514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.618639999999999 meters 0.028873158455678873 Centerline is valid? [True, True] Translation: X:4.25, Y:0.02, Z:-0.25 [[ 9.96051471e-01 3.19414325e-02 8.28324350e-02 4.24801953e+00] [-3.18416589e-02 9.99489735e-01 -2.52561293e-03 2.45093314e-02] [-8.28708402e-02 -1.21881669e-04 9.96560289e-01 -2.47951402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.648639999999999 meters 0.02884462613427887 Centerline is valid? [True, True] Translation: X:4.28, Y:0.02, Z:-0.25 [[ 9.96096515e-01 3.22533007e-02 8.21672468e-02 4.28097573e+00] [-3.21526686e-02 9.99479722e-01 -2.54795901e-03 2.43202110e-02] [-8.22066770e-02 -1.03883169e-04 9.96615298e-01 -2.49600687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67864 meters 0.028843331411251047 Centerline is valid? [True, True] Translation: X:4.31, Y:0.02, Z:-0.25 [[ 9.96096785e-01 3.45103528e-02 8.12418020e-02 4.31327522e+00] [-3.44161665e-02 9.99404310e-01 -2.55979765e-03 2.48748465e-02] [-8.12817466e-02 -2.46225173e-04 9.96691134e-01 -2.51397201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70864 meters 0.02878954761053889 Centerline is valid? [True, True] Translation: X:4.35, Y:0.03, Z:-0.25 [[ 9.95888723e-01 3.63373996e-02 8.29773779e-02 4.34514059e+00] [-3.62422705e-02 9.99339512e-01 -2.65290035e-03 2.52480572e-02] [-8.30189718e-02 -3.65295030e-04 9.96547900e-01 -2.53782383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.738639999999999 meters 0.028846342629386245 Centerline is valid? [True, True] Translation: X:4.38, Y:0.03, Z:-0.26 [[ 9.95719830e-01 3.82141113e-02 8.41528486e-02 4.37788507e+00] [-3.81196710e-02 9.99269454e-01 -2.72934042e-03 2.75129101e-02] [-8.41956704e-02 -4.90220519e-04 9.96449120e-01 -2.55013454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7686399999999995 meters 0.028773498589610876 Centerline is valid? [True, True] Translation: X:4.41, Y:0.03, Z:-0.26 [[ 9.95612955e-01 3.93922671e-02 8.48710433e-02 4.41047254e+00] [-3.92970135e-02 9.99223670e-01 -2.79329670e-03 2.71631825e-02] [-8.49151896e-02 -5.54136153e-04 9.96388029e-01 -2.57275244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79864 meters 0.02867221603623694 Centerline is valid? [True, True] Translation: X:4.44, Y:0.03, Z:-0.26 [[ 9.95669753e-01 3.97091967e-02 8.40530918e-02 4.44242710e+00] [-3.96133627e-02 9.99211136e-01 -2.80827907e-03 2.65007068e-02] [-8.40982999e-02 -5.33507088e-04 9.96457320e-01 -2.59350499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.828639999999999 meters 0.028696785693243482 Centerline is valid? [True, True] Translation: X:4.47, Y:0.03, Z:-0.26 [[ 9.95823515e-01 3.87536473e-02 8.26660844e-02 4.47427068e+00] [-3.86545702e-02 9.99248712e-01 -2.79923987e-03 2.57461851e-02] [-8.27124591e-02 -4.07873081e-04 9.96573370e-01 -2.61265269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.858639999999999 meters 0.028696529104823204 Centerline is valid? [True, True] Translation: X:4.51, Y:0.03, Z:-0.26 [[ 9.95734914e-01 3.88942732e-02 8.36613213e-02 4.50708999e+00] [-3.87898982e-02 9.99243258e-01 -2.87330247e-03 2.56805067e-02] [-8.37097662e-02 -3.84166549e-04 9.96490104e-01 -2.63398251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88864 meters 0.02862734095322693 Centerline is valid? [True, True] Translation: X:4.54, Y:0.03, Z:-0.26 [[ 9.95797262e-01 3.88136738e-02 8.29536666e-02 4.53895191e+00] [-3.87073050e-02 9.99246410e-01 -2.89072021e-03 2.68331464e-02] [-8.30033530e-02 -3.32341609e-04 9.96549213e-01 -2.64282439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91864 meters 0.028696724712714703 Centerline is valid? [True, True] Translation: X:4.57, Y:0.03, Z:-0.27 [[ 9.95803963e-01 3.94266849e-02 8.25833086e-02 4.57169525e+00] [-3.93201221e-02 9.99222407e-01 -2.91697630e-03 2.95096610e-02] [-8.26340991e-02 -3.42449212e-04 9.96579896e-01 -2.65721417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.948639999999999 meters 0.028696890580130377 Centerline is valid? [True, True] Translation: X:4.60, Y:0.03, Z:-0.27 [[ 9.95860048e-01 4.06637913e-02 8.12971145e-02 4.60362343e+00] [-4.05613278e-02 9.99172807e-01 -2.91214050e-03 2.88700936e-02] [-8.13482848e-02 -3.97434534e-04 9.96685657e-01 -2.67497290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9786399999999995 meters 0.028562192948763547 Centerline is valid? [True, True] Translation: X:4.64, Y:0.03, Z:-0.27 [[ 9.95757564e-01 4.17882912e-02 8.19793475e-02 4.63686060e+00] [-4.16846921e-02 9.99126385e-01 -2.97558985e-03 2.80649771e-02] [-8.20320739e-02 -4.54317758e-04 9.96629586e-01 -2.69534323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00864 meters 0.02866657338870263 Centerline is valid? [True, True] Translation: X:4.67, Y:0.03, Z:-0.27 [[ 9.95750513e-01 4.21233770e-02 8.18934549e-02 4.66997964e+00] [-4.20176036e-02 9.99112320e-01 -3.01531529e-03 2.78760840e-02] [-8.19477750e-02 -4.38464978e-04 9.96636528e-01 -2.71734482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.038639999999999 meters 0.028632031924463425 Centerline is valid? [True, True] Translation: X:4.70, Y:0.03, Z:-0.27 [[ 9.95671096e-01 4.21338545e-02 8.28480895e-02 4.70302630e+00] [-4.20219848e-02 9.99111895e-01 -3.09433194e-03 2.82265546e-02] [-8.29048878e-02 -4.00504284e-04 9.96557384e-01 -2.73949375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.068639999999999 meters 0.02850108209972872 Centerline is valid? [True, True] Translation: X:4.73, Y:0.03, Z:-0.28 [[ 9.95782149e-01 4.15580536e-02 8.17975485e-02 4.73484486e+00] [-4.14437234e-02 9.99136044e-01 -3.09580476e-03 2.88169875e-02] [-8.18555346e-02 -3.07247854e-04 9.96644158e-01 -2.76269016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09864 meters 0.028336786380574273 Centerline is valid? [True, True] Translation: X:4.77, Y:0.03, Z:-0.28 [[ 9.95745645e-01 4.15487510e-02 8.22454301e-02 4.76772186e+00] [-4.14298981e-02 9.99136442e-01 -3.15191510e-03 2.89098827e-02] [-8.23053645e-02 -2.68914057e-04 9.96607122e-01 -2.77516721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12864 meters 0.02826041396315049 Centerline is valid? [True, True] Translation: X:4.80, Y:0.03, Z:-0.28 [[ 9.95704162e-01 4.22597617e-02 8.23852768e-02 4.80099120e+00] [-4.21393767e-02 9.99106617e-01 -3.20026582e-03 3.10837601e-02] [-8.24469177e-02 -2.85146219e-04 9.96595417e-01 -2.79638101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.158639999999999 meters 0.028362981140039392 Centerline is valid? [True, True] Translation: X:4.83, Y:0.03, Z:-0.28 [[ 9.95542612e-01 4.22051361e-02 8.43423679e-02 4.83335114e+00] [-4.20751067e-02 9.99108936e-01 -3.31941118e-03 3.19562395e-02] [-8.44073097e-02 -2.44098859e-04 9.96431305e-01 -2.81801554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1886399999999995 meters 0.028467550586862962 Centerline is valid? [True, True] Translation: X:4.87, Y:0.03, Z:-0.28 [[ 9.95530566e-01 4.27831451e-02 8.41931974e-02 4.86647899e+00] [-4.26522611e-02 9.99084350e-01 -3.35349013e-03 3.16629909e-02] [-8.42595788e-02 -2.52528319e-04 9.96443807e-01 -2.83604336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21864 meters 0.028431602682834848 Centerline is valid? [True, True] Translation: X:4.90, Y:0.03, Z:-0.29 [[ 9.95493003e-01 4.30768936e-02 8.44870575e-02 4.89995662e+00] [-4.29424075e-02 9.99071732e-01 -3.40928518e-03 3.20808856e-02] [-8.45554923e-02 -2.34158118e-04 9.96418744e-01 -2.85772481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24864 meters 0.028312604166066076 Centerline is valid? [True, True] Translation: X:4.93, Y:0.03, Z:-0.29 [[ 9.95524381e-01 4.29150395e-02 8.41992108e-02 4.93329547e+00] [-4.27771819e-02 9.99078710e-01 -3.44153805e-03 3.11918717e-02] [-8.42693327e-02 -1.75669927e-04 9.96442998e-01 -2.87068944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.278639999999999 meters 0.0284819390911725 Centerline is valid? [True, True] Translation: X:4.97, Y:0.03, Z:-0.29 [[ 9.95402924e-01 4.18935165e-02 8.61275287e-02 4.96563483e+00] [-4.17416258e-02 9.99122080e-01 -3.56449358e-03 3.11238881e-02] [-8.62012448e-02 -4.69957366e-05 9.96277744e-01 -2.89184218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.30864 meters 0.028557779913723474 Centerline is valid? [True, True] Translation: X:5.00, Y:0.03, Z:-0.29 [[ 9.95279918e-01 4.18694425e-02 8.75490450e-02 4.99727574e+00] [-4.17093654e-02 9.99123090e-01 -3.65775565e-03 3.04579829e-02] [-8.76254205e-02 -1.11243642e-05 9.96153495e-01 -2.90587790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33864 meters 0.028512571323866125 Centerline is valid? [True, True] Translation: X:5.03, Y:0.03, Z:-0.29 [[ 9.95240643e-01 4.23920087e-02 8.77438297e-02 5.02982513e+00] [-4.22307293e-02 9.99101054e-01 -3.69441726e-03 2.98145959e-02] [-8.78215665e-02 -2.86517145e-05 9.96136221e-01 -2.91817519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.368639999999999 meters 0.02852667455135239 Centerline is valid? [True, True] Translation: X:5.06, Y:0.03, Z:-0.29 [[ 9.95247811e-01 4.31796644e-02 8.72772147e-02 5.06274392e+00] [-4.30193454e-02 9.99067322e-01 -3.71783663e-03 2.99553574e-02] [-8.73563480e-02 -5.44398721e-05 9.96177126e-01 -2.94250510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.398639999999999 meters 0.028356794939773354 Centerline is valid? [True, True] Translation: X:5.10, Y:0.03, Z:-0.30 [[ 9.95260093e-01 4.43641551e-02 8.65399822e-02 5.09538424e+00] [-4.42072840e-02 9.99015420e-01 -3.72925249e-03 2.94735195e-02] [-8.66202218e-02 -1.14121390e-04 9.96241399e-01 -2.95541523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42864 meters 0.028751219245937897 Centerline is valid? [True, True] Translation: X:5.13, Y:0.03, Z:-0.30 [[ 9.95221663e-01 4.39293732e-02 8.72012080e-02 5.12827176e+00] [-4.37647780e-02 9.99034639e-01 -3.79937701e-03 2.98004095e-02] [-8.72839316e-02 -3.51192050e-05 9.96183474e-01 -2.98107989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45864 meters 0.028685095629554992 Centerline is valid? [True, True] Translation: X:5.16, Y:0.03, Z:-0.30 [[ 9.95115720e-01 4.45996017e-02 8.80657643e-02 5.16079644e+00] [-4.44304213e-02 9.99004941e-01 -3.88132388e-03 2.92751710e-02] [-8.81512392e-02 -5.04326076e-05 9.96107101e-01 -3.00075132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.488639999999999 meters 0.028737570776906363 Centerline is valid? [True, True] Translation: X:5.19, Y:0.03, Z:-0.30 [[ 9.95248594e-01 4.45041347e-02 8.66003321e-02 5.19296614e+00] [-4.43368197e-02 9.99009200e-01 -3.85544255e-03 2.91203641e-02] [-8.66861116e-02 -2.45953081e-06 9.96235674e-01 -3.01443525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5186399999999995 meters 0.028813325274881157 Centerline is valid? [True, True] Translation: X:5.23, Y:0.03, Z:-0.30 [[ 9.95391426e-01 4.32644448e-02 8.55809421e-02 5.22556104e+00] [-4.30931668e-02 9.99063645e-01 -3.84858099e-03 3.15657240e-02] [-8.56673147e-02 1.42890708e-04 9.96323788e-01 -3.02901917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54864 meters 0.028767572330502297 Centerline is valid? [True, True] Translation: X:5.26, Y:0.03, Z:-0.30 [[ 9.95383926e-01 4.31896414e-02 8.57058673e-02 5.25850163e+00] [-4.30141168e-02 9.99066874e-01 -3.89447773e-03 3.24589591e-02] [-8.57940940e-02 1.89938349e-04 9.96312871e-01 -3.04989465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.578639999999999 meters 0.028922502803655097 Centerline is valid? [True, True] Translation: X:5.29, Y:0.04, Z:-0.31 [[ 9.95491034e-01 4.16146353e-02 8.52398036e-02 5.29135003e+00] [-4.14315262e-02 9.99133668e-01 -3.91683621e-03 3.52582564e-02] [-8.53289554e-02 3.67560160e-04 9.96352766e-01 -3.06174582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.608639999999999 meters 0.029174130415009575 Centerline is valid? [True, True] Translation: X:5.32, Y:0.04, Z:-0.31 [[ 9.95394540e-01 4.05159860e-02 8.68801772e-02 5.32392920e+00] [-4.03177946e-02 9.99178758e-01 -4.03544230e-03 3.57823721e-02] [-8.69723275e-02 5.14040095e-04 9.96210595e-01 -3.09260951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63864 meters 0.029103772948805357 Centerline is valid? [True, True] Translation: X:5.36, Y:0.04, Z:-0.31 [[ 9.95495182e-01 3.95986136e-02 8.61469253e-02 5.35659717e+00] [-3.93968738e-02 9.99215469e-01 -4.04134180e-03 3.56790615e-02] [-8.62393719e-02 6.29216742e-04 9.96274247e-01 -3.10798732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66864 meters 0.029266011587565154 Centerline is valid? [True, True] Translation: X:5.39, Y:0.04, Z:-0.31 [[ 9.95643830e-01 3.68891765e-02 8.56303273e-02 5.38978828e+00] [-3.66761260e-02 9.99318955e-01 -4.06041684e-03 3.68991843e-02] [-8.57217947e-02 9.02140293e-04 9.96318704e-01 -3.14070472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.698639999999999 meters 0.029180326600202023 Centerline is valid? [True, True] Translation: X:5.42, Y:0.04, Z:-0.32 [[ 9.95691156e-01 3.54140964e-02 8.57027663e-02 5.42201587e+00] [-3.51916339e-02 9.99372149e-01 -4.10562007e-03 3.63499847e-02] [-8.57943546e-02 1.07190922e-03 9.96312290e-01 -3.16023538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7286399999999995 meters 0.02950256263023238 Centerline is valid? [True, True] Translation: X:5.45, Y:0.03, Z:-0.32 [[ 9.95978846e-01 3.23581329e-02 8.35409473e-02 5.45493468e+00] [-3.21328964e-02 9.99475442e-01 -4.03962514e-03 3.48207218e-02] [-8.36278399e-02 1.33896857e-03 9.96496157e-01 -3.17657668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75864 meters 0.029685237829634635 Centerline is valid? [True, True] Translation: X:5.49, Y:0.03, Z:-0.32 [[ 9.96044234e-01 3.04630967e-02 8.34738532e-02 5.48684723e+00] [-3.02282067e-02 9.99534710e-01 -4.07662506e-03 3.41066680e-02] [-8.35592003e-02 1.53723400e-03 9.96501629e-01 -3.19551881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters 0.029871880237113704 Centerline is valid? [True, True] Translation: X:5.52, Y:0.03, Z:-0.32 [[ 9.96042702e-01 2.93288477e-02 8.38972839e-02 5.51926943e+00] [-2.90844627e-02 9.99568409e-01 -4.13389816e-03 3.35936021e-02] [-8.39823171e-02 1.67743167e-03 9.96465833e-01 -3.21529020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.818639999999999 meters 0.029871880237113704 Centerline is valid? [True, True] Translation: X:5.55, Y:0.03, Z:-0.32 [[ 9.96028244e-01 2.98211014e-02 8.38954014e-02 5.55178093e+00] [-2.95752670e-02 9.99553850e-01 -4.17180817e-03 3.23221256e-02] [-8.39823794e-02 1.67400987e-03 9.96465834e-01 -3.23448058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84864 meters 0.030037491519418372 Centerline is valid? [True, True] Translation: X:5.58, Y:0.03, Z:-0.33 [[ 9.96123702e-01 2.85390072e-02 8.32051425e-02 5.58437843e+00] [-2.82893366e-02 9.99591044e-01 -4.17831596e-03 3.05104311e-02] [-8.32903603e-02 1.80830128e-03 9.96523681e-01 -3.25751119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87864 meters 0.030207091154334065 Centerline is valid? [True, True] Translation: X:5.62, Y:0.03, Z:-0.33 [[ 9.96036940e-01 2.85631471e-02 8.42292142e-02 5.61674634e+00] [-2.83039515e-02 9.99590243e-01 -4.27003760e-03 2.73603348e-02] [-8.43166664e-02 1.86909559e-03 9.96437257e-01 -3.28863373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999999 meters 0.029927667327056273 Centerline is valid? [True, True] Translation: X:5.65, Y:0.02, Z:-0.33 [[ 9.96016405e-01 3.06593123e-02 8.37336675e-02 5.64835358e+00] [-3.04075347e-02 9.99528417e-01 -4.28084044e-03 2.24426189e-02] [-8.38254278e-02 1.71765290e-03 9.96478975e-01 -3.29756788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9386399999999995 meters 0.029847608983403728 Centerline is valid? [True, True] Translation: X:5.68, Y:0.02, Z:-0.33 [[ 9.95981196e-01 3.27009897e-02 8.33792727e-02 5.68060819e+00] [-3.24554843e-02 9.99463938e-01 -4.29852548e-03 1.97137379e-02] [-8.34751423e-02 1.57513587e-03 9.96508615e-01 -3.31638097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96864 meters 0.029585811238463027 Centerline is valid? [True, True] Translation: X:5.71, Y:0.02, Z:-0.33 [[ 9.95767916e-01 3.55706568e-02 8.47407032e-02 5.71384307e+00] [-3.53241296e-02 9.99366190e-01 -4.40729001e-03 1.78944785e-02] [-8.48437639e-02 1.39524640e-03 9.96393290e-01 -3.33256474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.998639999999999 meters 0.029450719510404833 Centerline is valid? [True, True] Translation: X:5.75, Y:0.01, Z:-0.34 [[ 9.95508737e-01 3.94809050e-02 8.60442505e-02 5.74587110e+00] [-3.92376774e-02 9.99219697e-01 -4.51683022e-03 1.42294804e-02] [-8.61554384e-02 1.12036741e-03 9.96281077e-01 -3.36694287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.028639999999999 meters 0.029368080115514724 Centerline is valid? [True, True] Translation: X:5.78, Y:0.01, Z:-0.34 [[ 9.95448302e-01 4.09033538e-02 8.60789937e-02 5.77873732e+00] [-4.06618242e-02 9.99162569e-01 -4.55809478e-03 1.15394252e-02] [-8.61933498e-02 1.03721880e-03 9.96277888e-01 -3.37773889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05864 meters 0.029188038053070794 Centerline is valid? [True, True] Translation: X:5.81, Y:0.01, Z:-0.34 [[ 9.95472879e-01 4.34416453e-02 8.45373919e-02 5.81093028e+00] [-4.32144275e-02 9.99055610e-01 -4.51668709e-03 8.21343079e-03] [-8.46537680e-02 8.43004505e-04 9.96410071e-01 -3.38789520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08864 meters 0.029156755173609588 Centerline is valid? [True, True] Translation: X:5.84, Y:0.01, Z:-0.34 [[ 9.95406169e-01 4.47296511e-02 8.46511510e-02 5.84431787e+00] [-4.45031572e-02 9.98998829e-01 -4.56168447e-03 5.98820095e-03] [-8.47704433e-02 7.73485381e-04 9.96400208e-01 -3.41161206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.118639999999999 meters 0.02923291056425782 Centerline is valid? [True, True] Translation: X:5.88, Y:0.00, Z:-0.34 [[ 9.95286189e-01 4.54363323e-02 8.56792980e-02 5.87598125e+00] [-4.52032740e-02 9.98966944e-01 -4.65923187e-03 4.30322310e-03] [-8.58024849e-02 7.64284347e-04 9.96311874e-01 -3.43459848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.148639999999999 meters 0.02912818618990447 Centerline is valid? [True, True] Translation: X:5.91, Y:0.00, Z:-0.35 [[ 9.95190199e-01 4.66619885e-02 8.61343561e-02 5.90880055e+00] [-4.64275454e-02 9.98910489e-01 -4.72414949e-03 3.00898377e-03] [-8.62609500e-02 7.02420539e-04 9.96272330e-01 -3.45374676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17864 meters 0.02912822841711199 Centerline is valid? [True, True] Translation: X:5.94, Y:0.00, Z:-0.35 [[ 9.95180462e-01 4.82943740e-02 8.53434286e-02 5.94065589e+00] [-4.80666590e-02 9.98832967e-01 -4.72224953e-03 2.67400525e-03] [-8.54718882e-02 5.97316990e-04 9.96340403e-01 -3.47566741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.208639999999999 meters 0.02901997994982788 Centerline is valid? [True, True] Translation: X:5.97, Y:0.00, Z:-0.35 [[ 9.94952403e-01 5.29228494e-02 8.52577673e-02 5.97250487e+00] [-5.27092806e-02 9.98598576e-01 -4.75565556e-03 2.51661593e-03] [-8.53899678e-02 2.37775344e-04 9.96347578e-01 -3.48302391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.238639999999999 meters 0.029045041823917046 Centerline is valid? [True, True] Translation: X:6.01, Y:0.00, Z:-0.35 [[ 9.94768547e-01 5.51686228e-02 8.59765185e-02 6.00543724e+00] [-5.49562873e-02 9.98477048e-01 -4.83640871e-03 2.17607192e-03] [-8.61123984e-02 8.61570120e-05 9.96285425e-01 -3.50363866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2686399999999995 meters 0.0291774103531197 Centerline is valid? [True, True] Translation: X:6.04, Y:0.00, Z:-0.35 [[ 9.94493245e-01 5.97373974e-02 8.61082375e-02 6.03856973e+00] [-5.95376446e-02 9.98214092e-01 -4.88834269e-03 4.37572510e-03] [-8.62464729e-02 -2.65257854e-04 9.96273795e-01 -3.52373932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29864 meters 0.029302483114547223 Centerline is valid? [True, True] Translation: X:6.07, Y:0.01, Z:-0.36 [[ 9.94272862e-01 6.15304377e-02 8.73812444e-02 6.07052175e+00] [-6.13277729e-02 9.98105134e-01 -5.00456970e-03 6.18942974e-03] [-8.75236020e-02 -3.82989268e-04 9.96162373e-01 -3.55435800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.328639999999999 meters 0.02938934694929892 Centerline is valid? [True, True] Translation: X:6.10, Y:0.01, Z:-0.36 [[ 9.94166373e-01 6.42743720e-02 8.66142459e-02 6.10408431e+00] [-6.40820772e-02 9.97932097e-01 -5.00163156e-03 7.83661262e-03] [-8.67566128e-02 -5.77966891e-04 9.96229369e-01 -3.57716372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.358639999999999 meters 0.02957984694259782 Centerline is valid? [True, True] Translation: X:6.14, Y:0.01, Z:-0.36 [[ 9.93874024e-01 6.68614315e-02 8.79998450e-02 6.13629708e+00] [-6.66691428e-02 9.97761972e-01 -5.12574193e-03 1.11745240e-02] [-8.81456133e-02 -7.72532480e-04 9.96107300e-01 -3.60119338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38864 meters 0.02946287480661108 Centerline is valid? [True, True] Translation: X:6.17, Y:0.01, Z:-0.36 [[ 9.93944286e-01 6.80878677e-02 8.62484738e-02 6.16837804e+00] [-6.79044481e-02 9.97678987e-01 -5.06208080e-03 1.14191443e-02] [-8.63929563e-02 -8.25228726e-04 9.96260797e-01 -3.60863651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41864 meters 0.029643678427637328 Centerline is valid? [True, True] Translation: X:6.20, Y:0.01, Z:-0.36 [[ 9.93752760e-01 6.96532318e-02 8.72002206e-02 6.20069641e+00] [-6.94682726e-02 9.97570829e-01 -5.15760746e-03 1.18722373e-02] [-8.73476404e-02 -9.32262044e-04 9.96177454e-01 -3.63758799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.448639999999999 meters 0.029626398997836527 Centerline is valid? [True, True] Translation: X:6.23, Y:0.02, Z:-0.37 [[ 9.93740390e-01 7.11672414e-02 8.61119062e-02 6.23352230e+00] [-7.09891999e-02 9.97463883e-01 -5.13190013e-03 1.62564484e-02] [-8.62587395e-02 -1.01323889e-03 9.96272254e-01 -3.66526662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4786399999999995 meters 0.029465875586347542 Centerline is valid? [True, True] Translation: X:6.27, Y:0.02, Z:-0.37 [[ 9.93726338e-01 7.15723405e-02 8.59381492e-02 6.26625632e+00] [-7.13930363e-02 9.97434904e-01 -5.16196942e-03 1.73620381e-02] [-8.60871639e-02 -1.00580044e-03 9.96287101e-01 -3.68142237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.50864 meters 0.029545275580750336 Centerline is valid? [True, True] Translation: X:6.30, Y:0.02, Z:-0.37 [[ 9.93613242e-01 7.21282565e-02 8.67769494e-02 6.29842335e+00] [-7.19437777e-02 9.97394843e-01 -5.25555236e-03 1.76735003e-02] [-8.69299556e-02 -1.02107513e-03 9.96213903e-01 -3.69469997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.538639999999999 meters 0.029609273617848413 Centerline is valid? [True, True] Translation: X:6.33, Y:0.02, Z:-0.37 [[ 9.93397040e-01 7.28662319e-02 8.86162166e-02 6.33084883e+00] [-7.26731616e-02 9.97341151e-01 -5.40745216e-03 1.67569947e-02] [-8.87746201e-02 -1.06827366e-03 9.96051166e-01 -3.72536064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.568639999999999 meters 0.029469020911482933 Centerline is valid? [True, True] Translation: X:6.36, Y:0.02, Z:-0.37 [[ 9.93501435e-01 7.30437435e-02 8.72898109e-02 6.36298319e+00] [-7.28536947e-02 9.97328207e-01 -5.36529410e-03 1.62853299e-02] [-8.74484917e-02 -1.02895785e-03 9.96168511e-01 -3.73436734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59864 meters 0.02928258458679228 Centerline is valid? [True, True] Translation: X:6.40, Y:0.02, Z:-0.38 [[ 9.93765058e-01 7.23143283e-02 8.48625173e-02 6.39569173e+00] [-7.21295126e-02 9.97381479e-01 -5.24592412e-03 1.64614024e-02] [-8.50196585e-02 -9.07875928e-04 9.96378860e-01 -3.75033849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62864 meters 0.02928310730091295 Centerline is valid? [True, True] Translation: X:6.43, Y:0.02, Z:-0.38 [[ 9.93741677e-01 7.22950310e-02 8.51522591e-02 6.42820828e+00] [-7.21069028e-02 9.97382897e-01 -5.28691685e-03 1.50569183e-02] [-8.53116247e-02 -8.86236057e-04 9.96353924e-01 -3.77137556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.658639999999999 meters 0.029329796995717434 Centerline is valid? [True, True] Translation: X:6.46, Y:0.01, Z:-0.38 [[ 9.93818578e-01 7.16454488e-02 8.48030920e-02 6.46014783e+00] [-7.14529328e-02 9.97429854e-01 -5.30708775e-03 1.32194281e-02] [-8.49653644e-02 -7.85147239e-04 9.96383596e-01 -3.79587149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6886399999999995 meters 0.02934674363053577 Centerline is valid? [True, True] Translation: X:6.49, Y:0.01, Z:-0.38 [[ 9.93843780e-01 6.92514331e-02 8.64799406e-02 6.49249474e+00] [-6.90387462e-02 9.97599085e-01 -5.45141206e-03 1.02805797e-02] [-8.66498277e-02 -5.52614707e-04 9.96238677e-01 -3.82584088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71864 meters 0.029252267596417494 Centerline is valid? [True, True] Translation: X:6.53, Y:0.01, Z:-0.38 [[ 9.93887190e-01 6.86635373e-02 8.64498228e-02 6.52509321e+00] [-6.84452652e-02 9.97639768e-01 -5.48992532e-03 7.18947401e-03] [-8.66227389e-02 -4.60714602e-04 9.96241080e-01 -3.84249470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.748639999999999 meters 0.029126860387639463 Centerline is valid? [True, True] Translation: X:6.56, Y:0.00, Z:-0.38 [[ 9.93970678e-01 6.90476571e-02 8.51745955e-02 6.55718117e+00] [-6.88336318e-02 9.97613263e-01 -5.45053133e-03 2.80468051e-03] [-8.53476525e-02 -4.45208413e-04 9.96351133e-01 -3.84523635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.778639999999999 meters 0.028960509913639583 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.00, Z:-0.39 [[ 9.93940305e-01 7.00623770e-02 8.46990800e-02 6.58928083e+00] [-6.98518251e-02 9.97542488e-01 -5.45051446e-03 -1.09786656e-04] [-8.48728070e-02 -4.98899320e-04 9.96391669e-01 -3.85897677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.80864 meters 0.02912843909773141 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.00, Z:-0.39 [[ 9.93781885e-01 7.23214020e-02 8.46591960e-02 6.62247389e+00] [-7.21172529e-02 9.97381155e-01 -5.47115898e-03 -3.08711914e-03] [-8.48331686e-02 -6.68249961e-04 9.96394945e-01 -3.87707474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83864 meters 0.02935600746003898 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.01, Z:-0.39 [[ 9.93633170e-01 7.44094179e-02 8.45952786e-02 6.65542750e+00] [-7.42093557e-02 9.97227455e-01 -5.51138352e-03 -6.12200994e-03] [-8.47708332e-02 -8.01467643e-04 9.96400152e-01 -3.90134270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.868639999999999 meters 0.029374788755466077 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.01, Z:-0.39 [[ 9.93283286e-01 7.72124451e-02 8.61774507e-02 6.68760975e+00] [-7.70115848e-02 9.97014145e-01 -5.65786045e-03 -1.03112613e-02] [-8.63569945e-02 -1.01680383e-03 9.96263738e-01 -3.91740556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.898639999999999 meters 0.029599892717668084 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.01, Z:-0.39 [[ 9.93170778e-01 7.84865571e-02 8.63230360e-02 6.72111583e+00] [-7.82862699e-02 9.96914578e-01 -5.70829578e-03 -1.19193449e-02] [-8.65047175e-02 -1.08859593e-03 9.96250846e-01 -3.93021915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92864 meters 0.029455995288883804 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.01, Z:-0.39 [[ 9.93026542e-01 7.97782290e-02 8.67970077e-02 6.75400469e+00] [-7.95767242e-02 9.96811959e-01 -5.78468656e-03 -1.31035277e-02] [-8.69817874e-02 -1.16267425e-03 9.96209223e-01 -3.94065790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.958639999999999 meters 0.029669272656573147 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.02, Z:-0.40 [[ 9.93009045e-01 8.04974558e-02 8.63318965e-02 6.78720462e+00] [-8.02969366e-02 9.96754122e-01 -5.79839609e-03 -1.55005660e-02] [-8.65184299e-02 -1.17432706e-03 9.96249558e-01 -3.96103869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.988639999999999 meters 0.029607599907215558 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.02, Z:-0.40 [[ 9.92990715e-01 8.14141459e-02 8.56806643e-02 6.82043147e+00] [-8.12162098e-02 9.96679636e-01 -5.79919605e-03 -1.70650991e-02] [-8.58683099e-02 -1.20011097e-03 9.96305773e-01 -3.98527765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01864 meters 0.029554267170194225 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.02, Z:-0.40 [[ 9.93056612e-01 8.17180681e-02 8.46210560e-02 6.85296285e+00] [-8.15225490e-02 9.96654800e-01 -5.76923251e-03 -1.58277955e-02] [-8.48094321e-02 -1.16934970e-03 9.96396504e-01 -4.00708223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters 0.02949011874402851 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.02, Z:-0.40 [[ 9.93038095e-01 8.23361610e-02 8.42383427e-02 6.88557818e+00] [-8.21412721e-02 9.96603919e-01 -5.78273909e-03 -1.63799060e-02] [-8.44283910e-02 -1.17696442e-03 9.96428854e-01 -4.02365498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07864 meters 0.029651949402883505 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.02, Z:-0.40 [[ 9.92850501e-01 8.38863895e-02 8.49173474e-02 6.91755316e+00] [-8.36903747e-02 9.96474507e-01 -5.87180519e-03 -1.77921421e-02] [-8.51105365e-02 -1.27693991e-03 9.96370697e-01 -4.03942460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters 0.029764608306901037 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.02, Z:-0.41 [[ 9.92572526e-01 8.73954337e-02 8.46275252e-02 6.95023468e+00] [-8.72102117e-02 9.96172518e-01 -5.89015299e-03 -1.77461807e-02] [-8.48183873e-02 -1.53398035e-03 9.96395247e-01 -4.05648972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.138639999999999 meters 0.029907012608001306 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.02, Z:-0.41 [[ 9.92428891e-01 8.85083696e-02 8.51537705e-02 6.98214790e+00] [-8.83216012e-02 9.96074147e-01 -5.96556096e-03 -1.77442281e-02] [-8.53474714e-02 -1.60052231e-03 9.96349962e-01 -4.08329618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16864 meters 0.030082408441203103 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.02, Z:-0.41 [[ 9.92174506e-01 8.86774894e-02 8.78979664e-02 7.01465921e+00] [-8.84755365e-02 9.96059063e-01 -6.19861031e-03 -1.71091455e-02] [-8.81012432e-02 -1.62671660e-03 9.96110197e-01 -4.11011783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19864 meters 0.02996924032483609 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.02, Z:-0.41 [[ 9.92366667e-01 8.69112145e-02 8.74919381e-02 7.04727922e+00] [-8.67015169e-02 9.96215032e-01 -6.20129101e-03 -1.82416598e-02] [-8.76997457e-02 -1.43172926e-03 9.96145925e-01 -4.12701385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.228639999999999 meters 0.029811537071543426 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.02, Z:-0.41 [[ 9.92592367e-01 8.47466928e-02 8.70539568e-02 7.07974715e+00] [-8.45288321e-02 9.96401791e-01 -6.19251478e-03 -1.88421593e-02] [-8.72655136e-02 -1.21192639e-03 9.96184351e-01 -4.14730115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25864 meters 0.029671029827713698 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.02, Z:-0.42 [[ 9.92856683e-01 7.91165909e-02 8.93094225e-02 7.11330998e+00] [-7.88606554e-02 9.96865129e-01 -6.39621085e-03 -1.73430968e-02] [-8.95354954e-02 -6.92478909e-04 9.95983391e-01 -4.19041674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28864 meters 0.029455424851413715 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.02, Z:-0.42 [[ 9.93074394e-01 7.57920195e-02 8.97709157e-02 7.14604897e+00] [-7.55156335e-02 9.97123588e-01 -6.47613280e-03 -1.85971831e-02] [-9.00035367e-02 -3.47825919e-04 9.95941385e-01 -4.20723906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31864 meters 0.029483428604664384 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.02, Z:-0.42 [[ 9.93620536e-01 6.82832990e-02 8.97531106e-02 7.17873615e+00] [-6.79722800e-02 9.97665900e-01 -6.52083959e-03 -2.22736665e-02] [-8.99888823e-02 3.78516568e-04 9.95942698e-01 -4.23389564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34864 meters 0.029490466332697 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.03, Z:-0.42 [[ 9.94034242e-01 6.47081794e-02 8.77996422e-02 7.21056960e+00] [-6.43929150e-02 9.97903963e-01 -6.42128105e-03 -2.51415446e-02] [-8.80311204e-02 7.29298337e-04 9.96117458e-01 -4.24499448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.378639999999999 meters 0.029599959332702912 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.03, Z:-0.43 [[ 9.94218594e-01 6.27474809e-02 8.71328974e-02 7.24321185e+00] [-6.24259644e-02 9.98028996e-01 -6.41262829e-03 -2.79518744e-02] [-8.73635344e-02 9.36199130e-04 9.96176057e-01 -4.25837779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40864 meters 0.02995066571667729 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.03, Z:-0.43 [[ 9.94241954e-01 5.94183324e-02 8.91762188e-02 7.27541677e+00] [-5.90642584e-02 9.98232322e-01 -6.60642742e-03 -3.07525276e-02] [-8.94111269e-02 1.30126008e-03 9.95993954e-01 -4.28306787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43864 meters 0.029901744225798686 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.03, Z:-0.43 [[ 9.94347243e-01 5.91700711e-02 8.81615733e-02 7.30721216e+00] [-5.88196859e-02 9.98247008e-01 -6.56923375e-03 -3.39316159e-02] [-8.83957289e-02 1.34646342e-03 9.96084526e-01 -4.29307080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.468639999999999 meters 0.029956215198601366 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.04, Z:-0.43 [[ 9.94320504e-01 5.93354373e-02 8.83518066e-02 7.33981453e+00] [-5.89806311e-02 9.98237154e-01 -6.62337624e-03 -3.73032295e-02] [-8.85890569e-02 1.37471349e-03 9.96067312e-01 -4.30660380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49864 meters 0.029825649363173147 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.04, Z:-0.43 [[ 9.94343834e-01 5.87946555e-02 8.84507116e-02 7.37270354e+00] [-5.84330211e-02 9.98269018e-01 -6.67455094e-03 -4.07178503e-02] [-8.86900329e-02 1.46835628e-03 9.96058192e-01 -4.32707309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52864 meters 0.029822421253074553 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.05, Z:-0.44 [[ 9.94308078e-01 6.09523158e-02 8.73857039e-02 7.40499765e+00] [-6.06040551e-02 9.98139830e-01 -6.63532555e-03 -4.54225583e-02] [-8.76275902e-02 1.30162978e-03 9.96152454e-01 -4.35049798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.558639999999999 meters 0.029585881024957517 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.05, Z:-0.44 [[ 9.94249315e-01 6.31572671e-02 8.64838683e-02 7.43735700e+00] [-6.28212622e-02 9.98002944e-01 -6.60402443e-03 -4.87858154e-02] [-8.67282473e-02 1.13302100e-03 9.96231362e-01 -4.36824860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58864 meters 0.02917739202440866 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.05, Z:-0.44 [[ 9.94061748e-01 6.82152114e-02 8.47816386e-02 7.46897975e+00] [-6.79082260e-02 9.97670379e-01 -6.50289340e-03 -5.36846703e-02] [-8.50277258e-02 7.06906901e-04 9.96378335e-01 -4.38248109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61864 meters 0.029023356694928438 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.06, Z:-0.44 [[ 9.93838159e-01 7.15122572e-02 8.46859525e-02 7.50083716e+00] [-7.12161422e-02 9.97439622e-01 -6.51630072e-03 -5.64142215e-02] [-8.49351198e-02 4.45141478e-04 9.96386385e-01 -4.40057396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64864 meters 0.02891026441666317 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.06, Z:-0.44 [[ 9.93651878e-01 7.54849772e-02 8.34144140e-02 7.53296066e+00] [-7.52085843e-02 9.97146929e-01 -6.45526568e-03 -5.96191048e-02] [-8.36637024e-02 1.40806874e-04 9.96494037e-01 -4.41387238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67864 meters 0.028945432137538835 Centerline is valid? [True, True] Translation: X:7.57, Y:-0.06, Z:-0.44 [[ 9.93431285e-01 7.88145260e-02 8.29611529e-02 7.56609281e+00] [-7.85494917e-02 9.96889292e-01 -6.45886035e-03 -6.35041547e-02] [-8.32121370e-02 -1.00122463e-04 9.96531851e-01 -4.43499830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.708639999999999 meters 0.028945432137538835 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.07, Z:-0.45 [[ 9.93390828e-01 7.93263066e-02 8.29578173e-02 7.59855758e+00] [-7.90594960e-02 9.96848698e-01 -6.50146357e-03 -6.56926491e-02] [-8.32121293e-02 -1.00108941e-04 9.96531852e-01 -4.45418034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73864 meters 0.02919350805908212 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.07, Z:-0.45 [[ 9.93155463e-01 8.09926996e-02 8.41570471e-02 7.63037535e+00] [-8.07204979e-02 9.96714674e-01 -6.63769470e-03 -6.79305294e-02] [-8.44181687e-02 -2.00935986e-04 9.96430395e-01 -4.46789359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76864 meters 0.0292064727376576 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.07, Z:-0.45 [[ 9.92862783e-01 8.26219748e-02 8.60064151e-02 7.66209471e+00] [-8.23403457e-02 9.96580912e-01 -6.82295903e-03 -6.96445046e-02] [-8.62760779e-02 -3.07535863e-04 9.96271220e-01 -4.49621262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.798639999999999 meters 0.029200891796918503 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.07, Z:-0.45 [[ 9.92716938e-01 8.52690752e-02 8.51015050e-02 7.69498258e+00] [-8.49996305e-02 9.96357839e-01 -6.79116697e-03 -7.09543199e-02] [-8.53706281e-02 -4.91889993e-04 9.96349143e-01 -4.51366980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82864 meters 0.029286339790734164 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.07, Z:-0.45 [[ 9.92655763e-01 8.65901945e-02 8.44788397e-02 7.72734391e+00] [-8.63265198e-02 9.96243854e-01 -6.77603624e-03 -7.27196381e-02] [-8.47482631e-02 -5.66492797e-04 9.96402234e-01 -4.53696937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85864 meters 0.029245476748385582 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.07, Z:-0.46 [[ 9.92581003e-01 8.75100337e-02 8.44094032e-02 7.76040648e+00] [-8.72481419e-02 9.96163444e-01 -6.79365614e-03 -7.40414582e-02] [-8.46800749e-02 -6.21309562e-04 9.96407998e-01 -4.56621663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.888639999999999 meters 0.02952867954411733 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.08, Z:-0.46 [[ 9.92315978e-01 8.85067197e-02 8.64613182e-02 7.79239650e+00] [-8.82318210e-02 9.96075348e-01 -7.00331588e-03 -7.50873327e-02] [-8.67418281e-02 -6.79137298e-04 9.96230593e-01 -4.58904210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91864 meters 0.02950997031099076 Centerline is valid? [True, True] Translation: X:7.82, Y:-0.08, Z:-0.46 [[ 9.92352527e-01 8.89256990e-02 8.56077267e-02 7.82448734e+00] [-8.86544501e-02 9.96038037e-01 -6.97263107e-03 -7.70312806e-02] [-8.58885981e-02 -6.70197878e-04 9.96304521e-01 -4.60146629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94864 meters 0.02961329707981771 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.08, Z:-0.46 [[ 9.92351670e-01 8.91055123e-02 8.54305079e-02 7.85764689e+00] [-8.88325923e-02 9.96021984e-01 -6.99841213e-03 -7.77197352e-02] [-8.57142611e-02 -6.44127515e-04 9.96319552e-01 -4.62329921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.978639999999999 meters 0.02942169162860155 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.08, Z:-0.46 [[ 9.92323222e-01 8.93270030e-02 8.55295804e-02 7.89115111e+00] [-8.90504384e-02 9.96002160e-01 -7.05101025e-03 -7.88444753e-02] [-8.58174925e-02 -6.19565428e-04 9.96310682e-01 -4.64225562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00864 meters 0.02953608284574699 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.08, Z:-0.47 [[ 9.92166128e-01 8.97795880e-02 8.68677181e-02 7.92300064e+00] [-8.94922209e-02 9.95961462e-01 -7.20474170e-03 -7.96846722e-02] [-8.71637382e-02 -6.25684345e-04 9.96193802e-01 -4.67420877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03864 meters 0.02948392097309974 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.08, Z:-0.47 [[ 9.92176612e-01 9.00950701e-02 8.64201894e-02 7.95661474e+00] [-8.98083186e-02 9.95932983e-01 -7.20825487e-03 -7.97614940e-02] [-8.67181453e-02 -6.09390012e-04 9.96232700e-01 -4.68286043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06864 meters 0.02960443188265221 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.08, Z:-0.47 [[ 9.92129798e-01 9.02477443e-02 8.67975144e-02 7.98951396e+00] [-8.99551501e-02 9.95919177e-01 -7.28447458e-03 -8.09480859e-02] [-8.71007165e-02 -5.80739137e-04 9.96199341e-01 -4.69940923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09864 meters 0.0295140200599375 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.08, Z:-0.47 [[ 9.92231998e-01 8.98866968e-02 8.60002518e-02 8.02133046e+00] [-8.95944521e-02 9.95951871e-01 -7.25976612e-03 -8.21474422e-02] [-8.63046681e-02 -5.01773191e-04 9.96268665e-01 -4.70634220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.128639999999999 meters 0.029540393649205816 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.08, Z:-0.47 [[ 9.92173011e-01 9.02122751e-02 8.63392260e-02 8.05411505e+00] [-8.99153918e-02 9.95922439e-01 -7.32927582e-03 -8.38263823e-02] [-8.66483632e-02 -4.91315679e-04 9.96238837e-01 -4.72849443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15864 meters 0.029306325554311587 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.08, Z:-0.47 [[ 9.92508641e-01 8.81986542e-02 8.45434443e-02 8.08684187e+00] [-8.79031743e-02 9.96102869e-01 -7.21844738e-03 -8.36397819e-02] [-8.48506248e-02 -2.67265718e-04 9.96393647e-01 -4.74607300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18864 meters 0.029461466802907288 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.09, Z:-0.48 [[ 9.92435225e-01 8.79968533e-02 8.56088646e-02 8.11925254e+00] [-8.76897586e-02 9.96120730e-01 -7.34835635e-03 -8.51334303e-02] [-8.59233969e-02 -2.14252971e-04 9.96301723e-01 -4.77073138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.218639999999999 meters 0.02944149418722025 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.09, Z:-0.48 [[ 9.92645133e-01 8.67587222e-02 8.44308291e-02 8.15139884e+00] [-8.64523356e-02 9.96229351e-01 -7.28519849e-03 -8.67295474e-02] [-8.47445246e-02 -6.76255482e-05 9.96402710e-01 -4.77984514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24864 meters 0.029547582294177043 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.09, Z:-0.48 [[ 9.92824029e-01 8.52033181e-02 8.39097254e-02 8.18409471e+00] [-8.48918318e-02 9.96363580e-01 -7.27963880e-03 -8.85061974e-02] [-8.42248437e-02 1.04150026e-04 9.96446770e-01 -4.79281090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27864 meters 0.02965397718821279 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.09, Z:-0.48 [[ 9.92782285e-01 8.45454929e-02 8.50611164e-02 8.21638031e+00] [-8.42193241e-02 9.96419599e-01 -7.42211136e-03 -9.02172078e-02] [-8.53840696e-02 2.04750942e-04 9.96348091e-01 -4.81385346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.308639999999999 meters 0.029610864722702898 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.09, Z:-0.48 [[ 9.93021493e-01 8.36850326e-02 8.30971101e-02 8.24891733e+00] [-8.33682954e-02 9.96492210e-01 -7.28032417e-03 -9.30153791e-02] [-8.34148770e-02 3.01853954e-04 9.96514860e-01 -4.83453346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33864 meters 0.02955523265858307 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.10, Z:-0.48 [[ 9.93101305e-01 8.35126302e-02 8.23130498e-02 8.28089921e+00] [-8.32000187e-02 9.96506665e-01 -7.22662452e-03 -9.77776323e-02] [-8.26290171e-02 3.28322967e-04 9.96580322e-01 -4.84937838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36864 meters 0.029560857369973336 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.10, Z:-0.49 [[ 9.93160767e-01 8.22146554e-02 8.29001927e-02 8.31252087e+00] [-8.18909334e-02 9.96614537e-01 -7.30346241e-03 -1.01380745e-01] [-8.32199888e-02 4.64738159e-04 9.96531092e-01 -4.87399537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.398639999999999 meters 0.029805582405158352 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.11, Z:-0.49 [[ 9.93169673e-01 8.24345801e-02 8.25744556e-02 8.34516453e+00] [-8.21109521e-02 9.96596361e-01 -7.31334033e-03 -1.07119090e-01] [-8.28962741e-02 4.83120658e-04 9.96558064e-01 -4.89775449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42864 meters 0.02975164049868896 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.11, Z:-0.49 [[ 9.93133889e-01 8.26113078e-02 8.28278372e-02 8.37827072e+00] [-8.22827601e-02 9.96581712e-01 -7.37820770e-03 -1.12694821e-01] [-8.31542312e-02 5.12245043e-04 9.96536558e-01 -4.92239100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.458639999999999 meters 0.029795944837265005 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.12, Z:-0.50 [[ 9.93174041e-01 8.17767024e-02 8.31738858e-02 8.41081768e+00] [-8.14389195e-02 9.96650479e-01 -7.45148379e-03 -1.18690307e-01] [-8.35046509e-02 6.27028869e-04 9.96507190e-01 -4.95308290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48864 meters 0.029983162075565464 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.12, Z:-0.50 [[ 9.93152122e-01 8.25366651e-02 8.26835063e-02 8.44378022e+00] [-8.22020005e-02 9.96587847e-01 -7.44944424e-03 -1.24424354e-01] [-8.30162298e-02 6.01681729e-04 9.96548014e-01 -4.97145779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51864 meters 0.02990237291889906 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.13, Z:-0.50 [[ 9.92970734e-01 8.51424759e-02 8.22184909e-02 8.47604783e+00] [-8.48171625e-02 9.96368697e-01 -7.44768817e-03 -1.28864021e-01] [-8.25540453e-02 4.21797287e-04 9.96586500e-01 -4.96307181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.548639999999999 meters 0.029666671935316993 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.13, Z:-0.50 [[ 9.92700400e-01 8.77647595e-02 8.27240103e-02 8.50908570e+00] [-8.74413036e-02 9.96141199e-01 -7.53198079e-03 -1.31995254e-01] [-8.30658373e-02 2.43505051e-04 9.96544032e-01 -4.98176011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57864 meters 0.02976783660472058 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.14, Z:-0.50 [[ 9.92442732e-01 8.95356331e-02 8.39094430e-02 8.54082382e+00] [-8.92055919e-02 9.95983610e-01 -7.68187341e-03 -1.36328074e-01] [-8.42602314e-02 1.38627893e-04 9.96443774e-01 -5.00922071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60864 meters 0.02978938502366753 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.15, Z:-0.50 [[ 9.92166220e-01 9.36390826e-02 8.26916792e-02 8.57200667e+00] [-9.33297270e-02 9.95606194e-01 -7.60715264e-03 -1.45009289e-01] [-8.30406748e-02 -1.70031959e-04 9.96546144e-01 -5.01676078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.638639999999999 meters 0.029713509271154664 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.15, Z:-0.50 [[ 9.91944285e-01 9.54733516e-02 8.32548791e-02 8.60500718e+00] [-9.51629154e-02 9.95431945e-01 -7.69821582e-03 -1.48183480e-01] [-8.36095407e-02 -2.86575832e-04 9.96498551e-01 -5.03446141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66864 meters 0.029903152185732793 Centerline is valid? [True, True] Translation: X:8.64, Y:-0.15, Z:-0.50 [[ 9.91645370e-01 9.79020408e-02 8.39919696e-02 8.63742750e+00] [-9.75911946e-02 9.95195953e-01 -7.80858650e-03 -1.50213059e-01] [-8.43529448e-02 -4.53527995e-04 9.96435836e-01 -5.04579985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69864 meters 0.03005746999804539 Centerline is valid? [True, True] Translation: X:8.67, Y:-0.15, Z:-0.51 [[ 9.91243764e-01 1.01708844e-01 8.42087374e-02 8.66976884e+00] [-1.01406844e-01 9.94813933e-01 -7.86703398e-03 -1.53529009e-01] [-8.45721722e-02 -7.41193956e-04 9.96417081e-01 -5.08112773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters 0.030003261955484785 Centerline is valid? [True, True] Translation: X:8.70, Y:-0.16, Z:-0.51 [[ 9.91226431e-01 1.03615338e-01 8.20611029e-02 8.70169208e+00] [-1.03332062e-01 9.94617087e-01 -7.70297994e-03 -1.57707512e-01] [-8.24175220e-02 -8.44145644e-04 9.96597531e-01 -5.08879025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75864 meters 0.029941264911413787 Centerline is valid? [True, True] Translation: X:8.73, Y:-0.16, Z:-0.51 [[ 9.91170805e-01 1.04338431e-01 8.18164191e-02 8.73457066e+00] [-1.04056111e-01 9.94541476e-01 -7.71871422e-03 -1.61259301e-01] [-8.21751808e-02 -8.62934211e-04 9.96617527e-01 -5.10482199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters 0.029950060877561465 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.16, Z:-0.51 [[ 9.91254844e-01 1.04291203e-01 8.08528241e-02 8.76637918e+00] [-1.04012028e-01 9.94546475e-01 -7.66852977e-03 -1.64645076e-01] [-8.12116515e-02 -8.08198911e-04 9.96696551e-01 -5.11700696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81864 meters 0.030165311352016652 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.17, Z:-0.51 [[ 9.91163299e-01 1.04230688e-01 8.20443632e-02 8.79913791e+00] [-1.03939732e-01 9.94552845e-01 -7.82112201e-03 -1.68793837e-01] [-8.24126558e-02 -7.75660052e-04 9.96597989e-01 -5.14826483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84864 meters 0.030067070046688675 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.17, Z:-0.52 [[ 9.91133414e-01 1.03894159e-01 8.28284918e-02 8.83188391e+00] [-1.03592784e-01 9.94588105e-01 -7.93960160e-03 -1.74005746e-01] [-8.32051109e-02 -7.11229643e-04 9.96532189e-01 -5.16426775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.878639999999999 meters 0.03003635421782051 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.18, Z:-0.52 [[ 9.91016033e-01 1.05116745e-01 8.26903410e-02 8.86439870e+00] [-1.04817018e-01 9.94459591e-01 -7.96961949e-03 -1.77377435e-01] [-8.30699431e-02 -7.69334245e-04 9.96543422e-01 -5.17994353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90864 meters 0.030022649931033457 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.18, Z:-0.52 [[ 9.90941607e-01 1.07245117e-01 8.08283145e-02 8.89631554e+00] [-1.06962550e-01 9.94232216e-01 -7.83029550e-03 -1.79671542e-01] [-8.12018752e-02 -8.86237018e-04 9.96697281e-01 -5.18709779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93864 meters 0.030138783379384 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.18, Z:-0.52 [[ 9.90647517e-01 1.10235901e-01 8.04085975e-02 8.92898835e+00] [-1.09962996e-01 9.93904857e-01 -7.82786984e-03 -1.82636754e-01] [-8.07814079e-02 -1.08731046e-03 9.96731249e-01 -5.20769101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters 0.030616896280436873 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.19, Z:-0.52 [[ 9.89763963e-01 1.17344396e-01 8.12255552e-02 8.96068912e+00] [-1.17086394e-01 9.93089922e-01 -7.94878441e-03 -1.86073934e-01] [-8.15970256e-02 -1.64298699e-03 9.96664049e-01 -5.22894416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99864 meters 0.030846614159594072 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.19, Z:-0.52 [[ 9.89414213e-01 1.20200184e-01 8.13107051e-02 8.99237506e+00] [-1.19948239e-01 9.92747962e-01 -7.99397546e-03 -1.88373718e-01] [-8.16819142e-02 -1.84372294e-03 9.96656744e-01 -5.24952582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02864 meters 0.031468409888702475 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.19, Z:-0.53 [[ 9.88699911e-01 1.26497146e-01 8.04422633e-02 9.02412043e+00] [-1.26268446e-01 9.91964298e-01 -7.94421926e-03 -1.89561763e-01] [-8.08007743e-02 -2.30287073e-03 9.96727612e-01 -5.26790785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.058639999999999 meters 0.03142709459062639 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.19, Z:-0.53 [[ 9.88600935e-01 1.27878978e-01 7.94679733e-02 9.05740332e+00] [-1.27657406e-01 9.91786993e-01 -7.88337272e-03 -1.90767989e-01] [-7.98234199e-02 -2.35116570e-03 9.96806247e-01 -5.28388933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08864 meters 0.031543657921122605 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.19, Z:-0.53 [[ 9.88391283e-01 1.29534849e-01 7.93939205e-02 9.08995242e+00] [-1.29315788e-01 9.91571862e-01 -7.91639325e-03 -1.92096884e-01] [-7.97502264e-02 -2.44239331e-03 9.96811886e-01 -5.30137291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11864 meters 0.03179948673052303 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.19, Z:-0.53 [[ 9.88256139e-01 1.30241666e-01 7.99181557e-02 9.12369016e+00] [-1.30018920e-01 9.91479182e-01 -8.00699326e-03 -1.89827241e-01] [-8.02800318e-02 -2.47791205e-03 9.96769269e-01 -5.32327800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters 0.031819458212442996 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.19, Z:-0.54 [[ 9.88078985e-01 1.30271482e-01 8.20320721e-02 9.15600652e+00] [-1.30033398e-01 9.91475199e-01 -8.26110265e-03 -1.89244498e-01] [-8.24089510e-02 -2.50428715e-03 9.96595451e-01 -5.35065410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17864 meters 0.031739053814674664 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.19, Z:-0.54 [[ 9.87993035e-01 1.30670941e-01 8.24309946e-02 9.18896679e+00] [-1.30428660e-01 9.91422614e-01 -8.34053223e-03 -1.88998437e-01] [-8.28138174e-02 -2.51097641e-03 9.96561873e-01 -5.36973135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.208639999999999 meters 0.03169967164787752 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.19, Z:-0.54 [[ 9.88033731e-01 1.30578131e-01 8.20895714e-02 9.22127880e+00] [-1.30334106e-01 9.91434991e-01 -8.34739747e-03 -1.89540542e-01] [-8.24764610e-02 -2.45156067e-03 9.96589998e-01 -5.39500056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23864 meters 0.03141813480589643 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.19, Z:-0.54 [[ 9.88022563e-01 1.29788145e-01 8.34652764e-02 9.25481332e+00] [-1.29529664e-01 9.91538878e-01 -8.52762374e-03 -1.88193007e-01] [-8.38658509e-02 -2.38574458e-03 9.96474198e-01 -5.41046886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26864 meters 0.03171779007423092 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.19, Z:-0.54 [[ 9.87921070e-01 1.29752754e-01 8.47123440e-02 9.28756132e+00] [-1.29482510e-01 9.91543538e-01 -8.70008998e-03 -1.89305719e-01] [-8.51248379e-02 -2.37376475e-03 9.96367466e-01 -5.43787997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.298639999999999 meters 0.031387219805999164 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.19, Z:-0.54 [[ 9.88005810e-01 1.29109445e-01 8.47069629e-02 9.31994585e+00] [-1.28833234e-01 9.91627739e-01 -8.74218265e-03 -1.89365180e-01] [-8.51264724e-02 -2.27574471e-03 9.96367555e-01 -5.44593897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32864 meters 0.031454104998361175 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.19, Z:-0.55 [[ 9.87814299e-01 1.30125020e-01 8.53837821e-02 9.35198615e+00] [-1.29844786e-01 9.91494825e-01 -8.85119202e-03 -1.91639226e-01] [-8.58093396e-02 -2.34330484e-03 9.96308821e-01 -5.46932014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35864 meters 0.031538726736385275 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.19, Z:-0.55 [[ 9.87733212e-01 1.31445093e-01 8.42928792e-02 9.38557130e+00] [-1.31173367e-01 9.91320580e-01 -8.77813709e-03 -1.92961083e-01] [-8.47151089e-02 -2.38652325e-03 9.96402356e-01 -5.47947572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.388639999999999 meters 0.03163930264912951 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.19, Z:-0.55 [[ 9.87553964e-01 1.32941172e-01 8.40464942e-02 9.41853734e+00] [-1.32672850e-01 9.91120864e-01 -8.79477530e-03 -1.90560790e-01] [-8.44694217e-02 -2.46537274e-03 9.96423022e-01 -5.50157942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41864 meters 0.03142683074011092 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.19, Z:-0.55 [[ 9.87655210e-01 1.33030000e-01 8.27055340e-02 9.45064713e+00] [-1.32767387e-01 9.91109114e-01 -8.69160780e-03 -1.91302740e-01] [-8.31264531e-02 -2.39628594e-03 9.96536126e-01 -5.50507273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44864 meters 0.03141638183244034 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.19, Z:-0.55 [[ 9.87544116e-01 1.33081186e-01 8.39405521e-02 9.48356228e+00] [-1.32807453e-01 9.91102242e-01 -8.86154501e-03 -1.93086990e-01] [-8.43729743e-02 -2.39676428e-03 9.96431361e-01 -5.52580384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.478639999999999 meters 0.031351884951842955 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.19, Z:-0.56 [[ 9.87646994e-01 1.32643302e-01 8.34216420e-02 9.51537788e+00] [-1.32367882e-01 9.91161162e-01 -8.84841527e-03 -1.94339918e-01] [-8.38579746e-02 -2.30323529e-03 9.96475055e-01 -5.55378939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50864 meters 0.031195430449784935 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.20, Z:-0.56 [[ 9.87841904e-01 1.32641026e-01 8.10847194e-02 9.54776028e+00] [-1.32377878e-01 9.91161696e-01 -8.63651626e-03 -1.96459750e-01] [-8.15136244e-02 -2.20231041e-03 9.96669794e-01 -5.56980655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53864 meters 0.03116602325395326 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.20, Z:-0.56 [[ 9.87892198e-01 1.32662902e-01 8.04335783e-02 9.58013092e+00] [-1.32401101e-01 9.91158883e-01 -8.60335688e-03 -1.98217590e-01] [-8.08638018e-02 -2.15030519e-03 9.96722841e-01 -5.60037293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters 0.03125287706000635 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.20, Z:-0.56 [[ 9.87972692e-01 1.32999622e-01 7.88737024e-02 9.61269962e+00] [-1.32746157e-01 9.91113863e-01 -8.47165113e-03 -1.96905414e-01] [-7.92995463e-02 -2.10042093e-03 9.96848619e-01 -5.61534111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59864 meters 0.031081547631416243 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.20, Z:-0.56 [[ 9.87815674e-01 1.33922147e-01 7.92783305e-02 9.64608133e+00] [-1.33666049e-01 9.90989527e-01 -8.55248321e-03 -1.97392613e-01] [-7.97093621e-02 -2.14854425e-03 9.96815831e-01 -5.62499529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.628639999999999 meters 0.031081547631416243 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.20, Z:-0.56 [[ 9.87747257e-01 1.34428421e-01 7.92739287e-02 9.67849183e+00] [-1.34170691e-01 9.90920978e-01 -8.59311663e-03 -2.00577357e-01] [-7.97093580e-02 -2.14841040e-03 9.96815832e-01 -5.64418223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65864 meters 0.03115459924540951 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.20, Z:-0.57 [[ 9.87532549e-01 1.35921098e-01 7.94035288e-02 9.71061094e+00] [-1.35664156e-01 9.90717148e-01 -8.64687657e-03 -2.01325020e-01] [-7.98417306e-02 -2.23314066e-03 9.96805052e-01 -5.66581331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68864 meters 0.030996627451686926 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.20, Z:-0.57 [[ 9.87430230e-01 1.36288665e-01 8.00433709e-02 9.74360604e+00] [-1.36025718e-01 9.90666627e-01 -8.75433198e-03 -2.04467819e-01] [-8.04894125e-02 -2.24366495e-03 9.96752939e-01 -5.68301320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.718639999999999 meters 0.03088061308384404 Centerline is valid? [True, True] Translation: X:9.78, Y:-0.21, Z:-0.57 [[ 9.87306868e-01 1.36032857e-01 8.19768823e-02 9.77632867e+00] [-1.35752562e-01 9.90701808e-01 -9.00938089e-03 -2.07507318e-01] [-8.24402173e-02 -2.23354816e-03 9.96593509e-01 -5.70182152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74864 meters 0.03118529441043903 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.21, Z:-0.57 [[ 9.87131322e-01 1.36875670e-01 8.26849712e-02 9.80828096e+00] [-1.36589932e-01 9.90585606e-01 -9.12944895e-03 -2.10385740e-01] [-8.31561418e-02 -2.28196962e-03 9.96533917e-01 -5.71448969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77864 meters 0.03095501971665458 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.21, Z:-0.57 [[ 9.87247258e-01 1.36423403e-01 8.20457626e-02 9.84043971e+00] [-1.36137404e-01 9.90648203e-01 -9.09638317e-03 -2.10332540e-01] [-8.25194468e-02 -2.18911782e-03 9.96587050e-01 -5.73413791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters 0.030753828894110376 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.21, Z:-0.58 [[ 9.87385896e-01 1.36019422e-01 8.10420195e-02 9.87264361e+00] [-1.35736048e-01 9.90703961e-01 -9.02149831e-03 -2.12301086e-01] [-8.15157487e-02 -2.09262327e-03 9.96669857e-01 -5.75801430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83864 meters 0.03076459079359861 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.22, Z:-0.58 [[ 9.87297638e-01 1.36579325e-01 8.11755010e-02 9.90582808e+00] [-1.36293768e-01 9.90626902e-01 -9.07464361e-03 -2.15448354e-01] [-8.16540438e-02 -2.10434067e-03 9.96658512e-01 -5.78066695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86864 meters 0.03062949937062653 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.22, Z:-0.58 [[ 9.87380003e-01 1.35695713e-01 8.16541671e-02 9.93835297e+00] [-1.35400364e-01 9.90748537e-01 -9.16936211e-03 -2.15233013e-01] [-8.21429897e-02 -2.00235919e-03 9.96618543e-01 -5.78446872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.898639999999999 meters 0.030853957714766553 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.22, Z:-0.58 [[ 9.87142772e-01 1.36633132e-01 8.29489866e-02 9.97100095e+00] [-1.36328457e-01 9.90619543e-01 -9.35273420e-03 -2.17131130e-01] [-8.34487805e-02 -2.07582335e-03 9.96509906e-01 -5.80138344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92864 meters 0.030573449500299932 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.22, Z:-0.58 [[ 9.87186024e-01 1.36779602e-01 8.21893772e-02 1.00032088e+01] [-1.36477915e-01 9.90599420e-01 -9.30416583e-03 -2.19006667e-01] [-8.26893695e-02 -2.03209240e-03 9.96573298e-01 -5.81917165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.958639999999999 meters 0.030471529159076426 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.22, Z:-0.58 [[ 9.87265730e-01 1.36848418e-01 8.11103536e-02 1.00357527e+01] [-1.36551863e-01 9.90590032e-01 -9.21835431e-03 -2.21125119e-01] [-8.16086250e-02 -1.97480460e-03 9.96662497e-01 -5.82848646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98864 meters 0.03037383558663741 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.22, Z:-0.58 [[ 9.87253320e-01 1.36742475e-01 8.14394097e-02 1.00694455e+01] [-1.36439980e-01 9.90604739e-01 -9.29427196e-03 -2.20409427e-01] [-8.19451869e-02 -1.93579061e-03 9.96634958e-01 -5.83534003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01864 meters 0.030415937215540614 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.22, Z:-0.59 [[ 9.87177647e-01 1.36895391e-01 8.20971711e-02 1.01029608e+01] [-1.36584941e-01 9.90583646e-01 -9.41243430e-03 -2.21619337e-01] [-8.26126339e-02 -1.92149254e-03 9.96579882e-01 -5.85916339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.048639999999999 meters 0.030216324508763492 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.22, Z:-0.59 [[ 9.87330789e-01 1.36531441e-01 8.08522018e-02 1.01355811e+01] [-1.36225854e-01 9.90634062e-01 -9.30977922e-03 -2.22470770e-01] [-8.13660227e-02 -1.82232860e-03 9.96682622e-01 -5.87251512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07864 meters 0.030038736368047998 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.22, Z:-0.59 [[ 9.87378347e-01 1.36597045e-01 8.01576412e-02 1.01676771e+01] [-1.36294004e-01 9.90625102e-01 -9.26566374e-03 -2.23733462e-01] [-8.06718337e-02 -1.77629012e-03 9.96739133e-01 -5.88540415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10864 meters 0.029986095541765727 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.22, Z:-0.59 [[ 9.87566123e-01 1.35588855e-01 7.95538504e-02 1.02000544e+01] [-1.35284227e-01 9.90763824e-01 -9.23163772e-03 -2.21933501e-01] [-8.00707842e-02 -1.64552849e-03 9.96787822e-01 -5.90164807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.138639999999999 meters 0.030078609543847907 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.22, Z:-0.59 [[ 9.87562374e-01 1.35624839e-01 7.95390448e-02 1.02329019e+01] [-1.35317444e-01 9.90758955e-01 -9.26723278e-03 -2.22620198e-01] [-8.00608879e-02 -1.61104985e-03 9.96788673e-01 -5.92620643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16864 meters 0.030076635596514318 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.22, Z:-0.59 [[ 9.87588207e-01 1.35402804e-01 7.95965655e-02 1.02660157e+01] [-1.35090946e-01 9.90789416e-01 -9.31496496e-03 -2.23150931e-01] [-8.01247070e-02 -1.55342582e-03 9.96783637e-01 -5.94254853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19864 meters 0.029623534201040833 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.22, Z:-0.60 [[ 9.88044828e-01 1.31957568e-01 7.97158577e-02 1.02981744e+01] [-1.31630377e-01 9.91254595e-01 -9.36868069e-03 -2.21877459e-01] [-8.02549785e-02 -1.23635191e-03 9.96773600e-01 -5.96455895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters 0.029641514904084492 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.22, Z:-0.60 [[ 9.88205440e-01 1.29629710e-01 8.15239046e-02 1.03313818e+01] [-1.29276364e-01 9.91561936e-01 -9.62024926e-03 -2.23851814e-01] [-8.20830708e-02 -1.03233128e-03 9.96624956e-01 -5.99658354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25864 meters 0.029360230932348005 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.23, Z:-0.60 [[ 9.89109008e-01 1.22738302e-01 8.12322605e-02 1.03634284e+01] [-1.22360941e-01 9.92438983e-01 -9.62631010e-03 -2.25182525e-01] [-8.17995790e-02 -4.18185817e-04 9.96648711e-01 -6.00682195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28864 meters 0.029348652221199516 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.23, Z:-0.60 [[ 9.89383648e-01 1.19704929e-01 8.24058703e-02 1.03961724e+01] [-1.19302808e-01 9.92809505e-01 -9.80444690e-03 -2.27989389e-01] [-8.29869719e-02 -1.30892299e-04 9.96550624e-01 -6.02700434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.318639999999998 meters 0.029396301590065167 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.23, Z:-0.60 [[ 9.89718767e-01 1.16910883e-01 8.23930083e-02 1.04290157e+01] [-1.16495714e-01 9.93142399e-01 -9.84500984e-03 -2.30976571e-01] [-8.29789787e-02 1.45358655e-04 9.96551287e-01 -6.04525188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34864 meters 0.029519297440333016 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.24, Z:-0.61 [[ 9.90001578e-01 1.14886020e-01 8.18417869e-02 1.04621320e+01] [-1.14466064e-01 9.93378617e-01 -9.82054735e-03 -2.35137162e-01] [-8.24281247e-02 3.54250144e-04 9.96596949e-01 -6.06446061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.378639999999999 meters 0.029366506297501746 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.24, Z:-0.61 [[ 9.90556353e-01 1.12012407e-01 7.90653709e-02 1.04936191e+01] [-1.11608356e-01 9.93706621e-01 -9.52507564e-03 -2.40881118e-01] [-7.96347091e-02 6.10768096e-04 9.96823926e-01 -6.08025859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40864 meters 0.02952919502483733 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.25, Z:-0.61 [[ 9.90471059e-01 1.12118189e-01 7.99787052e-02 1.05255318e+01] [-1.11702211e-01 9.93694670e-01 -9.67055935e-03 -2.46126223e-01] [-8.05586586e-02 6.44610928e-04 9.96749661e-01 -6.09390507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43864 meters 0.02953327138625744 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.25, Z:-0.61 [[ 9.90345714e-01 1.13014871e-01 8.02683397e-02 1.05581851e+01] [-1.12595842e-01 9.93593109e-01 -9.74216346e-03 -2.51466278e-01] [-8.08550786e-02 6.10228498e-04 9.96725681e-01 -6.11068920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.468639999999999 meters 0.029568209350326037 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.26, Z:-0.61 [[ 9.89917650e-01 1.13492248e-01 8.47499631e-02 1.05896994e+01] [-1.13023115e-01 9.93538672e-01 -1.03287431e-02 -2.60658858e-01] [-8.53745981e-02 6.45900245e-04 9.96348714e-01 -6.14484674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49864 meters 0.02942050913823766 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.27, Z:-0.61 [[ 9.90066136e-01 1.13321998e-01 8.32296253e-02 1.06216128e+01] [-1.12865941e-01 9.93558079e-01 -1.01795537e-02 -2.67975964e-01] [-8.38470340e-02 6.84641500e-04 9.96478402e-01 -6.14738594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52864 meters 0.02941355683231094 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.28, Z:-0.62 [[ 9.90339587e-01 1.12538366e-01 8.10099893e-02 1.06535058e+01] [-1.12100881e-01 9.93647085e-01 -9.94295958e-03 -2.76718509e-01] [-8.16143042e-02 7.65615275e-04 9.96663694e-01 -6.15420471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.558639999999999 meters 0.029512051493272067 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.28, Z:-0.62 [[ 9.90355638e-01 1.12844907e-01 8.03849293e-02 1.06862413e+01] [-1.12412193e-01 9.93612315e-01 -9.90284931e-03 -2.83140298e-01] [-8.09889418e-02 7.71096474e-04 9.96714702e-01 -6.17959348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58864 meters 0.029727399745210808 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.29, Z:-0.62 [[ 9.90335094e-01 1.11857838e-01 8.20013819e-02 1.07182086e+01] [-1.11400784e-01 9.93723803e-01 -1.01423937e-02 -2.90026061e-01] [-8.26212313e-02 9.09350159e-04 9.96580606e-01 -6.21216375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61864 meters 0.029703093455748873 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.30, Z:-0.62 [[ 9.90568716e-01 1.10453659e-01 8.10777873e-02 1.07497405e+01] [-1.09999161e-01 9.93880719e-01 -1.00648407e-02 -3.00829132e-01] [-8.16933480e-02 1.05142782e-03 9.96656958e-01 -6.22112938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.648639999999999 meters 0.02992638051371468 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.31, Z:-0.62 [[ 9.90668934e-01 1.09826653e-01 8.07042095e-02 1.07827860e+01] [-1.09370984e-01 9.93950105e-01 -1.00586654e-02 -3.07140933e-01] [-8.13206671e-02 1.13810847e-03 9.96687340e-01 -6.22867020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67864 meters 0.029997701339818064 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.31, Z:-0.62 [[ 9.90517193e-01 1.09712262e-01 8.26977035e-02 1.08148256e+01] [-1.09229967e-01 9.93962645e-01 -1.03476869e-02 -3.13170393e-01] [-8.33336962e-02 1.21649438e-03 9.96520956e-01 -6.24967972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999999 meters 0.030177083911732325 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.32, Z:-0.63 [[ 9.90310907e-01 1.10815140e-01 8.36917739e-02 1.08465664e+01] [-1.10321821e-01 9.93840340e-01 -1.05106360e-02 -3.23972639e-01] [-8.43409986e-02 1.17576856e-03 9.96436257e-01 -6.29355724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73864 meters 0.030043483811036564 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.33, Z:-0.63 [[ 9.90484070e-01 1.11064722e-01 8.12769020e-02 1.08778862e+01] [-1.10597194e-01 9.93812499e-01 -1.02458408e-02 -3.32182039e-01] [-8.19119525e-02 1.15934477e-03 9.96638895e-01 -6.30934533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76864 meters 0.030214796401465353 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.34, Z:-0.63 [[ 9.90044713e-01 1.13278435e-01 8.35431805e-02 1.09091003e+01] [-1.12789114e-01 9.93562737e-01 -1.05689732e-02 -3.43560670e-01] [-8.42026279e-02 1.04099476e-03 9.96448109e-01 -6.34905777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.798639999999999 meters 0.03030725940807258 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.35, Z:-0.64 [[ 9.90015682e-01 1.13477110e-01 8.36175538e-02 1.09411968e+01] [-1.12984362e-01 9.93540042e-01 -1.06169306e-02 -3.49340237e-01] [-8.42821665e-02 1.06345181e-03 9.96441361e-01 -6.36894301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82864 meters 0.030405202395401443 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.36, Z:-0.64 [[ 9.89856769e-01 1.14265488e-01 8.44214173e-02 1.09740773e+01] [-1.13762411e-01 9.93449696e-01 -1.07617416e-02 -3.56320797e-01] [-8.50981270e-02 1.04859877e-03 9.96372024e-01 -6.39218014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85864 meters 0.03035824192022803 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.37, Z:-0.64 [[ 9.89825972e-01 1.14717035e-01 8.41697499e-02 1.10055863e+01] [-1.14214987e-01 9.93397655e-01 -1.07719660e-02 -3.66553990e-01] [-8.48497602e-02 1.04892489e-03 9.96393204e-01 -6.40968471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters 0.030522319485472488 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.37, Z:-0.64 [[ 9.89967455e-01 1.14335133e-01 8.30175640e-02 1.10373392e+01] [-1.13842069e-01 9.93441620e-01 -1.06644512e-02 -3.73137656e-01] [-8.36924247e-02 1.10656841e-03 9.96491020e-01 -6.42430926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91864 meters 0.030547228948235538 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.38, Z:-0.65 [[ 9.90020372e-01 1.13775136e-01 8.31557662e-02 1.10697617e+01] [-1.13275242e-01 9.93505809e-01 -1.07203727e-02 -3.79357228e-01] [-8.38354486e-02 1.19389781e-03 9.96478897e-01 -6.45742823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94864 meters 0.030780345784968313 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.39, Z:-0.65 [[ 9.90028042e-01 1.13968329e-01 8.27991279e-02 1.11019237e+01] [-1.13469912e-01 9.93483642e-01 -1.07160104e-02 -3.89036130e-01] [-8.34808649e-02 1.21394109e-03 9.96508641e-01 -6.48027609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.978639999999999 meters 0.030646769093392312 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.40, Z:-0.65 [[ 9.89860864e-01 1.14549355e-01 8.39875948e-02 1.11331321e+01] [-1.14035077e-01 9.93416806e-01 -1.09110669e-02 -3.95919401e-01] [-8.46845438e-02 1.22290627e-03 9.96407062e-01 -6.50215221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00864 meters 0.03063036221124499 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.41, Z:-0.65 [[ 9.89884010e-01 1.14849835e-01 8.33016284e-02 1.11656688e+01] [-1.14341793e-01 9.93382109e-01 -1.08600430e-02 -4.05061475e-01] [-8.39976214e-02 1.22532543e-03 9.96465202e-01 -6.51243052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03864 meters 0.030457811522048114 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.41, Z:-0.65 [[ 9.89991088e-01 1.14544727e-01 8.24448384e-02 1.11979390e+01] [-1.14042599e-01 9.93417268e-01 -1.07896721e-02 -4.11959305e-01] [-8.31380262e-02 1.27945554e-03 9.96537220e-01 -6.52512457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters 0.030840246299399163 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.42, Z:-0.66 [[ 9.90016405e-01 1.13860253e-01 8.30864696e-02 1.12292868e+01] [-1.13344426e-01 9.93495806e-01 -1.09144471e-02 -4.19040051e-01] [-8.37887807e-02 1.38809351e-03 9.96482571e-01 -6.55692519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09864 meters 0.030940477933652902 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.43, Z:-0.66 [[ 9.90042814e-01 1.13136447e-01 8.37578065e-02 1.12609302e+01] [-1.12606471e-01 9.93578331e-01 -1.10400973e-02 -4.26531824e-01] [-8.44689789e-02 1.49849805e-03 9.96424983e-01 -6.57689317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999999 meters 0.03097902875743043 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.44, Z:-0.66 [[ 9.90326971e-01 1.10727078e-01 8.36182127e-02 1.12916764e+01] [-1.10187602e-01 9.93849340e-01 -1.10535686e-02 -4.36323690e-01] [-8.43278349e-02 1.73295673e-03 9.96436558e-01 -6.58178668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15864 meters 0.03126966203135158 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.44, Z:-0.66 [[ 9.90407024e-01 1.09958163e-01 8.36847000e-02 1.13229726e+01] [-1.09412961e-01 9.93934541e-01 -1.10874617e-02 -4.43475956e-01] [-8.43962708e-02 1.82490914e-03 9.96430599e-01 -6.60792392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18864 meters 0.03122547676832626 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.45, Z:-0.66 [[ 9.90461283e-01 1.09375415e-01 8.38061202e-02 1.13540588e+01] [-1.08823420e-01 9.93998670e-01 -1.11403843e-02 -4.51293358e-01] [-8.45216561e-02 1.91405069e-03 9.96419804e-01 -6.63429047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.218639999999999 meters 0.0313210616323563 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.46, Z:-0.67 [[ 9.90452020e-01 1.09959585e-01 8.31485799e-02 1.13851618e+01] [-1.09415237e-01 9.93934270e-01 -1.10892722e-02 -4.63846914e-01] [-8.38635949e-02 1.88567046e-03 9.96475460e-01 -6.65221231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24864 meters 0.03120394196415095 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.47, Z:-0.67 [[ 9.90401833e-01 1.10514746e-01 8.30102372e-02 1.14173348e+01] [-1.09970978e-01 9.93872719e-01 -1.11086649e-02 -4.71000089e-01] [-8.37292815e-02 1.87332513e-03 9.96486778e-01 -6.66301710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27864 meters 0.03111441673002716 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.48, Z:-0.67 [[ 9.90151587e-01 1.11973380e-01 8.40344964e-02 1.14489494e+01] [-1.11417724e-01 9.93709551e-01 -1.12879975e-02 -4.82843804e-01] [-8.47698369e-02 1.81389634e-03 9.96398908e-01 -6.69382132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters 0.030954302876423003 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.49, Z:-0.67 [[ 9.89916705e-01 1.14003082e-01 8.40726694e-02 1.14802881e+01] [-1.13450786e-01 9.93478974e-01 -1.13334860e-02 -4.92243872e-01] [-8.48164817e-02 1.68109663e-03 9.96395172e-01 -6.71069961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33864 meters 0.030516557862047426 Centerline is valid? [True, True] Translation: X:11.51, Y:-0.50, Z:-0.67 [[ 9.89723051e-01 1.16455153e-01 8.29848123e-02 1.15113374e+01] [-1.15922653e-01 9.93194837e-01 -1.12229649e-02 -5.01662780e-01] [-8.37270592e-02 1.48780754e-03 9.96487615e-01 -6.71519191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36864 meters 0.029900023625152997 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.51, Z:-0.67 [[ 9.88902501e-01 1.23376990e-01 8.27644916e-02 1.15427065e+01] [-1.22868843e-01 9.92359437e-01 -1.12247969e-02 -5.13045804e-01] [-8.35170059e-02 9.31052462e-04 9.96505917e-01 -6.72684911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.398639999999999 meters 0.029832977088356527 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.52, Z:-0.67 [[ 9.88465119e-01 1.27416411e-01 8.18643222e-02 1.15742116e+01] [-1.26931040e-01 9.91849126e-01 -1.11275641e-02 -5.18788667e-01] [-8.26148907e-02 6.08085433e-04 9.96581361e-01 -6.74476039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42864 meters 0.02950368143524603 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.52, Z:-0.68 [[ 9.87862516e-01 1.31698315e-01 8.23602084e-02 1.16055389e+01] [-1.31219323e-01 9.91289803e-01 -1.12256348e-02 -5.24718413e-01] [-8.31212319e-02 2.82132966e-04 9.96539403e-01 -6.76880685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.458639999999999 meters 0.02985405274352876 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.53, Z:-0.68 [[ 9.86677086e-01 1.38715898e-01 8.50072202e-02 1.16367059e+01] [-1.38229613e-01 9.90332172e-01 -1.16087174e-02 -5.33001687e-01] [-8.57956987e-02 -2.96459696e-04 9.96312707e-01 -6.79650323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48864 meters 0.029952667952810753 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.54, Z:-0.68 [[ 9.86175694e-01 1.41796705e-01 8.57391053e-02 1.16680534e+01] [-1.41310134e-01 9.89895658e-01 -1.17487079e-02 -5.38678145e-01] [-8.65386962e-02 -5.29514252e-04 9.96248349e-01 -6.80697570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51864 meters 0.029952667952810753 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.54, Z:-0.68 [[ 9.86101953e-01 1.42311992e-01 8.57335104e-02 1.17003001e+01] [-1.41823825e-01 9.89821707e-01 -1.17894176e-02 -5.42766027e-01] [-8.65386651e-02 -5.33486652e-04 9.96248350e-01 -6.82616168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999999 meters 0.0299688130054099 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.55, Z:-0.68 [[ 9.85774566e-01 1.43954451e-01 8.67503415e-02 1.17325001e+01] [-1.43457051e-01 9.89584107e-01 -1.19737182e-02 -5.46825860e-01] [-8.75704292e-02 -6.41561320e-04 9.96158124e-01 -6.83826449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57864 meters 0.03030094341808125 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.55, Z:-0.69 [[ 9.85260753e-01 1.47260028e-01 8.70386862e-02 1.17640125e+01] [-1.46768693e-01 9.89097405e-01 -1.20530103e-02 -5.49830918e-01] [-8.78646653e-02 -8.99196207e-04 9.96132015e-01 -6.86088192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60864 meters 0.03011090871918869 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.55, Z:-0.69 [[ 9.85077337e-01 1.48823931e-01 8.64527461e-02 1.17969291e+01] [-1.48341694e-01 9.88863213e-01 -1.20119933e-02 -5.54714143e-01] [-8.72776123e-02 -9.91804460e-04 9.96183535e-01 -6.87625591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.638639999999999 meters 0.030189572801642896 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.56, Z:-0.69 [[ 9.85085066e-01 1.48389476e-01 8.71089879e-02 1.18298378e+01] [-1.47894044e-01 9.88928576e-01 -1.21500562e-02 -5.58733639e-01] [-8.79475078e-02 -9.14061621e-04 9.96124691e-01 -6.89988207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66864 meters 0.03012016324638393 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.56, Z:-0.69 [[ 9.85561142e-01 1.46748798e-01 8.44631626e-02 1.18617690e+01] [-1.46273392e-01 9.89173543e-01 -1.18235863e-02 -5.60621442e-01] [-8.52838229e-02 -7.01846026e-04 9.96356451e-01 -6.90927909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69864 meters 0.03005253529505847 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.56, Z:-0.69 [[ 9.85518711e-01 1.46684498e-01 8.50677928e-02 1.18946647e+01] [-1.46198393e-01 9.89183109e-01 -1.19501863e-02 -5.63665145e-01] [-8.59005308e-02 -6.59642374e-04 9.96303500e-01 -6.93160291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.728639999999999 meters 0.030001797959032715 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.57, Z:-0.70 [[ 9.85789643e-01 1.44922621e-01 8.49483046e-02 1.19269844e+01] [-1.44427438e-01 9.89442885e-01 -1.19788574e-02 -5.67201399e-01] [-8.57875030e-02 -4.60232434e-04 9.96313351e-01 -6.95767550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75864 meters 0.02989151343908436 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.57, Z:-0.70 [[ 9.86556926e-01 1.40108090e-01 8.41139445e-02 1.19587792e+01] [-1.39602110e-01 9.90136214e-01 -1.18965541e-02 -5.73181559e-01] [-8.49510661e-02 -5.85624064e-06 9.96385125e-01 -6.97149943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78864 meters 0.030039543249176223 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.58, Z:-0.70 [[ 9.86799554e-01 1.38485342e-01 8.39550479e-02 1.19914285e+01] [-1.37973390e-01 9.90364471e-01 -1.18978258e-02 -5.78698594e-01] [-8.47937711e-02 1.57206623e-04 9.96398510e-01 -6.99715200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.818639999999998 meters 0.030172391732838633 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.59, Z:-0.70 [[ 9.87030652e-01 1.36651154e-01 8.42434202e-02 1.20235017e+01] [-1.36125106e-01 9.90619166e-01 -1.19843182e-02 -5.86270353e-01] [-8.50908176e-02 3.61244864e-04 9.96373134e-01 -7.02416306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84864 meters 0.030251501808255907 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.59, Z:-0.70 [[ 9.86792711e-01 1.37243439e-01 8.60487258e-02 1.20546390e+01] [-1.36692944e-01 9.90537283e-01 -1.22853896e-02 -5.93477515e-01] [-8.69205601e-02 3.60879302e-04 9.96215181e-01 -7.04900913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.878639999999999 meters 0.030195801333266926 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.60, Z:-0.71 [[ 9.86941389e-01 1.37185387e-01 8.44207569e-02 1.20860815e+01] [-1.36652079e-01 9.90545310e-01 -1.20912043e-02 -6.00498041e-01] [-8.52813214e-02 3.97038042e-04 9.96356833e-01 -7.06031979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90864 meters 0.03007533032094533 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.61, Z:-0.71 [[ 9.86947413e-01 1.38232007e-01 8.26239386e-02 1.21171713e+01] [-1.37721714e-01 9.90399817e-01 -1.18714389e-02 -6.08284930e-01] [-8.34717466e-02 3.37375403e-04 9.96510087e-01 -7.07842636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93864 meters 0.03002741964489358 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.61, Z:-0.71 [[ 9.86741791e-01 1.39218221e-01 8.34201668e-02 1.21497967e+01] [-1.38698110e-01 9.90261682e-01 -1.20264505e-02 -6.14115376e-01] [-8.42820957e-02 2.96781869e-04 9.96441890e-01 -7.11035117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.968639999999999 meters 0.029892686715604345 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.62, Z:-0.71 [[ 9.86587074e-01 1.40082535e-01 8.38023199e-02 1.21822182e+01] [-1.39556971e-01 9.90139794e-01 -1.21260219e-02 -6.21065459e-01] [-8.46746556e-02 2.68178573e-04 9.96408616e-01 -7.12164559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99864 meters 0.03005005725849667 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.63, Z:-0.71 [[ 9.86276628e-01 1.40293785e-01 8.70406077e-02 1.22136682e+01] [-1.39723540e-01 9.90109873e-01 -1.26400687e-02 -6.30972087e-01] [-8.79530881e-02 3.04982444e-04 9.96124571e-01 -7.13799679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02864 meters 0.02998141227419848 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.64, Z:-0.72 [[ 9.86325209e-01 1.39480662e-01 8.77936607e-02 1.22455572e+01] [-1.38893623e-01 9.90224705e-01 -1.27903935e-02 -6.36813612e-01] [-8.87194644e-02 4.21507951e-04 9.96056564e-01 -7.15118326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.058639999999999 meters 0.03007470401289443 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.64, Z:-0.72 [[ 9.86405703e-01 1.38493035e-01 8.84503702e-02 1.22773468e+01] [-1.37889508e-01 9.90363252e-01 -1.29271930e-02 -6.42499463e-01] [-8.93883225e-02 5.55078860e-04 9.95996697e-01 -7.17944696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08864 meters 0.03024026605315194 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.65, Z:-0.72 [[ 9.86679638e-01 1.35618656e-01 8.98380325e-02 1.23088658e+01] [-1.34980289e-01 9.90760730e-01 -1.31718750e-02 -6.50277418e-01] [-9.07943466e-02 8.70057257e-04 9.95869283e-01 -7.21697666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11864 meters 0.030231902656170113 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.66, Z:-0.72 [[ 9.86629167e-01 1.35369083e-01 9.07639684e-02 1.23404977e+01] [-1.34712543e-01 9.90794792e-01 -1.33495489e-02 -6.56847408e-01] [-9.17355834e-02 9.44009292e-04 9.95782954e-01 -7.23873655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters 0.030192236244082037 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.67, Z:-0.73 [[ 9.86517894e-01 1.36219208e-01 9.07015532e-02 1.23721641e+01] [-1.35563153e-01 9.90678305e-01 -1.33838725e-02 -6.66266805e-01] [-9.16792015e-02 9.07641194e-04 9.95788180e-01 -7.26289473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17864 meters 0.03016048952951867 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.67, Z:-0.73 [[ 9.86297193e-01 1.37396910e-01 9.13232493e-02 1.24048439e+01] [-1.36732395e-01 9.90515706e-01 -1.35236157e-02 -6.73931969e-01] [-9.23152158e-02 8.51457668e-04 9.95729469e-01 -7.27962583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999999 meters 0.029934195026149645 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.68, Z:-0.73 [[ 9.86241582e-01 1.38942553e-01 8.95684627e-02 1.24364122e+01] [-1.38305713e-01 9.90300168e-01 -1.33081294e-02 -6.81447297e-01] [-9.05487292e-02 7.37200466e-04 9.95891753e-01 -7.29063712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.238639999999998 meters 0.029887868755588843 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.69, Z:-0.73 [[ 9.85378239e-01 1.43880887e-01 9.12579637e-02 1.24669834e+01] [-1.43236922e-01 9.89594958e-01 -1.36015995e-02 -6.91265962e-01] [-9.22654310e-02 3.31210248e-04 9.95734393e-01 -7.31006307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26864 meters 0.029888480760564086 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.70, Z:-0.73 [[ 9.84850605e-01 1.48063821e-01 9.02573598e-02 1.24982216e+01] [-1.47447645e-01 9.88977808e-01 -1.34939744e-02 -6.97889663e-01] [-9.12604952e-02 -1.86862747e-05 9.95827054e-01 -7.33314859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.298639999999999 meters 0.02978871764433855 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.70, Z:-0.73 [[ 9.84015550e-01 1.54040484e-01 8.93584201e-02 1.25301610e+01] [-1.53457186e-01 9.88064398e-01 -1.34028918e-02 -7.04576783e-01] [-9.03564615e-02 -5.24037728e-04 9.95909351e-01 -7.34530430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32864 meters 0.029910989114303645 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.71, Z:-0.74 [[ 9.83442778e-01 1.57670800e-01 8.93320851e-02 1.25627765e+01] [-1.57098458e-01 9.87491399e-01 -1.34466262e-02 -7.10072780e-01] [-9.03348060e-02 -8.09945392e-04 9.95911124e-01 -7.37257625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35864 meters 0.03017544055901185 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.72, Z:-0.74 [[ 9.83077919e-01 1.60502763e-01 8.82987447e-02 1.25947915e+01] [-1.59950778e-01 9.87034873e-01 -1.33381971e-02 -7.15608881e-01] [-8.92947578e-02 -1.01096591e-03 9.96004731e-01 -7.38990539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999999 meters 0.030287053619527042 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.72, Z:-0.74 [[ 9.82689370e-01 1.64531741e-01 8.51522682e-02 1.26268979e+01] [-1.64030524e-01 9.86370941e-01 -1.28977918e-02 -7.21868248e-01] [-8.61138191e-02 -1.29304829e-03 9.96284466e-01 -7.39937955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41864 meters 0.03026097581057635 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.73, Z:-0.74 [[ 9.82517785e-01 1.65387544e-01 8.54737517e-02 1.26592009e+01] [-1.64883631e-01 9.86227733e-01 -1.29710323e-02 -7.25671364e-01] [-8.64418315e-02 -1.34895257e-03 9.96255986e-01 -7.41733034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44864 meters 0.030320950570760802 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.73, Z:-0.74 [[ 9.82241945e-01 1.66880148e-01 8.57425104e-02 1.26917979e+01] [-1.66374694e-01 9.85976138e-01 -1.30581777e-02 -7.29884632e-01] [-8.67192199e-02 -1.43909408e-03 9.96231753e-01 -7.42796041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.478639999999999 meters 0.030530364823364606 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.74, Z:-0.75 [[ 9.82110060e-01 1.67216603e-01 8.65935224e-02 1.27246780e+01] [-1.66698207e-01 9.85919136e-01 -1.32349684e-02 -7.35145809e-01] [-8.75873173e-02 -1.43678930e-03 9.96155810e-01 -7.46774991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.50864 meters 0.030406839792544695 Centerline is valid? [True, True] Translation: X:12.76, Y:-0.74, Z:-0.75 [[ 9.82047381e-01 1.67902388e-01 8.59751739e-02 1.27577465e+01] [-1.67389955e-01 9.85802572e-01 -1.31868127e-02 -7.39615536e-01] [-8.69686449e-02 -1.44130559e-03 9.96210007e-01 -7.48041633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53864 meters 0.030357756237307354 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.74, Z:-0.75 [[ 9.82072534e-01 1.67664200e-01 8.61525076e-02 1.27911589e+01] [-1.67144687e-01 9.85843202e-01 -1.32602755e-02 -7.40317583e-01] [-8.71561375e-02 -1.37738149e-03 9.96193711e-01 -7.50075621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.568639999999998 meters 0.030282741301112994 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.74, Z:-0.75 [[ 9.81901078e-01 1.68956870e-01 8.55794848e-02 1.28244322e+01] [-1.68445160e-01 9.85622398e-01 -1.32180258e-02 -7.44359150e-01] [-8.65823333e-02 -1.43665620e-03 9.96243663e-01 -7.51052009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59864 meters 0.030409577540487096 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.75, Z:-0.75 [[ 9.81867146e-01 1.68990951e-01 8.59009091e-02 1.28565977e+01] [-1.68471444e-01 9.85616610e-01 -1.33143163e-02 -7.49202390e-01] [-8.69153618e-02 -1.39896050e-03 9.96214717e-01 -7.53742533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999999 meters 0.030531705238360317 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.75, Z:-0.76 [[ 9.81739802e-01 1.69593280e-01 8.61689132e-02 1.28888985e+01] [-1.69068735e-01 9.85513130e-01 -1.34027219e-02 -7.53874910e-01] [-8.71936070e-02 -1.41048356e-03 9.96190386e-01 -7.55942960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65864 meters 0.03034464664707647 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.75, Z:-0.76 [[ 9.81965083e-01 1.68397291e-01 8.59472355e-02 1.29208824e+01] [-1.67866984e-01 9.85718404e-01 -1.34127916e-02 -7.54561044e-01] [-8.69784496e-02 -1.25681021e-03 9.96209401e-01 -7.57930296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68864 meters 0.0303659321829038 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.76, Z:-0.76 [[ 9.82040464e-01 1.67856465e-01 8.61436793e-02 1.29539708e+01] [-1.67317928e-01 9.85810752e-01 -1.34859791e-02 -7.56775394e-01] [-8.71850740e-02 -1.16960478e-03 9.96191445e-01 -7.59290403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.718639999999999 meters 0.030424099638010422 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.76, Z:-0.76 [[ 9.82146033e-01 1.66672504e-01 8.72321440e-02 1.29869840e+01] [-1.66111373e-01 9.86011771e-01 -1.37039510e-02 -7.58857249e-01] [-8.82959927e-02 -1.03097014e-03 9.96093748e-01 -7.61617327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74864 meters 0.03028226676400971 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.76, Z:-0.76 [[ 9.82651165e-01 1.64168681e-01 8.62863353e-02 1.30195553e+01] [-1.63606141e-01 9.86431993e-01 -1.35997614e-02 -7.57774433e-01] [-8.73482567e-02 -7.53152931e-04 9.96177552e-01 -7.63204225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77864 meters 0.030272060242440006 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.76, Z:-0.77 [[ 9.82790454e-01 1.63060333e-01 8.68000709e-02 1.30531719e+01] [-1.62482946e-01 9.86615907e-01 -1.37238367e-02 -7.59000321e-01] [-8.78761441e-02 -6.15875516e-04 9.96131218e-01 -7.65532094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.808639999999999 meters 0.030287608920788803 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.76, Z:-0.77 [[ 9.83386538e-01 1.61123967e-01 8.36061311e-02 1.30858798e+01] [-1.60577771e-01 9.86934101e-01 -1.32612206e-02 -7.58167335e-01] [-8.46504423e-02 -3.84380387e-04 9.96410636e-01 -7.67824141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83864 meters 0.030255293265493345 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.76, Z:-0.77 [[ 9.83339384e-01 1.60565308e-01 8.52199329e-02 1.31179454e+01] [-1.59992172e-01 9.87025172e-01 -1.35578337e-02 -7.61268436e-01] [-8.62911367e-02 -3.02570324e-04 9.96269917e-01 -7.70812113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86864 meters 0.030184082419790027 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.76, Z:-0.77 [[ 9.83566571e-01 1.60150288e-01 8.33587806e-02 1.31502765e+01] [-1.59597212e-01 9.87092618e-01 -1.33001488e-02 -7.64123928e-01] [-8.44128596e-02 -2.22247260e-04 9.96430840e-01 -7.71758062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.898639999999999 meters 0.030167661784871794 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.76, Z:-0.77 [[ 9.83713435e-01 1.57901851e-01 8.58771345e-02 1.31834192e+01] [-1.57302666e-01 9.87454812e-01 -1.37428545e-02 -7.61303492e-01] [-8.69698118e-02 1.03284257e-05 9.96210947e-01 -7.73491807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92864 meters 0.03016461425146678 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.76, Z:-0.78 [[ 9.83839572e-01 1.57255155e-01 8.56184117e-02 1.32161186e+01] [-1.56653497e-01 9.87558001e-01 -1.37432669e-02 -7.62667681e-01] [-8.67143471e-02 1.08746235e-04 9.96233211e-01 -7.75677498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.958639999999999 meters 0.03021343198529022 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.77, Z:-0.78 [[ 9.83985731e-01 1.56393305e-01 8.55173360e-02 1.32486189e+01] [-1.55785844e-01 9.87694832e-01 -1.37727886e-02 -7.65832794e-01] [-8.66190027e-02 2.29837157e-04 9.96241485e-01 -7.78415476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters 0.030314915266368994 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.77, Z:-0.78 [[ 9.84354207e-01 1.53567280e-01 8.63937816e-02 1.32804214e+01] [-1.52932506e-01 9.88138053e-01 -1.39583746e-02 -7.68787706e-01] [-8.75125328e-02 5.27567240e-04 9.96163279e-01 -7.81059851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01864 meters 0.030163699571537403 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.77, Z:-0.78 [[ 9.84767620e-01 1.52412490e-01 8.36849260e-02 1.33122688e+01] [-1.51809602e-01 9.88316758e-01 -1.35584547e-02 -7.72139789e-01] [-8.47736925e-02 6.47751881e-04 9.96400021e-01 -7.81210395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.048639999999999 meters 0.0303256482481183 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.77, Z:-0.78 [[ 9.85017317e-01 1.50560148e-01 8.40983220e-02 1.33448957e+01] [-1.49941215e-01 9.88600485e-01 -1.36642670e-02 -7.73701152e-01] [-8.51969360e-02 8.49734979e-04 9.96363769e-01 -7.82702141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07864 meters 0.03021092608619571 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.78, Z:-0.78 [[ 9.85240540e-01 1.50523457e-01 8.15093120e-02 1.33773528e+01] [-1.49939521e-01 9.88606067e-01 -1.32734278e-02 -7.77835927e-01] [-8.25785626e-02 8.56051982e-04 9.96584190e-01 -7.83915441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.10864 meters 0.030398947979122615 Centerline is valid? [True, True] Translation: X:13.41, Y:-0.78, Z:-0.79 [[ 9.84964958e-01 1.51170807e-01 8.36147082e-02 1.34095693e+01] [-1.50556752e-01 9.88507296e-01 -1.36378027e-02 -7.81782247e-01] [-8.47153868e-02 8.43998863e-04 9.96404833e-01 -7.87545857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.138639999999999 meters 0.03024871682848781 Centerline is valid? [True, True] Translation: X:13.44, Y:-0.79, Z:-0.79 [[ 9.84625585e-01 1.53115679e-01 8.40716743e-02 1.34427037e+01] [-1.52498495e-01 9.88208009e-01 -1.37527900e-02 -7.86511273e-01] [-8.51860697e-02 7.20545057e-04 9.96364800e-01 -7.89197124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16864 meters 0.030268862628543985 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.79, Z:-0.79 [[ 9.84243966e-01 1.57122801e-01 8.10940291e-02 1.34742679e+01] [-1.56558920e-01 9.87578992e-01 -1.33056076e-02 -7.91249574e-01] [-8.21773738e-02 3.99970393e-04 9.96617639e-01 -7.90635772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19864 meters 0.030163452914183757 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.80, Z:-0.79 [[ 9.83669337e-01 1.60107442e-01 8.22206969e-02 1.35071485e+01] [-1.59534822e-01 9.87099575e-01 -1.35303579e-02 -7.96713025e-01] [-8.33263259e-02 1.92333927e-04 9.96522296e-01 -7.91962428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999999 meters 0.03014804728823074 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.80, Z:-0.79 [[ 9.83016475e-01 1.63935441e-01 8.24850383e-02 1.35398896e+01] [-1.63368882e-01 9.86471066e-01 -1.36178259e-02 -8.03423443e-01] [-8.36015480e-02 -8.89412249e-05 9.96499259e-01 -7.92424791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25864 meters 0.030065513072219142 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.81, Z:-0.79 [[ 9.83107078e-01 1.64433751e-01 8.03866623e-02 1.35715556e+01] [-1.63894023e-01 9.86388125e-01 -1.33122268e-02 -8.08482389e-01] [-8.14814285e-02 -8.75490610e-05 9.96674856e-01 -7.93444315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28864 meters 0.03018550094926498 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.81, Z:-0.80 [[ 9.83194358e-01 1.63738881e-01 8.07368193e-02 1.36040947e+01] [-1.63188844e-01 9.86503715e-01 -1.34097803e-02 -8.12891764e-01] [-8.18428746e-02 9.07210430e-06 9.96645245e-01 -7.96229407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.318639999999998 meters 0.03016866525527517 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.82, Z:-0.80 [[ 9.83077548e-01 1.63183035e-01 8.32456171e-02 1.36360690e+01] [-1.62592505e-01 9.86595807e-01 -1.38704863e-02 -8.18329799e-01] [-8.43932048e-02 1.00650318e-04 9.96432525e-01 -7.99115371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34864 meters 0.030460389162072936 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.82, Z:-0.80 [[ 9.83091048e-01 1.62780255e-01 8.38724041e-02 1.36686973e+01] [-1.62175812e-01 9.86662332e-01 -1.40160152e-02 -8.23429018e-01] [-8.50352723e-02 1.76943748e-04 9.96377926e-01 -8.00437932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.378639999999999 meters 0.03035292557826815 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.83, Z:-0.80 [[ 9.83196085e-01 1.62466033e-01 8.32481010e-02 1.37016896e+01] [-1.61865700e-01 9.86714106e-01 -1.39559271e-02 -8.28106499e-01] [-8.44094397e-02 2.46400803e-04 9.96431124e-01 -8.01750045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.408639999999998 meters 0.030153980070546302 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.83, Z:-0.80 [[ 9.83057932e-01 1.63611878e-01 8.26332625e-02 1.37344681e+01] [-1.63020727e-01 9.86524768e-01 -1.38969579e-02 -8.33696946e-01] [-8.37934674e-02 1.90580173e-04 9.96483125e-01 -8.02600172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43864 meters 0.030153980070546302 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.84, Z:-0.80 [[ 9.82972781e-01 1.64126331e-01 8.26260171e-02 1.37665732e+01] [-1.63533383e-01 9.86439309e-01 -1.39399235e-02 -8.38757667e-01] [-8.37934598e-02 1.90453273e-04 9.96483126e-01 -8.04518355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999999 meters 0.030138306616402356 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.84, Z:-0.81 [[ 9.82714869e-01 1.65807741e-01 8.23363725e-02 1.37994884e+01] [-1.65221146e-01 9.86158093e-01 -1.39351363e-02 -8.44342140e-01] [-8.35072336e-02 9.05558314e-05 9.96507167e-01 -8.07294643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49864 meters 0.03018225782921937 Centerline is valid? [True, True] Translation: X:13.83, Y:-0.85, Z:-0.81 [[ 9.82168168e-01 1.68439871e-01 8.35086780e-02 1.38315155e+01] [-1.67842204e-01 9.85711926e-01 -1.41772062e-02 -8.48038625e-01] [-8.47035066e-02 -9.18799482e-05 9.96406196e-01 -8.10605517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52864 meters 0.030305152936914243 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.85, Z:-0.81 [[ 9.82078284e-01 1.69389428e-01 8.26405827e-02 1.38636635e+01] [-1.68804244e-01 9.85549189e-01 -1.40685189e-02 -8.53000193e-01] [-8.38294176e-02 -1.33694232e-04 9.96480111e-01 -8.13149805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.558639999999999 meters 0.030269212304977006 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.86, Z:-0.82 [[ 9.82084423e-01 1.69173350e-01 8.30094166e-02 1.38956788e+01] [-1.68578696e-01 9.85586309e-01 -1.41722002e-02 -8.59343973e-01] [-8.42105031e-02 -7.53221180e-05 9.96447984e-01 -8.15158342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58864 meters 0.030297851245960725 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.86, Z:-0.82 [[ 9.82145530e-01 1.68803264e-01 8.30398488e-02 1.39284001e+01] [-1.68203071e-01 9.85649764e-01 -1.42221242e-02 -8.64964226e-01] [-8.42489484e-02 6.38152941e-07 9.96444737e-01 -8.17169794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61864 meters 0.03032729423737845 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.87, Z:-0.82 [[ 9.82256964e-01 1.68589254e-01 8.21518164e-02 1.39603591e+01] [-1.67997579e-01 9.85686390e-01 -1.41121851e-02 -8.70106517e-01] [-8.33550901e-02 6.04858889e-05 9.96519907e-01 -8.18794497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.648639999999999 meters 0.030248613162495917 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.87, Z:-0.82 [[ 9.82231476e-01 1.67798632e-01 8.40532363e-02 1.39919902e+01] [-1.67172877e-01 9.85821277e-01 -1.44789231e-02 -8.74272004e-01] [-8.52910122e-02 1.70232708e-04 9.96356068e-01 -8.21278900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67864 meters 0.030169714313763005 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.88, Z:-0.82 [[ 9.82201501e-01 1.68620802e-01 8.27480303e-02 1.40244107e+01] [-1.68014663e-01 9.85680987e-01 -1.42850995e-02 -8.78912398e-01] [-8.39719251e-02 1.27963717e-04 9.96468113e-01 -8.21577001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.708639999999999 meters 0.03028965058686997 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.88, Z:-0.82 [[ 9.81634579e-01 1.71580203e-01 8.33893683e-02 1.40570871e+01] [-1.70973282e-01 9.85170149e-01 -1.44192088e-02 -8.83940614e-01] [-8.46267672e-02 -1.02960018e-04 9.96412716e-01 -8.24480825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.738639999999998 meters 0.03006255041221721 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.89, Z:-0.83 [[ 9.81311101e-01 1.74109802e-01 8.19408381e-02 1.40885106e+01] [-1.73529132e-01 9.84726207e-01 -1.42105104e-02 -8.90446712e-01] [-8.31634798e-02 -2.74190885e-04 9.96535880e-01 -8.25718361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76864 meters 0.030039920450347476 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.90, Z:-0.83 [[ 9.81050760e-01 1.75753279e-01 8.15487000e-02 1.41208188e+01] [-1.75180518e-01 9.84434176e-01 -1.41823693e-02 -8.96322738e-01] [-8.27719251e-02 -3.72119268e-04 9.96568447e-01 -8.27031136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.798639999999999 meters 0.03011150775445835 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.90, Z:-0.83 [[ 9.80960743e-01 1.76933290e-01 8.00664139e-02 1.41529233e+01] [-1.76381759e-01 9.84222755e-01 -1.39657727e-02 -9.01065731e-01] [-8.12741966e-02 -4.22380116e-04 9.96691691e-01 -8.28025475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82864 meters 0.030064470990469338 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.90, Z:-0.83 [[ 9.80143869e-01 1.81051581e-01 8.08598883e-02 1.41853367e+01] [-1.80499870e-01 9.83473328e-01 -1.41424842e-02 -9.04250190e-01] [-8.20840626e-02 -7.33530122e-04 9.96625139e-01 -8.29448117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85864 meters 0.030230769447818273 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.91, Z:-0.83 [[ 9.79661391e-01 1.83664618e-01 8.08137851e-02 1.42178046e+01] [-1.83119168e-01 9.82988542e-01 -1.41737641e-02 -9.08915719e-01] [-8.20422437e-02 -9.13063689e-04 9.96628435e-01 -8.32231438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999999 meters 0.030259797189384766 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.91, Z:-0.83 [[ 9.78983053e-01 1.87791624e-01 7.95392176e-02 1.42506641e+01] [-1.87273409e-01 9.82208162e-01 -1.39927536e-02 -9.11058155e-01] [-8.07517906e-02 -1.19691176e-03 9.96733523e-01 -8.33444515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91864 meters 0.030308992758139808 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.91, Z:-0.83 [[ 9.78704378e-01 1.89729479e-01 7.83611205e-02 1.42833543e+01] [-1.89229362e-01 9.81835550e-01 -1.38275535e-02 -9.13756649e-01] [-7.95612284e-02 -1.29513772e-03 9.96829140e-01 -8.34808992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94864 meters 0.030329703116404285 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.92, Z:-0.84 [[ 9.78496123e-01 1.90873454e-01 7.81835173e-02 1.43163181e+01] [-1.90375889e-01 9.81613732e-01 -1.38383955e-02 -9.15899677e-01] [-7.93873966e-02 -1.34344026e-03 9.96842935e-01 -8.35751623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.978639999999999 meters 0.030292616513096622 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.92, Z:-0.84 [[ 9.78293538e-01 1.91389404e-01 7.94471433e-02 1.43488328e+01] [-1.90873903e-01 9.81513234e-01 -1.41040607e-02 -9.19155428e-01] [-8.06777904e-02 -1.36647491e-03 9.96739297e-01 -8.38043919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.00864 meters 0.030128980933441338 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.92, Z:-0.84 [[ 9.78249513e-01 1.90681533e-01 8.16605376e-02 1.43813603e+01] [-1.90131129e-01 9.81651082e-01 -1.45363798e-02 -9.21482339e-01] [-8.29339743e-02 -1.30600377e-03 9.96554188e-01 -8.40240251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03864 meters 0.030176231805362306 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.92, Z:-0.84 [[ 9.78557758e-01 1.89010274e-01 8.18524962e-02 1.44133151e+01] [-1.88448190e-01 9.81974461e-01 -1.46095023e-02 -9.24426909e-01] [-8.31384069e-02 -1.12871296e-03 9.96537371e-01 -8.42655501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999998 meters 0.029891975732378923 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.93, Z:-0.85 [[ 9.79106096e-01 1.85902671e-01 8.24102569e-02 1.44455887e+01] [-1.85318603e-01 9.82567812e-01 -1.47482518e-02 -9.25724456e-01] [-8.37154052e-02 -8.32050429e-04 9.96489357e-01 -8.45246924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09864 meters 0.029810550630279098 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.93, Z:-0.85 [[ 9.79403406e-01 1.84810989e-01 8.13256800e-02 1.44769252e+01] [-1.84235301e-01 9.82773840e-01 -1.45922400e-02 -9.30594777e-01] [-8.26215571e-02 -6.91371556e-04 9.96580755e-01 -8.47234657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.128639999999999 meters 0.029907374643458915 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.94, Z:-0.85 [[ 9.79341177e-01 1.84875614e-01 8.19259847e-02 1.45092682e+01] [-1.84288228e-01 9.82761705e-01 -1.47404232e-02 -9.36183901e-01] [-8.32388652e-02 -6.62091077e-04 9.96529404e-01 -8.49905478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.158639999999998 meters 0.02974572155134942 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.94, Z:-0.85 [[ 9.79454054e-01 1.85466718e-01 7.91950342e-02 1.45419328e+01] [-1.84917095e-01 9.82650328e-01 -1.42828781e-02 -9.39560336e-01] [-8.04700248e-02 -6.55092736e-04 9.96756814e-01 -8.50401183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18864 meters 0.02963713478442232 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.94, Z:-0.85 [[ 9.78896101e-01 1.88780076e-01 7.82592284e-02 1.45745976e+01] [-1.88252307e-01 9.82018982e-01 -1.41346670e-02 -9.44490497e-01] [-7.95203913e-02 -8.96109889e-04 9.96832837e-01 -8.52236578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.218639999999999 meters 0.02997888995800121 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.95, Z:-0.85 [[ 9.77856781e-01 1.94458392e-01 7.73437152e-02 1.46062576e+01] [-1.93957478e-01 9.80909903e-01 -1.40092490e-02 -9.49473566e-01] [-7.85914322e-02 -1.30235279e-03 9.96906059e-01 -8.52772223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24864 meters 0.030150289641657686 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.95, Z:-0.85 [[ 9.77331754e-01 1.96960871e-01 7.76470083e-02 1.46381256e+01] [-1.96460993e-01 9.80410243e-01 -1.41008428e-02 -9.53944837e-01] [-7.89032365e-02 -1.47340692e-03 9.96881191e-01 -8.53987779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27864 meters 0.030149113496511157 Centerline is valid? [True, True] Translation: X:14.67, Y:-0.96, Z:-0.85 [[ 9.76818713e-01 1.99627020e-01 7.72933056e-02 1.46703241e+01] [-1.99137150e-01 9.79870576e-01 -1.40729996e-02 -9.58416367e-01] [-7.85467869e-02 -1.64519930e-03 9.96909071e-01 -8.54948740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.308639999999999 meters 0.03053386535729412 Centerline is valid? [True, True] Translation: X:14.70, Y:-0.96, Z:-0.86 [[ 9.76317543e-01 2.01111916e-01 7.97374016e-02 1.47023749e+01] [-2.00592355e-01 9.79566648e-01 -1.45564071e-02 -9.62721373e-01] [-8.10355661e-02 -1.78303754e-03 9.96709616e-01 -8.57352413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33864 meters 0.030757625631874404 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.97, Z:-0.86 [[ 9.75257848e-01 2.06205173e-01 7.96966538e-02 1.47341685e+01] [-2.05700102e-01 9.78506374e-01 -1.45857673e-02 -9.65638537e-01] [-8.09913443e-02 -2.16872576e-03 9.96712445e-01 -8.57929605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36864 meters 0.030994678269130268 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.97, Z:-0.86 [[ 9.74641425e-01 2.08731114e-01 8.06561474e-02 1.47658444e+01] [-2.08219490e-01 9.77970191e-01 -1.47969775e-02 -9.68876267e-01] [-8.19678975e-02 -2.37243458e-03 9.96632146e-01 -8.59836645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.398639999999999 meters 0.03153233532228094 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.97, Z:-0.86 [[ 9.73616925e-01 2.13116988e-01 8.15550909e-02 1.47980130e+01] [-2.12606814e-01 9.77022835e-01 -1.49907442e-02 -9.72394245e-01] [-8.28759684e-02 -2.74392581e-03 9.96556092e-01 -8.61040466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42864 meters 0.03250350061145737 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.97, Z:-0.86 [[ 9.72157493e-01 2.21033700e-01 7.78068939e-02 1.48303770e+01] [-2.20593816e-01 9.75260754e-01 -1.43118776e-02 -9.73134486e-01] [-7.90454173e-02 -3.25032061e-03 9.96865717e-01 -8.62648727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.458639999999999 meters 0.032976189925478946 Centerline is valid? [True, True] Translation: X:14.86, Y:-0.98, Z:-0.86 [[ 9.71453473e-01 2.24831791e-01 7.56889371e-02 1.48622530e+01] [-2.24425862e-01 9.74391494e-01 -1.39373231e-02 -9.75050024e-01] [-7.68842098e-02 -3.44709401e-03 9.97034070e-01 -8.64197212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.488639999999998 meters 0.0335965426800191 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.97, Z:-0.87 [[ 9.70513845e-01 2.28524355e-01 7.66778680e-02 1.48957550e+01] [-2.28117061e-01 9.73530929e-01 -1.41469896e-02 -9.70723638e-01] [-7.78812077e-02 -3.76168058e-03 9.96955549e-01 -8.65265285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51864 meters 0.03366632257019205 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.97, Z:-0.87 [[ 9.70222596e-01 2.29028027e-01 7.88306873e-02 1.49281377e+01] [-2.28597798e-01 9.73412045e-01 -1.45614793e-02 -9.71178997e-01] [-8.00697274e-02 -3.89264524e-03 9.96781664e-01 -8.67818430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999999 meters 0.03318175459957294 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.97, Z:-0.87 [[ 9.70450066e-01 2.27729306e-01 7.97874184e-02 1.49611277e+01] [-2.27281734e-01 9.73717057e-01 -1.47684390e-02 -9.72325699e-01] [-8.10535766e-02 -3.80219016e-03 9.96702494e-01 -8.69446527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57864 meters 0.0328658654137582 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.97, Z:-0.87 [[ 9.71459899e-01 2.22901042e-01 8.11220741e-02 1.49931010e+01] [-2.22420650e-01 9.74834988e-01 -1.50266459e-02 -9.69611283e-01] [-8.24300912e-02 -3.44544056e-03 9.96590894e-01 -8.72483880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60864 meters 0.032053940829307806 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.97, Z:-0.87 [[ 9.72188950e-01 2.19359154e-01 8.20378387e-02 1.50262718e+01] [-2.18854012e-01 9.75639041e-01 -1.52112974e-02 -9.68968967e-01] [-8.33760556e-02 -3.16605492e-03 9.96513126e-01 -8.74346625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.638639999999999 meters 0.03158217864716581 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.97, Z:-0.88 [[ 9.72727947e-01 2.17188770e-01 8.14210021e-02 1.50592636e+01] [-2.16680504e-01 9.76125252e-01 -1.51344273e-02 -9.69356847e-01] [-8.27641239e-02 -2.92066343e-03 9.96564885e-01 -8.75917234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66864 meters 0.031010375081075108 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.97, Z:-0.88 [[ 9.74102132e-01 2.11640961e-01 7.95810257e-02 1.50912170e+01] [-2.11134669e-01 9.77344620e-01 -1.48204120e-02 -9.67649550e-01] [-8.09146936e-02 -2.36571864e-03 9.96718223e-01 -8.78400513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69864 meters 0.03077340330149916 Centerline is valid? [True, True] Translation: X:15.12, Y:-0.97, Z:-0.88 [[ 9.74262716e-01 2.10293785e-01 8.11707127e-02 1.51242316e+01] [-2.09761019e-01 9.77635572e-01 -1.51328489e-02 -9.70248654e-01] [-8.25377202e-02 -2.28308095e-03 9.96585326e-01 -8.80557896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.728639999999999 meters 0.030145479641366782 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.97, Z:-0.88 [[ 9.75414364e-01 2.04913225e-01 8.11011027e-02 1.51569490e+01] [-2.04359351e-01 9.78778516e-01 -1.51615312e-02 -9.69703413e-01] [-8.24868152e-02 -1.78499340e-03 9.96590557e-01 -8.81610567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75864 meters 0.03012749838123424 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.97, Z:-0.88 [[ 9.75811044e-01 2.02535630e-01 8.22929226e-02 1.51884929e+01] [-2.01953629e-01 9.79273637e-01 -1.54232169e-02 -9.73595949e-01] [-8.37110406e-02 -1.56920898e-03 9.96488835e-01 -8.84452457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78864 meters 0.029720169980267955 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.98, Z:-0.89 [[ 9.76242918e-01 2.00600616e-01 8.19094530e-02 1.52204628e+01] [-2.00014059e-01 9.79672162e-01 -1.53893213e-02 -9.77447913e-01] [-8.33315182e-02 -1.35932619e-03 9.96520953e-01 -8.86114393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.818639999999998 meters 0.02952635632575988 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.98, Z:-0.89 [[ 9.76842023e-01 1.97958798e-01 8.11909843e-02 1.52529172e+01] [-1.97370310e-01 9.80209739e-01 -1.52914561e-02 -9.79686813e-01] [-8.26112718e-02 -1.08735281e-03 9.96581254e-01 -8.87032231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84864 meters 0.029434680163104788 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.98, Z:-0.89 [[ 9.76943935e-01 1.97271266e-01 8.16369691e-02 1.52858700e+01] [-1.96670591e-01 9.80348436e-01 -1.54150216e-02 -9.82661622e-01] [-8.30736158e-02 -9.95979050e-04 9.96542915e-01 -8.88430761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.878639999999999 meters 0.029203606356454713 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.98, Z:-0.89 [[ 9.77149800e-01 1.97205236e-01 7.92992053e-02 1.53180966e+01] [-1.96635092e-01 9.80361792e-01 -1.50132374e-02 -9.84573701e-01] [-8.07026001e-02 -9.22824668e-04 9.96737798e-01 -8.89296240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.908639999999998 meters 0.029237115420173546 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.99, Z:-0.89 [[ 9.77020430e-01 1.97285998e-01 8.06803272e-02 1.53496610e+01] [-1.96692932e-01 9.80345556e-01 -1.53127573e-02 -9.89851020e-01] [-8.21155928e-02 -9.08373420e-04 9.96622398e-01 -8.92509822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93864 meters 0.029290610420532468 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.00, Z:-0.89 [[ 9.77055610e-01 1.97314126e-01 8.01839857e-02 1.53824940e+01] [-1.96725259e-01 9.80339933e-01 -1.52573936e-02 -9.95246126e-01] [-8.16180624e-02 -8.66893373e-04 9.96663303e-01 -8.94879835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.968639999999999 meters 0.029237884359220947 Centerline is valid? [True, True] Translation: X:15.42, Y:-1.00, Z:-0.90 [[ 9.77288183e-01 1.96005914e-01 8.05573646e-02 1.54158547e+01] [-1.95403586e-01 9.80602450e-01 -1.53712071e-02 -9.97918790e-01] [-8.20075966e-02 -7.19098863e-04 9.96631445e-01 -8.96852325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99864 meters 0.029064265400686233 Centerline is valid? [True, True] Translation: X:15.45, Y:-1.00, Z:-0.90 [[ 9.77639072e-01 1.94318733e-01 8.03870323e-02 1.54474223e+01] [-1.93710276e-01 9.80938295e-01 -1.53750181e-02 -1.00214312e+00] [-8.18423724e-02 -5.40575787e-04 9.96645139e-01 -8.98622069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02864 meters 0.029222490089937457 Centerline is valid? [True, True] Translation: X:15.48, Y:-1.01, Z:-0.90 [[ 9.78035275e-01 1.91023804e-01 8.34080701e-02 1.54790934e+01] [-1.90354394e-01 9.81585373e-01 -1.59799946e-02 -1.00564718e+00] [-8.49247010e-02 -2.48094214e-04 9.96387341e-01 -9.01650642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05864 meters 0.029197498949737357 Centerline is valid? [True, True] Translation: X:15.51, Y:-1.01, Z:-0.90 [[ 9.78444927e-01 1.88446199e-01 8.44603689e-02 1.55115387e+01] [-1.87746727e-01 9.82083515e-01 -1.62214876e-02 -1.00999031e+00] [-8.60040136e-02 1.46744561e-05 9.96294790e-01 -9.03559519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters 0.02940614587693403 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.01, Z:-0.91 [[ 9.78799354e-01 1.86452781e-01 8.47772651e-02 1.55438640e+01] [-1.85737033e-01 9.82463896e-01 -1.63232235e-02 -1.01463285e+00] [-8.63341126e-02 2.30882971e-04 9.96266213e-01 -9.06032167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11864 meters 0.02926609797772192 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.02, Z:-0.91 [[ 9.79465192e-01 1.83116862e-01 8.43572906e-02 1.55762288e+01] [-1.82392058e-01 9.83090990e-01 -1.62862631e-02 -1.02078957e+00] [-8.59131818e-02 5.65727977e-04 9.96302467e-01 -9.08369979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14864 meters 0.029205197684043258 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.03, Z:-0.91 [[ 9.79431766e-01 1.83383593e-01 8.41657458e-02 1.56088826e+01] [-1.82659321e-01 9.83041259e-01 -1.62928156e-02 -1.02746507e+00] [-8.57262358e-02 5.84043194e-04 9.96318559e-01 -9.09734444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.178639999999998 meters 0.02942089610957034 Centerline is valid? [True, True] Translation: X:15.64, Y:-1.03, Z:-0.91 [[ 9.79203036e-01 1.84053436e-01 8.53565866e-02 1.56403785e+01] [-1.83307303e-01 9.82916071e-01 -1.65659468e-02 -1.03387684e+00] [-8.69473801e-02 5.74939716e-04 9.96212740e-01 -9.11618029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters 0.029327225678054854 Centerline is valid? [True, True] Translation: X:15.67, Y:-1.04, Z:-0.91 [[ 9.78785272e-01 1.85965943e-01 8.60003459e-02 1.56719576e+01] [-1.85212261e-01 9.82556088e-01 -1.67317533e-02 -1.04233517e+00] [-8.76116998e-02 4.48475131e-04 9.96154601e-01 -9.13059875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23864 meters 0.029197863468894424 Centerline is valid? [True, True] Translation: X:15.70, Y:-1.05, Z:-0.91 [[ 9.78610697e-01 1.87337111e-01 8.50053536e-02 1.57029552e+01] [-1.86602312e-01 9.82295615e-01 -1.65801849e-02 -1.05002469e+00] [-8.66064700e-02 3.63350794e-04 9.96242534e-01 -9.14630375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.268639999999998 meters 0.028972157707747616 Centerline is valid? [True, True] Translation: X:15.73, Y:-1.06, Z:-0.92 [[ 9.78467122e-01 1.88620690e-01 8.38112605e-02 1.57344368e+01] [-1.87907891e-01 9.82049976e-01 -1.63850344e-02 -1.05793936e+00] [-8.53974028e-02 2.83420203e-04 9.96346929e-01 -9.16559131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29864 meters 0.029030950325503336 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.06, Z:-0.92 [[ 9.78421445e-01 1.89241433e-01 8.29406790e-02 1.57656050e+01] [-1.88542422e-01 9.81930553e-01 -1.62525280e-02 -1.06463185e+00] [-8.45176385e-02 2.63985445e-04 9.96421948e-01 -9.17739855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32864 meters 0.029030950325503336 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.07, Z:-0.92 [[ 9.78326450e-01 1.89735201e-01 8.29331737e-02 1.57976229e+01] [-1.89034721e-01 9.81835264e-01 -1.62907506e-02 -1.07056013e+00] [-8.45176433e-02 2.60422925e-04 9.96421949e-01 -9.19658714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.358639999999998 meters 0.029111025214257288 Centerline is valid? [True, True] Translation: X:15.83, Y:-1.08, Z:-0.92 [[ 9.78249641e-01 1.89389856e-01 8.46115926e-02 1.58290948e+01] [-1.88655667e-01 9.81901914e-01 -1.66634850e-02 -1.07838428e+00] [-8.62361797e-02 3.38591843e-04 9.96274664e-01 -9.23146380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters 0.029282934723790177 Centerline is valid? [True, True] Translation: X:15.86, Y:-1.09, Z:-0.92 [[ 9.78674908e-01 1.86895545e-01 8.52377833e-02 1.58599905e+01] [-1.86137577e-01 9.82379608e-01 -1.68258222e-02 -1.08714414e+00] [-8.68805314e-02 6.01055504e-04 9.96218556e-01 -9.24540350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41864 meters 0.029213576777253173 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.09, Z:-0.93 [[ 9.78720514e-01 1.86066923e-01 8.65173772e-02 1.58914618e+01] [-1.85279235e-01 9.82536806e-01 -1.71180858e-02 -1.09328250e+00] [-8.81916171e-02 7.23948217e-04 9.96103265e-01 -9.26746154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.448639999999997 meters 0.02928171535393617 Centerline is valid? [True, True] Translation: X:15.92, Y:-1.10, Z:-0.93 [[ 9.78937405e-01 1.85031610e-01 8.62836076e-02 1.59240842e+01] [-1.84240565e-01 9.82732197e-01 -1.71126322e-02 -1.09960259e+00] [-8.79600572e-02 8.55255120e-04 9.96123635e-01 -9.28879097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47864 meters 0.029357364653094263 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.11, Z:-0.93 [[ 9.79246722e-01 1.83881480e-01 8.52259263e-02 1.59562274e+01] [-1.83101592e-01 9.82947924e-01 -1.69465555e-02 -1.10903943e+00] [-8.68888051e-02 9.89856157e-04 9.96217524e-01 -9.31534332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50864 meters 0.029516794546823245 Centerline is valid? [True, True] Translation: X:15.99, Y:-1.12, Z:-0.93 [[ 9.79293383e-01 1.83633278e-01 8.52249383e-02 1.59882179e+01] [-1.82848622e-01 9.82994255e-01 -1.69904662e-02 -1.11704752e+00] [-8.68956397e-02 1.05538853e-03 9.96216861e-01 -9.34062474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53864 meters 0.029292783263787116 Centerline is valid? [True, True] Translation: X:16.02, Y:-1.13, Z:-0.94 [[ 9.79140626e-01 1.84442836e-01 8.52318911e-02 1.60198195e+01] [-1.83657277e-01 9.82842706e-01 -1.70358141e-02 -1.12601795e+00] [-8.69116763e-02 1.02700064e-03 9.96215492e-01 -9.35455339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters 0.02932740632306578 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.13, Z:-0.94 [[ 9.79106336e-01 1.84877157e-01 8.46830512e-02 1.60516072e+01] [-1.84100206e-01 9.82761111e-01 -1.69621009e-02 -1.13354595e+00] [-8.63591145e-02 1.01753336e-03 9.96263553e-01 -9.37534292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59864 meters 0.029025971858663926 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.14, Z:-0.94 [[ 9.78788151e-01 1.86485849e-01 8.48338555e-02 1.60834398e+01] [-1.85709708e-01 9.82457230e-01 -1.70204335e-02 -1.14190896e+00] [-8.65197047e-02 9.04928078e-04 9.96249729e-01 -9.39310681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62864 meters 0.028952514502787168 Centerline is valid? [True, True] Translation: X:16.11, Y:-1.15, Z:-0.94 [[ 9.78723393e-01 1.87405209e-01 8.35452449e-02 1.61142412e+01] [-1.86652348e-01 9.82282323e-01 -1.68029267e-02 -1.15027495e+00] [-8.52139733e-02 8.51501272e-04 9.96362310e-01 -9.41275180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65864 meters 0.02898957285539898 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.16, Z:-0.94 [[ 9.77766359e-01 1.91242242e-01 8.60194903e-02 1.61455733e+01] [-1.90455320e-01 9.81542703e-01 -1.73405101e-02 -1.15943913e+00] [-8.77480410e-02 5.72097876e-04 9.96142537e-01 -9.43819612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68864 meters 0.02898255336840287 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.17, Z:-0.94 [[ 9.77428499e-01 1.93257869e-01 8.53517724e-02 1.61774611e+01] [-1.92487419e-01 9.81147906e-01 -1.72446872e-02 -1.16648968e+00] [-8.70753843e-02 4.26306308e-04 9.96201634e-01 -9.44880775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71864 meters 0.028916035554623017 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.17, Z:-0.95 [[ 9.77063731e-01 1.95374091e-01 8.47079094e-02 1.62092349e+01] [-1.94620529e-01 9.80728756e-01 -1.71451497e-02 -1.17413955e+00] [-8.64252007e-02 2.66005842e-04 9.96258307e-01 -9.46300341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.748639999999998 meters 0.02877980485054265 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.18, Z:-0.95 [[ 9.76984277e-01 1.96018044e-01 8.41347043e-02 1.62411536e+01] [-1.95275051e-01 9.80600262e-01 -1.70523101e-02 -1.18088046e+00] [-8.58450735e-02 2.30430200e-04 9.96308471e-01 -9.47513237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77864 meters 0.028711091971192832 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.19, Z:-0.95 [[ 9.76760182e-01 1.97583228e-01 8.30687309e-02 1.62731264e+01] [-1.96861088e-01 9.80286106e-01 -1.68778386e-02 -1.18745962e+00] [-8.47659006e-02 1.32599890e-04 9.96400885e-01 -9.49215523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80864 meters 0.02881628609325752 Centerline is valid? [True, True] Translation: X:16.30, Y:-1.19, Z:-0.95 [[ 9.76826899e-01 1.96617566e-01 8.45620614e-02 1.63047720e+01] [-1.95862154e-01 9.80480222e-01 -1.72206623e-02 -1.19360953e+00] [-8.62973134e-02 2.59098727e-04 9.96269395e-01 -9.51071584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.838639999999998 meters 0.028679603009178167 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.20, Z:-0.95 [[ 9.76809371e-01 1.96606848e-01 8.47891492e-02 1.63372885e+01] [-1.95843749e-01 9.80482359e-01 -1.73080763e-02 -1.20019008e+00] [-8.65371513e-02 3.01266253e-04 9.96248579e-01 -9.53588892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86864 meters 0.028848747041540328 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.21, Z:-0.96 [[ 9.76671336e-01 1.96909025e-01 8.56734314e-02 1.63688405e+01] [-1.96127216e-01 9.80421712e-01 -1.75323137e-02 -1.20708797e+00] [-8.74483631e-02 3.20416681e-04 9.96169002e-01 -9.55963801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89864 meters 0.028806625825982292 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.21, Z:-0.96 [[ 9.76622148e-01 1.97831432e-01 8.40946150e-02 1.64009374e+01] [-1.97078816e-01 9.80236019e-01 -1.72419939e-02 -1.21335084e+00] [-8.58435791e-02 2.65645958e-04 9.96308591e-01 -9.56760871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters 0.028749520546126915 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.22, Z:-0.96 [[ 9.76310367e-01 1.99355815e-01 8.41149563e-02 1.64338834e+01] [-1.98606029e-01 9.79927157e-01 -1.72745945e-02 -1.21880419e+00] [-8.58703209e-02 1.59628256e-04 9.96306310e-01 -9.59356385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95864 meters 0.028942383906242108 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.22, Z:-0.96 [[ 9.75490232e-01 2.02792956e-01 8.54038911e-02 1.64663436e+01] [-2.02029277e-01 9.79221633e-01 -1.75830783e-02 -1.22103418e+00] [-8.71950621e-02 -1.01965210e-04 9.96191252e-01 -9.61991790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98864 meters 0.029095988309584295 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.23, Z:-0.96 [[ 9.75319864e-01 2.03436670e-01 8.58177429e-02 1.64988843e+01] [-2.02664354e-01 9.79088100e-01 -1.77102425e-02 -1.22603864e+00] [-8.76260436e-02 -1.19046125e-04 9.96153433e-01 -9.64627666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.018639999999998 meters 0.02902504337715036 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.23, Z:-0.97 [[ 9.75424477e-01 2.02940820e-01 8.58027567e-02 1.65315840e+01] [-2.02162837e-01 9.79191004e-01 -1.77528824e-02 -1.23216797e+00] [-8.76200720e-02 -2.95326582e-05 9.96153965e-01 -9.66756840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters 0.02905064302465196 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.24, Z:-0.97 [[ 9.75868244e-01 2.00930165e-01 8.54882451e-02 1.65647490e+01] [-2.00146233e-01 9.79605549e-01 -1.77328622e-02 -1.23684188e+00] [-8.73078262e-02 1.94786787e-04 9.96181362e-01 -9.67856893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07864 meters 0.02914894933146126 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.24, Z:-0.97 [[ 9.76317937e-01 1.99293904e-01 8.41737878e-02 1.65967304e+01] [-1.98524239e-01 9.79939691e-01 -1.75022558e-02 -1.24034592e+00] [-8.59733285e-02 3.77229103e-04 9.96297368e-01 -9.70361704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.108639999999998 meters 0.029244236098036284 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.24, Z:-0.97 [[ 9.77398242e-01 1.94427978e-01 8.30086569e-02 1.66299359e+01] [-1.93658640e-01 9.80916443e-01 -1.72992350e-02 -1.24326482e+00] [-8.47880117e-02 8.32898231e-04 9.96398665e-01 -9.72886326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13864 meters 0.02954446630015194 Centerline is valid? [True, True] Translation: X:16.66, Y:-1.25, Z:-0.97 [[ 9.77907481e-01 1.92153321e-01 8.23046807e-02 1.66626413e+01] [-1.91385382e-01 9.81364342e-01 -1.71949003e-02 -1.24864869e+00] [-8.40749360e-02 1.06310888e-03 9.96458868e-01 -9.73907778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16864 meters 0.029861664748047665 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.25, Z:-0.98 [[ 9.78263752e-01 1.89597263e-01 8.39816020e-02 1.66943149e+01] [-1.88784595e-01 9.81861015e-01 -1.75876002e-02 -1.25393463e+00] [-8.57928219e-02 1.35087898e-03 9.96312083e-01 -9.75852881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.198639999999997 meters 0.03026756471792502 Centerline is valid? [True, True] Translation: X:16.73, Y:-1.26, Z:-0.98 [[ 9.78781671e-01 1.85764886e-01 8.64745511e-02 1.67260861e+01] [-1.84885516e-01 9.82592634e-01 -1.81400634e-02 -1.25858538e+00] [-8.83390438e-02 1.76726950e-03 9.96088897e-01 -9.77434002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters 0.030567458074790433 Centerline is valid? [True, True] Translation: X:16.76, Y:-1.27, Z:-0.98 [[ 9.78885089e-01 1.84939601e-01 8.70708084e-02 1.67569928e+01] [-1.84043475e-01 9.82748112e-01 -1.82797240e-02 -1.26535429e+00] [-8.89493174e-02 1.86893515e-03 9.96034400e-01 -9.79892423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25864 meters 0.030713511712875854 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.27, Z:-0.98 [[ 9.79612283e-01 1.81998004e-01 8.50676229e-02 1.67886338e+01] [-1.81129269e-01 9.83296628e-01 -1.78865582e-02 -1.27483870e+00] [-8.69020247e-02 2.11365572e-03 9.96214621e-01 -9.82336574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28864 meters 0.030975145653908798 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.28, Z:-0.98 [[ 9.79945731e-01 1.80396856e-01 8.46365115e-02 1.68200105e+01] [-1.79527447e-01 9.83591255e-01 -1.78364439e-02 -1.28224568e+00] [-8.64653709e-02 2.28417021e-03 9.96252238e-01 -9.84333389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31864 meters 0.031223506356716495 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.29, Z:-0.99 [[ 9.80129220e-01 1.79210164e-01 8.50319287e-02 1.68515650e+01] [-1.78324884e-01 9.83807795e-01 -1.79571044e-02 -1.28958233e+00] [-8.68731699e-02 2.43697394e-03 9.96216399e-01 -9.86319399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34864 meters 0.03176734320842869 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.30, Z:-0.99 [[ 9.80315575e-01 1.76923136e-01 8.76331994e-02 1.68820171e+01] [-1.75970715e-01 9.84220822e-01 -1.85386563e-02 -1.29938380e+00] [-8.95303367e-02 2.75285678e-03 9.95980291e-01 -9.88006919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37864 meters 0.03184103916364784 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.31, Z:-0.99 [[ 9.80390017e-01 1.76861982e-01 8.69209677e-02 1.69133765e+01] [-1.75922398e-01 9.84231787e-01 -1.84146749e-02 -1.30856521e+00] [-8.88072352e-02 2.76221836e-03 9.96045002e-01 -9.89411713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters 0.031961834612770426 Centerline is valid? [True, True] Translation: X:16.95, Y:-1.32, Z:-0.99 [[ 9.80424939e-01 1.76892904e-01 8.64629355e-02 1.69452518e+01] [-1.75959546e-01 9.84226159e-01 -1.83604278e-02 -1.31812771e+00] [-8.83469123e-02 2.78704246e-03 9.96085868e-01 -9.91583045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43864 meters 0.031252906001813435 Centerline is valid? [True, True] Translation: X:16.98, Y:-1.33, Z:-0.99 [[ 9.79850556e-01 1.80482766e-01 8.55503297e-02 1.69756436e+01] [-1.79579155e-01 9.83575028e-01 -1.82069050e-02 -1.32882974e+00] [-8.74312005e-02 2.47699012e-03 9.96167481e-01 -9.93401653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46864 meters 0.030962059247171034 Centerline is valid? [True, True] Translation: X:17.01, Y:-1.34, Z:-1.00 [[ 9.79268707e-01 1.83213751e-01 8.64032486e-02 1.70070273e+01] [-1.82299235e-01 9.83070427e-01 -1.84262085e-02 -1.33773429e+00] [-8.83164132e-02 2.29296329e-03 9.96089832e-01 -9.95863824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.498639999999998 meters 0.030735762421686935 Centerline is valid? [True, True] Translation: X:17.04, Y:-1.35, Z:-1.00 [[ 9.78020653e-01 1.88003893e-01 9.01672785e-02 1.70375408e+01] [-1.87024075e-01 9.82166278e-01 -1.92716890e-02 -1.35191625e+00] [-9.21824129e-02 1.98465795e-03 9.95740159e-01 -9.98715857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52864 meters 0.030508701359332875 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.36, Z:-1.00 [[ 9.77665468e-01 1.89938600e-01 8.99642239e-02 1.70684343e+01] [-1.88967366e-01 9.81794245e-01 -1.92716174e-02 -1.36259383e+00] [-9.19867813e-02 1.84089248e-03 9.95758527e-01 -1.00027923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55864 meters 0.030487612122223444 Centerline is valid? [True, True] Translation: X:17.10, Y:-1.37, Z:-1.00 [[ 9.77141981e-01 1.92716071e-01 8.97444422e-02 1.70990464e+01] [-1.91757587e-01 9.81253233e-01 -1.92644710e-02 -1.37404509e+00] [-9.17745973e-02 1.61494574e-03 9.95778497e-01 -1.00336770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.588639999999998 meters 0.030086228953871065 Centerline is valid? [True, True] Translation: X:17.13, Y:-1.38, Z:-1.01 [[ 9.77112281e-01 1.94116468e-01 8.70079767e-02 1.71304896e+01] [-1.93217793e-01 9.80977380e-01 -1.87153652e-02 -1.38217250e+00] [-8.89858176e-02 1.47552396e-03 9.96031800e-01 -1.00510791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61864 meters 0.029715473339738462 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.39, Z:-1.01 [[ 9.76659897e-01 1.96544490e-01 8.66354972e-02 1.71616203e+01] [-1.95659574e-01 9.80494062e-01 -1.86741749e-02 -1.39056122e+00] [-8.86158968e-02 1.28725320e-03 9.96065041e-01 -1.00621241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64864 meters 0.029443756266509295 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.40, Z:-1.01 [[ 9.75761834e-01 2.02238623e-01 8.35965502e-02 1.71921996e+01] [-2.01432468e-01 9.79335965e-01 -1.80562795e-02 -1.40163891e+00] [-8.55207852e-02 7.79568971e-04 9.96336082e-01 -1.00728691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.678639999999998 meters 0.02932837545424531 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.41, Z:-1.01 [[ 9.74947201e-01 2.05890164e-01 8.41854810e-02 1.72240126e+01] [-2.05082635e-01 9.78574978e-01 -1.82242981e-02 -1.41025148e+00] [-8.61340090e-02 5.02748173e-04 9.96283433e-01 -1.00962839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.70864 meters 0.029307025252400136 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.42, Z:-1.01 [[ 9.73374118e-01 2.13608026e-01 8.31531000e-02 1.72548879e+01] [-2.12845145e-01 9.76919439e-01 -1.80375439e-02 -1.41856432e+00] [-8.50868440e-02 -1.41455286e-04 9.96373529e-01 -1.01087803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73864 meters 0.02940453804230318 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.43, Z:-1.01 [[ 9.72411644e-01 2.17805358e-01 8.35249725e-02 1.72863855e+01] [-2.17048751e-01 9.75992106e-01 -1.81451991e-02 -1.42637344e+00] [-8.54718355e-02 -4.84388082e-04 9.96340469e-01 -1.01244697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters 0.029537095046862347 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.43, Z:-1.01 [[ 9.71755239e-01 2.20918253e-01 8.29872286e-02 1.73187820e+01] [-2.20179223e-01 9.75292067e-01 -1.80691226e-02 -1.43426518e+00] [-8.49285848e-02 -7.13298914e-04 9.96386786e-01 -1.01399111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79864 meters 0.029677376901728125 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.44, Z:-1.02 [[ 9.71093622e-01 2.23714554e-01 8.32404715e-02 1.73504264e+01] [-2.22977549e-01 9.74654275e-01 -1.81674934e-02 -1.44171096e+00] [-8.51950140e-02 -9.18419318e-04 9.96363872e-01 -1.01550614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82864 meters 0.02987853914679844 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.45, Z:-1.02 [[ 9.70345266e-01 2.26943517e-01 8.32268255e-02 1.73821873e+01] [-2.26215240e-01 9.73907227e-01 -1.82037854e-02 -1.44849836e+00] [-8.51864379e-02 -1.16321940e-03 9.96364350e-01 -1.01593221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.858639999999998 meters 0.029976560660990796 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.45, Z:-1.02 [[ 9.70028961e-01 2.28295195e-01 8.32172996e-02 1.74146262e+01] [-2.27568522e-01 9.73591168e-01 -1.82429461e-02 -1.45495732e+00] [-8.51844049e-02 -1.24145183e-03 9.96364429e-01 -1.01795849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters 0.02990730530522167 Centerline is valid? [True, True] Translation: X:17.45, Y:-1.46, Z:-1.02 [[ 9.69995838e-01 2.28045913e-01 8.42801068e-02 1.74474672e+01] [-2.27295564e-01 9.73649652e-01 -1.85224420e-02 -1.46083468e+00] [-8.62832639e-02 -1.18980279e-03 9.96269935e-01 -1.02020691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91864 meters 0.030003070299958513 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.47, Z:-1.02 [[ 9.69875302e-01 2.28202241e-01 8.52386986e-02 1.74800286e+01] [-2.27431173e-01 9.73613047e-01 -1.87802217e-02 -1.46699681e+00] [-8.72751977e-02 -1.17146401e-03 9.96183551e-01 -1.02249886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.948639999999997 meters 0.030146620785846078 Centerline is valid? [True, True] Translation: X:17.51, Y:-1.47, Z:-1.02 [[ 9.70156197e-01 2.27293971e-01 8.44653975e-02 1.75115416e+01] [-2.26529607e-01 9.73825639e-01 -1.86537379e-02 -1.47231533e+00] [-8.64944519e-02 -1.03687383e-03 9.96251793e-01 -1.02465669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97864 meters 0.02987368306623267 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.48, Z:-1.03 [[ 9.70052463e-01 2.27446743e-01 8.52420001e-02 1.75444087e+01] [-2.26665099e-01 9.73789988e-01 -1.88677302e-02 -1.47839520e+00] [-8.72992101e-02 -1.01869833e-03 9.96181615e-01 -1.02681060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00864 meters 0.030044834896959915 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.48, Z:-1.03 [[ 9.70256392e-01 2.26371701e-01 8.57810363e-02 1.75773755e+01] [-2.25571816e-01 9.74040592e-01 -1.90336889e-02 -1.48360830e+00] [-8.78628999e-02 -8.82225802e-04 9.96132186e-01 -1.02789710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.038639999999997 meters 0.02997433140276391 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.49, Z:-1.03 [[ 9.70265433e-01 2.25878349e-01 8.69710390e-02 1.76089359e+01] [-2.25050020e-01 9.74155185e-01 -1.93433280e-02 -1.48935574e+00] [-8.90925275e-02 -8.04671571e-04 9.96023029e-01 -1.03006042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters 0.029977380854704937 Centerline is valid? [True, True] Translation: X:17.64, Y:-1.49, Z:-1.03 [[ 9.70312731e-01 2.25648964e-01 8.70387778e-02 1.76417414e+01] [-2.24814554e-01 9.74208394e-01 -1.94015928e-02 -1.49331939e+00] [-8.91718572e-02 -7.41971527e-04 9.96015978e-01 -1.03190201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09864 meters 0.029747702161064815 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.50, Z:-1.03 [[ 9.70423952e-01 2.25345646e-01 8.65834478e-02 1.76733592e+01] [-2.24515566e-01 9.74278648e-01 -1.93359008e-02 -1.49944412e+00] [-8.87136655e-02 -6.75310450e-04 9.96056941e-01 -1.03351493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12864 meters 0.029938396391147107 Centerline is valid? [True, True] Translation: X:17.70, Y:-1.51, Z:-1.04 [[ 9.70308362e-01 2.26105841e-01 8.58943074e-02 1.77045641e+01] [-2.25289855e-01 9.74102477e-01 -1.92053429e-02 -1.50645656e+00] [-8.80122978e-02 -7.16011254e-04 9.96119131e-01 -1.03548643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15864 meters 0.03002462703254497 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.51, Z:-1.04 [[ 9.70396345e-01 2.25391821e-01 8.67724615e-02 1.77362134e+01] [-2.24552262e-01 9.74268007e-01 -1.94456363e-02 -1.51407061e+00] [-8.89225205e-02 -6.14978125e-04 9.96038356e-01 -1.03906347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18864 meters 0.029940724441180233 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.52, Z:-1.04 [[ 9.70505583e-01 2.25419226e-01 8.54697907e-02 1.77676260e+01] [-2.24600952e-01 9.74261696e-01 -1.91978939e-02 -1.52114946e+00] [-8.75975177e-02 -5.64933200e-04 9.96155789e-01 -1.04006212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21864 meters 0.029884982816491112 Centerline is valid? [True, True] Translation: X:17.80, Y:-1.53, Z:-1.04 [[ 9.70430510e-01 2.26529804e-01 8.33598984e-02 1.77989016e+01] [-2.25752252e-01 9.74004043e-01 -1.87628784e-02 -1.52781173e+00] [-8.54432292e-02 -6.10615098e-04 9.96342854e-01 -1.04210751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters 0.029884982816491112 Centerline is valid? [True, True] Translation: X:17.83, Y:-1.53, Z:-1.04 [[ 9.70313369e-01 2.27034314e-01 8.33509799e-02 1.78307158e+01] [-2.26255223e-01 9.73886566e-01 -1.88024274e-02 -1.53463532e+00] [-8.54431958e-02 -6.14347928e-04 9.96342854e-01 -1.04402626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27864 meters 0.029941136518946143 Centerline is valid? [True, True] Translation: X:17.86, Y:-1.54, Z:-1.05 [[ 9.69997613e-01 2.28707041e-01 8.24482944e-02 1.78632185e+01] [-2.27947012e-01 9.73495036e-01 -1.86433411e-02 -1.54212205e+00] [-8.45268687e-02 -7.09845925e-04 9.96420947e-01 -1.04613266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30864 meters 0.029969121835045524 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.55, Z:-1.05 [[ 9.69513451e-01 2.30810436e-01 8.22812974e-02 1.78954895e+01] [-2.30057271e-01 9.72998368e-01 -1.86501504e-02 -1.54879785e+00] [-8.43642174e-02 -8.47839063e-04 9.96434624e-01 -1.04862808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.338639999999998 meters 0.029996304436790737 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.56, Z:-1.05 [[ 9.69117341e-01 2.31889854e-01 8.38968143e-02 1.79269272e+01] [-2.31106999e-01 9.72741617e-01 -1.90604573e-02 -1.55513864e+00] [-8.60298495e-02 -9.17321264e-04 9.96292138e-01 -1.05163891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36864 meters 0.03003741113868637 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.56, Z:-1.05 [[ 9.69015504e-01 2.32082723e-01 8.45373478e-02 1.79588191e+01] [-2.31284920e-01 9.72695635e-01 -1.92480461e-02 -1.56161763e+00] [-8.66962481e-02 -9.00558653e-04 9.96234385e-01 -1.05396312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39864 meters 0.030148533813465703 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.57, Z:-1.06 [[ 9.68719114e-01 2.33504642e-01 8.40170287e-02 1.79908147e+01] [-2.32718066e-01 9.72355196e-01 -1.91748461e-02 -1.56937696e+00] [-8.61718100e-02 -9.77240464e-04 9.96279812e-01 -1.05573728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters 0.0301119621027261 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.58, Z:-1.06 [[ 9.68804243e-01 2.33101747e-01 8.41541040e-02 1.80225258e+01] [-2.32307122e-01 9.72451936e-01 -1.92518220e-02 -1.57689993e+00] [-8.63234547e-02 -8.98350903e-04 9.96266759e-01 -1.05841583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45864 meters 0.03009377453928718 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.58, Z:-1.06 [[ 9.68872062e-01 2.32944856e-01 8.38070504e-02 1.80548283e+01] [-2.32152258e-01 9.72489586e-01 -1.92180727e-02 -1.58449863e+00] [-8.59782349e-02 -8.36142238e-04 9.96296665e-01 -1.06048553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48864 meters 0.02996118022680907 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.59, Z:-1.06 [[ 9.69312416e-01 2.31201571e-01 8.35420471e-02 1.80867226e+01] [-2.30403782e-01 9.72905662e-01 -1.92007682e-02 -1.59118677e+00] [-8.57177784e-02 -6.36860557e-04 9.96319254e-01 -1.06207097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.518639999999998 meters 0.029907519403183466 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.60, Z:-1.06 [[ 9.69255197e-01 2.31524185e-01 8.33121503e-02 1.81186737e+01] [-2.30728442e-01 9.72828949e-01 -1.91891288e-02 -1.59878957e+00] [-8.54912190e-02 -6.23319869e-04 9.96338729e-01 -1.06351663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54864 meters 0.02987618890037634 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.61, Z:-1.07 [[ 9.69403036e-01 2.30623720e-01 8.40859841e-02 1.81500820e+01] [-2.29805726e-01 9.73042880e-01 -1.94134665e-02 -1.60886155e+00] [-8.62964740e-02 -5.03967221e-04 9.96269374e-01 -1.06603895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57864 meters 0.02982001738004023 Centerline is valid? [True, True] Translation: X:18.18, Y:-1.62, Z:-1.07 [[ 9.69299552e-01 2.30989810e-01 8.42738774e-02 1.81814593e+01] [-2.30165614e-01 9.72956044e-01 -1.95019562e-02 -1.61741877e+00] [-8.64995315e-02 -4.93711320e-04 9.96251769e-01 -1.06830231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.608639999999998 meters 0.02985187755884261 Centerline is valid? [True, True] Translation: X:18.21, Y:-1.63, Z:-1.07 [[ 9.68789586e-01 2.32951339e-01 8.47373088e-02 1.82136691e+01] [-2.32121642e-01 9.72488189e-01 -1.96536451e-02 -1.62583292e+00] [-8.69843749e-02 -6.29116494e-04 9.96209477e-01 -1.06979036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63864 meters 0.029912108048493993 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.64, Z:-1.07 [[ 9.68063577e-01 2.35970454e-01 8.46809097e-02 1.82458135e+01] [-2.35149369e-01 9.71759854e-01 -1.96865477e-02 -1.63555361e+00] [-8.69349520e-02 -8.54832715e-04 9.96213623e-01 -1.07084596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66864 meters 0.030205902109700162 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.65, Z:-1.07 [[ 9.67370332e-01 2.38688274e-01 8.49855729e-02 1.82769043e+01] [-2.37867853e-01 9.71095662e-01 -1.98015220e-02 -1.64505987e+00] [-8.72555123e-02 -1.05993089e-03 9.96185400e-01 -1.07198578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.698639999999997 meters 0.03010939458290149 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.65, Z:-1.07 [[ 9.66890523e-01 2.40768735e-01 8.45761980e-02 1.83091396e+01] [-2.39960497e-01 9.70581771e-01 -1.97480443e-02 -1.65324622e+00] [-8.68428277e-02 -1.20074961e-03 9.96221301e-01 -1.07317488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters 0.03026012737451384 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.66, Z:-1.07 [[ 9.65880255e-01 2.45355750e-01 8.29209817e-02 1.83415710e+01] [-2.44591945e-01 9.69431891e-01 -1.94059270e-02 -1.65970270e+00] [-8.51475998e-02 -1.53800251e-03 9.96367162e-01 -1.07323260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75864 meters 0.030527624891743845 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.67, Z:-1.08 [[ 9.65285947e-01 2.47453300e-01 8.36056528e-02 1.83729171e+01] [-2.46680866e-01 9.68898340e-01 -1.96101367e-02 -1.66605210e+00] [-8.58579712e-02 -1.69452542e-03 9.96305946e-01 -1.07544078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters 0.030539624380377738 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.67, Z:-1.08 [[ 9.64337921e-01 2.51035661e-01 8.38657976e-02 1.84042276e+01] [-2.50268424e-01 9.67975813e-01 -1.97114471e-02 -1.67190910e+00] [-8.61283398e-02 -1.98046507e-03 9.96282082e-01 -1.07681447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81864 meters 0.03088542817246405 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.68, Z:-1.08 [[ 9.63971613e-01 2.52414132e-01 8.39394726e-02 1.84358268e+01] [-2.51647269e-01 9.67617092e-01 -1.97690600e-02 -1.67858857e+00] [-8.62112585e-02 -2.06632638e-03 9.96274736e-01 -1.07981093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84864 meters 0.030750285369030867 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.68, Z:-1.08 [[ 9.63885859e-01 2.53262515e-01 8.23538041e-02 1.84680704e+01] [-2.52524169e-01 9.67395390e-01 -1.94346074e-02 -1.68369917e+00] [-8.45907479e-02 -2.06358269e-03 9.96413643e-01 -1.08124864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87864 meters 0.030681945973741503 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.69, Z:-1.08 [[ 9.63907653e-01 2.53278732e-01 8.20482765e-02 1.85007026e+01] [-2.52542625e-01 9.67391237e-01 -1.94014620e-02 -1.68532354e+00] [-8.42867614e-02 -2.01946942e-03 9.96439493e-01 -1.08292021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90864 meters 0.030550172641561076 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.69, Z:-1.08 [[ 9.64168036e-01 2.52398052e-01 8.17020303e-02 1.85334670e+01] [-2.51662349e-01 9.67621620e-01 -1.93510446e-02 -1.68860373e+00] [-8.39408168e-02 -1.90366616e-03 9.96468923e-01 -1.08422753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93864 meters 0.03034634967073446 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.69, Z:-1.09 [[ 9.64880833e-01 2.49396009e-01 8.25021775e-02 1.85671178e+01] [-2.48632962e-01 9.68400202e-01 -1.95627038e-02 -1.68717434e+00] [-8.47739855e-02 -1.63708284e-03 9.96398862e-01 -1.08820837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96864 meters 0.030000094255770063 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.69, Z:-1.09 [[ 9.65461762e-01 2.47757678e-01 8.06208403e-02 1.85991533e+01] [-2.47020784e-01 9.68820981e-01 -1.91478390e-02 -1.68976658e+00] [-8.28511857e-02 -1.42851683e-03 9.96560907e-01 -1.08973481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.998639999999998 meters 0.03019437742446913 Centerline is valid? [True, True] Translation: X:18.63, Y:-1.69, Z:-1.09 [[ 9.65814883e-01 2.45857889e-01 8.21919145e-02 1.86323231e+01] [-2.45083064e-01 9.69305057e-01 -1.95448038e-02 -1.69290147e+00] [-8.44742825e-02 -1.26718377e-03 9.96424854e-01 -1.09346973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02864 meters 0.02983489746547614 Centerline is valid? [True, True] Translation: X:18.67, Y:-1.69, Z:-1.09 [[ 9.67028526e-01 2.40820016e-01 8.28344758e-02 1.86661537e+01] [-2.40010749e-01 9.70569470e-01 -1.97419530e-02 -1.69060007e+00] [-8.51508706e-02 -7.90132898e-04 9.96367756e-01 -1.09482706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05864 meters 0.02980051615446985 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.69, Z:-1.10 [[ 9.67469793e-01 2.38872364e-01 8.33198239e-02 1.86996265e+01] [-2.38042770e-01 9.71050800e-01 -1.98993492e-02 -1.69381128e+00] [-8.56611862e-02 -5.81662469e-04 9.96324156e-01 -1.09756283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters 0.029806553175517413 Centerline is valid? [True, True] Translation: X:18.73, Y:-1.69, Z:-1.10 [[ 9.68522603e-01 2.34187807e-01 8.43803172e-02 1.87337091e+01] [-2.33315116e-01 9.72191368e-01 -2.01990371e-02 -1.69313316e+00] [-8.67641842e-02 -1.23979477e-04 9.96228870e-01 -1.10010470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11864 meters 0.029908573785794108 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.70, Z:-1.10 [[ 9.68745127e-01 2.32919741e-01 8.53303770e-02 1.87665585e+01] [-2.32018399e-01 9.72495961e-01 -2.04711850e-02 -1.69595361e+00] [-8.77515901e-02 3.31432876e-05 9.96142388e-01 -1.10250345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14864 meters 0.029628709184302347 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.70, Z:-1.10 [[ 9.69186563e-01 2.31891514e-01 8.30886960e-02 1.87996176e+01] [-2.31030617e-01 9.72741642e-01 -1.99637587e-02 -1.69855642e+00] [-8.54532608e-02 1.52573973e-04 9.96342169e-01 -1.10346753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.178639999999998 meters 0.029652337016975776 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.70, Z:-1.11 [[ 9.69528760e-01 2.30533323e-01 8.28756302e-02 1.88340365e+01] [-2.29669896e-01 9.73064387e-01 -1.99358604e-02 -1.69828106e+00] [-8.52392044e-02 2.94352681e-04 9.96360473e-01 -1.10609198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20864 meters 0.029793456590205554 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.70, Z:-1.11 [[ 9.69412544e-01 2.30626658e-01 8.39682329e-02 1.88658199e+01] [-2.29736854e-01 9.73042257e-01 -2.02421212e-02 -1.70457035e+00] [-8.63730116e-02 3.32368575e-04 9.96262813e-01 -1.10899338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23864 meters 0.029744385845518743 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.71, Z:-1.11 [[ 9.70310270e-01 2.27352645e-01 8.25151734e-02 1.88989635e+01] [-2.26478258e-01 9.73812277e-01 -1.99310975e-02 -1.70885835e+00] [-8.48856766e-02 6.51455915e-04 9.96390484e-01 -1.11024699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters 0.02985818243332089 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.71, Z:-1.11 [[ 9.70455870e-01 2.26374418e-01 8.34866941e-02 1.89310030e+01] [-2.25471996e-01 9.74040042e-01 -2.02083246e-02 -1.71333376e+00] [-8.58940307e-02 7.87375746e-04 9.96303967e-01 -1.11227637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29864 meters 0.03003650676091012 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.72, Z:-1.11 [[ 9.70712931e-01 2.25301789e-01 8.33996929e-02 1.89634432e+01] [-2.24393854e-01 9.74288590e-01 -2.02272567e-02 -1.71802261e+00] [-8.58126064e-02 9.20481163e-04 9.96310870e-01 -1.11406488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32864 meters 0.030116571632521665 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.72, Z:-1.12 [[ 9.71002044e-01 2.23754657e-01 8.41955102e-02 1.89946116e+01] [-2.22819842e-01 9.74644871e-01 -2.04619826e-02 -1.72386462e+00] [-8.66391861e-02 1.10819662e-03 9.96239140e-01 -1.11657336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.358639999999998 meters 0.030093644587218683 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.73, Z:-1.12 [[ 9.71249636e-01 2.22928109e-01 8.35296558e-02 1.90266227e+01] [-2.22001753e-01 9.74834138e-01 -2.03377960e-02 -1.73048195e+00] [-8.59614264e-02 1.20934698e-03 9.96297732e-01 -1.11791167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38864 meters 0.03017838985332527 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.73, Z:-1.12 [[ 9.71440273e-01 2.21847319e-01 8.41876650e-02 1.90584440e+01] [-2.20898565e-01 9.75080472e-01 -2.05401283e-02 -1.73459931e+00] [-8.66465205e-02 1.35657343e-03 9.96238195e-01 -1.11877967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41864 meters 0.03041892526650227 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.74, Z:-1.12 [[ 9.71433919e-01 2.21860371e-01 8.42265759e-02 1.90908104e+01] [-2.20907329e-01 9.75077448e-01 -2.05893660e-02 -1.74185084e+00] [-8.66953991e-02 1.39494058e-03 9.96233889e-01 -1.12099591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.448639999999997 meters 0.030431807302413103 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.75, Z:-1.12 [[ 9.71367946e-01 2.21915971e-01 8.48387620e-02 1.91219064e+01] [-2.20945494e-01 9.75064728e-01 -2.07813689e-02 -1.75025663e+00] [-8.73350020e-02 1.44161342e-03 9.96177956e-01 -1.12329489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47864 meters 0.03044245925453408 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.76, Z:-1.12 [[ 9.71581809e-01 2.21467020e-01 8.35532592e-02 1.91531841e+01] [-2.20520912e-01 9.75166715e-01 -2.05038013e-02 -1.75891737e+00] [-8.60192731e-02 1.49587945e-03 9.96292350e-01 -1.12443388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50864 meters 0.030371684377209288 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.77, Z:-1.13 [[ 9.71825732e-01 2.21105055e-01 8.16535497e-02 1.91847028e+01] [-2.20197834e-01 9.75248809e-01 -2.00667321e-02 -1.76746956e+00] [-8.40693830e-02 1.52143178e-03 9.96458742e-01 -1.12536611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.538639999999997 meters 0.030040591882825905 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.78, Z:-1.13 [[ 9.71590778e-01 2.22580904e-01 8.04307279e-02 1.92160666e+01] [-2.21704685e-01 9.74913238e-01 -1.97790438e-02 -1.77670168e+00] [-8.28154188e-02 1.38526740e-03 9.96563940e-01 -1.12746804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56864 meters 0.030286600798700384 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.79, Z:-1.13 [[ 9.71555549e-01 2.22446938e-01 8.12230013e-02 1.92471224e+01] [-2.21551161e-01 9.74943749e-01 -1.99942324e-02 -1.78537092e+00] [-8.36355131e-02 1.43045717e-03 9.96495386e-01 -1.13057687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59864 meters 0.03037000954600711 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.79, Z:-1.13 [[ 9.71406202e-01 2.23039553e-01 8.13839520e-02 1.92794088e+01] [-2.22139037e-01 9.74808361e-01 -2.00725418e-02 -1.79395988e+00] [-8.38107276e-02 1.42003893e-03 9.96480680e-01 -1.13182381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62864 meters 0.030224046902156396 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.80, Z:-1.13 [[ 9.70983570e-01 2.24529552e-01 8.23248887e-02 1.93108361e+01] [-2.23609731e-01 9.74466347e-01 -2.03476380e-02 -1.80339555e+00] [-8.47914796e-02 1.34857593e-03 9.96397805e-01 -1.13396679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65864 meters 0.03012529298331925 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.81, Z:-1.14 [[ 9.70865820e-01 2.25667177e-01 8.05846493e-02 1.93417899e+01] [-2.24786522e-01 9.74203641e-01 -1.99570811e-02 -1.81223932e+00] [-8.30095169e-02 1.26130481e-03 9.96547956e-01 -1.13581454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68864 meters 0.029949427438076624 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.82, Z:-1.14 [[ 9.70646215e-01 2.26716394e-01 8.02845037e-02 1.93736914e+01] [-2.25842735e-01 9.73960074e-01 -1.99206654e-02 -1.82126061e+00] [-8.27102426e-02 1.20424663e-03 9.96572910e-01 -1.13787655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71864 meters 0.029846843123165046 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.83, Z:-1.14 [[ 9.70268643e-01 2.28559306e-01 7.96203795e-02 1.94045759e+01] [-2.27702984e-01 9.73529395e-01 -1.97956551e-02 -1.83094369e+00] [-8.20372611e-02 1.07730534e-03 9.96628681e-01 -1.13916358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.748639999999998 meters 0.029871942650616733 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.84, Z:-1.14 [[ 9.69668193e-01 2.30515775e-01 8.12777555e-02 1.94369186e+01] [-2.29626923e-01 9.73068106e-01 -2.02469289e-02 -1.83955605e+00] [-8.37560281e-02 9.69242037e-04 9.96485819e-01 -1.14168841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77864 meters 0.029703876918447468 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.85, Z:-1.14 [[ 9.68894165e-01 2.33658757e-01 8.15333153e-02 1.94677069e+01] [-2.32771904e-01 9.72318383e-01 -2.03519924e-02 -1.84994872e+00] [-8.40317625e-02 7.40261659e-04 9.96462802e-01 -1.14383312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80864 meters 0.0298480356963423 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.86, Z:-1.15 [[ 9.68802565e-01 2.33958634e-01 8.17615279e-02 1.94998007e+01] [-2.33064537e-01 9.72246259e-01 -2.04483074e-02 -1.85905901e+00] [-8.42763977e-02 7.54660024e-04 9.96442130e-01 -1.14666802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.838639999999998 meters 0.029706814797130405 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.87, Z:-1.15 [[ 9.68574788e-01 2.35457559e-01 8.01412422e-02 1.95302665e+01] [-2.34600398e-01 9.71884414e-01 -2.00832981e-02 -1.86859351e+00] [-8.26167886e-02 6.51008807e-04 9.96581177e-01 -1.14751239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86864 meters 0.029710864803643884 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.88, Z:-1.15 [[ 9.68380365e-01 2.35699214e-01 8.17639914e-02 1.95609450e+01] [-2.34804544e-01 9.71825816e-01 -2.05282436e-02 -1.88011688e+00] [-8.42988485e-02 6.80591311e-04 9.96440285e-01 -1.14943631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89864 meters 0.029819814334281613 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.89, Z:-1.15 [[ 9.68417432e-01 2.35558268e-01 8.17311399e-02 1.95921161e+01] [-2.34660463e-01 9.71859953e-01 -2.05596482e-02 -1.88960224e+00] [-8.42742169e-02 7.31254538e-04 9.96442332e-01 -1.15161755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.928639999999998 meters 0.02992808506625623 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.90, Z:-1.15 [[ 9.68293880e-01 2.35847923e-01 8.23572630e-02 1.96232079e+01] [-2.34933569e-01 9.71789683e-01 -2.07612700e-02 -1.90131228e+00] [-8.49304409e-02 7.54525002e-04 9.96386597e-01 -1.15413021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95864 meters 0.029924246099346442 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.91, Z:-1.16 [[ 9.68165877e-01 2.36422835e-01 8.22136165e-02 1.96544996e+01] [-2.35510032e-01 9.71649982e-01 -2.07686595e-02 -1.91053383e+00] [-8.47930443e-02 7.45375991e-04 9.96398306e-01 -1.15584639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98864 meters 0.029841245641037382 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.92, Z:-1.16 [[ 9.67815514e-01 2.38150483e-01 8.13478792e-02 1.96851710e+01] [-2.37259466e-01 9.71228065e-01 -2.05910838e-02 -1.91932600e+00] [-8.39111199e-02 6.27816034e-04 9.96473045e-01 -1.15717256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.018639999999998 meters 0.029710214102569844 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.93, Z:-1.16 [[ 9.67061531e-01 2.41265030e-01 8.11367955e-02 1.97154488e+01] [-2.40386406e-01 9.70459185e-01 -2.05753545e-02 -1.93122826e+00] [-8.37040620e-02 3.93451156e-04 9.96490580e-01 -1.15900484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04864 meters 0.029497287340840665 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.94, Z:-1.16 [[ 9.66818300e-01 2.42301456e-01 8.09467632e-02 1.97475019e+01] [-2.41427274e-01 9.70200952e-01 -2.05665647e-02 -1.94006108e+00] [-8.35179353e-02 3.41374718e-04 9.96506216e-01 -1.16032775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07864 meters 0.029618980373846426 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.95, Z:-1.16 [[ 9.66426030e-01 2.43160669e-01 8.30278162e-02 1.97790375e+01] [-2.42240261e-01 9.69985973e-01 -2.11392406e-02 -1.94764741e+00] [-8.56760490e-02 3.16832548e-04 9.96322997e-01 -1.16311778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.108639999999998 meters 0.029678386385840742 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.96, Z:-1.17 [[ 9.66528869e-01 2.42895130e-01 8.26069078e-02 1.98110716e+01] [-2.41979591e-01 9.70052479e-01 -2.10728415e-02 -1.95606467e+00] [-8.52515263e-02 3.78323821e-04 9.96359390e-01 -1.16519764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13864 meters 0.029678386385840742 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.96, Z:-1.17 [[ 9.66406314e-01 2.43385906e-01 8.25962247e-02 1.98426963e+01] [-2.42468584e-01 9.69929460e-01 -2.11146453e-02 -1.96378326e+00] [-8.52515187e-02 3.78336913e-04 9.96359391e-01 -1.16711589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16864 meters 0.029700178807837447 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.97, Z:-1.17 [[ 9.66419327e-01 2.43183484e-01 8.30390144e-02 1.98738980e+01] [-2.42251669e-01 9.69980205e-01 -2.12727862e-02 -1.97311370e+00] [-8.57193904e-02 4.42091933e-04 9.96319221e-01 -1.17062370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.198639999999997 meters 0.0298376611932358 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.99, Z:-1.17 [[ 9.67256585e-01 2.39535610e-01 8.38891504e-02 1.99038440e+01] [-2.38567083e-01 9.70887236e-01 -2.15341847e-02 -1.98500422e+00] [-8.66051095e-02 8.15892109e-04 9.96242385e-01 -1.17319431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22864 meters 0.029760000423808067 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.99, Z:-1.17 [[ 9.67512148e-01 2.38686337e-01 8.33611216e-02 1.99351962e+01] [-2.37723347e-01 9.71096275e-01 -2.14390907e-02 -1.99470387e+00] [-8.60688927e-02 9.25695911e-04 9.96288758e-01 -1.17353162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25864 meters 0.02950005583624302 Centerline is valid? [True, True] Translation: X:19.97, Y:-2.01, Z:-1.17 [[ 9.67311576e-01 2.40025375e-01 8.18299073e-02 1.99651020e+01] [-2.39098775e-01 9.70766258e-01 -2.10866852e-02 -2.00744634e+00] [-8.44990524e-02 8.31964068e-04 9.96423212e-01 -1.17421160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.288639999999997 meters 0.029517190665342755 Centerline is valid? [True, True] Translation: X:20.00, Y:-2.02, Z:-1.18 [[ 9.66796453e-01 2.41923060e-01 8.23277052e-02 1.99966698e+01] [-2.40988575e-01 9.70295177e-01 -2.12550478e-02 -2.01859472e+00] [-8.50242615e-02 7.09268532e-04 9.96378629e-01 -1.17681315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31864 meters 0.029109647730654505 Centerline is valid? [True, True] Translation: X:20.03, Y:-2.03, Z:-1.18 [[ 9.66418338e-01 2.44058977e-01 8.04413559e-02 2.00277311e+01] [-2.43171311e-01 9.69760238e-01 -2.08036943e-02 -2.02938703e+00] [-8.30861568e-02 5.44041670e-04 9.96542219e-01 -1.17716335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34864 meters 0.029226972854070672 Centerline is valid? [True, True] Translation: X:20.06, Y:-2.04, Z:-1.18 [[ 9.64953659e-01 2.50084370e-01 7.95125428e-02 2.00577020e+01] [-2.49235440e-01 9.68224047e-01 -2.05885909e-02 -2.04093834e+00] [-8.21348408e-02 4.96925261e-05 9.96621225e-01 -1.17855950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37864 meters 0.02912351162479646 Centerline is valid? [True, True] Translation: X:20.09, Y:-2.05, Z:-1.18 [[ 9.64032228e-01 2.53256679e-01 8.06406766e-02 2.00883953e+01] [-2.52391269e-01 9.67399101e-01 -2.09195433e-02 -2.05031210e+00] [-8.33097321e-02 -1.85888741e-04 9.96523685e-01 -1.18044406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40864 meters 0.029276439534061012 Centerline is valid? [True, True] Translation: X:20.12, Y:-2.06, Z:-1.18 [[ 9.62488685e-01 2.59331952e-01 7.97650950e-02 2.01194312e+01] [-2.58502789e-01 9.65788018e-01 -2.07319084e-02 -2.06290888e+00] [-8.24126193e-02 -6.65272224e-04 9.96598072e-01 -1.18102841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43864 meters 0.029479978848442154 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.07, Z:-1.18 [[ 9.62010880e-01 2.61240762e-01 7.92989932e-02 2.01509903e+01] [-2.60424164e-01 9.65273357e-01 -2.06543327e-02 -2.07185698e+00] [-8.19409590e-02 -7.81681195e-04 9.96636879e-01 -1.18298798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46864 meters 0.029549834485652373 Centerline is valid? [True, True] Translation: X:20.18, Y:-2.08, Z:-1.18 [[ 9.61626397e-01 2.62887989e-01 7.85148196e-02 2.01833586e+01] [-2.62089445e-01 9.64825967e-01 -2.04933191e-02 -2.07952510e+00] [-8.11405842e-02 -8.70988910e-04 9.96702286e-01 -1.18473535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.498639999999998 meters 0.029617985064936136 Centerline is valid? [True, True] Translation: X:20.22, Y:-2.08, Z:-1.19 [[ 9.61229165e-01 2.64299017e-01 7.86417344e-02 2.02161802e+01] [-2.63499047e-01 9.64440318e-01 -2.05699827e-02 -2.08485457e+00] [-8.12818856e-02 -9.49554850e-04 9.96690701e-01 -1.18666268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52864 meters 0.02966459608196917 Centerline is valid? [True, True] Translation: X:20.25, Y:-2.09, Z:-1.19 [[ 9.60950745e-01 2.65047387e-01 7.95207361e-02 2.02470129e+01] [-2.64228428e-01 9.64234887e-01 -2.08427717e-02 -2.09252469e+00] [-8.22009901e-02 -9.82762102e-04 9.96615288e-01 -1.18939852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55864 meters 0.029789668340836892 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.10, Z:-1.19 [[ 9.60825991e-01 2.65494989e-01 7.95350610e-02 2.02792306e+01] [-2.64673944e-01 9.64111739e-01 -2.08867704e-02 -2.09956645e+00] [-8.22260189e-02 -9.82306401e-04 9.96613223e-01 -1.19021132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.588639999999998 meters 0.029785001795873484 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.11, Z:-1.19 [[ 9.60476519e-01 2.66491981e-01 8.04169123e-02 2.03110632e+01] [-2.65652478e-01 9.63836577e-01 -2.11616065e-02 -2.10598868e+00] [-8.31481600e-02 -1.03772587e-03 9.96536656e-01 -1.19158900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61864 meters 0.02994988106910879 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.11, Z:-1.19 [[ 9.60114792e-01 2.67361327e-01 8.18382950e-02 2.03424913e+01] [-2.66491593e-01 9.63595726e-01 -2.15756131e-02 -2.11216231e+00] [-8.46275159e-02 -1.09415229e-03 9.96412057e-01 -1.19400749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64864 meters 0.030127159607116673 Centerline is valid? [True, True] Translation: X:20.37, Y:-2.12, Z:-1.20 [[ 9.59601568e-01 2.69136314e-01 8.20394735e-02 2.03740400e+01] [-2.68265399e-01 9.63101327e-01 -2.16681627e-02 -2.11696442e+00] [-8.48440153e-02 -1.21554914e-03 9.96393504e-01 -1.19623295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.678639999999998 meters 0.029975399959371943 Centerline is valid? [True, True] Translation: X:20.41, Y:-2.12, Z:-1.20 [[ 9.59291894e-01 2.70596809e-01 8.08481903e-02 2.04069148e+01] [-2.69752836e-01 9.62691910e-01 -2.13937990e-02 -2.12367918e+00] [-8.36209925e-02 -1.28613074e-03 9.96496802e-01 -1.19742280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.70864 meters 0.030136768019125047 Centerline is valid? [True, True] Translation: X:20.44, Y:-2.13, Z:-1.20 [[ 9.58780897e-01 2.72665187e-01 7.99555377e-02 2.04396102e+01] [-2.71843309e-01 9.62107953e-01 -2.12014566e-02 -2.12974874e+00] [-8.27067579e-02 -1.40782635e-03 9.96572933e-01 -1.19967022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73864 meters 0.030177263162578898 Centerline is valid? [True, True] Translation: X:20.47, Y:-2.14, Z:-1.20 [[ 9.58465206e-01 2.73959862e-01 7.93123078e-02 2.04721658e+01] [-2.73152020e-01 9.61740010e-01 -2.10743253e-02 -2.13687992e+00] [-8.20513390e-02 -1.46530959e-03 9.96627027e-01 -1.20080364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters 0.030264611917873885 Centerline is valid? [True, True] Translation: X:20.50, Y:-2.14, Z:-1.20 [[ 9.58281459e-01 2.74101328e-01 8.10253504e-02 2.05040796e+01] [-2.73254986e-01 9.61699698e-01 -2.15732131e-02 -2.14361742e+00] [-8.38353013e-02 -1.46737082e-03 9.96478544e-01 -1.20404617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79864 meters 0.030477915102673097 Centerline is valid? [True, True] Translation: X:20.54, Y:-2.15, Z:-1.21 [[ 9.58201118e-01 2.74284273e-01 8.13557306e-02 2.05369853e+01] [-2.73428189e-01 9.61647563e-01 -2.17022936e-02 -2.14874439e+00] [-8.41881379e-02 -1.44978812e-03 9.96448822e-01 -1.20545802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82864 meters 0.03037602581603822 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.16, Z:-1.21 [[ 9.58058971e-01 2.74614105e-01 8.19152076e-02 2.05695965e+01] [-2.73743512e-01 9.61553433e-01 -2.18971349e-02 -2.15578442e+00] [-8.47791112e-02 -1.44501011e-03 9.96398723e-01 -1.20734579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.858639999999998 meters 0.030357784441539405 Centerline is valid? [True, True] Translation: X:20.60, Y:-2.16, Z:-1.21 [[ 9.58159572e-01 2.74156115e-01 8.22718572e-02 2.06026118e+01] [-2.73272964e-01 9.61684219e-01 -2.20306569e-02 -2.16205247e+00] [-8.51593860e-02 -1.37378946e-03 9.96366394e-01 -1.20847321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88864 meters 0.030304695973284716 Centerline is valid? [True, True] Translation: X:20.63, Y:-2.17, Z:-1.21 [[ 9.58072450e-01 2.74530557e-01 8.20375206e-02 2.06340749e+01] [-2.73651430e-01 9.61577391e-01 -2.19958022e-02 -2.17077187e+00] [-8.49239448e-02 -1.37611274e-03 9.96386486e-01 -1.21084491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91864 meters 0.03038693204094239 Centerline is valid? [True, True] Translation: X:20.67, Y:-2.18, Z:-1.21 [[ 9.57805439e-01 2.75759399e-01 8.10277400e-02 2.06662352e+01] [-2.74902424e-01 9.61225639e-01 -2.17699183e-02 -2.17918628e+00] [-8.38892007e-02 -1.42337596e-03 9.96474072e-01 -1.21199717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.948639999999997 meters 0.030709665970757086 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.19, Z:-1.21 [[ 9.57060558e-01 2.78166316e-01 8.16001732e-02 2.06971429e+01] [-2.77302213e-01 9.60531586e-01 -2.19671415e-02 -2.18677384e+00] [-8.44900627e-02 -1.60402384e-03 9.96423031e-01 -1.21427727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97864 meters 0.030481099738919028 Centerline is valid? [True, True] Translation: X:20.73, Y:-2.19, Z:-1.22 [[ 9.56526497e-01 2.80276672e-01 8.06352742e-02 2.07291684e+01] [-2.79437038e-01 9.59917701e-01 -2.17474046e-02 -2.19448409e+00] [-8.34985172e-02 -1.73051342e-03 9.96506399e-01 -1.21564721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00864 meters 0.03075972538174241 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.20, Z:-1.22 [[ 9.55849799e-01 2.82925764e-01 7.93988304e-02 2.07614634e+01] [-2.82117257e-01 9.59139948e-01 -2.14572262e-02 -2.20346841e+00] [-8.22253922e-02 -1.88989491e-03 9.96611967e-01 -1.21732497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.038639999999997 meters 0.03101922078533283 Centerline is valid? [True, True] Translation: X:20.79, Y:-2.21, Z:-1.22 [[ 9.55270914e-01 2.85243485e-01 7.80617428e-02 2.07923201e+01] [-2.84466915e-01 9.58452958e-01 -2.11306030e-02 -2.21201751e+00] [-8.08458751e-02 -2.02053270e-03 9.96724567e-01 -1.21797776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06864 meters 0.031068404287980692 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.22, Z:-1.22 [[ 9.54804141e-01 2.86838812e-01 7.79265526e-02 2.08234673e+01] [-2.86068606e-01 9.57976486e-01 -2.11140833e-02 -2.22053308e+00] [-8.07081436e-02 -2.13252608e-03 9.96735495e-01 -1.21921777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09864 meters 0.031050168858608958 Centerline is valid? [True, True] Translation: X:20.86, Y:-2.23, Z:-1.22 [[ 9.54596371e-01 2.87240255e-01 7.89861024e-02 2.08562429e+01] [-2.86446990e-01 9.57856138e-01 -2.14415467e-02 -2.22725412e+00] [-8.18161984e-02 -2.15730861e-03 9.96645100e-01 -1.22088971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.128639999999997 meters 0.03106722624622775 Centerline is valid? [True, True] Translation: X:20.89, Y:-2.23, Z:-1.22 [[ 9.55030870e-01 2.86198831e-01 7.75001103e-02 2.08871212e+01] [-2.85428462e-01 9.58168185e-01 -2.10789687e-02 -2.23494098e+00] [-8.02909162e-02 -1.98967149e-03 9.96769487e-01 -1.22301042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15864 meters 0.030836807440446524 Centerline is valid? [True, True] Translation: X:20.92, Y:-2.24, Z:-1.23 [[ 9.55260856e-01 2.85363407e-01 7.77458921e-02 2.09185630e+01] [-2.84582855e-01 9.58417515e-01 -2.11770170e-02 -2.24363612e+00] [-8.05561704e-02 -1.89557250e-03 9.96748268e-01 -1.22550390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18864 meters 0.03057763683231605 Centerline is valid? [True, True] Translation: X:20.95, Y:-2.25, Z:-1.23 [[ 9.55843377e-01 2.83033600e-01 7.90912141e-02 2.09501569e+01] [-2.82216087e-01 9.59108472e-01 -2.15643009e-02 -2.25157902e+00] [-8.19604753e-02 -1.70871870e-03 9.96634116e-01 -1.22802987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21864 meters 0.030791594323911178 Centerline is valid? [True, True] Translation: X:20.98, Y:-2.26, Z:-1.23 [[ 9.55739325e-01 2.83076175e-01 8.01886653e-02 2.09820642e+01] [-2.82232521e-01 9.59095928e-01 -2.19044488e-02 -2.26016319e+00] [-8.31092500e-02 -1.69690606e-03 9.96538997e-01 -1.23042640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.248639999999998 meters 0.030577162377539595 Centerline is valid? [True, True] Translation: X:21.01, Y:-2.27, Z:-1.23 [[ 9.56164067e-01 2.82318747e-01 7.77586185e-02 2.10138960e+01] [-2.81520246e-01 9.59319409e-01 -2.12749443e-02 -2.26807214e+00] [-8.06016675e-02 -1.54828813e-03 9.96745190e-01 -1.23020030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27864 meters 0.030506246253664725 Centerline is valid? [True, True] Translation: X:21.05, Y:-2.28, Z:-1.23 [[ 9.56091545e-01 2.82771561e-01 7.70013125e-02 2.10455109e+01] [-2.81988343e-01 9.59186030e-01 -2.10887296e-02 -2.27603348e+00] [-7.98218762e-02 -1.55071650e-03 9.96807937e-01 -1.23193120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30864 meters 0.03038930204187741 Centerline is valid? [True, True] Translation: X:21.08, Y:-2.28, Z:-1.23 [[ 9.56064909e-01 2.83205728e-01 7.57258610e-02 2.10770190e+01] [-2.82446461e-01 9.59057975e-01 -2.07797244e-02 -2.28368126e+00] [-7.85104279e-02 -1.52173616e-03 9.96912131e-01 -1.23436875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.338639999999998 meters 0.030338305151243066 Centerline is valid? [True, True] Translation: X:21.11, Y:-2.29, Z:-1.24 [[ 9.55945378e-01 2.84105102e-01 7.38425733e-02 2.11084517e+01] [-2.83383146e-01 9.58791935e-01 -2.02982129e-02 -2.29192852e+00] [-7.65664896e-02 -1.52175794e-03 9.97063316e-01 -1.23503674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36864 meters 0.030444935734899543 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.30, Z:-1.24 [[ 9.55593075e-01 2.85261054e-01 7.39459657e-02 2.11401545e+01] [-2.84537650e-01 9.58448555e-01 -2.03640173e-02 -2.30111953e+00] [-7.66824650e-02 -1.58069744e-03 9.97054312e-01 -1.23667339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39864 meters 0.030608910522319906 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.31, Z:-1.24 [[ 9.55257948e-01 2.86103998e-01 7.50117027e-02 2.11710153e+01] [-2.85358957e-01 9.58197180e-01 -2.06985352e-02 -2.30959451e+00] [-7.77979357e-02 -1.63282105e-03 9.96967810e-01 -1.23741426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.428639999999998 meters 0.030435537866536168 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.32, Z:-1.24 [[ 9.55220416e-01 2.86124296e-01 7.54111675e-02 2.12037350e+01] [-2.85368339e-01 9.58191164e-01 -2.08471527e-02 -2.31722691e+00] [-7.82231913e-02 -1.60633373e-03 9.96934578e-01 -1.23850746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45864 meters 0.0303108643022233 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.33, Z:-1.24 [[ 9.55159636e-01 2.86257172e-01 7.56762975e-02 2.12355944e+01] [-2.85492967e-01 9.58151516e-01 -2.09627793e-02 -2.32530979e+00] [-7.85101051e-02 -1.58225003e-03 9.96912062e-01 -1.23987585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48864 meters 0.03046593310126912 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.34, Z:-1.24 [[ 9.55083081e-01 2.86250888e-01 7.66598789e-02 2.12667679e+01] [-2.85463164e-01 9.58153429e-01 -2.12788231e-02 -2.33622045e+00] [-7.95430079e-02 -1.56052763e-03 9.96830214e-01 -1.24252367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.518639999999998 meters 0.030342493643005317 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.35, Z:-1.24 [[ 9.55041886e-01 2.86543966e-01 7.60759579e-02 2.12986629e+01] [-2.85765750e-01 9.58065869e-01 -2.11595488e-02 -2.34587015e+00] [-7.89489197e-02 -1.53164776e-03 9.96877486e-01 -1.24447874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54864 meters 0.030309052170414637 Centerline is valid? [True, True] Translation: X:21.33, Y:-2.35, Z:-1.24 [[ 9.54594645e-01 2.88263789e-01 7.51867830e-02 2.13304004e+01] [-2.87505721e-01 9.57549677e-01 -2.09541747e-02 -2.35388369e+00] [-7.80354095e-02 -1.61388723e-03 9.96949282e-01 -1.24448770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57864 meters 0.030359304658813282 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.36, Z:-1.25 [[ 9.54154005e-01 2.90187717e-01 7.33568258e-02 2.13630583e+01] [-2.89468756e-01 9.56968252e-01 -2.04842581e-02 -2.36126107e+00] [-7.61444334e-02 -1.68937213e-03 9.97095367e-01 -1.24557049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.608639999999998 meters 0.03064844397752908 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.37, Z:-1.25 [[ 9.53137825e-01 2.94142262e-01 7.07715733e-02 2.13942327e+01] [-2.93481260e-01 9.55759764e-01 -1.97995976e-02 -2.36916410e+00] [-7.34645206e-02 -1.89838509e-03 9.97296024e-01 -1.24575818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63864 meters 0.03092723572447273 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.38, Z:-1.25 [[ 9.52427924e-01 2.96324324e-01 7.12245993e-02 2.14253349e+01] [-2.95658312e-01 9.55085183e-01 -1.99613545e-02 -2.37668956e+00] [-7.39405944e-02 -2.04639330e-03 9.97260548e-01 -1.24747699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66864 meters 0.03105359332379964 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.38, Z:-1.25 [[ 9.51685191e-01 2.98729446e-01 7.11056607e-02 2.14574078e+01] [-2.98069779e-01 9.54335316e-01 -1.99627617e-02 -2.37964219e+00] [-7.38221079e-02 -2.19618383e-03 9.97269007e-01 -1.24948382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.698639999999997 meters 0.030860827285117937 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.39, Z:-1.25 [[ 9.51624465e-01 2.98644803e-01 7.22645063e-02 2.14896892e+01] [-2.97960422e-01 9.54361820e-01 -2.03249325e-02 -2.38604274e+00] [-7.50364212e-02 -2.19025975e-03 9.97178388e-01 -1.25202964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72864 meters 0.031117984840511016 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.39, Z:-1.25 [[ 9.51324465e-01 2.99573588e-01 7.23700708e-02 2.15215652e+01] [-2.98886797e-01 9.54070596e-01 -2.03955813e-02 -2.39341583e+00] [-7.51561341e-02 -2.22764312e-03 9.97169290e-01 -1.25430029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75864 meters 0.030691112696847194 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.40, Z:-1.26 [[ 9.51769632e-01 2.98227090e-01 7.20775243e-02 2.15540648e+01] [-2.97539053e-01 9.54492691e-01 -2.03522883e-02 -2.39775298e+00] [-7.48670738e-02 -2.07518840e-03 9.97191363e-01 -1.25559768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.788639999999997 meters 0.030564262928794647 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.40, Z:-1.26 [[ 9.52128879e-01 2.97413158e-01 7.06824663e-02 2.15853026e+01] [-2.96746786e-01 9.54746905e-01 -1.99923335e-02 -2.40424487e+00] [-7.34298490e-02 -1.93951656e-03 9.97298499e-01 -1.25699926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81864 meters 0.030499874878483418 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.41, Z:-1.26 [[ 9.52386576e-01 2.96505776e-01 7.10220664e-02 2.16172712e+01] [-2.95827871e-01 9.55029277e-01 -2.01233797e-02 -2.41043129e+00] [-7.37948510e-02 -1.84506997e-03 9.97271736e-01 -1.25909607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84864 meters 0.03018919361650376 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.42, Z:-1.26 [[ 9.52501533e-01 2.96117909e-01 7.10986267e-02 2.16486778e+01] [-2.95434897e-01 9.55149728e-01 -2.01796857e-02 -2.41742979e+00] [-7.38854002e-02 -1.78383384e-03 9.97265143e-01 -1.26039164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.878639999999997 meters 0.030217035824129327 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.42, Z:-1.26 [[ 9.52468599e-01 2.96049187e-01 7.18223312e-02 2.16808561e+01] [-2.95349271e-01 9.55171071e-01 -2.04214053e-02 -2.42478821e+00] [-7.46483534e-02 -1.76192592e-03 9.97208363e-01 -1.26211879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.90864 meters 0.02995427728660469 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.43, Z:-1.26 [[ 9.52358771e-01 2.96410258e-01 7.17894881e-02 2.17129094e+01] [-2.95709008e-01 9.55059105e-01 -2.04521306e-02 -2.43139476e+00] [-7.46254255e-02 -1.75103234e-03 9.97210098e-01 -1.26378183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93864 meters 0.029917263521221402 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.44, Z:-1.27 [[ 9.52420621e-01 2.96341252e-01 7.12518234e-02 2.17437849e+01] [-2.95647429e-01 9.55080618e-01 -2.03374166e-02 -2.44005678e+00] [-7.40780511e-02 -1.69564345e-03 9.97251005e-01 -1.26616991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96864 meters 0.029753857124310758 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.45, Z:-1.27 [[ 9.52954228e-01 2.94571388e-01 7.14558306e-02 2.17748909e+01] [-2.93866007e-01 9.55628254e-01 -2.04306292e-02 -2.44869144e+00] [-7.43034894e-02 -1.52898511e-03 9.97234503e-01 -1.26800617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.998639999999998 meters 0.029491113982462003 Centerline is valid? [True, True] Translation: X:21.81, Y:-2.46, Z:-1.27 [[ 9.53013130e-01 2.94257857e-01 7.19603260e-02 2.18072466e+01] [-2.93538854e-01 9.55724920e-01 -2.06111466e-02 -2.45682248e+00] [-7.48392686e-02 -1.48045831e-03 9.97194511e-01 -1.26975301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02864 meters 0.028977644436894216 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.46, Z:-1.27 [[ 9.53901485e-01 2.91557451e-01 7.11773083e-02 2.18393991e+01] [-2.90843679e-01 9.56552544e-01 -2.04251025e-02 -2.46177350e+00] [-7.40399261e-02 -1.21793456e-03 9.97254534e-01 -1.26999155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05864 meters 0.028977644436894216 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.47, Z:-1.27 [[ 9.53751297e-01 2.92050689e-01 7.11678232e-02 2.18707837e+01] [-2.91335827e-01 9.56402061e-01 -2.04581042e-02 -2.47045214e+00] [-7.40398562e-02 -1.22179325e-03 9.97254535e-01 -1.27191024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters 0.02874354238531865 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.48, Z:-1.27 [[ 9.54248522e-01 2.90404015e-01 7.12409017e-02 2.19021717e+01] [-2.89680553e-01 9.56903537e-01 -2.05133522e-02 -2.47916350e+00] [-7.41278307e-02 -1.06226784e-03 9.97248182e-01 -1.27466071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11864 meters 0.02878232106520225 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.49, Z:-1.28 [[ 9.54327431e-01 2.90126535e-01 7.13144314e-02 2.19340817e+01] [-2.89399457e-01 9.56987745e-01 -2.05526239e-02 -2.48854702e+00] [-7.42098984e-02 -1.02442498e-03 9.97242118e-01 -1.27708047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14864 meters 0.028615907698656753 Centerline is valid? [True, True] Translation: X:21.97, Y:-2.50, Z:-1.28 [[ 9.54657961e-01 2.88792342e-01 7.22991039e-02 2.19658964e+01] [-2.88038129e-01 9.57391343e-01 -2.08770962e-02 -2.49659741e+00] [-7.52476817e-02 -8.94412527e-04 9.97164473e-01 -1.27920546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.178639999999998 meters 0.028643731507606636 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.50, Z:-1.28 [[ 9.54668745e-01 2.88260562e-01 7.42525147e-02 2.19977348e+01] [-2.87460208e-01 9.57551643e-01 -2.14820760e-02 -2.50234649e+00] [-7.72930527e-02 -8.36376843e-04 9.97008066e-01 -1.28151960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.20864 meters 0.02858906954520146 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.51, Z:-1.29 [[ 9.54737802e-01 2.87505112e-01 7.62662495e-02 2.20295024e+01] [-2.86655271e-01 9.57778802e-01 -2.21025486e-02 -2.50971651e+00] [-7.94007928e-02 -7.59983782e-04 9.96842483e-01 -1.28502578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23864 meters 0.028513092434216344 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.52, Z:-1.29 [[ 9.55049978e-01 2.86099229e-01 7.76322728e-02 2.20610630e+01] [-2.85210758e-01 9.58199797e-01 -2.25382487e-02 -2.51815459e+00] [-8.08354037e-02 -6.16405401e-04 9.96727273e-01 -1.28724559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters 0.028424363989829303 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.53, Z:-1.29 [[ 9.55101805e-01 2.85913910e-01 7.76774033e-02 2.20932048e+01] [-2.85020284e-01 9.58255145e-01 -2.25945626e-02 -2.52647148e+00] [-8.08948711e-02 -5.59528036e-04 9.96722482e-01 -1.28895021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29864 meters 0.028451761401928635 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.53, Z:-1.29 [[ 9.55031861e-01 2.85855512e-01 7.87449700e-02 2.21253948e+01] [-2.84933273e-01 9.58272590e-01 -2.29493802e-02 -2.53426037e+00] [-8.20193532e-02 -5.19672758e-04 9.96630601e-01 -1.29131794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32864 meters 0.028535763422497935 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.54, Z:-1.29 [[ 9.54954840e-01 2.85998626e-01 7.91583209e-02 2.21580799e+01] [-2.85063499e-01 9.58229901e-01 -2.31140219e-02 -2.54084964e+00] [-8.24624486e-02 -4.92300924e-04 9.96594051e-01 -1.29330591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.358639999999998 meters 0.02855981313023424 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.55, Z:-1.30 [[ 9.54694048e-01 2.86793265e-01 7.94285730e-02 2.21894961e+01] [-2.85850818e-01 9.57992355e-01 -2.32369996e-02 -2.54965617e+00] [-8.27561807e-02 -5.20497354e-04 9.96569688e-01 -1.29544412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38864 meters 0.028748167847592147 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.56, Z:-1.30 [[ 9.54332694e-01 2.87675419e-01 8.05727125e-02 2.22203956e+01] [-2.86705097e-01 9.57727798e-01 -2.36146703e-02 -2.55921779e+00] [-8.39600867e-02 -5.64355453e-04 9.96468959e-01 -1.29756895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41864 meters 0.028936199339650234 Centerline is valid? [True, True] Translation: X:22.25, Y:-2.57, Z:-1.30 [[ 9.53952915e-01 2.88704874e-01 8.13838499e-02 2.22512729e+01] [-2.87715278e-01 9.57417937e-01 -2.38916728e-02 -2.56883736e+00] [-8.48160001e-02 -6.23846081e-04 9.96396436e-01 -1.29985151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.448639999999997 meters 0.029131489117184543 Centerline is valid? [True, True] Translation: X:22.28, Y:-2.58, Z:-1.30 [[ 9.53686630e-01 2.89384439e-01 8.20881120e-02 2.22828429e+01] [-2.88376553e-01 9.57212737e-01 -2.41400066e-02 -2.57788049e+00] [-8.55615286e-02 -6.50285253e-04 9.96332676e-01 -1.30260066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47864 meters 0.029465495787951546 Centerline is valid? [True, True] Translation: X:22.31, Y:-2.59, Z:-1.31 [[ 9.52602743e-01 2.92322281e-01 8.42359607e-02 2.23133134e+01] [-2.91268312e-01 9.56319447e-01 -2.48170582e-02 -2.58880102e+00] [-8.78110663e-02 -8.94468422e-04 9.96136746e-01 -1.30596740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50864 meters 0.029673197942866467 Centerline is valid? [True, True] Translation: X:22.34, Y:-2.60, Z:-1.31 [[ 9.51900067e-01 2.94414430e-01 8.48905579e-02 2.23446993e+01] [-2.93348625e-01 9.55677261e-01 -2.50510798e-02 -2.59776246e+00] [-8.85033753e-02 -1.05640389e-03 9.96075317e-01 -1.30777439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.538639999999997 meters 0.029575140856142344 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.61, Z:-1.31 [[ 9.51636084e-01 2.95526021e-01 8.39829391e-02 2.23760587e+01] [-2.94483722e-01 9.55334047e-01 -2.48233001e-02 -2.60621045e+00] [-8.75676922e-02 -1.10886039e-03 9.96157954e-01 -1.30938415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56864 meters 0.029557699558420882 Centerline is valid? [True, True] Translation: X:22.41, Y:-2.62, Z:-1.31 [[ 9.51357675e-01 2.96875600e-01 8.23617104e-02 2.24068373e+01] [-2.95874896e-01 9.54915444e-01 -2.43832036e-02 -2.61578117e+00] [-8.58872474e-02 -1.17161464e-03 9.96304174e-01 -1.31042896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59864 meters 0.029721520167628687 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.63, Z:-1.31 [[ 9.51227959e-01 2.97240422e-01 8.25439345e-02 2.24379575e+01] [-2.96233051e-01 9.54801953e-01 -2.44787788e-02 -2.62534642e+00] [-8.60891924e-02 -1.16734273e-03 9.96286750e-01 -1.31330609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters 0.029797578288643132 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.63, Z:-1.32 [[ 9.50837053e-01 2.98180002e-01 8.36515707e-02 2.24683891e+01] [-2.97145145e-01 9.54508869e-01 -2.48512122e-02 -2.63403928e+00] [-8.72563006e-02 -1.22720474e-03 9.96185139e-01 -1.31563802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65864 meters 0.029882185034062224 Centerline is valid? [True, True] Translation: X:22.50, Y:-2.64, Z:-1.32 [[ 9.50657372e-01 2.98225934e-01 8.55093748e-02 2.24993609e+01] [-2.97141122e-01 9.54494527e-01 -2.54431085e-02 -2.64257153e+00] [-8.92060251e-02 -1.22067285e-03 9.96012447e-01 -1.31861720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68864 meters 0.030192558483520423 Centerline is valid? [True, True] Translation: X:22.53, Y:-2.65, Z:-1.32 [[ 9.50301067e-01 2.99176460e-01 8.61471272e-02 2.25300678e+01] [-2.98075499e-01 9.54196944e-01 -2.56746759e-02 -2.65197922e+00] [-8.98825842e-02 -1.27967600e-03 9.95951547e-01 -1.32148234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71864 meters 0.030352081809547512 Centerline is valid? [True, True] Translation: X:22.56, Y:-2.66, Z:-1.32 [[ 9.49407750e-01 3.01491320e-01 8.79085264e-02 2.25611180e+01] [-3.00350760e-01 9.53467759e-01 -2.62422044e-02 -2.66005294e+00] [-9.17297425e-02 -1.48884053e-03 9.95782827e-01 -1.32399622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999998 meters 0.030497929401500676 Centerline is valid? [True, True] Translation: X:22.59, Y:-2.67, Z:-1.33 [[ 9.48949864e-01 3.03303678e-01 8.66085114e-02 2.25921516e+01] [-3.02200455e-01 9.52892606e-01 -2.58952871e-02 -2.66810583e+00] [-9.03827460e-02 -1.59980235e-03 9.95905819e-01 -1.32587087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77864 meters 0.030743421673421686 Centerline is valid? [True, True] Translation: X:22.62, Y:-2.67, Z:-1.33 [[ 9.47858967e-01 3.06986947e-01 8.55709822e-02 2.26236698e+01] [-3.05921321e-01 9.51711852e-01 -2.56260755e-02 -2.67441824e+00] [-8.93057887e-02 -1.88808246e-03 9.96002465e-01 -1.32748523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80864 meters 0.030846507836687017 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.68, Z:-1.33 [[ 9.47278372e-01 3.08871121e-01 8.52192294e-02 2.26553534e+01] [-3.07818017e-01 9.51101764e-01 -2.55637001e-02 -2.68275859e+00] [-8.89480482e-02 -2.01607399e-03 9.96034226e-01 -1.32885643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.838639999999998 meters 0.031085846589405077 Centerline is valid? [True, True] Translation: X:22.69, Y:-2.69, Z:-1.33 [[ 9.47181539e-01 3.09058866e-01 8.56139497e-02 2.26871058e+01] [-3.07992451e-01 9.51040812e-01 -2.57298144e-02 -2.69102591e+00] [-8.93743875e-02 -1.99764498e-03 9.95996099e-01 -1.33194075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86864 meters 0.03113215412654979 Centerline is valid? [True, True] Translation: X:22.72, Y:-2.70, Z:-1.33 [[ 9.47510133e-01 3.07660558e-01 8.70030370e-02 2.27197718e+01] [-3.06548851e-01 9.51494383e-01 -2.61962119e-02 -2.69671571e+00] [-9.08424422e-02 -1.84950480e-03 9.95863560e-01 -1.33456927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89864 meters 0.030903865823780827 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.70, Z:-1.34 [[ 9.47958595e-01 3.06419942e-01 8.64946283e-02 2.27515478e+01] [-3.05311922e-01 9.51894956e-01 -2.60887465e-02 -2.70366706e+00] [-9.03279126e-02 -1.67678974e-03 9.95910667e-01 -1.33607072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters 0.030589844316026016 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.71, Z:-1.34 [[ 9.48984498e-01 3.02923423e-01 8.75546778e-02 2.27830308e+01] [-3.01769273e-01 9.53013986e-01 -2.64508587e-02 -2.71049683e+00] [-9.14534172e-02 -1.31985657e-03 9.95808481e-01 -1.33880069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95864 meters 0.0304069142561501 Centerline is valid? [True, True] Translation: X:22.81, Y:-2.72, Z:-1.34 [[ 9.49926356e-01 3.00200638e-01 8.67150229e-02 2.28142673e+01] [-2.99053465e-01 9.53875548e-01 -2.62385937e-02 -2.71883047e+00] [-9.05921826e-02 -1.00769640e-03 9.95887564e-01 -1.34147283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98864 meters 0.03015909992088519 Centerline is valid? [True, True] Translation: X:22.85, Y:-2.73, Z:-1.34 [[ 9.50518006e-01 2.98596075e-01 8.57665724e-02 2.28456113e+01] [-2.97463693e-01 9.54379240e-01 -2.59926272e-02 -2.72753708e+00] [-8.96151327e-02 -8.05981190e-04 9.95976143e-01 -1.34360492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.018639999999998 meters 0.029996599405534265 Centerline is valid? [True, True] Translation: X:22.88, Y:-2.74, Z:-1.35 [[ 9.51750991e-01 2.94819025e-01 8.51574617e-02 2.28770973e+01] [-2.93684751e-01 9.55553017e-01 -2.58398565e-02 -2.73611197e+00] [-8.89905508e-02 -4.16338858e-04 9.96032383e-01 -1.34618418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04864 meters 0.030092143405609114 Centerline is valid? [True, True] Translation: X:22.91, Y:-2.75, Z:-1.35 [[ 9.52071180e-01 2.93935292e-01 8.46316292e-02 2.29079207e+01] [-2.92810005e-01 9.55825269e-01 -2.56973995e-02 -2.74687882e+00] [-8.84464224e-02 -3.15234316e-04 9.96080886e-01 -1.34864586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07864 meters 0.030014727125023743 Centerline is valid? [True, True] Translation: X:22.94, Y:-2.76, Z:-1.35 [[ 9.52129139e-01 2.93823630e-01 8.43669203e-02 2.29382593e+01] [-2.92703209e-01 9.55859610e-01 -2.56366522e-02 -2.75853167e+00] [-8.81755857e-02 -2.85064693e-04 9.96104907e-01 -1.34906507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters 0.030311927617451193 Centerline is valid? [True, True] Translation: X:22.97, Y:-2.77, Z:-1.35 [[ 9.51979608e-01 2.94633848e-01 8.32209150e-02 2.29681378e+01] [-2.93544826e-01 9.55610163e-01 -2.53110872e-02 -2.77086213e+00] [-8.69842552e-02 -3.33430086e-04 9.96209631e-01 -1.35081996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13864 meters 0.030120018792940517 Centerline is valid? [True, True] Translation: X:23.00, Y:-2.78, Z:-1.35 [[ 9.51576433e-01 2.96006515e-01 8.29604445e-02 2.29999528e+01] [-2.94926571e-01 9.55185826e-01 -2.52656934e-02 -2.78046144e+00] [-8.67214506e-02 -4.25001012e-04 9.96232508e-01 -1.35164749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16864 meters 0.030508766864294552 Centerline is valid? [True, True] Translation: X:23.03, Y:-2.79, Z:-1.35 [[ 9.50495698e-01 2.99504074e-01 8.27963657e-02 2.30315249e+01] [-2.98439186e-01 9.54094753e-01 -2.52438978e-02 -2.79085788e+00] [-8.65562283e-02 -7.15463737e-04 9.96246710e-01 -1.35446656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.198639999999997 meters 0.030863400950269376 Centerline is valid? [True, True] Translation: X:23.06, Y:-2.80, Z:-1.36 [[ 9.49814256e-01 3.01565003e-01 8.31350052e-02 2.30618312e+01] [-3.00495386e-01 9.53445227e-01 -2.53913693e-02 -2.80062400e+00] [-8.69218222e-02 -8.64600876e-04 9.96214761e-01 -1.35693395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22864 meters 0.030866779612926 Centerline is valid? [True, True] Translation: X:23.09, Y:-2.81, Z:-1.36 [[ 9.49252631e-01 3.03730583e-01 8.16527709e-02 2.30927624e+01] [-3.02703494e-01 9.52757430e-01 -2.49774928e-02 -2.81009559e+00] [-8.53817125e-02 -1.00662832e-03 9.96347806e-01 -1.35830364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25864 meters 0.03112423046445878 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.82, Z:-1.36 [[ 9.47943031e-01 3.07649933e-01 8.21920177e-02 2.31240920e+01] [-3.06620465e-01 9.51498685e-01 -2.51821785e-02 -2.81881536e+00] [-8.59528923e-02 -1.33048403e-03 9.96298314e-01 -1.35988056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.288639999999997 meters 0.03132518720062697 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.83, Z:-1.36 [[ 9.47206394e-01 3.09804584e-01 8.25903510e-02 2.31548228e+01] [-3.08769799e-01 9.50799076e-01 -2.53441850e-02 -2.82863934e+00] [-8.63785742e-02 -1.49523194e-03 9.96261264e-01 -1.36217585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31864 meters 0.03147395983525171 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.84, Z:-1.36 [[ 9.46804177e-01 3.10966457e-01 8.28354553e-02 2.31856969e+01] [-3.09926280e-01 9.50419597e-01 -2.54615441e-02 -2.83925752e+00] [-8.66461262e-02 -1.56578822e-03 9.96237922e-01 -1.36479371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34864 meters 0.03175288442132178 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.85, Z:-1.37 [[ 9.46236615e-01 3.12840026e-01 8.22641227e-02 2.32167060e+01] [-3.11817297e-01 9.49804343e-01 -2.53314664e-02 -2.84973828e+00] [-8.60595176e-02 -1.68181539e-03 9.96288578e-01 -1.36659756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.378639999999997 meters 0.03179350032262974 Centerline is valid? [True, True] Translation: X:23.25, Y:-2.86, Z:-1.37 [[ 9.45782223e-01 3.14164766e-01 8.24408093e-02 2.32490509e+01] [-3.13138672e-01 9.49366838e-01 -2.54318450e-02 -2.85783812e+00] [-8.62563601e-02 -1.76241862e-03 9.96271416e-01 -1.36777710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.40864 meters 0.03220063536337749 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.86, Z:-1.37 [[ 9.44254319e-01 3.18628824e-01 8.28218155e-02 2.32808262e+01] [-3.17606461e-01 9.47877156e-01 -2.55936372e-02 -2.86319863e+00] [-8.66597774e-02 -2.13784118e-03 9.96235671e-01 -1.36872229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43864 meters 0.032502754684523884 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.87, Z:-1.37 [[ 9.43393430e-01 3.21172639e-01 8.28068345e-02 2.33116613e+01] [-3.20156925e-01 9.47017790e-01 -2.56290707e-02 -2.87148875e+00] [-8.66509016e-02 -2.33288456e-03 9.96236006e-01 -1.37082794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46864 meters 0.03230134155187665 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.88, Z:-1.37 [[ 9.43161235e-01 3.22064834e-01 8.19824863e-02 2.33434435e+01] [-3.21069068e-01 9.46714695e-01 -2.54153365e-02 -2.87932497e+00] [-8.57994106e-02 -2.35128030e-03 9.96309657e-01 -1.37182239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.498639999999998 meters 0.03252466723160671 Centerline is valid? [True, True] Translation: X:23.37, Y:-2.89, Z:-1.37 [[ 9.42411169e-01 3.24110818e-01 8.25431159e-02 2.33749046e+01] [-3.23105330e-01 9.46015784e-01 -2.56335990e-02 -2.88728196e+00] [-8.63952172e-02 -2.51273067e-03 9.96257774e-01 -1.37344534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52864 meters 0.03222236641463215 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.89, Z:-1.37 [[ 9.42382660e-01 3.24141189e-01 8.27490850e-02 2.34084058e+01] [-3.23127822e-01 9.46005440e-01 -2.57316660e-02 -2.89011130e+00] [-8.66217774e-02 -2.48945579e-03 9.96238159e-01 -1.37449874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55864 meters 0.03233389106089052 Centerline is valid? [True, True] Translation: X:23.44, Y:-2.90, Z:-1.38 [[ 9.42613098e-01 3.23578391e-01 8.23260132e-02 2.34396615e+01] [-3.22571725e-01 9.46198300e-01 -2.56175500e-02 -2.89681512e+00] [-8.61860194e-02 -2.40860590e-03 9.96276151e-01 -1.37810307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.588639999999998 meters 0.031878461609444575 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.90, Z:-1.38 [[ 9.43841473e-01 3.20092438e-01 8.18785985e-02 2.34728055e+01] [-3.19081846e-01 9.47384078e-01 -2.54987270e-02 -2.89948908e+00] [-8.57324303e-02 -2.05921826e-03 9.96316069e-01 -1.38093217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61864 meters 0.03136809839301995 Centerline is valid? [True, True] Translation: X:23.50, Y:-2.90, Z:-1.38 [[ 9.44329602e-01 3.18572255e-01 8.21785949e-02 2.35047820e+01] [-3.17545803e-01 9.47896679e-01 -2.56232230e-02 -2.90497870e+00] [-8.60596651e-02 -1.89870000e-03 9.96288176e-01 -1.38284900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64864 meters 0.03144931928109884 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.91, Z:-1.38 [[ 9.45020373e-01 3.16276399e-01 8.31007506e-02 2.35368041e+01] [-3.15216863e-01 9.48665567e-01 -2.59224151e-02 -2.91133515e+00] [-8.70334687e-02 -1.69754751e-03 9.96203942e-01 -1.38467678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.678639999999998 meters 0.030995005887213233 Centerline is valid? [True, True] Translation: X:23.57, Y:-2.92, Z:-1.39 [[ 9.46235070e-01 3.12259773e-01 8.44572479e-02 2.35691186e+01] [-3.11148255e-01 9.49995812e-01 -2.63575425e-02 -2.91589588e+00] [-8.84644320e-02 -1.33829428e-03 9.96078437e-01 -1.38759826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.70864 meters 0.030846233264655066 Centerline is valid? [True, True] Translation: X:23.60, Y:-2.92, Z:-1.39 [[ 9.46927919e-01 3.10457691e-01 8.33279001e-02 2.36003888e+01] [-3.09367777e-01 9.50586511e-01 -2.60165902e-02 -2.92398986e+00] [-8.72874283e-02 -1.14313165e-03 9.96182512e-01 -1.38981269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73864 meters 0.030561021463604347 Centerline is valid? [True, True] Translation: X:23.63, Y:-2.93, Z:-1.39 [[ 9.47506567e-01 3.08877318e-01 8.26202633e-02 2.36315363e+01] [-3.07798877e-01 9.51101386e-01 -2.58070817e-02 -2.93180625e+00] [-8.65514691e-02 -9.78044900e-04 9.96246900e-01 -1.39190441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.768639999999998 meters 0.03053992391624053 Centerline is valid? [True, True] Translation: X:23.66, Y:-2.94, Z:-1.40 [[ 9.48422155e-01 3.06004420e-01 8.28052555e-02 2.36632928e+01] [-3.04909191e-01 9.52029829e-01 -2.58764200e-02 -2.93704537e+00] [-8.67513722e-02 -7.06313436e-04 9.96229743e-01 -1.39522395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79864 meters 0.03038285862715186 Centerline is valid? [True, True] Translation: X:23.69, Y:-2.94, Z:-1.40 [[ 9.48967106e-01 3.04363271e-01 8.26101175e-02 2.36943567e+01] [-3.03266001e-01 9.52555879e-01 -2.58269095e-02 -2.94423132e+00] [-8.65515158e-02 -5.43952413e-04 9.96247228e-01 -1.39753573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82864 meters 0.030304492728332227 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.95, Z:-1.40 [[ 9.49657140e-01 3.01995513e-01 8.33668198e-02 2.37264371e+01] [-3.00867720e-01 9.53309293e-01 -2.60769296e-02 -2.95095392e+00] [-8.73494798e-02 -3.18242623e-04 9.96177678e-01 -1.39987500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.858639999999998 meters 0.030217822068160278 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.96, Z:-1.40 [[ 9.50136050e-01 3.00299684e-01 8.40332511e-02 2.37571425e+01] [-2.99145759e-01 9.53844892e-01 -2.63008913e-02 -2.95904921e+00] [-8.80528367e-02 -1.48765709e-04 9.96115794e-01 -1.40177084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88864 meters 0.030268896883434274 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.97, Z:-1.41 [[ 9.51034036e-01 2.97165231e-01 8.50122761e-02 2.37877122e+01] [-2.95970650e-01 9.54826058e-01 -2.66190257e-02 -2.96721076e+00] [-8.90821854e-02 1.54460818e-04 9.96024267e-01 -1.40526268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91864 meters 0.03049499709344555 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.98, Z:-1.41 [[ 9.51236937e-01 2.96189864e-01 8.61385707e-02 2.38182271e+01] [-2.94958289e-01 9.55129047e-01 -2.69835367e-02 -2.97689673e+00] [-9.02657011e-02 2.60451398e-04 9.95917685e-01 -1.40832187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.948639999999997 meters 0.03049499709344555 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.99, Z:-1.41 [[ 9.51181870e-01 2.96367802e-01 8.61346394e-02 2.38492718e+01] [-2.95135819e-01 9.55073851e-01 -2.69960812e-02 -2.98655157e+00] [-9.02657110e-02 2.56765677e-04 9.95917685e-01 -1.41024054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97864 meters 0.030404216075220026 Centerline is valid? [True, True] Translation: X:23.88, Y:-3.00, Z:-1.41 [[ 9.51194422e-01 2.96166882e-01 8.66853478e-02 2.38799879e+01] [-2.94916793e-01 9.55136164e-01 -2.71844218e-02 -2.99660456e+00] [-9.08474360e-02 2.92705533e-04 9.95864779e-01 -1.41163057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00864 meters 0.03036854237378476 Centerline is valid? [True, True] Translation: X:23.91, Y:-3.01, Z:-1.41 [[ 9.51505275e-01 2.95270995e-01 8.63293222e-02 2.39106293e+01] [-2.94026428e-01 9.55413465e-01 -2.70845054e-02 -3.00569442e+00] [-9.04774658e-02 3.87947527e-04 9.95898427e-01 -1.41315686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.038639999999997 meters 0.030236459409598935 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.01, Z:-1.41 [[ 9.51454167e-01 2.95477534e-01 8.61858129e-02 2.39426321e+01] [-2.94236704e-01 9.55349612e-01 -2.70532882e-02 -3.01431360e+00] [-9.03312218e-02 3.80934263e-04 9.95911706e-01 -1.41430873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06864 meters 0.030188719944362178 Centerline is valid? [True, True] Translation: X:23.97, Y:-3.02, Z:-1.42 [[ 9.51245666e-01 2.96614640e-01 8.45661766e-02 2.39734877e+01] [-2.95423236e-01 9.54997212e-01 -2.65600436e-02 -3.02193733e+00] [-8.86385607e-02 2.82312806e-04 9.96063816e-01 -1.41627793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09864 meters 0.030178557216253923 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.03, Z:-1.42 [[ 9.50758642e-01 2.98213779e-01 8.44188810e-02 2.40039367e+01] [-2.97031799e-01 9.54499095e-01 -2.65252511e-02 -3.03100882e+00] [-8.84879408e-02 1.44019673e-04 9.96077238e-01 -1.41841125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters 0.03021825976811037 Centerline is valid? [True, True] Translation: X:24.03, Y:-3.04, Z:-1.42 [[ 9.50141882e-01 3.00508666e-01 8.32162579e-02 2.40349855e+01] [-2.99367976e-01 9.53779083e-01 -2.61586795e-02 -3.04042017e+00] [-8.72308360e-02 -5.78257011e-05 9.96188124e-01 -1.42059750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15864 meters 0.0302874523062127 Centerline is valid? [True, True] Translation: X:24.07, Y:-3.05, Z:-1.42 [[ 9.49687339e-01 3.01559497e-01 8.45921264e-02 2.40656961e+01] [-3.00383814e-01 9.53447350e-01 -2.66029269e-02 -3.05044779e+00] [-8.86765039e-02 -1.45642721e-04 9.96060468e-01 -1.42278876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18864 meters 0.03031663707541261 Centerline is valid? [True, True] Translation: X:24.10, Y:-3.06, Z:-1.43 [[ 9.49786905e-01 3.00787323e-01 8.62080126e-02 2.40963167e+01] [-2.99561945e-01 9.53691240e-01 -2.71230411e-02 -3.05961540e+00] [-9.03740933e-02 -6.35306510e-05 9.95907887e-01 -1.42542911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21864 meters 0.030234565850895366 Centerline is valid? [True, True] Translation: X:24.13, Y:-3.07, Z:-1.43 [[ 9.50184633e-01 2.99882469e-01 8.49686342e-02 2.41280413e+01] [-2.98687502e-01 9.53976155e-01 -2.67445859e-02 -3.06695158e+00] [-8.90782834e-02 3.32254855e-05 9.96024627e-01 -1.42687941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999998 meters 0.030041510491271475 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.08, Z:-1.43 [[ 9.50187237e-01 3.00316816e-01 8.33907996e-02 2.41588913e+01] [-2.99166582e-01 9.53839510e-01 -2.62592076e-02 -3.07505560e+00] [-8.74275211e-02 3.42339721e-06 9.96170883e-01 -1.42740439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27864 meters 0.030348399448909828 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.08, Z:-1.43 [[ 9.49679752e-01 3.01768100e-01 8.39308142e-02 2.41902168e+01] [-3.00607529e-01 9.53381350e-01 -2.64407710e-02 -3.08268956e+00] [-8.79970542e-02 -1.19969792e-04 9.96120728e-01 -1.43083244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.30864 meters 0.03035543298330101 Centerline is valid? [True, True] Translation: X:24.22, Y:-3.09, Z:-1.43 [[ 9.49299488e-01 3.02640679e-01 8.50829120e-02 2.42210738e+01] [-3.01450405e-01 9.53104707e-01 -2.68155008e-02 -3.09189497e+00] [-8.92083852e-02 -1.92337057e-04 9.96012965e-01 -1.43327670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.338639999999998 meters 0.030432248675203118 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.10, Z:-1.43 [[ 9.49178148e-01 3.03641938e-01 8.28397027e-02 2.42525118e+01] [-3.02516471e-01 9.52786179e-01 -2.61205462e-02 -3.10079663e+00] [-8.68598170e-02 -2.67322852e-04 9.96220508e-01 -1.43391803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36864 meters 0.030395576903804504 Centerline is valid? [True, True] Translation: X:24.28, Y:-3.11, Z:-1.44 [[ 9.48866580e-01 3.04917611e-01 8.17157511e-02 2.42838016e+01] [-3.03826141e-01 9.52378662e-01 -2.57790676e-02 -3.10952177e+00] [-8.56848294e-02 -3.66485530e-04 9.96322225e-01 -1.43575631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39864 meters 0.03026840463483943 Centerline is valid? [True, True] Translation: X:24.32, Y:-3.12, Z:-1.44 [[ 9.48651947e-01 3.05810767e-01 8.08656786e-02 2.43150075e+01] [-3.04744228e-01 9.52092216e-01 -2.55218916e-02 -3.11782817e+00] [-8.47964524e-02 -4.31956669e-04 9.96398201e-01 -1.43795468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999998 meters 0.030114619768129312 Centerline is valid? [True, True] Translation: X:24.35, Y:-3.13, Z:-1.44 [[ 9.48458126e-01 3.06168212e-01 8.17814713e-02 2.43456773e+01] [-3.05077686e-01 9.51977319e-01 -2.58222665e-02 -3.12714025e+00] [-8.57600630e-02 -4.58363509e-04 9.96315714e-01 -1.44042972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45864 meters 0.030271849179759745 Centerline is valid? [True, True] Translation: X:24.38, Y:-3.13, Z:-1.44 [[ 9.48957764e-01 3.04345615e-01 8.27822960e-02 2.43769499e+01] [-3.03220255e-01 9.52561633e-01 -2.61498077e-02 -3.13472751e+00] [-8.68138184e-02 -2.86205811e-04 9.96224512e-01 -1.44309222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48864 meters 0.030205003457931045 Centerline is valid? [True, True] Translation: X:24.41, Y:-3.14, Z:-1.44 [[ 9.49277246e-01 3.03440160e-01 8.24425770e-02 2.44082339e+01] [-3.02319644e-01 9.52850477e-01 -2.60537996e-02 -3.14271252e+00] [-8.64612180e-02 -1.91731344e-04 9.96255199e-01 -1.44413721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.518639999999998 meters 0.030113295080623416 Centerline is valid? [True, True] Translation: X:24.44, Y:-3.15, Z:-1.44 [[ 9.49958068e-01 3.01787457e-01 8.06473803e-02 2.44391719e+01] [-3.00708420e-01 9.53375230e-01 -2.54973772e-02 -3.15048231e+00] [-8.45820033e-02 -2.99071684e-05 9.96416521e-01 -1.44428937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54864 meters 0.030183048944908003 Centerline is valid? [True, True] Translation: X:24.47, Y:-3.16, Z:-1.45 [[ 9.50004269e-01 3.01205446e-01 8.22628007e-02 2.44707263e+01] [-3.00079573e-01 9.53559268e-01 -2.60186740e-02 -3.15568273e+00] [-8.62794224e-02 3.24652767e-05 9.96270977e-01 -1.44621992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57864 meters 0.030337034448730486 Centerline is valid? [True, True] Translation: X:24.50, Y:-3.16, Z:-1.45 [[ 9.50213501e-01 3.00659136e-01 8.18436681e-02 2.45018579e+01] [-2.99541900e-01 9.53731658e-01 -2.58954493e-02 -3.16333122e+00] [-8.58426007e-02 9.05977113e-05 9.96308707e-01 -1.44873299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.608639999999998 meters 0.03036216059076757 Centerline is valid? [True, True] Translation: X:24.53, Y:-3.17, Z:-1.45 [[ 9.50179634e-01 3.00652410e-01 8.22605076e-02 2.45324813e+01] [-2.99522736e-01 9.53733777e-01 -2.60386810e-02 -3.17146874e+00] [-8.62832168e-02 1.02532075e-04 9.96270644e-01 -1.45093794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63864 meters 0.030411164232340148 Centerline is valid? [True, True] Translation: X:24.56, Y:-3.18, Z:-1.45 [[ 9.50655816e-01 2.99053327e-01 8.25870861e-02 2.45634465e+01] [-2.97907639e-01 9.54236365e-01 -2.61533625e-02 -3.17865972e+00] [-8.66288509e-02 2.59522336e-04 9.96240621e-01 -1.45284108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66864 meters 0.030240624140572946 Centerline is valid? [True, True] Translation: X:24.60, Y:-3.19, Z:-1.45 [[ 9.51134391e-01 2.97585280e-01 8.23794355e-02 2.45951509e+01] [-2.96438890e-01 9.54695155e-01 -2.60987612e-02 -3.18680563e+00] [-8.64138551e-02 4.02960882e-04 9.96259245e-01 -1.45375063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.698639999999997 meters 0.030583004225208193 Centerline is valid? [True, True] Translation: X:24.63, Y:-3.19, Z:-1.46 [[ 9.51833284e-01 2.94851237e-01 8.41198419e-02 2.46260489e+01] [-2.93643956e-01 9.55542929e-01 -2.66634324e-02 -3.19378672e+00] [-8.82418661e-02 6.77859265e-04 9.96098847e-01 -1.45643582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72864 meters 0.03055127190778664 Centerline is valid? [True, True] Translation: X:24.66, Y:-3.20, Z:-1.46 [[ 9.52235695e-01 2.93632732e-01 8.38271976e-02 2.46575491e+01] [-2.92427672e-01 9.55917974e-01 -2.65872973e-02 -3.20394803e+00] [-8.79388256e-02 8.03981308e-04 9.96125553e-01 -1.45933704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75864 meters 0.030757105840211196 Centerline is valid? [True, True] Translation: X:24.69, Y:-3.21, Z:-1.46 [[ 9.52591268e-01 2.92382820e-01 8.41555851e-02 2.46877791e+01] [-2.91162068e-01 9.56300898e-01 -2.67066063e-02 -3.21335819e+00] [-8.82866145e-02 9.37565794e-04 9.96094672e-01 -1.46161945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters 0.0309228908145694 Centerline is valid? [True, True] Translation: X:24.72, Y:-3.22, Z:-1.46 [[ 9.52855803e-01 2.91475597e-01 8.43077414e-02 2.47180490e+01] [-2.90245875e-01 9.56577706e-01 -2.67661234e-02 -3.22285176e+00] [-8.84485776e-02 1.03428185e-03 9.96080207e-01 -1.46492398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81864 meters 0.030827114153648163 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.23, Z:-1.47 [[ 9.53320726e-01 2.89925326e-01 8.43972672e-02 2.47483257e+01] [-2.88685924e-01 9.57048530e-01 -2.68057567e-02 -3.23247173e+00] [-8.85439483e-02 1.19018038e-03 9.96071560e-01 -1.46669487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84864 meters 0.03112336544597874 Centerline is valid? [True, True] Translation: X:24.78, Y:-3.24, Z:-1.47 [[ 9.53872020e-01 2.88140787e-01 8.42796267e-02 2.47781774e+01] [-2.86896984e-01 9.57587086e-01 -2.67786077e-02 -3.24296915e+00] [-8.84210912e-02 1.36379399e-03 9.96082251e-01 -1.46853677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.878639999999997 meters 0.03134953955743387 Centerline is valid? [True, True] Translation: X:24.81, Y:-3.26, Z:-1.47 [[ 9.54612842e-01 2.85070005e-01 8.63099915e-02 2.48075618e+01] [-2.83752001e-01 9.58505196e-01 -2.74334112e-02 -3.25637914e+00] [-9.05490179e-02 1.69765389e-03 9.95890553e-01 -1.47037170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90864 meters 0.03158811240235081 Centerline is valid? [True, True] Translation: X:24.84, Y:-3.27, Z:-1.47 [[ 9.55073429e-01 2.83666521e-01 8.58373428e-02 2.48380201e+01] [-2.82356271e-01 9.58921243e-01 -2.72944276e-02 -3.26740487e+00] [-9.00537668e-02 1.83147064e-03 9.95935221e-01 -1.47200606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93864 meters 0.031739255088853835 Centerline is valid? [True, True] Translation: X:24.87, Y:-3.28, Z:-1.48 [[ 9.55742212e-01 2.81526852e-01 8.54368570e-02 2.48669454e+01] [-2.80219284e-01 9.59551193e-01 -2.71783069e-02 -3.28179650e+00] [-8.96324613e-02 2.03440023e-03 9.95972833e-01 -1.47537950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96864 meters 0.03172255108996445 Centerline is valid? [True, True] Translation: X:24.90, Y:-3.30, Z:-1.48 [[ 9.55426712e-01 2.82400889e-01 8.60786586e-02 2.48967990e+01] [-2.81075894e-01 9.59294437e-01 -2.73956981e-02 -3.29566438e+00] [-9.03113479e-02 1.97994589e-03 9.95911613e-01 -1.47787256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.998639999999998 meters 0.0314259737564032 Centerline is valid? [True, True] Translation: X:24.93, Y:-3.31, Z:-1.48 [[ 9.55187211e-01 2.83582464e-01 8.48432590e-02 2.49264302e+01] [-2.82298662e-01 9.58946059e-01 -2.70170548e-02 -3.30910518e+00] [-8.90216718e-02 1.85520671e-03 9.96027962e-01 -1.47934321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02864 meters 0.03073181102693073 Centerline is valid? [True, True] Translation: X:24.95, Y:-3.32, Z:-1.48 [[ 9.53380298e-01 2.89864795e-01 8.39309682e-02 2.49541869e+01] [-2.88631953e-01 9.57066770e-01 -2.67356113e-02 -3.32445678e+00] [-8.80772531e-02 1.26404583e-03 9.96112845e-01 -1.47995148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05864 meters 0.030471357433615006 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.34, Z:-1.48 [[ 9.52279403e-01 2.93620142e-01 8.33735606e-02 2.49844311e+01] [-2.92417357e-01 9.55921738e-01 -2.65653849e-02 -3.33659393e+00] [-8.74987310e-02 9.17792646e-04 9.96164208e-01 -1.48193900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999998 meters 0.030364118825493686 Centerline is valid? [True, True] Translation: X:25.01, Y:-3.35, Z:-1.48 [[ 9.50135482e-01 3.00349221e-01 8.38624528e-02 2.50130431e+01] [-2.99157362e-01 9.53829256e-01 -2.67324585e-02 -3.35152060e+00] [-8.80195340e-02 3.11387263e-04 9.96118700e-01 -1.48359746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11864 meters 0.030208950637998555 Centerline is valid? [True, True] Translation: X:25.04, Y:-3.36, Z:-1.49 [[ 9.49273580e-01 3.03174026e-01 8.34576600e-02 2.50430783e+01] [-3.02003557e-01 9.52935206e-01 -2.66147555e-02 -3.36432354e+00] [-8.75986449e-02 6.01740281e-05 9.96155848e-01 -1.48565409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14864 meters 0.030335356134404693 Centerline is valid? [True, True] Translation: X:25.07, Y:-3.38, Z:-1.49 [[ 9.48768062e-01 3.04718551e-01 8.35809088e-02 2.50736050e+01] [-3.03549412e-01 9.52442439e-01 -2.66674868e-02 -3.37616414e+00] [-8.77320825e-02 -6.96759111e-05 9.96144104e-01 -1.48798601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.178639999999998 meters 0.030353722892773678 Centerline is valid? [True, True] Translation: X:25.10, Y:-3.39, Z:-1.49 [[ 9.48428775e-01 3.05805214e-01 8.34627429e-02 2.51043387e+01] [-3.04642054e-01 9.52094085e-01 -2.66471716e-02 -3.38687615e+00] [-8.76132279e-02 -1.53317083e-04 9.96154556e-01 -1.48962810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20864 meters 0.03013260191050691 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.40, Z:-1.49 [[ 9.48321349e-01 3.06300591e-01 8.28647455e-02 2.51348864e+01] [-3.05154623e-01 9.51934827e-01 -2.64715312e-02 -3.39813151e+00] [-8.69900828e-02 -1.83042002e-04 9.96209161e-01 -1.49125247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23864 meters 0.030240587199717967 Centerline is valid? [True, True] Translation: X:25.17, Y:-3.41, Z:-1.49 [[ 9.48401699e-01 3.06044952e-01 8.28897161e-02 2.51659540e+01] [-3.04896147e-01 9.52017051e-01 -2.64929088e-02 -3.40913713e+00] [-8.70204441e-02 -1.46835336e-04 9.96206515e-01 -1.49343958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999998 meters 0.03022999533581856 Centerline is valid? [True, True] Translation: X:25.20, Y:-3.42, Z:-1.50 [[ 9.48247865e-01 3.06277073e-01 8.37874726e-02 2.51965515e+01] [-3.05102708e-01 9.51942399e-01 -2.67956601e-02 -3.41966636e+00] [-8.79677440e-02 -1.54857295e-04 9.96123312e-01 -1.49561314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29864 meters 0.03013723461312167 Centerline is valid? [True, True] Translation: X:25.23, Y:-3.43, Z:-1.50 [[ 9.48236231e-01 3.06357347e-01 8.36255075e-02 2.52272673e+01] [-3.05186647e-01 9.51916569e-01 -2.67573692e-02 -3.43103514e+00] [-8.78018228e-02 -1.49081330e-04 9.96137951e-01 -1.49649787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32864 meters 0.030122940332882285 Centerline is valid? [True, True] Translation: X:25.26, Y:-3.44, Z:-1.50 [[ 9.48248313e-01 3.06203407e-01 8.40512416e-02 2.52573140e+01] [-3.05018745e-01 9.51966102e-01 -2.69092161e-02 -3.44151918e+00] [-8.82536265e-02 -1.20585504e-04 9.96098029e-01 -1.49961969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.358639999999998 meters 0.030193571034475907 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.45, Z:-1.50 [[ 9.48421765e-01 3.05738235e-01 8.37871556e-02 2.52871450e+01] [-3.04558189e-01 9.52115606e-01 -2.68362167e-02 -3.45259534e+00] [-8.79799160e-02 -6.60123739e-05 9.96122247e-01 -1.50161334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38864 meters 0.029950548489375003 Centerline is valid? [True, True] Translation: X:25.32, Y:-3.46, Z:-1.50 [[ 9.48749655e-01 3.05260698e-01 8.17924088e-02 2.53171443e+01] [-3.04133538e-01 9.52268820e-01 -2.62084808e-02 -3.46372666e+00] [-8.58887798e-02 -1.05276217e-05 9.96304731e-01 -1.50341445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41864 meters 0.029933118939835524 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.48, Z:-1.51 [[ 9.48829328e-01 3.05013491e-01 8.17904385e-02 2.53474029e+01] [-3.03884336e-01 9.52348030e-01 -2.62210004e-02 -3.47679998e+00] [-8.58907219e-02 2.44210724e-05 9.96304564e-01 -1.50513975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters 0.029694814178842954 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.49, Z:-1.51 [[ 9.48680015e-01 3.05556431e-01 8.14953819e-02 2.53781073e+01] [-3.04436123e-01 9.52173969e-01 -2.61415288e-02 -3.48749595e+00] [-8.55854935e-02 -1.01921971e-05 9.96330830e-01 -1.50584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47864 meters 0.029938058441843336 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.50, Z:-1.51 [[ 9.48373884e-01 3.06644808e-01 8.09687426e-02 2.54094043e+01] [-3.05541702e-01 9.51824014e-01 -2.59868379e-02 -3.49694751e+00] [-8.50367224e-02 -9.40889640e-05 9.96377813e-01 -1.50738151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.50864 meters 0.02988088332880017 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.51, Z:-1.51 [[ 9.47939957e-01 3.07669762e-01 8.21532413e-02 2.54405120e+01] [-3.06536308e-01 9.51493189e-01 -2.63856693e-02 -3.50557171e+00] [-8.62863222e-02 -1.70921089e-04 9.96270366e-01 -1.51026334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.538639999999997 meters 0.03015244642959582 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.52, Z:-1.51 [[ 9.47483122e-01 3.09137254e-01 8.19139226e-02 2.54716010e+01] [-3.08014735e-01 9.51017389e-01 -2.63220417e-02 -3.51616829e+00] [-8.60386884e-02 -2.91004892e-04 9.96291754e-01 -1.51260318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56864 meters 0.029951266542588974 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.53, Z:-1.51 [[ 9.47339640e-01 3.09798424e-01 8.10712171e-02 2.55027845e+01] [-3.08700050e-01 9.50802201e-01 -2.60663384e-02 -3.52557029e+00] [-8.51580022e-02 -3.33013132e-04 9.96367404e-01 -1.51325540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59864 meters 0.029944575834948053 Centerline is valid? [True, True] Translation: X:25.53, Y:-3.53, Z:-1.51 [[ 9.47328768e-01 3.09484024e-01 8.23883729e-02 2.55346682e+01] [-3.08347411e-01 9.50904596e-01 -2.65013997e-02 -3.53208816e+00] [-8.65452422e-02 -2.98703145e-04 9.96247877e-01 -1.51492761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.628639999999997 meters 0.03012342455163947 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.54, Z:-1.52 [[ 9.47635492e-01 3.08149513e-01 8.38501729e-02 2.55659867e+01] [-3.06965873e-01 9.51337926e-01 -2.69833894e-02 -3.54016135e+00] [-8.80847679e-02 -1.68724113e-04 9.96112968e-01 -1.51747771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65864 meters 0.030044509920417187 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.55, Z:-1.52 [[ 9.48140703e-01 3.06678642e-01 8.35309398e-02 2.55964596e+01] [-3.05497301e-01 9.51813117e-01 -2.68921750e-02 -3.54919454e+00] [-8.77530999e-02 -2.09109264e-05 9.96142255e-01 -1.51976461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68864 meters 0.030094839690175713 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.56, Z:-1.52 [[ 9.48986064e-01 3.03835170e-01 8.43186830e-02 2.56272585e+01] [-3.02619145e-01 9.52724579e-01 -2.71574898e-02 -3.55801283e+00] [-8.85838823e-02 2.55631659e-04 9.96068688e-01 -1.52283653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.718639999999997 meters 0.030057220584771064 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.57, Z:-1.52 [[ 9.50634978e-01 2.99039215e-01 8.28775327e-02 2.56590563e+01] [-2.97845194e-01 9.54240564e-01 -2.67055526e-02 -3.56574290e+00] [-8.70711110e-02 7.02557638e-04 9.96201851e-01 -1.52496498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.748639999999998 meters 0.03002711985013968 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.58, Z:-1.53 [[ 9.51714672e-01 2.95806052e-01 8.20851003e-02 2.56897151e+01] [-2.94621651e-01 9.55247495e-01 -2.64632970e-02 -3.57504235e+00] [-8.62395899e-02 1.00146023e-03 9.96273923e-01 -1.52626073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77864 meters 0.030250332899234622 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.59, Z:-1.53 [[ 9.53229987e-01 2.91152224e-01 8.11355289e-02 2.57195032e+01] [-2.89977339e-01 9.56675690e-01 -2.61680639e-02 -3.58761298e+00] [-8.52392781e-02 1.41671840e-03 9.96359503e-01 -1.52814921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80864 meters 0.030774252249469083 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.60, Z:-1.53 [[ 9.53695689e-01 2.89517415e-01 8.15119574e-02 2.57489755e+01] [-2.88324672e-01 9.57171441e-01 -2.63004896e-02 -3.59930564e+00] [-8.56353675e-02 1.58075521e-03 9.96325291e-01 -1.53128905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.838639999999998 meters 0.03067507409719888 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.61, Z:-1.53 [[ 9.54000750e-01 2.88390531e-01 8.19357657e-02 2.57790799e+01] [-2.87180160e-01 9.57511360e-01 -2.64490314e-02 -3.61131339e+00] [-8.60820767e-02 1.70206951e-03 9.96286595e-01 -1.53229318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86864 meters 0.03067507409719888 Centerline is valid? [True, True] Translation: X:25.81, Y:-3.62, Z:-1.53 [[ 9.53948391e-01 2.88564876e-01 8.19315517e-02 2.58100378e+01] [-2.87354026e-01 9.57458836e-01 -2.64620799e-02 -3.62123911e+00] [-8.60821149e-02 1.70009734e-03 9.96286595e-01 -1.53421155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89864 meters 0.03082686907908192 Centerline is valid? [True, True] Translation: X:25.84, Y:-3.63, Z:-1.54 [[ 9.54447023e-01 2.87271656e-01 8.06590155e-02 2.58407679e+01] [-2.86091536e-01 9.57847438e-01 -2.60752639e-02 -3.63421265e+00] [-8.47497156e-02 1.81159636e-03 9.96400624e-01 -1.53647553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999998 meters 0.03117790911087257 Centerline is valid? [True, True] Translation: X:25.87, Y:-3.65, Z:-1.54 [[ 9.54596286e-01 2.86408143e-01 8.19530764e-02 2.58703790e+01] [-2.85182936e-01 9.58105702e-01 -2.65359564e-02 -3.64601734e+00] [-8.61198237e-02 1.95950643e-03 9.96282860e-01 -1.53961133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95864 meters 0.031285386021393906 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.66, Z:-1.54 [[ 9.54927241e-01 2.85504634e-01 8.12469538e-02 2.58993443e+01] [-2.84293881e-01 9.58375113e-01 -2.63463898e-02 -3.66420698e+00] [-8.53870749e-02 2.06087349e-03 9.96345723e-01 -1.54166108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98864 meters 0.03142257975356205 Centerline is valid? [True, True] Translation: X:25.93, Y:-3.68, Z:-1.54 [[ 9.54870353e-01 2.85454424e-01 8.20876477e-02 2.59285824e+01] [-2.84214632e-01 9.58389925e-01 -2.66607430e-02 -3.67774659e+00] [-8.62824015e-02 2.12704250e-03 9.96268449e-01 -1.54292199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.018639999999998 meters 0.03161637469701248 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.69, Z:-1.54 [[ 9.54804595e-01 2.85389689e-01 8.30717149e-02 2.59589168e+01] [-2.84116309e-01 9.58409048e-01 -2.70188572e-02 -3.68972132e+00] [-8.73275865e-02 2.19569999e-03 9.96177229e-01 -1.54499523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04864 meters 0.03148648477278847 Centerline is valid? [True, True] Translation: X:25.99, Y:-3.70, Z:-1.55 [[ 9.54126210e-01 2.87341567e-01 8.41308439e-02 2.59891599e+01] [-2.86039362e-01 9.57825917e-01 -2.74043130e-02 -3.70420896e+00] [-8.84571009e-02 2.08244042e-03 9.96077811e-01 -1.54647926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07864 meters 0.03109958105662135 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.72, Z:-1.55 [[ 9.53928387e-01 2.88056341e-01 8.39295983e-02 2.60199737e+01] [-2.86759212e-01 9.57611261e-01 -2.73829883e-02 -3.71752327e+00] [-8.82597719e-02 2.05382437e-03 9.96095374e-01 -1.54798509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999998 meters 0.03137350819222131 Centerline is valid? [True, True] Translation: X:26.05, Y:-3.73, Z:-1.55 [[ 9.53576100e-01 2.89322639e-01 8.35764997e-02 2.60487629e+01] [-2.88037547e-01 9.57229614e-01 -2.73100348e-02 -3.73379352e+00] [-8.79033118e-02 1.96902657e-03 9.96127066e-01 -1.55078556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13864 meters 0.031381340489075 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.75, Z:-1.55 [[ 9.53399025e-01 2.89888709e-01 8.36351333e-02 2.60793161e+01] [-2.88600387e-01 9.57058361e-01 -2.73698898e-02 -3.74683328e+00] [-8.79779256e-02 1.95729439e-03 9.96120502e-01 -1.55260519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16864 meters 0.03138142011306512 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.76, Z:-1.55 [[ 9.52871496e-01 2.91632836e-01 8.35834993e-02 2.61083655e+01] [-2.90349030e-01 9.56528577e-01 -2.73956758e-02 -3.76278237e+00] [-8.79394842e-02 1.83617060e-03 9.96124127e-01 -1.55425829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.198639999999997 meters 0.031129732510318885 Centerline is valid? [True, True] Translation: X:26.14, Y:-3.78, Z:-1.56 [[ 9.52293060e-01 2.93563470e-01 8.34171257e-02 2.61381554e+01] [-2.92288746e-01 9.55938087e-01 -2.73799650e-02 -3.77651920e+00] [-8.77793652e-02 1.69186358e-03 9.96138505e-01 -1.55533055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22864 meters 0.03117234881848504 Centerline is valid? [True, True] Translation: X:26.17, Y:-3.79, Z:-1.56 [[ 9.51507196e-01 2.95498422e-01 8.55262494e-02 2.61672660e+01] [-2.94163195e-01 9.55341917e-01 -2.81040276e-02 -3.78996668e+00] [-9.00115068e-02 1.58250974e-03 9.95939468e-01 -1.55795558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25864 meters 0.03065503957561989 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.80, Z:-1.56 [[ 9.49983093e-01 3.00949415e-01 8.34360413e-02 2.61961075e+01] [-2.99698673e-01 9.53639525e-01 -2.74292078e-02 -3.80408600e+00] [-8.78227108e-02 1.05161278e-03 9.96135566e-01 -1.55814314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.288639999999997 meters 0.030595146189200288 Centerline is valid? [True, True] Translation: X:26.23, Y:-3.82, Z:-1.56 [[ 9.48944953e-01 3.04258564e-01 8.32478403e-02 2.62265516e+01] [-3.03024501e-01 9.52589180e-01 -2.73862386e-02 -3.81572599e+00] [-8.76334895e-02 7.61897632e-04 9.96152494e-01 -1.55981423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31864 meters 0.030408410609960555 Centerline is valid? [True, True] Translation: X:26.26, Y:-3.83, Z:-1.56 [[ 9.47982623e-01 3.07635715e-01 8.17876139e-02 2.62563503e+01] [-3.06453810e-01 9.51504092e-01 -2.69448510e-02 -3.82794645e+00] [-8.61104478e-02 4.79124613e-04 9.96285482e-01 -1.56233869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34864 meters 0.03056223905477241 Centerline is valid? [True, True] Translation: X:26.29, Y:-3.84, Z:-1.56 [[ 9.46369546e-01 3.12499916e-01 8.20273459e-02 2.62865150e+01] [-3.11325653e-01 9.49917784e-01 -2.70654995e-02 -3.84344571e+00] [-8.63772009e-02 7.67474367e-05 9.96262502e-01 -1.56461424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.378639999999997 meters 0.030561208372747114 Centerline is valid? [True, True] Translation: X:26.32, Y:-3.85, Z:-1.57 [[ 9.45929015e-01 3.13838512e-01 8.19980928e-02 2.63171359e+01] [-3.12666135e-01 9.49476376e-01 -2.71016551e-02 -3.85468223e+00] [-8.63607951e-02 -1.78486751e-06 9.96263927e-01 -1.56638933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.40864 meters 0.0306756398299326 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.86, Z:-1.57 [[ 9.45229211e-01 3.15720493e-01 8.28390546e-02 2.63475726e+01] [-3.14527174e-01 9.48852229e-01 -2.74245216e-02 -3.86431874e+00] [-8.72605051e-02 -1.32674777e-04 9.96185518e-01 -1.56731168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43864 meters 0.030779635949630464 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.87, Z:-1.57 [[ 9.45027471e-01 3.16530174e-01 8.20471045e-02 2.63781583e+01] [-3.15359175e-01 9.48582427e-01 -2.72023859e-02 -3.87481061e+00] [-8.64388175e-02 -1.67305149e-04 9.96257147e-01 -1.57010524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters 0.030543658441805656 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.89, Z:-1.57 [[ 9.44958093e-01 3.17118388e-01 8.05613469e-02 2.64080880e+01] [-3.15988280e-01 9.48385943e-01 -2.67490406e-02 -3.88594647e+00] [-8.48858615e-02 -1.79718983e-04 9.96390665e-01 -1.57062016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.498639999999998 meters 0.030788238654325985 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.90, Z:-1.57 [[ 9.44182092e-01 3.19340870e-01 8.08800747e-02 2.64388306e+01] [-3.18206329e-01 9.47639854e-01 -2.68968314e-02 -3.89750423e+00] [-8.52344397e-02 -3.41045207e-04 9.96360865e-01 -1.57376439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52864 meters 0.030722140236900987 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.91, Z:-1.57 [[ 9.43658405e-01 3.21158472e-01 7.97875354e-02 2.64692045e+01] [-3.20057251e-01 9.47025357e-01 -2.65768629e-02 -3.90777043e+00] [-8.40962039e-02 -4.57099135e-04 9.96457535e-01 -1.57438515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55864 meters 0.03086705189903382 Centerline is valid? [True, True] Translation: X:26.50, Y:-3.92, Z:-1.58 [[ 9.43121532e-01 3.22475104e-01 8.08182091e-02 2.64992358e+01] [-3.21346547e-01 9.46577790e-01 -2.69607989e-02 -3.91844156e+00] [-8.51949082e-02 -5.43342455e-04 9.96364157e-01 -1.57720251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999998 meters 0.031115526423795177 Centerline is valid? [True, True] Translation: X:26.53, Y:-3.93, Z:-1.58 [[ 9.42162523e-01 3.25184264e-01 8.11478569e-02 2.65289240e+01] [-3.24052993e-01 9.45650373e-01 -2.71114388e-02 -3.93049558e+00] [-8.55537144e-02 -7.52824304e-04 9.96333275e-01 -1.57945256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61864 meters 0.03141510179251423 Centerline is valid? [True, True] Translation: X:26.56, Y:-3.94, Z:-1.58 [[ 9.41319115e-01 3.27689666e-01 8.08567107e-02 2.65595822e+01] [-3.26572489e-01 9.44784948e-01 -2.70520226e-02 -3.94267044e+00] [-8.52568714e-02 -9.40991242e-04 9.96358560e-01 -1.58017263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64864 meters 0.03159974813961724 Centerline is valid? [True, True] Translation: X:26.59, Y:-3.95, Z:-1.58 [[ 9.40623068e-01 3.29835494e-01 8.02296128e-02 2.65908157e+01] [-3.28740331e-01 9.44037793e-01 -2.68782683e-02 -3.95275089e+00] [-8.46051935e-02 -1.09239027e-03 9.96413954e-01 -1.58153179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.678639999999998 meters 0.03178997052943362 Centerline is valid? [True, True] Translation: X:26.62, Y:-3.96, Z:-1.58 [[ 9.39859749e-01 3.32220607e-01 7.93291852e-02 2.66220541e+01] [-3.31154573e-01 9.43200884e-01 -2.66221813e-02 -3.96266881e+00] [-8.36677949e-02 -1.24910587e-03 9.96492920e-01 -1.58334071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.70864 meters 0.032207058953517276 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.97, Z:-1.59 [[ 9.38603650e-01 3.35856543e-01 7.88896109e-02 2.66526746e+01] [-3.34811451e-01 9.41911919e-01 -2.65184489e-02 -3.97301903e+00] [-8.32134594e-02 -1.52283221e-03 9.96530582e-01 -1.58513538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73864 meters 0.032194648250356596 Centerline is valid? [True, True] Translation: X:26.68, Y:-3.98, Z:-1.59 [[ 9.38073336e-01 3.37420402e-01 7.85231729e-02 2.66837749e+01] [-3.36387067e-01 9.41352678e-01 -2.64362769e-02 -3.98271856e+00] [-8.28381383e-02 -1.61501344e-03 9.96561706e-01 -1.58684130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.768639999999998 meters 0.03249713613810453 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.99, Z:-1.59 [[ 9.36738104e-01 3.40917564e-01 7.93532522e-02 2.67147887e+01] [-3.39870998e-01 9.40091269e-01 -2.67602361e-02 -3.99075603e+00] [-8.37223341e-02 -1.90253615e-03 9.96487306e-01 -1.58852743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79864 meters 0.03279383848257985 Centerline is valid? [True, True] Translation: X:26.75, Y:-4.00, Z:-1.59 [[ 9.36287187e-01 3.42640718e-01 7.72246265e-02 2.67457980e+01] [-3.41652331e-01 9.39464463e-01 -2.60807743e-02 -3.99865203e+00] [-8.14861275e-02 -1.96487888e-03 9.96672539e-01 -1.58915918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82864 meters 0.032787063280583235 Centerline is valid? [True, True] Translation: X:26.78, Y:-4.01, Z:-1.59 [[ 9.35837535e-01 3.43582010e-01 7.84825539e-02 2.67770729e+01] [-3.42561106e-01 9.39120455e-01 -2.65454228e-02 -4.00681408e+00] [-8.28251014e-02 -2.04286740e-03 9.96562005e-01 -1.59262623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.858639999999998 meters 0.03282822391302038 Centerline is valid? [True, True] Translation: X:26.81, Y:-4.02, Z:-1.59 [[ 9.35669442e-01 3.44350807e-01 7.71052322e-02 2.68084665e+01] [-3.43364955e-01 9.38838841e-01 -2.61177699e-02 -4.01553654e+00] [-8.13830620e-02 -2.03763535e-03 9.96680814e-01 -1.59357724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88864 meters 0.032709927011612176 Centerline is valid? [True, True] Translation: X:26.84, Y:-4.02, Z:-1.60 [[ 9.36046615e-01 3.42958326e-01 7.87167131e-02 2.68407778e+01] [-3.41922712e-01 9.39348655e-01 -2.67013829e-02 -4.02453349e+00] [-8.30999001e-02 -1.92129295e-03 9.96539370e-01 -1.59593526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91864 meters 0.0326005661427288 Centerline is valid? [True, True] Translation: X:26.87, Y:-4.03, Z:-1.60 [[ 9.36078967e-01 3.42997145e-01 7.81608957e-02 2.68718931e+01] [-3.41973485e-01 9.39334566e-01 -2.65463713e-02 -4.03434534e+00] [-8.25245606e-02 -1.87945408e-03 9.96587259e-01 -1.59790144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.948639999999997 meters 0.03258544947507848 Centerline is valid? [True, True] Translation: X:26.90, Y:-4.04, Z:-1.60 [[ 9.36495170e-01 3.41456533e-01 7.99013927e-02 2.69034642e+01] [-3.40377495e-01 9.39895952e-01 -2.71801654e-02 -4.04236840e+00] [-8.43798406e-02 -1.74254229e-03 9.96432138e-01 -1.60128824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97864 meters 0.03244329164193118 Centerline is valid? [True, True] Translation: X:26.93, Y:-4.05, Z:-1.60 [[ 9.36855129e-01 3.40450347e-01 7.99751678e-02 2.69342646e+01] [-3.39361895e-01 9.40261115e-01 -2.72495998e-02 -4.05118703e+00] [-8.44746761e-02 -1.61159716e-03 9.96424323e-01 -1.60357466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.00864 meters 0.0322323188161715 Centerline is valid? [True, True] Translation: X:26.97, Y:-4.06, Z:-1.60 [[ 9.37262618e-01 3.39412567e-01 7.96108963e-02 2.69653110e+01] [-3.38326940e-01 9.40636454e-01 -2.71651212e-02 -4.06050745e+00] [-8.41050947e-02 -1.47365836e-03 9.96455800e-01 -1.60469804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.038639999999997 meters 0.03226085129747882 Centerline is valid? [True, True] Translation: X:27.00, Y:-4.07, Z:-1.61 [[ 9.37500001e-01 3.38329350e-01 8.14063853e-02 2.69968069e+01] [-3.37186483e-01 9.41026768e-01 -2.78190237e-02 -4.06904812e+00] [-8.60175798e-02 -1.36879799e-03 9.96292679e-01 -1.60781881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06864 meters 0.0321612977627853 Centerline is valid? [True, True] Translation: X:27.03, Y:-4.08, Z:-1.61 [[ 9.37211644e-01 3.38934399e-01 8.22058846e-02 2.70277777e+01] [-3.37767657e-01 9.40808968e-01 -2.81335152e-02 -4.07830017e+00] [-8.68754496e-02 -1.39943100e-03 9.96218198e-01 -1.61056306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09864 meters 0.03215276001873646 Centerline is valid? [True, True] Translation: X:27.06, Y:-4.09, Z:-1.61 [[ 9.37293386e-01 3.39206233e-01 8.01263983e-02 2.70588711e+01] [-3.38095544e-01 9.40711064e-01 -2.74608518e-02 -4.08752432e+00] [-8.46906814e-02 -1.35150343e-03 9.96406374e-01 -1.61197150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.128639999999997 meters 0.03232700086551578 Centerline is valid? [True, True] Translation: X:27.09, Y:-4.10, Z:-1.61 [[ 9.36564862e-01 3.41157220e-01 8.03617454e-02 2.70899719e+01] [-3.40043741e-01 9.40005062e-01 -2.75814590e-02 -4.09635898e+00] [-8.49500613e-02 -1.49468325e-03 9.96384089e-01 -1.61407127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15864 meters 0.03249722216741175 Centerline is valid? [True, True] Translation: X:27.12, Y:-4.11, Z:-1.62 [[ 9.35901231e-01 3.42404643e-01 8.27523199e-02 2.71206461e+01] [-3.41224986e-01 9.39551195e-01 -2.84440093e-02 -4.10547521e+00] [-8.74894019e-02 -1.61637589e-03 9.96164139e-01 -1.61679272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18864 meters 0.032513225164295584 Centerline is valid? [True, True] Translation: X:27.15, Y:-4.11, Z:-1.62 [[ 9.35449069e-01 3.43578357e-01 8.29997094e-02 2.71525691e+01] [-3.42392396e-01 9.39122492e-01 -2.85725730e-02 -4.11337072e+00] [-8.77638117e-02 -1.69028253e-03 9.96139878e-01 -1.61813481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.218639999999997 meters 0.03257951849232848 Centerline is valid? [True, True] Translation: X:27.18, Y:-4.12, Z:-1.62 [[ 9.35204056e-01 3.43997532e-01 8.40182758e-02 2.71831082e+01] [-3.42779785e-01 9.38969000e-01 -2.89695706e-02 -4.12218352e+00] [-8.88560172e-02 -1.70730661e-03 9.96043018e-01 -1.62146071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.248639999999998 meters 0.032607644688304675 Centerline is valid? [True, True] Translation: X:27.21, Y:-4.13, Z:-1.62 [[ 9.34931288e-01 3.44885781e-01 8.34103396e-02 2.72144154e+01] [-3.43685298e-01 9.38643052e-01 -2.88034238e-02 -4.13213044e+00] [-8.82264271e-02 -1.73768534e-03 9.96098930e-01 -1.62392300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27864 meters 0.03269911933281856 Centerline is valid? [True, True] Translation: X:27.25, Y:-4.14, Z:-1.63 [[ 9.34844190e-01 3.45312532e-01 8.26171601e-02 2.72452802e+01] [-3.44132564e-01 9.38486175e-01 -2.85740826e-02 -4.14120593e+00] [-8.74020514e-02 -1.71893998e-03 9.96171635e-01 -1.62725123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.30864 meters 0.03257164024770967 Centerline is valid? [True, True] Translation: X:27.28, Y:-4.15, Z:-1.63 [[ 9.34991253e-01 3.44423442e-01 8.46395239e-02 2.72762781e+01] [-3.43177437e-01 9.38812982e-01 -2.93160538e-02 -4.15006700e+00] [-8.95578200e-02 -1.63612097e-03 9.95980281e-01 -1.62974352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.338639999999998 meters 0.03253840168922506 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.16, Z:-1.63 [[ 9.35369948e-01 3.43152762e-01 8.56110003e-02 2.73085546e+01] [-3.41868543e-01 9.39278427e-01 -2.96974119e-02 -4.15909870e+00] [-9.06033146e-02 -1.48964137e-03 9.95885947e-01 -1.63258638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36864 meters 0.032485380966821104 Centerline is valid? [True, True] Translation: X:27.34, Y:-4.17, Z:-1.64 [[ 9.35666977e-01 3.41939887e-01 8.72033314e-02 2.73393602e+01] [-3.40597655e-01 9.39720854e-01 -3.02977436e-02 -4.16910576e+00] [-9.23067961e-02 -1.35265206e-03 9.95729695e-01 -1.63591404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39864 meters 0.0323872289450124 Centerline is valid? [True, True] Translation: X:27.37, Y:-4.18, Z:-1.64 [[ 9.35989041e-01 3.41169295e-01 8.67642050e-02 2.73696975e+01] [-3.39833330e-01 9.40001064e-01 -3.01878854e-02 -4.17926873e+00] [-9.18576246e-02 -1.22983879e-03 9.95771392e-01 -1.63736917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999998 meters 0.0323453826408177 Centerline is valid? [True, True] Translation: X:27.40, Y:-4.19, Z:-1.64 [[ 9.36014726e-01 3.41000121e-01 8.71513035e-02 2.74012286e+01] [-3.39647262e-01 9.40062516e-01 -3.03678008e-02 -4.19006636e+00] [-9.22830974e-02 -1.17599280e-03 9.95732116e-01 -1.64026435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45864 meters 0.032336745131006865 Centerline is valid? [True, True] Translation: X:27.43, Y:-4.20, Z:-1.64 [[ 9.36083784e-01 3.40752451e-01 8.73780088e-02 2.74328619e+01] [-3.39386846e-01 9.40152402e-01 -3.04963723e-02 -4.20034620e+00] [-9.25403585e-02 -1.10778725e-03 9.95708318e-01 -1.64302057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48864 meters 0.032295813244078625 Centerline is valid? [True, True] Translation: X:27.46, Y:-4.21, Z:-1.65 [[ 9.36254386e-01 3.40037072e-01 8.83318403e-02 2.74641313e+01] [-3.38633526e-01 9.40411499e-01 -3.08795625e-02 -4.21007451e+00] [-9.35684743e-02 -1.00099673e-03 9.95612344e-01 -1.64647182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.518639999999998 meters 0.03240074463143795 Centerline is valid? [True, True] Translation: X:27.49, Y:-4.22, Z:-1.65 [[ 9.36202151e-01 3.39701792e-01 9.01566674e-02 2.74940909e+01] [-3.38233407e-01 9.40532723e-01 -3.15651510e-02 -4.22029096e+00] [-9.55180343e-02 -9.42634456e-04 9.95427253e-01 -1.64959056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54864 meters 0.03211346395064082 Centerline is valid? [True, True] Translation: X:27.52, Y:-4.23, Z:-1.65 [[ 9.36486480e-01 3.39100580e-01 8.94643440e-02 2.75247166e+01] [-3.37647994e-01 9.40749754e-01 -3.13645087e-02 -4.23035969e+00] [-9.47992826e-02 -8.35017965e-04 9.95496057e-01 -1.65038478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57864 meters 0.03208082591409608 Centerline is valid? [True, True] Translation: X:27.55, Y:-4.24, Z:-1.65 [[ 9.37278860e-01 3.37066755e-01 8.88501096e-02 2.75546564e+01] [-3.35620844e-01 9.41480569e-01 -3.11927369e-02 -4.24097551e+00] [-9.41646864e-02 -5.83655895e-04 9.95556463e-01 -1.65333515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999998 meters 0.032156054587986385 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.25, Z:-1.66 [[ 9.37425673e-01 3.36445336e-01 8.96529030e-02 2.75852209e+01] [-3.34966026e-01 9.41702873e-01 -3.15191983e-02 -4.25218197e+00] [-9.50308836e-02 -4.83770962e-04 9.95474207e-01 -1.65651315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63864 meters 0.03214450157099319 Centerline is valid? [True, True] Translation: X:27.62, Y:-4.26, Z:-1.66 [[ 9.37800569e-01 3.35097574e-01 9.07728378e-02 2.76154072e+01] [-3.33570348e-01 9.42183379e-01 -3.19578299e-02 -4.26314901e+00] [-9.62336504e-02 -3.09056045e-04 9.95358724e-01 -1.65919935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66864 meters 0.032018753668426034 Centerline is valid? [True, True] Translation: X:27.65, Y:-4.28, Z:-1.66 [[ 9.38760426e-01 3.32297686e-01 9.11433547e-02 2.76455219e+01] [-3.30741497e-01 9.43174558e-01 -3.21218705e-02 -4.27527412e+00] [-9.66381166e-02 9.85130842e-06 9.95319584e-01 -1.66144024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.698639999999997 meters 0.0320807614665654 Centerline is valid? [True, True] Translation: X:27.68, Y:-4.29, Z:-1.66 [[ 9.39051939e-01 3.31004751e-01 9.28294757e-02 2.76756023e+01] [-3.29381178e-01 9.43629072e-01 -3.27446830e-02 -4.28744168e+00] [-9.84352377e-02 1.72675965e-04 9.95143444e-01 -1.66404974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72864 meters 0.03197687997726586 Centerline is valid? [True, True] Translation: X:27.70, Y:-4.30, Z:-1.67 [[ 9.40138601e-01 3.28387295e-01 9.11108908e-02 2.77045552e+01] [-3.26806787e-01 9.44543039e-01 -3.21834006e-02 -4.30126208e+00] [-9.66267775e-02 4.81199810e-04 9.95320569e-01 -1.66598609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75864 meters 0.03197687997726586 Centerline is valid? [True, True] Translation: X:27.74, Y:-4.31, Z:-1.67 [[ 9.39976084e-01 3.28856339e-01 9.10959364e-02 2.77353793e+01] [-3.27273930e-01 9.44379839e-01 -3.22256860e-02 -4.31178529e+00] [-9.66267868e-02 4.78049011e-04 9.95320569e-01 -1.66790551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999997 meters 0.03223647605481874 Centerline is valid? [True, True] Translation: X:27.77, Y:-4.33, Z:-1.67 [[ 9.39732958e-01 3.29463348e-01 9.14104512e-02 2.77660270e+01] [-3.27867842e-01 9.44168251e-01 -3.23881577e-02 -4.32533090e+00] [-9.69775566e-02 4.65671882e-04 9.95286460e-01 -1.67115827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81864 meters 0.03223241186810541 Centerline is valid? [True, True] Translation: X:27.79, Y:-4.34, Z:-1.67 [[ 9.39416906e-01 3.30077438e-01 9.24378761e-02 2.77949512e+01] [-3.28444002e-01 9.43953749e-01 -3.28002699e-02 -4.33843464e+00] [-9.80837087e-02 4.52462112e-04 9.95178065e-01 -1.67362050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84864 meters 0.032175631137668824 Centerline is valid? [True, True] Translation: X:27.82, Y:-4.35, Z:-1.67 [[ 9.38823717e-01 3.32446000e-01 8.99426817e-02 2.78244848e+01] [-3.30907678e-01 9.43122264e-01 -3.19453191e-02 -4.35339673e+00] [-9.54470391e-02 2.28299299e-04 9.95434483e-01 -1.67348663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.878639999999997 meters 0.032266079237288074 Centerline is valid? [True, True] Translation: X:27.85, Y:-4.37, Z:-1.67 [[ 9.37583368e-01 3.35691114e-01 9.08234741e-02 2.78538535e+01] [-3.34136058e-01 9.41972117e-01 -3.22742295e-02 -4.36587349e+00] [-9.63873522e-02 -8.76168189e-05 9.95343896e-01 -1.67497326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90864 meters 0.03247146360072749 Centerline is valid? [True, True] Translation: X:27.88, Y:-4.38, Z:-1.68 [[ 9.36631628e-01 3.38373710e-01 9.06886233e-02 2.78845444e+01] [-3.36832894e-01 9.41011754e-01 -3.22564828e-02 -4.37741037e+00] [-9.62538062e-02 -3.34469536e-04 9.95356767e-01 -1.67775497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93864 meters 0.0325528851743405 Centerline is valid? [True, True] Translation: X:27.91, Y:-4.39, Z:-1.68 [[ 9.35762160e-01 3.40629285e-01 9.12188074e-02 2.79145616e+01] [-3.39076193e-01 9.40197541e-01 -3.24948928e-02 -4.38862907e+00] [-9.68324106e-02 -5.22634912e-04 9.95300563e-01 -1.67982402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters 0.0326168998568956 Centerline is valid? [True, True] Translation: X:27.94, Y:-4.40, Z:-1.68 [[ 9.34525102e-01 3.44283734e-01 9.01750725e-02 2.79448756e+01] [-3.42778770e-01 9.38865267e-01 -3.21671496e-02 -4.40093238e+00] [-9.57368699e-02 -8.49091655e-04 9.95406314e-01 -1.68026210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.998639999999998 meters 0.03278359172724517 Centerline is valid? [True, True] Translation: X:27.98, Y:-4.41, Z:-1.68 [[ 9.33931222e-01 3.45938388e-01 8.99950202e-02 2.79765286e+01] [-3.44442605e-01 9.38256727e-01 -3.21497391e-02 -4.41144157e+00] [-9.55602620e-02 -9.72474011e-04 9.95423172e-01 -1.68149935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02864 meters 0.03261019422887929 Centerline is valid? [True, True] Translation: X:28.01, Y:-4.42, Z:-1.69 [[ 9.34510838e-01 3.44308666e-01 9.02276928e-02 2.80081518e+01] [-3.42792598e-01 9.38856201e-01 -3.22841869e-02 -4.42016049e+00] [-9.58265542e-02 -7.59462667e-04 9.95397757e-01 -1.68500382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05864 meters 0.03251756375359629 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.43, Z:-1.69 [[ 9.35314441e-01 3.42249421e-01 8.97342181e-02 2.80388641e+01] [-3.40735839e-01 9.39609006e-01 -3.21559274e-02 -4.42954018e+00] [-9.53204270e-02 -4.99760828e-04 9.95446516e-01 -1.68704396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999998 meters 0.032366690064739995 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.44, Z:-1.69 [[ 9.35468724e-01 3.41945045e-01 8.92852289e-02 2.80695217e+01] [-3.40441012e-01 9.39719855e-01 -3.20392233e-02 -4.44029499e+00] [-9.48587560e-02 -4.24662329e-04 9.95490651e-01 -1.68943200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11864 meters 0.03242084152860949 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.45, Z:-1.69 [[ 9.36102642e-01 3.39208592e-01 9.30020164e-02 2.81000532e+01] [-3.37559566e-01 9.40711176e-01 -3.34069336e-02 -4.44907556e+00] [-9.88199552e-02 -1.21401473e-04 9.95105322e-01 -1.69338563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14864 meters 0.03230322051289184 Centerline is valid? [True, True] Translation: X:28.13, Y:-4.46, Z:-1.69 [[ 9.36922494e-01 3.37337379e-01 9.15408830e-02 2.81307924e+01] [-3.35728463e-01 9.41383813e-01 -3.29076918e-02 -4.45811677e+00] [-9.72760999e-02 9.90767640e-05 9.95257429e-01 -1.69451896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.178639999999998 meters 0.03232794123169833 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.47, Z:-1.70 [[ 9.37095822e-01 3.36575721e-01 9.25645971e-02 2.81613323e+01] [-3.34922281e-01 9.41656378e-01 -3.33216363e-02 -4.46737365e+00] [-9.83792970e-02 2.23620128e-04 9.95148966e-01 -1.69745357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20864 meters 0.03213714068145376 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.48, Z:-1.70 [[ 9.37153829e-01 3.36995303e-01 9.04260338e-02 2.81919600e+01] [-3.35415276e-01 9.41506303e-01 -3.25956151e-02 -4.47728661e+00] [-9.61212500e-02 2.16832440e-04 9.95369609e-01 -1.69926523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23864 meters 0.03200930933038555 Centerline is valid? [True, True] Translation: X:28.22, Y:-4.49, Z:-1.70 [[ 9.37333738e-01 3.36686971e-01 8.97070129e-02 2.82232635e+01] [-3.35126421e-01 9.41616589e-01 -3.23802592e-02 -4.48647641e+00] [-9.53716229e-02 2.87919245e-04 9.95441696e-01 -1.70081038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999998 meters 0.03216288849413972 Centerline is valid? [True, True] Translation: X:28.25, Y:-4.50, Z:-1.71 [[ 9.38005151e-01 3.34629591e-01 9.03845826e-02 2.82535580e+01] [-3.33031582e-01 9.42349586e-01 -3.26683691e-02 -4.49546550e+00] [-9.61056770e-02 5.42177938e-04 9.95370989e-01 -1.70510141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29864 meters 0.031919299798137755 Centerline is valid? [True, True] Translation: X:28.28, Y:-4.51, Z:-1.71 [[ 9.38589140e-01 3.33246984e-01 8.94252412e-02 2.82834148e+01] [-3.31672554e-01 9.42839294e-01 -3.23632822e-02 -4.50664165e+00] [-9.50985975e-02 7.15927035e-04 9.95467601e-01 -1.70638007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32864 meters 0.032090299876467956 Centerline is valid? [True, True] Translation: X:28.31, Y:-4.52, Z:-1.71 [[ 9.40009021e-01 3.29433898e-01 8.86360350e-02 2.83142184e+01] [-3.27865952e-01 9.44177959e-01 -3.21231860e-02 -4.51854739e+00] [-9.42706569e-02 1.13534662e-03 9.95545958e-01 -1.70889104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.358639999999998 meters 0.03211186129641938 Centerline is valid? [True, True] Translation: X:28.34, Y:-4.53, Z:-1.71 [[ 9.40451058e-01 3.27998589e-01 8.92677619e-02 2.83445744e+01] [-3.26397162e-01 9.44677271e-01 -3.23997829e-02 -4.52896663e+00] [-9.49563088e-02 1.33366594e-03 9.95480548e-01 -1.71034877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38864 meters 0.03212465570383679 Centerline is valid? [True, True] Translation: X:28.38, Y:-4.54, Z:-1.71 [[ 9.40783914e-01 3.27292053e-01 8.83489657e-02 2.83754257e+01] [-3.25716163e-01 9.44922144e-01 -3.21111030e-02 -4.53972634e+00] [-9.39926030e-02 1.43292309e-03 9.95571864e-01 -1.71254389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41864 meters 0.0321390735223762 Centerline is valid? [True, True] Translation: X:28.41, Y:-4.55, Z:-1.72 [[ 9.41190369e-01 3.26236451e-01 8.79230715e-02 2.84054045e+01] [-3.24666575e-01 9.45286883e-01 -3.20050726e-02 -4.55404616e+00] [-9.35537475e-02 1.57718363e-03 9.95612981e-01 -1.71584707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999997 meters 0.0320246963747676 Centerline is valid? [True, True] Translation: X:28.44, Y:-4.57, Z:-1.72 [[ 9.41053727e-01 3.26738054e-01 8.75221506e-02 2.84356376e+01] [-3.25180140e-01 9.45113639e-01 -3.19074488e-02 -4.56727241e+00] [-9.31437560e-02 1.56615844e-03 9.95651439e-01 -1.71838353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47864 meters 0.03171467032774786 Centerline is valid? [True, True] Translation: X:28.47, Y:-4.58, Z:-1.72 [[ 9.40404128e-01 3.28734457e-01 8.70271911e-02 2.84652868e+01] [-3.27198422e-01 9.44421349e-01 -3.17727538e-02 -4.58112796e+00] [-9.26351362e-02 1.40406929e-03 9.95699131e-01 -1.72020007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50864 meters 0.03161863056201065 Centerline is valid? [True, True] Translation: X:28.50, Y:-4.59, Z:-1.72 [[ 9.39539223e-01 3.31146753e-01 8.72231423e-02 2.84951301e+01] [-3.29610195e-01 9.43578490e-01 -3.18865650e-02 -4.59414270e+00] [-9.28610134e-02 1.20904153e-03 9.95678347e-01 -1.72222470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.538639999999997 meters 0.031312041395139385 Centerline is valid? [True, True] Translation: X:28.52, Y:-4.61, Z:-1.72 [[ 9.39010770e-01 3.32955340e-01 8.60204309e-02 2.85242712e+01] [-3.31464717e-01 9.42942007e-01 -3.14883035e-02 -4.60801165e+00] [-9.15964765e-02 1.05511836e-03 9.95795648e-01 -1.72368810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56864 meters 0.031212974414554128 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.62, Z:-1.73 [[ 9.38377509e-01 3.34978373e-01 8.50713818e-02 2.85537483e+01] [-3.33525054e-01 9.42225399e-01 -3.11823071e-02 -4.62214623e+00] [-9.06018152e-02 8.87338452e-04 9.95886803e-01 -1.72597197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59864 meters 0.03107896984020125 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.64, Z:-1.73 [[ 9.37339351e-01 3.38189149e-01 8.38035795e-02 2.85826123e+01] [-3.36788035e-01 9.41077962e-01 -3.07585528e-02 -4.63641480e+00] [-8.92679106e-02 6.07159038e-04 9.96007466e-01 -1.72705807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.628639999999997 meters 0.030863550342817417 Centerline is valid? [True, True] Translation: X:28.61, Y:-4.65, Z:-1.73 [[ 9.36693895e-01 3.40035870e-01 8.35473176e-02 2.86130744e+01] [-3.38646964e-01 9.40412349e-01 -3.07058123e-02 -4.64762604e+00] [-8.90100069e-02 4.68901438e-04 9.96030621e-01 -1.72918403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65864 meters 0.031048501226024545 Centerline is valid? [True, True] Translation: X:28.64, Y:-4.66, Z:-1.73 [[ 9.35329302e-01 3.43109478e-01 8.62263493e-02 2.86430536e+01] [-3.41638825e-01 9.39295393e-01 -3.17344778e-02 -4.65836410e+00] [-9.18804128e-02 2.23918234e-04 9.95770023e-01 -1.73230070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68864 meters 0.030980581070429416 Centerline is valid? [True, True] Translation: X:28.67, Y:-4.67, Z:-1.73 [[ 9.34877765e-01 3.44379675e-01 8.60593046e-02 2.86737062e+01] [-3.42915899e-01 9.38830453e-01 -3.17185641e-02 -4.66921996e+00] [-9.17183247e-02 1.41876580e-04 9.95784981e-01 -1.73483442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.718639999999997 meters 0.03095696666611013 Centerline is valid? [True, True] Translation: X:28.71, Y:-4.68, Z:-1.74 [[ 9.34422952e-01 3.45538954e-01 8.63514824e-02 2.87050766e+01] [-3.44065503e-01 9.38404404e-01 -3.18763927e-02 -4.67975579e+00] [-9.20471468e-02 7.54667689e-05 9.95754647e-01 -1.73690256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999998 meters 0.030711240150312593 Centerline is valid? [True, True] Translation: X:28.74, Y:-4.69, Z:-1.74 [[ 9.34540750e-01 3.45456962e-01 8.53994923e-02 2.87355787e+01] [-3.44011259e-01 9.38434586e-01 -3.15718608e-02 -4.69049129e+00] [-9.10485563e-02 1.26803653e-04 9.95846446e-01 -1.73886436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77864 meters 0.030725884528233296 Centerline is valid? [True, True] Translation: X:28.77, Y:-4.70, Z:-1.74 [[ 9.34810647e-01 3.44790742e-01 8.51375215e-02 2.87670898e+01] [-3.43347059e-01 9.38679546e-01 -3.15199491e-02 -4.70197205e+00] [-9.07846367e-02 2.33466421e-04 9.95870521e-01 -1.74035030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters 0.030887039901434495 Centerline is valid? [True, True] Translation: X:28.80, Y:-4.71, Z:-1.74 [[ 9.35639343e-01 3.41888189e-01 8.77011114e-02 2.87984162e+01] [-3.40338682e-01 9.39740460e-01 -3.25184394e-02 -4.70958277e+00] [-9.35339531e-02 5.77450601e-04 9.95615923e-01 -1.74394003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.838639999999998 meters 0.030774795741604407 Centerline is valid? [True, True] Translation: X:28.83, Y:-4.72, Z:-1.75 [[ 9.35622682e-01 3.41784963e-01 8.82793037e-02 2.88299344e+01] [-3.40210257e-01 9.39777973e-01 -3.27771718e-02 -4.71865033e+00] [-9.41656895e-02 6.33540798e-04 9.95556338e-01 -1.74524667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86864 meters 0.03091326385520378 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.73, Z:-1.75 [[ 9.35227264e-01 3.42350772e-01 9.02547118e-02 2.88608602e+01] [-3.40702885e-01 9.39572003e-01 -3.35558502e-02 -4.72740406e+00] [-9.62886716e-02 6.32305240e-04 9.95353250e-01 -1.74771892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89864 meters 0.030924407416741802 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.74, Z:-1.75 [[ 9.35089909e-01 3.42493991e-01 9.11302876e-02 2.88910150e+01] [-3.40810146e-01 9.39519783e-01 -3.39267136e-02 -4.73811187e+00] [-9.72384036e-02 6.66400844e-04 9.95260895e-01 -1.75055443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999998 meters 0.030726507108251144 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.75, Z:-1.75 [[ 9.34696667e-01 3.43983122e-01 8.95419070e-02 2.89210869e+01] [-3.42360210e-01 9.38975674e-01 -3.33791951e-02 -4.74994825e+00] [-9.55595522e-02 5.43836344e-04 9.95423566e-01 -1.75232072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95864 meters 0.030592098343166955 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.76, Z:-1.75 [[ 9.34706668e-01 3.44368962e-01 8.79401130e-02 2.89511124e+01] [-3.42801367e-01 9.38834240e-01 -3.28251727e-02 -4.76021651e+00] [-9.38651599e-02 5.35916830e-04 9.95584775e-01 -1.75483177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98864 meters 0.030533726580138882 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.77, Z:-1.76 [[ 9.34613853e-01 3.45067284e-01 8.61714279e-02 2.89816340e+01] [-3.43561306e-01 9.38577820e-01 -3.22072283e-02 -4.77091319e+00] [-9.19922516e-02 4.96153428e-04 9.95759599e-01 -1.75663171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.018639999999998 meters 0.030671119706922535 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.78, Z:-1.76 [[ 9.34551808e-01 3.45094914e-01 8.67318753e-02 2.90123798e+01] [-3.43565349e-01 9.38567638e-01 -3.24598134e-02 -4.78164883e+00] [-9.26054479e-02 5.37310301e-04 9.95702738e-01 -1.75865026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04864 meters 0.030654437072336945 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.79, Z:-1.76 [[ 9.33633512e-01 3.47543746e-01 8.68435932e-02 2.90426727e+01] [-3.46016549e-01 9.37663709e-01 -3.25471586e-02 -4.79339377e+00] [-9.27416471e-02 3.37797581e-04 9.95690149e-01 -1.76155302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07864 meters 0.03054099020373258 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.80, Z:-1.76 [[ 9.32975865e-01 3.49263599e-01 8.70113462e-02 2.90734638e+01] [-3.47733823e-01 9.37024490e-01 -3.26541560e-02 -4.80440319e+00] [-9.29366703e-02 2.08751365e-04 9.95672000e-01 -1.76331794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999998 meters 0.030480703411957202 Centerline is valid? [True, True] Translation: X:29.10, Y:-4.81, Z:-1.76 [[ 9.32236047e-01 3.51457751e-01 8.61011128e-02 2.91038893e+01] [-3.49965765e-01 9.36203743e-01 -3.23498740e-02 -4.81479153e+00] [-9.19777980e-02 2.52768092e-05 9.95761058e-01 -1.76497501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13864 meters 0.03062998387619611 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.82, Z:-1.77 [[ 9.31845180e-01 3.52818393e-01 8.47569536e-02 2.91345563e+01] [-3.51374472e-01 9.35691817e-01 -3.18873551e-02 -4.82464596e+00] [-9.05568334e-02 -6.73516931e-05 9.95891287e-01 -1.76744638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16864 meters 0.030462092148025918 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.84, Z:-1.77 [[ 9.31859591e-01 3.52860903e-01 8.44208824e-02 2.91654489e+01] [-3.51424553e-01 9.35675789e-01 -3.18056854e-02 -4.83541635e+00] [-9.02135586e-02 -2.91377950e-05 9.95922443e-01 -1.76979502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.198639999999997 meters 0.030609716275041013 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.85, Z:-1.77 [[ 9.31825324e-01 3.52735248e-01 8.53194613e-02 2.91961082e+01] [-3.51263230e-01 9.35723167e-01 -3.21916024e-02 -4.84618005e+00] [-9.11905093e-02 2.73608295e-05 9.95833465e-01 -1.77274677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22864 meters 0.030307068038136372 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.86, Z:-1.77 [[ 9.32455453e-01 3.51445603e-01 8.37425614e-02 2.92270046e+01] [-3.50018669e-01 9.36208285e-01 -3.16382524e-02 -4.85515955e+00] [-8.95196044e-02 1.89801105e-04 9.95985042e-01 -1.77382127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25864 meters 0.03042280911992261 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.87, Z:-1.78 [[ 9.32939539e-01 3.50185699e-01 8.36288969e-02 2.92580278e+01] [-3.48753624e-01 9.36680230e-01 -3.16394942e-02 -4.86556622e+00] [-8.94132327e-02 3.51854309e-04 9.95994553e-01 -1.77691244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.288639999999997 meters 0.03040369984782475 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.88, Z:-1.78 [[ 9.33970853e-01 3.47349733e-01 8.39440847e-02 2.92883288e+01] [-3.45891188e-01 9.37735418e-01 -3.18052122e-02 -4.87649628e+00] [-8.97648734e-02 6.69621923e-04 9.95962760e-01 -1.77953648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31864 meters 0.030656575731872863 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.89, Z:-1.78 [[ 9.34494484e-01 3.45651724e-01 8.51172380e-02 2.93186825e+01] [-3.44141971e-01 9.38362466e-01 -3.22828926e-02 -4.88819596e+00] [-9.10294589e-02 8.75770999e-04 9.95847815e-01 -1.78207326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34864 meters 0.030622074623173155 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.90, Z:-1.78 [[ 9.34980051e-01 3.44474077e-01 8.45571656e-02 2.93495590e+01] [-3.42976956e-01 9.38795288e-01 -3.20969631e-02 -4.89876690e+00] [-9.04384404e-02 1.00886091e-03 9.95901537e-01 -1.78400199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.378639999999997 meters 0.030768170714394878 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.91, Z:-1.79 [[ 9.35330131e-01 3.43761325e-01 8.35804829e-02 2.93799455e+01] [-3.42291765e-01 9.39056401e-01 -3.17714317e-02 -4.91058591e+00] [-8.94085769e-02 1.10786633e-03 9.95994417e-01 -1.78701381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40864 meters 0.030604881203059008 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.92, Z:-1.79 [[ 9.35181166e-01 3.44489078e-01 8.22402725e-02 2.94102370e+01] [-3.43065624e-01 9.38789728e-01 -3.13021476e-02 -4.92265637e+00] [-8.79895710e-02 1.05936842e-03 9.96120833e-01 -1.78834580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43864 meters 0.030694519909497828 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.93, Z:-1.79 [[ 9.34787617e-01 3.45661567e-01 8.17935921e-02 2.94402186e+01] [-3.44254499e-01 9.38358736e-01 -3.11724725e-02 -4.93479251e+00] [-8.75268574e-02 9.81829246e-04 9.96161676e-01 -1.79051951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999997 meters 0.03058380068192593 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.95, Z:-1.79 [[ 9.33718480e-01 3.48402757e-01 8.23730495e-02 2.94699545e+01] [-3.46982434e-01 9.37344613e-01 -3.14367091e-02 -4.94916401e+00] [-8.81645704e-02 7.71035009e-04 9.96105624e-01 -1.79350767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.498639999999998 meters 0.03065153968458128 Centerline is valid? [True, True] Translation: X:29.50, Y:-4.96, Z:-1.80 [[ 9.33217319e-01 3.49954835e-01 8.14680820e-02 2.94996845e+01] [-3.48567615e-01 9.36766341e-01 -3.11358169e-02 -4.96184052e+00] [-8.72126868e-02 6.59348501e-04 9.96189496e-01 -1.79523221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52864 meters 0.03056195555614179 Centerline is valid? [True, True] Translation: X:29.53, Y:-4.97, Z:-1.80 [[ 9.32055294e-01 3.53330770e-01 8.01891283e-02 2.95291694e+01] [-3.51995886e-01 9.35498384e-01 -3.06866456e-02 -4.97420808e+00] [-8.58593361e-02 3.75407230e-04 9.96307198e-01 -1.79739936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.558639999999997 meters 0.030608818879485834 Centerline is valid? [True, True] Translation: X:29.56, Y:-4.98, Z:-1.80 [[ 9.31497628e-01 3.54928249e-01 7.96122298e-02 2.95592676e+01] [-3.53614962e-01 9.34893507e-01 -3.05055682e-02 -4.98497229e+00] [-8.52562446e-02 2.63788800e-04 9.96359023e-01 -1.79926077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999998 meters 0.030558564452906996 Centerline is valid? [True, True] Translation: X:29.59, Y:-5.00, Z:-1.80 [[ 9.31266862e-01 3.55960880e-01 7.76780812e-02 2.95897126e+01] [-3.54711113e-01 9.34500836e-01 -2.98029339e-02 -4.99570870e+00] [-8.31989104e-02 2.01206073e-04 9.96532940e-01 -1.80093122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61864 meters 0.03078534592707633 Centerline is valid? [True, True] Translation: X:29.62, Y:-5.01, Z:-1.80 [[ 9.30227258e-01 3.58101386e-01 8.02536370e-02 2.96205576e+01] [-3.56771591e-01 9.33682706e-01 -3.08323971e-02 -5.00610022e+00] [-8.59725570e-02 4.89183877e-05 9.96297504e-01 -1.80429824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64864 meters 0.030645379697494615 Centerline is valid? [True, True] Translation: X:29.65, Y:-5.02, Z:-1.80 [[ 9.30090640e-01 3.58907511e-01 7.82099717e-02 2.96511431e+01] [-3.57644280e-01 9.33373129e-01 -3.00860543e-02 -5.01550150e+00] [-8.37971969e-02 1.14084785e-05 9.96482830e-01 -1.80487258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.678639999999998 meters 0.030645379697494615 Centerline is valid? [True, True] Translation: X:29.68, Y:-5.03, Z:-1.81 [[ 9.29909614e-01 3.59379293e-01 7.81961276e-02 2.96816444e+01] [-3.58114704e-01 9.33191579e-01 -3.01220007e-02 -5.02686911e+00] [-8.37971911e-02 7.55497795e-06 9.96482830e-01 -1.80679128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70864 meters 0.030634633832595754 Centerline is valid? [True, True] Translation: X:29.71, Y:-5.04, Z:-1.81 [[ 9.29320508e-01 3.60720957e-01 7.90176242e-02 2.97121183e+01] [-3.59430669e-01 9.32673783e-01 -3.04829209e-02 -5.03671019e+00] [-8.46934949e-02 -7.29539927e-05 9.96407049e-01 -1.80893723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73864 meters 0.030572312320529326 Centerline is valid? [True, True] Translation: X:29.74, Y:-5.05, Z:-1.81 [[ 9.29547981e-01 3.60371637e-01 7.79283925e-02 2.97430558e+01] [-3.59112225e-01 9.32808814e-01 -3.01019322e-02 -5.04542737e+00] [-8.35401739e-02 -3.84808819e-06 9.96504410e-01 -1.81123920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.768639999999998 meters 0.030659853912757492 Centerline is valid? [True, True] Translation: X:29.78, Y:-5.06, Z:-1.81 [[ 9.29667283e-01 3.59989633e-01 7.82700906e-02 2.97750142e+01] [-3.58714255e-01 9.32956301e-01 -3.02757963e-02 -5.05529480e+00] [-8.39215470e-02 6.98200649e-05 9.96472362e-01 -1.81443297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79864 meters 0.03073224947804554 Centerline is valid? [True, True] Translation: X:29.81, Y:-5.06, Z:-1.82 [[ 9.30387513e-01 3.57792309e-01 7.97730453e-02 2.98070500e+01] [-3.56455408e-01 9.33801137e-01 -3.09027275e-02 -5.06183242e+00] [-8.55489187e-02 3.15978359e-04 9.96333921e-01 -1.81648754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82864 meters 0.03076686704035153 Centerline is valid? [True, True] Translation: X:29.84, Y:-5.07, Z:-1.82 [[ 9.30551086e-01 3.57307961e-01 8.00356038e-02 2.98389093e+01] [-3.55956785e-01 9.33986542e-01 -3.10468501e-02 -5.07107270e+00] [-8.58454635e-02 4.01463859e-04 9.96308384e-01 -1.81871081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.858639999999998 meters 0.03080604275104825 Centerline is valid? [True, True] Translation: X:29.87, Y:-5.08, Z:-1.82 [[ 9.30540815e-01 3.57246744e-01 8.04273321e-02 2.98705130e+01] [-3.55878025e-01 9.34009935e-01 -3.12453611e-02 -5.08048418e+00] [-8.62822308e-02 4.52763650e-04 9.96270632e-01 -1.82066058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88864 meters 0.03076288231423696 Centerline is valid? [True, True] Translation: X:29.90, Y:-5.09, Z:-1.82 [[ 9.30444012e-01 3.57540761e-01 8.02405447e-02 2.99026232e+01] [-3.56175503e-01 9.33897417e-01 -3.12189869e-02 -5.09017455e+00] [-8.60984978e-02 4.67803068e-04 9.96286520e-01 -1.82274279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91864 meters 0.030577086004469553 Centerline is valid? [True, True] Translation: X:29.94, Y:-5.10, Z:-1.82 [[ 9.30582101e-01 3.57261626e-01 7.98816884e-02 2.99351672e+01] [-3.55903627e-01 9.34004200e-01 -3.11249573e-02 -5.09806034e+00] [-8.57295853e-02 5.34145471e-04 9.96318299e-01 -1.82417274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.948639999999997 meters 0.03068563050010901 Centerline is valid? [True, True] Translation: X:29.97, Y:-5.11, Z:-1.83 [[ 9.30979863e-01 3.56193622e-01 8.00162424e-02 2.99664081e+01] [-3.54823157e-01 9.34411925e-01 -3.12230919e-02 -5.10781620e+00] [-8.58895973e-02 6.76454091e-04 9.96304431e-01 -1.82631560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97864 meters 0.03088347801088202 Centerline is valid? [True, True] Translation: X:30.00, Y:-5.12, Z:-1.83 [[ 9.31953914e-01 3.53751390e-01 7.95100972e-02 2.99978375e+01] [-3.52385496e-01 9.35339015e-01 -3.10706969e-02 -5.11803522e+00] [-8.53601983e-02 9.38252540e-04 9.96349716e-01 -1.82911600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.00864 meters 0.03072911198108641 Centerline is valid? [True, True] Translation: X:30.03, Y:-5.13, Z:-1.83 [[ 9.32728048e-01 3.51938361e-01 7.84715081e-02 3.00285907e+01] [-3.50597853e-01 9.36022495e-01 -3.07088763e-02 -5.13024416e+00] [-8.42587283e-02 1.13108804e-03 9.96443269e-01 -1.83090490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.038639999999997 meters 0.031159127833135312 Centerline is valid? [True, True] Translation: X:30.06, Y:-5.14, Z:-1.83 [[ 9.33365716e-01 3.49757039e-01 8.06129876e-02 3.00580016e+01] [-3.48330296e-01 9.36839388e-01 -3.15906166e-02 -5.14189020e+00] [-8.65704624e-02 1.40565266e-03 9.96244739e-01 -1.83435236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06864 meters 0.03167663849938066 Centerline is valid? [True, True] Translation: X:30.09, Y:-5.15, Z:-1.83 [[ 9.35110148e-01 3.45165393e-01 8.01864192e-02 3.00880854e+01] [-3.43733628e-01 9.38540039e-01 -3.14609164e-02 -5.15382024e+00] [-8.61173845e-02 1.85665345e-03 9.96283267e-01 -1.83453243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09864 meters 0.031788755583254245 Centerline is valid? [True, True] Translation: X:30.12, Y:-5.17, Z:-1.84 [[ 9.35679583e-01 3.43520568e-01 8.06060676e-02 3.01183574e+01] [-3.42064222e-01 9.39142903e-01 -3.16650398e-02 -5.16542122e+00] [-8.65782088e-02 2.05587935e-03 9.96242936e-01 -1.83533708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.128639999999997 meters 0.031947812456228325 Centerline is valid? [True, True] Translation: X:30.15, Y:-5.18, Z:-1.84 [[ 9.36482175e-01 3.41625052e-01 7.93313252e-02 3.01472766e+01] [-3.40204471e-01 9.39833679e-01 -3.12021287e-02 -5.17857752e+00] [-8.52176801e-02 2.23136588e-03 9.96359859e-01 -1.83745290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15864 meters 0.03168392547280179 Centerline is valid? [True, True] Translation: X:30.18, Y:-5.19, Z:-1.84 [[ 9.36091207e-01 3.43018068e-01 7.79221257e-02 3.01765703e+01] [-3.41649303e-01 9.39326454e-01 -3.06849505e-02 -5.19301105e+00] [-8.37198064e-02 2.10187237e-03 9.96487118e-01 -1.83984491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18864 meters 0.03159854687617171 Centerline is valid? [True, True] Translation: X:30.21, Y:-5.21, Z:-1.84 [[ 9.35598908e-01 3.44319425e-01 7.80949275e-02 3.02058319e+01] [-3.42945915e-01 9.38850378e-01 -3.07907053e-02 -5.20671799e+00] [-8.39212901e-02 2.02541382e-03 9.96470328e-01 -1.84284191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.218639999999997 meters 0.03147739551136473 Centerline is valid? [True, True] Translation: X:30.23, Y:-5.22, Z:-1.84 [[ 9.35120605e-01 3.45932897e-01 7.66804026e-02 3.02345687e+01] [-3.44611170e-01 9.38257370e-01 -3.02695967e-02 -5.22057089e+00] [-8.24172022e-02 1.88080038e-03 9.96596141e-01 -1.84427024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999998 meters 0.031611267469417996 Centerline is valid? [True, True] Translation: X:30.26, Y:-5.23, Z:-1.85 [[ 9.35035703e-01 3.46132508e-01 7.68148518e-02 3.02649232e+01] [-3.44803586e-01 9.38183705e-01 -3.03615226e-02 -5.23406479e+00] [-8.25755523e-02 1.90307129e-03 9.96582990e-01 -1.84704035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27864 meters 0.03126772978423765 Centerline is valid? [True, True] Translation: X:30.29, Y:-5.25, Z:-1.85 [[ 9.35019491e-01 3.46804682e-01 7.39260647e-02 3.02943057e+01] [-3.45573016e-01 9.37935624e-01 -2.92584275e-02 -5.24828016e+00] [-7.94848493e-02 1.81034684e-03 9.96834430e-01 -1.84695104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999997 meters 0.03122703479122083 Centerline is valid? [True, True] Translation: X:30.32, Y:-5.26, Z:-1.85 [[ 9.35166139e-01 3.46773743e-01 7.21960112e-02 3.03230867e+01] [-3.45596674e-01 9.37947085e-01 -2.86042735e-02 -5.26421684e+00] [-7.76352492e-02 1.79904667e-03 9.96980206e-01 -1.84886264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.338639999999998 meters 0.03128175163957544 Centerline is valid? [True, True] Translation: X:30.35, Y:-5.28, Z:-1.85 [[ 9.34987295e-01 3.47210806e-01 7.24114251e-02 3.03532558e+01] [-3.46026080e-01 9.37785396e-01 -2.87141788e-02 -5.27647521e+00] [-7.78762500e-02 1.79115082e-03 9.96961424e-01 -1.85061662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36864 meters 0.030918299870801746 Centerline is valid? [True, True] Translation: X:30.38, Y:-5.29, Z:-1.85 [[ 9.34724025e-01 3.48264681e-01 7.07298286e-02 3.03816696e+01] [-3.47134932e-01 9.37394709e-01 -2.80802166e-02 -5.29095129e+00] [-7.60811148e-02 1.69445884e-03 9.97100192e-01 -1.85294779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39864 meters 0.03099525411568849 Centerline is valid? [True, True] Translation: X:30.41, Y:-5.30, Z:-1.86 [[ 9.34394028e-01 3.49022337e-01 7.13527043e-02 3.04116703e+01] [-3.47873302e-01 9.37112926e-01 -2.83466127e-02 -5.30466982e+00] [-7.67591425e-02 1.66520481e-03 9.97048274e-01 -1.85581468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999998 meters 0.030900355485723292 Centerline is valid? [True, True] Translation: X:30.44, Y:-5.32, Z:-1.86 [[ 9.33999644e-01 3.50179048e-01 7.08470119e-02 3.04412151e+01] [-3.49046616e-01 9.36681423e-01 -2.81845949e-02 -5.31840682e+00] [-7.62307345e-02 1.59549184e-03 9.97088928e-01 -1.85780326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45864 meters 0.030778060532342732 Centerline is valid? [True, True] Translation: X:30.47, Y:-5.33, Z:-1.86 [[ 9.33445001e-01 3.51401273e-01 7.20942144e-02 3.04704627e+01] [-3.50229278e-01 9.36223649e-01 -2.87181492e-02 -5.33392311e+00] [-7.75879026e-02 1.55730813e-03 9.96984299e-01 -1.85929345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48864 meters 0.030691499417922194 Centerline is valid? [True, True] Translation: X:30.50, Y:-5.35, Z:-1.86 [[ 9.32849781e-01 3.52862288e-01 7.26601063e-02 3.04997660e+01] [-3.51672950e-01 9.35674087e-01 -2.89851631e-02 -5.34857346e+00] [-7.82139496e-02 1.48620912e-03 9.96935489e-01 -1.86148545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.518639999999998 meters 0.030486932802061408 Centerline is valid? [True, True] Translation: X:30.53, Y:-5.37, Z:-1.86 [[ 9.32119745e-01 3.54831027e-01 7.24411726e-02 3.05275981e+01] [-3.53651678e-01 9.34929467e-01 -2.89375580e-02 -5.36553290e+00] [-7.79953303e-02 1.35432688e-03 9.96952804e-01 -1.86448460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54864 meters 0.030303476880563607 Centerline is valid? [True, True] Translation: X:30.56, Y:-5.38, Z:-1.87 [[ 9.31639109e-01 3.56428694e-01 7.07612623e-02 3.05561181e+01] [-3.55305444e-01 9.34321725e-01 -2.83011430e-02 -5.38021860e+00] [-7.62011242e-02 1.22458993e-03 9.97091715e-01 -1.86646172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57864 meters 0.030196738118349574 Centerline is valid? [True, True] Translation: X:30.59, Y:-5.40, Z:-1.87 [[ 9.31113531e-01 3.57760807e-01 7.09563075e-02 3.05857183e+01] [-3.56632376e-01 9.33812548e-01 -2.84160743e-02 -5.39515227e+00] [-7.64260480e-02 1.15327472e-03 9.97074586e-01 -1.86812917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999998 meters 0.030101647376141554 Centerline is valid? [True, True] Translation: X:30.61, Y:-5.41, Z:-1.87 [[ 9.29643358e-01 3.61322565e-01 7.21749961e-02 3.06134953e+01] [-3.60162477e-01 9.32440437e-01 -2.89451519e-02 -5.41164322e+00] [-7.77574215e-02 9.13942827e-04 9.96971889e-01 -1.86963237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63864 meters 0.029924322029365735 Centerline is valid? [True, True] Translation: X:30.64, Y:-5.43, Z:-1.87 [[ 9.28333949e-01 3.64980689e-01 7.06057714e-02 3.06423338e+01] [-3.63878420e-01 9.31014878e-01 -2.83512360e-02 -5.42615858e+00] [-7.60826773e-02 6.27498303e-04 9.97101315e-01 -1.87094113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66864 meters 0.02982318690094023 Centerline is valid? [True, True] Translation: X:30.67, Y:-5.44, Z:-1.87 [[ 9.26679238e-01 3.69178437e-01 7.05185877e-02 3.06710294e+01] [-3.68088264e-01 9.29358479e-01 -2.83522171e-02 -5.44076797e+00] [-7.60040746e-02 3.16346409e-04 9.97107457e-01 -1.87228695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.698639999999997 meters 0.029790747183067765 Centerline is valid? [True, True] Translation: X:30.70, Y:-5.46, Z:-1.87 [[ 9.24183382e-01 3.75662389e-01 6.90133815e-02 3.06995629e+01] [-3.74634063e-01 9.26756568e-01 -2.77773751e-02 -5.45588941e+00] [-7.43935197e-02 -1.83375091e-04 9.97228946e-01 -1.87260346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72864 meters 0.030176287363858387 Centerline is valid? [True, True] Translation: X:30.73, Y:-5.47, Z:-1.87 [[ 9.22324858e-01 3.80148300e-01 6.93118055e-02 3.07292057e+01] [-3.79122329e-01 9.24925396e-01 -2.79154321e-02 -5.46911513e+00] [-7.47202532e-02 -5.30556141e-04 9.97204393e-01 -1.87435713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75864 meters 0.030361756696548267 Centerline is valid? [True, True] Translation: X:30.76, Y:-5.48, Z:-1.88 [[ 9.20667301e-01 3.84245623e-01 6.87533367e-02 3.07587928e+01] [-3.83244859e-01 9.23230537e-01 -2.77264108e-02 -5.48238512e+00] [-7.41289319e-02 -8.22562959e-04 9.97248327e-01 -1.87584163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999997 meters 0.030437299032821077 Centerline is valid? [True, True] Translation: X:30.79, Y:-5.49, Z:-1.88 [[ 9.20033400e-01 3.85874336e-01 6.81141638e-02 3.07889449e+01] [-3.84893888e-01 9.22550902e-01 -2.75050617e-02 -5.49466797e+00] [-7.34522806e-02 -9.11149867e-04 9.97298317e-01 -1.87850396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81864 meters 0.03056999465946639 Centerline is valid? [True, True] Translation: X:30.82, Y:-5.51, Z:-1.88 [[ 9.19288064e-01 3.87778180e-01 6.73612500e-02 3.08196971e+01] [-3.86821478e-01 9.21752165e-01 -2.72413287e-02 -5.50714995e+00] [-7.26539709e-02 -1.01414992e-03 9.97356692e-01 -1.88043510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84864 meters 0.030407182877167472 Centerline is valid? [True, True] Translation: X:30.85, Y:-5.52, Z:-1.88 [[ 9.19430403e-01 3.87758938e-01 6.55037407e-02 3.08502390e+01] [-3.86851589e-01 9.21760329e-01 -2.65281727e-02 -5.51634672e+00] [-7.06652857e-02 -9.49417616e-04 9.97499632e-01 -1.88159882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.878639999999997 meters 0.030284584646984844 Centerline is valid? [True, True] Translation: X:30.88, Y:-5.53, Z:-1.88 [[ 9.19324633e-01 3.87988655e-01 6.56279171e-02 3.08822373e+01] [-3.87075902e-01 9.21663674e-01 -2.66142456e-02 -5.52645469e+00] [-7.08128926e-02 -9.35853626e-04 9.97489177e-01 -1.88277976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90864 meters 0.030117700138485515 Centerline is valid? [True, True] Translation: X:30.91, Y:-5.54, Z:-1.88 [[ 9.19567053e-01 3.87450798e-01 6.54088202e-02 3.09133181e+01] [-3.86540223e-01 9.21889984e-01 -2.65615054e-02 -5.53671723e+00] [-7.05910127e-02 -8.58054697e-04 9.97504974e-01 -1.88442512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93864 meters 0.030081502164554644 Centerline is valid? [True, True] Translation: X:30.94, Y:-5.55, Z:-1.89 [[ 9.19701296e-01 3.86908263e-01 6.67197326e-02 3.09443349e+01] [-3.85957641e-01 9.22117855e-01 -2.71175495e-02 -5.54737120e+00] [-7.20154607e-02 -8.10945119e-04 9.97403186e-01 -1.88620895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.968639999999997 meters 0.02996818698134146 Centerline is valid? [True, True] Translation: X:30.98, Y:-5.56, Z:-1.89 [[ 9.20462492e-01 3.84775376e-01 6.85325591e-02 3.09760991e+01] [-3.83763246e-01 9.23010034e-01 -2.78970943e-02 -5.55702329e+00] [-7.39903546e-02 -6.22048394e-04 9.97258763e-01 -1.88982316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.998639999999998 meters 0.02978041314521778 Centerline is valid? [True, True] Translation: X:31.01, Y:-5.57, Z:-1.89 [[ 9.20822974e-01 3.83850166e-01 6.88774235e-02 3.10071387e+01] [-3.82822049e-01 9.23395251e-01 -2.80800718e-02 -5.56740145e+00] [-7.43796259e-02 -5.11021126e-04 9.97229868e-01 -1.89158944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02864 meters 0.029592183048071347 Centerline is valid? [True, True] Translation: X:31.04, Y:-5.58, Z:-1.89 [[ 9.21767235e-01 3.81676393e-01 6.83249324e-02 3.10379010e+01] [-3.80655779e-01 9.24295972e-01 -2.78950625e-02 -5.57657842e+00] [-7.37993466e-02 -2.95525730e-04 9.97273066e-01 -1.89347847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.058639999999997 meters 0.029538826734549797 Centerline is valid? [True, True] Translation: X:31.07, Y:-5.59, Z:-1.90 [[ 9.21963616e-01 3.81120347e-01 6.87776996e-02 3.10685826e+01] [-3.80081780e-01 9.24525410e-01 -2.81177307e-02 -5.58753382e+00] [-7.43029702e-02 -2.17625830e-04 9.97235690e-01 -1.89568510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999998 meters 0.02951457690944049 Centerline is valid? [True, True] Translation: X:31.10, Y:-5.60, Z:-1.90 [[ 9.21807237e-01 3.81522310e-01 6.86450604e-02 3.10998774e+01] [-3.80485772e-01 9.24359607e-01 -2.81050720e-02 -5.59915463e+00] [-7.41754330e-02 -2.11009971e-04 9.97245186e-01 -1.89668647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11864 meters 0.029580428393262383 Centerline is valid? [True, True] Translation: X:31.13, Y:-5.61, Z:-1.90 [[ 9.21243518e-01 3.82650347e-01 6.99220501e-02 3.11300686e+01] [-3.81574899e-01 9.23893197e-01 -2.86697838e-02 -5.60999081e+00] [-7.55710091e-02 -2.68646741e-04 9.97140387e-01 -1.89910229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14864 meters 0.029859439913030802 Centerline is valid? [True, True] Translation: X:31.16, Y:-5.62, Z:-1.90 [[ 9.20662615e-01 3.84034445e-01 6.99849619e-02 3.11605758e+01] [-3.82958151e-01 9.23318701e-01 -2.87337790e-02 -5.62227303e+00] [-7.56531850e-02 -3.47195528e-04 9.97134131e-01 -1.90171500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.178639999999998 meters 0.02975839690522451 Centerline is valid? [True, True] Translation: X:31.19, Y:-5.63, Z:-1.90 [[ 9.20654683e-01 3.84425749e-01 6.79102183e-02 3.11904208e+01] [-3.83410605e-01 9.23155855e-01 -2.79208680e-02 -5.63405920e+00] [-7.34252163e-02 -3.32019932e-04 9.97300671e-01 -1.90348103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20864 meters 0.029649859841790447 Centerline is valid? [True, True] Translation: X:31.22, Y:-5.65, Z:-1.90 [[ 9.20278189e-01 3.85205098e-01 6.85936335e-02 3.12214803e+01] [-3.84168783e-01 9.22830916e-01 -2.82390903e-02 -5.64611155e+00] [-7.41781672e-02 -3.63713774e-04 9.97244938e-01 -1.90477665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23864 meters 0.02997733277850527 Centerline is valid? [True, True] Translation: X:31.25, Y:-5.66, Z:-1.91 [[ 9.19536039e-01 3.86503849e-01 7.11916217e-02 3.12507796e+01] [-3.85388298e-01 9.22287684e-01 -2.93477111e-02 -5.65779547e+00] [-7.70021592e-02 -4.50139923e-04 9.97030824e-01 -1.90832392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999998 meters 0.029859232141262064 Centerline is valid? [True, True] Translation: X:31.28, Y:-5.67, Z:-1.91 [[ 9.18514172e-01 3.89138934e-01 7.00186108e-02 3.12810317e+01] [-3.88065636e-01 9.21178856e-01 -2.88890654e-02 -5.67075714e+00] [-7.57415239e-02 -6.36800772e-04 9.97127282e-01 -1.90882445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29864 meters 0.030155070920429548 Centerline is valid? [True, True] Translation: X:31.31, Y:-5.68, Z:-1.91 [[ 9.17553232e-01 3.91085879e-01 7.17488768e-02 3.13106507e+01] [-3.89961420e-01 9.20353861e-01 -2.96455943e-02 -5.68369439e+00] [-7.76283291e-02 -7.77883010e-04 9.96982065e-01 -1.91152451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32864 meters 0.030200425384462458 Centerline is valid? [True, True] Translation: X:31.34, Y:-5.70, Z:-1.91 [[ 9.16372107e-01 3.94143936e-01 7.00908000e-02 3.13410371e+01] [-3.93076993e-01 9.19048204e-01 -2.89978692e-02 -5.69682415e+00] [-7.58461581e-02 -9.78242487e-04 9.97119052e-01 -1.91267620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.358639999999998 meters 0.030562075053638903 Centerline is valid? [True, True] Translation: X:31.37, Y:-5.71, Z:-1.91 [[ 9.14345884e-01 3.98992100e-01 6.91151774e-02 3.13713204e+01] [-3.97965466e-01 9.16953408e-01 -2.86345228e-02 -5.70768884e+00] [-7.48003459e-02 -1.32359567e-03 9.97197652e-01 -1.91369004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38864 meters 0.03074074799255313 Centerline is valid? [True, True] Translation: X:31.40, Y:-5.72, Z:-1.92 [[ 9.13358783e-01 4.01174490e-01 6.95324520e-02 3.14019351e+01] [-4.00138921e-01 9.16000462e-01 -2.88443706e-02 -5.71906863e+00] [-7.52633838e-02 -1.47738105e-03 9.97162595e-01 -1.91558330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41864 meters 0.03126785514336022 Centerline is valid? [True, True] Translation: X:31.43, Y:-5.73, Z:-1.92 [[ 9.11654325e-01 4.04588342e-01 7.20740263e-02 3.14321090e+01] [-4.03483114e-01 9.14497173e-01 -2.99382247e-02 -5.73035535e+00] [-7.80241500e-02 -1.78734055e-03 9.96949867e-01 -1.91847773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.448639999999997 meters 0.03142707664516526 Centerline is valid? [True, True] Translation: X:31.46, Y:-5.74, Z:-1.92 [[ 9.09664522e-01 4.08977288e-01 7.24433266e-02 3.14630922e+01] [-4.07871507e-01 9.12542055e-01 -3.01302453e-02 -5.74076657e+00] [-7.84301681e-02 -2.13915364e-03 9.96917315e-01 -1.91843770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47864 meters 0.03166891286951953 Centerline is valid? [True, True] Translation: X:31.49, Y:-5.75, Z:-1.92 [[ 9.08759579e-01 4.11091918e-01 7.18293962e-02 3.14932804e+01] [-4.10008452e-01 9.11591079e-01 -2.99127765e-02 -5.75127750e+00] [-7.77759375e-02 -2.26713736e-03 9.96968286e-01 -1.92038282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.50864 meters 0.031711137909559234 Centerline is valid? [True, True] Translation: X:31.53, Y:-5.76, Z:-1.92 [[ 9.07662060e-01 4.13859245e-01 6.97861771e-02 3.15253468e+01] [-4.12842011e-01 9.10337722e-01 -2.90982111e-02 -5.75847413e+00] [-7.55715532e-02 -2.39932344e-03 9.97137495e-01 -1.92068154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.538639999999997 meters 0.03186989059756854 Centerline is valid? [True, True] Translation: X:31.56, Y:-5.77, Z:-1.92 [[ 9.06653521e-01 4.15979326e-01 7.02893522e-02 3.15568077e+01] [-4.14950836e-01 9.09370466e-01 -2.93455072e-02 -5.76763079e+00] [-7.61261853e-02 -2.56041807e-03 9.97094904e-01 -1.92191556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56864 meters 0.03186989059756854 Centerline is valid? [True, True] Translation: X:31.59, Y:-5.78, Z:-1.92 [[ 9.06435995e-01 4.16455448e-01 7.02755123e-02 3.15869670e+01] [-4.15425821e-01 9.09152509e-01 -2.93786181e-02 -5.77990442e+00] [-7.61260438e-02 -2.56442545e-03 9.97094905e-01 -1.92383496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59864 meters 0.032185223653290955 Centerline is valid? [True, True] Translation: X:31.62, Y:-5.79, Z:-1.93 [[ 9.05706110e-01 4.18040851e-01 7.02729580e-02 3.16177854e+01] [-4.17012847e-01 9.08424337e-01 -2.94195559e-02 -5.78934722e+00] [-7.61362415e-02 -2.65925472e-03 9.97093878e-01 -1.92515603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999997 meters 0.032204600668056506 Centerline is valid? [True, True] Translation: X:31.65, Y:-5.80, Z:-1.93 [[ 9.04940218e-01 4.19565943e-01 7.10466104e-02 3.16498635e+01] [-4.18516871e-01 9.07720591e-01 -2.97818186e-02 -5.79548504e+00] [-7.69859080e-02 -2.78343964e-03 9.97028296e-01 -1.92732702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65864 meters 0.03215498469873235 Centerline is valid? [True, True] Translation: X:31.68, Y:-5.80, Z:-1.93 [[ 9.05015001e-01 4.19488955e-01 7.05468955e-02 3.16816652e+01] [-4.18451508e-01 9.07756355e-01 -2.96097123e-02 -5.80359960e+00] [-7.64603400e-02 -2.72322102e-03 9.97068905e-01 -1.92921350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68864 meters 0.03220626867993906 Centerline is valid? [True, True] Translation: X:31.71, Y:-5.81, Z:-1.93 [[ 9.05105054e-01 4.19581117e-01 6.88224304e-02 3.17146424e+01] [-4.18591806e-01 9.07714018e-01 -2.89164682e-02 -5.80743891e+00] [-7.46038888e-02 -2.63606389e-03 9.97209763e-01 -1.93173426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.718639999999997 meters 0.03204909628415575 Centerline is valid? [True, True] Translation: X:31.75, Y:-5.82, Z:-1.93 [[ 9.05406189e-01 4.18841955e-01 6.93617335e-02 3.17459510e+01] [-4.17834084e-01 9.08055467e-01 -2.91538480e-02 -5.81690064e+00] [-7.51951560e-02 -2.58562201e-03 9.97165484e-01 -1.93440631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999998 meters 0.032153786995259295 Centerline is valid? [True, True] Translation: X:31.78, Y:-5.83, Z:-1.94 [[ 9.05191202e-01 4.19366681e-01 6.89961974e-02 3.17774250e+01] [-4.18370061e-01 9.07813198e-01 -2.90118839e-02 -5.82684358e+00] [-7.48022761e-02 -2.60464128e-03 9.97194984e-01 -1.93532337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77864 meters 0.032451961488373225 Centerline is valid? [True, True] Translation: X:31.81, Y:-5.83, Z:-1.94 [[ 9.04641102e-01 4.20042825e-01 7.20312632e-02 3.18099042e+01] [-4.18957384e-01 9.07500075e-01 -3.03038660e-02 -5.83146583e+00] [-7.80972983e-02 -2.76390687e-03 9.96941910e-01 -1.93799398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999997 meters 0.03212288557232781 Centerline is valid? [True, True] Translation: X:31.84, Y:-5.84, Z:-1.94 [[ 9.04846465e-01 4.19816115e-01 7.07623080e-02 3.18420632e+01] [-4.18767116e-01 9.07605209e-01 -2.97806666e-02 -5.83852018e+00] [-7.67266430e-02 -2.68599675e-03 9.97048548e-01 -1.93846224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.838639999999998 meters 0.03227424768738164 Centerline is valid? [True, True] Translation: X:31.87, Y:-5.85, Z:-1.94 [[ 9.04917016e-01 4.19382511e-01 7.24120391e-02 3.18737114e+01] [-4.18281705e-01 9.07805603e-01 -3.04861078e-02 -5.84631310e+00] [-7.85213953e-02 -2.70123353e-03 9.96908769e-01 -1.94118628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86864 meters 0.032318048378534844 Centerline is valid? [True, True] Translation: X:31.91, Y:-5.85, Z:-1.94 [[ 9.05744927e-01 4.18105685e-01 6.93812829e-02 3.19069002e+01] [-4.17090651e-01 9.08395028e-01 -2.92209107e-02 -5.85149167e+00] [-7.52430413e-02 -2.47159279e-03 9.97162161e-01 -1.94328216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89864 meters 0.032111554684694885 Centerline is valid? [True, True] Translation: X:31.94, Y:-5.86, Z:-1.95 [[ 9.05663218e-01 4.18164887e-01 7.00875395e-02 3.19383339e+01] [-4.17128263e-01 9.08367726e-01 -2.95311121e-02 -5.86000865e+00] [-7.60141331e-02 -2.49025164e-03 9.97103631e-01 -1.94515293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.928639999999998 meters 0.03170544182223852 Centerline is valid? [True, True] Translation: X:31.97, Y:-5.86, Z:-1.95 [[ 9.06583564e-01 4.16309212e-01 6.92306424e-02 3.19710360e+01] [-4.15291717e-01 9.09220194e-01 -2.91792392e-02 -5.86283558e+00] [-7.50934842e-02 -2.29749371e-03 9.97173852e-01 -1.94643758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95864 meters 0.031652317502144485 Centerline is valid? [True, True] Translation: X:32.00, Y:-5.87, Z:-1.95 [[ 9.06810460e-01 4.15598851e-01 7.05151346e-02 3.20015077e+01] [-4.14540648e-01 9.09545170e-01 -2.97259851e-02 -5.87124163e+00] [-7.64907854e-02 -2.27555537e-03 9.97067692e-01 -1.94906627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98864 meters 0.03131824884089337 Centerline is valid? [True, True] Translation: X:32.03, Y:-5.88, Z:-1.95 [[ 9.07765804e-01 4.13517158e-01 7.04613671e-02 3.20311411e+01] [-4.12453997e-01 9.10493916e-01 -2.97073843e-02 -5.87971895e+00] [-7.64391592e-02 -2.09472485e-03 9.97072047e-01 -1.95061095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01864 meters 0.031055014002362557 Centerline is valid? [True, True] Translation: X:32.06, Y:-5.88, Z:-1.95 [[ 9.09149376e-01 4.10497178e-01 7.02814226e-02 3.20612396e+01] [-4.09430521e-01 9.11860018e-01 -2.96303199e-02 -5.88431187e+00] [-7.62499820e-02 -1.83697270e-03 9.97087040e-01 -1.95157405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04864 meters 0.030860706423974267 Centerline is valid? [True, True] Translation: X:32.09, Y:-5.89, Z:-1.95 [[ 9.09830621e-01 4.09080410e-01 6.97241667e-02 3.20888426e+01] [-4.08027382e-01 9.12496726e-01 -2.93833326e-02 -5.89187285e+00] [-7.56432196e-02 -1.71551347e-03 9.97133472e-01 -1.95287976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07864 meters 0.030864549515587942 Centerline is valid? [True, True] Translation: X:32.12, Y:-5.90, Z:-1.96 [[ 9.09714201e-01 4.09821750e-01 6.68296841e-02 3.21171787e+01] [-4.08858941e-01 9.12163979e-01 -2.81290176e-02 -5.89720742e+00] [-7.24875138e-02 -1.73454714e-03 9.97367812e-01 -1.95522998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10864 meters 0.030954078232911374 Centerline is valid? [True, True] Translation: X:32.14, Y:-5.91, Z:-1.96 [[ 9.09908728e-01 4.09553894e-01 6.58157585e-02 3.21436679e+01] [-4.08622182e-01 9.12284298e-01 -2.76635375e-02 -5.90534493e+00] [-7.13723925e-02 -1.72248462e-03 9.97448252e-01 -1.95605059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.138639999999995 meters 0.030983482323097677 Centerline is valid? [True, True] Translation: X:32.17, Y:-5.91, Z:-1.96 [[ 9.09665488e-01 4.10268603e-01 6.47176421e-02 3.21714565e+01] [-4.09372179e-01 9.11962990e-01 -2.71647520e-02 -5.91340947e+00] [-7.01649392e-02 -1.78276476e-03 9.97533810e-01 -1.95662454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters 0.031216518139048327 Centerline is valid? [True, True] Translation: X:32.20, Y:-5.92, Z:-1.96 [[ 9.09034592e-01 4.11443747e-01 6.61071384e-02 3.22006584e+01] [-4.10513981e-01 9.11433079e-01 -2.77130602e-02 -5.91690207e+00] [-7.16545980e-02 -1.94577418e-03 9.97427608e-01 -1.95777122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19864 meters 0.031301727482569444 Centerline is valid? [True, True] Translation: X:32.23, Y:-5.92, Z:-1.96 [[ 9.09077658e-01 4.11382236e-01 6.58974011e-02 3.22272686e+01] [-4.10460713e-01 9.11460799e-01 -2.75901283e-02 -5.92425814e+00] [-7.14129866e-02 -1.96672507e-03 9.97444894e-01 -1.95846798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22864 meters 0.03126014757639307 Centerline is valid? [True, True] Translation: X:32.26, Y:-5.93, Z:-1.96 [[ 9.09517612e-01 4.10640903e-01 6.44341639e-02 3.22553280e+01] [-4.09760617e-01 9.11795174e-01 -2.69406145e-02 -5.93188845e+00] [-6.98136780e-02 -1.89961932e-03 9.97558240e-01 -1.96023913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25864 meters 0.03085265958050112 Centerline is valid? [True, True] Translation: X:32.29, Y:-5.94, Z:-1.96 [[ 9.10585839e-01 4.07974796e-01 6.62570419e-02 3.22851179e+01] [-4.07039444e-01 9.12991463e-01 -2.76672820e-02 -5.93575127e+00] [-7.17796674e-02 -1.77579431e-03 9.97418932e-01 -1.96151289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28864 meters 0.030779272348221094 Centerline is valid? [True, True] Translation: X:32.31, Y:-5.94, Z:-1.96 [[ 9.11025703e-01 4.06795932e-01 6.74480486e-02 3.23118216e+01] [-4.05826088e-01 9.13517388e-01 -2.81277239e-02 -5.94341388e+00] [-7.30572088e-02 -1.74709826e-03 9.97326221e-01 -1.96364395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31864 meters 0.03029183071730881 Centerline is valid? [True, True] Translation: X:32.34, Y:-5.95, Z:-1.97 [[ 9.12850152e-01 4.02520685e-01 6.84229419e-02 3.23406039e+01] [-4.01513553e-01 9.15409723e-01 -2.84939586e-02 -5.94974685e+00] [-7.41044340e-02 -1.46202415e-03 9.97249415e-01 -1.96599114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.348639999999996 meters 0.030127520743955263 Centerline is valid? [True, True] Translation: X:32.37, Y:-5.96, Z:-1.97 [[ 9.14048769e-01 3.99976130e-01 6.73345574e-02 3.23679331e+01] [-3.98996446e-01 9.16524680e-01 -2.80061814e-02 -5.95932258e+00] [-7.29155877e-02 -1.26723347e-03 9.97337311e-01 -1.96771393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37864 meters 0.029857430580397266 Centerline is valid? [True, True] Translation: X:32.39, Y:-5.97, Z:-1.97 [[ 9.15406730e-01 3.96769889e-01 6.78540653e-02 3.23949462e+01] [-3.95768810e-01 9.17917506e-01 -2.81869014e-02 -5.96834122e+00] [-7.34681482e-02 -1.05204348e-03 9.97297009e-01 -1.96986163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40864 meters 0.029402994885088164 Centerline is valid? [True, True] Translation: X:32.42, Y:-5.98, Z:-1.97 [[ 9.16801281e-01 3.93549651e-01 6.77796652e-02 3.24222086e+01] [-3.92544530e-01 9.19302992e-01 -2.81211751e-02 -5.97825105e+00] [-7.33771277e-02 -8.25007502e-04 9.97303924e-01 -1.97135179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43864 meters 0.029415870264214678 Centerline is valid? [True, True] Translation: X:32.45, Y:-5.99, Z:-1.97 [[ 9.18615849e-01 3.89121635e-01 6.87697285e-02 3.24489748e+01] [-3.88077121e-01 9.21186242e-01 -2.84965917e-02 -5.98979489e+00] [-7.44383682e-02 -5.10537454e-04 9.97225485e-01 -1.97311097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46864 meters 0.029249144328503663 Centerline is valid? [True, True] Translation: X:32.48, Y:-6.00, Z:-1.97 [[ 9.19457679e-01 3.87300385e-01 6.77937200e-02 3.24755069e+01] [-3.86282755e-01 9.21953503e-01 -2.80601479e-02 -6.00190750e+00] [-7.33703637e-02 -3.87426441e-04 9.97304687e-01 -1.97474797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49864 meters 0.028955241197470484 Centerline is valid? [True, True] Translation: X:32.50, Y:-6.02, Z:-1.98 [[ 9.19801970e-01 3.86791455e-01 6.60053557e-02 3.25011130e+01] [-3.85827795e-01 9.22167141e-01 -2.72887538e-02 -6.01538552e+00] [-7.14230269e-02 -3.66451388e-04 9.97446047e-01 -1.97560633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.528639999999996 meters 0.029046896628821317 Centerline is valid? [True, True] Translation: X:32.53, Y:-6.03, Z:-1.98 [[ 9.19537057e-01 3.87495086e-01 6.55679726e-02 3.25259226e+01] [-3.86548397e-01 9.21871659e-01 -2.70736303e-02 -6.02765884e+00] [-7.09361543e-02 -4.49988364e-04 9.97480756e-01 -1.97660714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55864 meters 0.029140750984744203 Centerline is valid? [True, True] Translation: X:32.55, Y:-6.04, Z:-1.98 [[ 9.18896394e-01 3.88884222e-01 6.63210371e-02 3.25512816e+01] [-3.87922006e-01 9.21286439e-01 -2.73461950e-02 -6.04043593e+00] [-7.17351759e-02 -5.99069795e-04 9.97423534e-01 -1.97897373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58864 meters 0.029364268617996018 Centerline is valid? [True, True] Translation: X:32.58, Y:-6.05, Z:-1.98 [[ 9.17858768e-01 3.91127431e-01 6.74878896e-02 3.25771725e+01] [-3.90139634e-01 9.20336167e-01 -2.77921975e-02 -6.05361152e+00] [-7.29818364e-02 -8.20388392e-04 9.97332933e-01 -1.97949321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61864 meters 0.02930369733788173 Centerline is valid? [True, True] Translation: X:32.60, Y:-6.07, Z:-1.98 [[ 9.17408596e-01 3.92244848e-01 6.71226235e-02 3.26029307e+01] [-3.91273208e-01 9.19860372e-01 -2.76074871e-02 -6.06562266e+00] [-7.25723360e-02 -9.35938197e-04 9.97362712e-01 -1.97976536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64864 meters 0.02942825219065147 Centerline is valid? [True, True] Translation: X:32.63, Y:-6.08, Z:-1.98 [[ 9.17734432e-01 3.91717203e-01 6.57354242e-02 3.26287594e+01] [-3.90786367e-01 9.20085220e-01 -2.70037615e-02 -6.07774295e+00] [-7.10600301e-02 -9.06225932e-04 9.97471629e-01 -1.98190543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67864 meters 0.029446096681023614 Centerline is valid? [True, True] Translation: X:32.65, Y:-6.09, Z:-1.98 [[ 9.17564809e-01 3.91937682e-01 6.67808024e-02 3.26542135e+01] [-3.90980065e-01 9.19991257e-01 -2.73984741e-02 -6.09092926e+00] [-7.21762488e-02 -9.70086845e-04 9.97391422e-01 -1.98440688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters 0.02966408433343369 Centerline is valid? [True, True] Translation: X:32.68, Y:-6.10, Z:-1.99 [[ 9.17257432e-01 3.92683794e-01 6.66201297e-02 3.26807164e+01] [-3.91735216e-01 9.19672941e-01 -2.72983829e-02 -6.10254083e+00] [-7.19883632e-02 -1.05780630e-03 9.97404911e-01 -1.98590218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73864 meters 0.030032177494316702 Centerline is valid? [True, True] Translation: X:32.71, Y:-6.11, Z:-1.99 [[ 9.15985527e-01 3.95459023e-01 6.76954614e-02 3.27080344e+01] [-3.94489370e-01 9.18482665e-01 -2.77079652e-02 -6.11058825e+00] [-7.31344726e-02 -1.32504484e-03 9.97321209e-01 -1.98659278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters 0.02991947023150105 Centerline is valid? [True, True] Translation: X:32.73, Y:-6.12, Z:-1.99 [[ 9.15368463e-01 3.96494103e-01 6.99500044e-02 3.27349811e+01] [-3.95462709e-01 9.18036097e-01 -2.86176742e-02 -6.11932246e+00] [-7.55633680e-02 -1.46690172e-03 9.97139923e-01 -1.98905806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79864 meters 0.030144306871817225 Centerline is valid? [True, True] Translation: X:32.76, Y:-6.13, Z:-1.99 [[ 9.15646048e-01 3.96001194e-01 6.91040446e-02 3.27609939e+01] [-3.94994609e-01 9.18248889e-01 -2.82530966e-02 -6.12879069e+00] [-7.46429721e-02 -1.42588880e-03 9.97209303e-01 -1.99117575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82864 meters 0.03000876655317885 Centerline is valid? [True, True] Translation: X:32.79, Y:-6.14, Z:-1.99 [[ 9.15759891e-01 3.95652807e-01 6.95893590e-02 3.27872832e+01] [-3.94634135e-01 9.18399024e-01 -2.84100857e-02 -6.13697490e+00] [-7.51513295e-02 -1.44551943e-03 9.97171093e-01 -1.99231451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85864 meters 0.029835634540111827 Centerline is valid? [True, True] Translation: X:32.81, Y:-6.15, Z:-1.99 [[ 9.16540539e-01 3.93882614e-01 6.93536344e-02 3.28147157e+01] [-3.92868692e-01 9.19159786e-01 -2.82750357e-02 -6.14699770e+00] [-7.48841167e-02 -1.33165520e-03 9.97191354e-01 -1.99296786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters 0.029879496243004483 Centerline is valid? [True, True] Translation: X:32.84, Y:-6.16, Z:-1.99 [[ 9.17291144e-01 3.92048939e-01 6.98182365e-02 3.28408403e+01] [-3.91018719e-01 9.19943550e-01 -2.84293108e-02 -6.15735687e+00] [-7.53745175e-02 -1.22228236e-03 9.97154546e-01 -1.99458981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.918639999999996 meters 0.029466485166509817 Centerline is valid? [True, True] Translation: X:32.87, Y:-6.17, Z:-2.00 [[ 9.19942085e-01 3.85424318e-01 7.17959228e-02 3.28680237e+01] [-3.84317888e-01 9.22739157e-01 -2.91926203e-02 -6.16594335e+00] [-7.75004551e-02 -7.36937483e-04 9.96992044e-01 -1.99694986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters 0.029396243699651603 Centerline is valid? [True, True] Translation: X:32.89, Y:-6.18, Z:-2.00 [[ 9.21573098e-01 3.81417744e-01 7.22739966e-02 3.28945238e+01] [-3.80287111e-01 9.24402679e-01 -2.93496126e-02 -6.17713792e+00] [-7.80047391e-02 -4.37055951e-04 9.96952892e-01 -1.99912669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97864 meters 0.029461961364293663 Centerline is valid? [True, True] Translation: X:32.92, Y:-6.19, Z:-2.00 [[ 9.24481744e-01 3.74035443e-01 7.36952756e-02 3.29207696e+01] [-3.72839414e-01 9.27414397e-01 -2.98882555e-02 -6.18874090e+00] [-7.95253264e-02 1.54643212e-04 9.96832834e-01 -2.00035050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00864 meters 0.0293048899026656 Centerline is valid? [True, True] Translation: X:32.95, Y:-6.20, Z:-2.00 [[ 9.25351336e-01 3.71858903e-01 7.37960766e-02 3.29464018e+01] [-3.70655786e-01 9.28289213e-01 -2.98902281e-02 -6.20006140e+00] [-7.96190493e-02 3.06019799e-04 9.96825317e-01 -2.00150151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03864 meters 0.029351092081276384 Centerline is valid? [True, True] Translation: X:32.97, Y:-6.21, Z:-2.00 [[ 9.26104762e-01 3.69833266e-01 7.45206333e-02 3.29722656e+01] [-3.68602669e-01 9.29098031e-01 -3.01483250e-02 -6.21146393e+00] [-8.03868272e-02 4.52003019e-04 9.96763640e-01 -2.00322974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06864 meters 0.029356229607985306 Centerline is valid? [True, True] Translation: X:33.00, Y:-6.23, Z:-2.00 [[ 9.27156272e-01 3.67503781e-01 7.29535371e-02 3.29970190e+01] [-3.66318758e-01 9.30021819e-01 -2.94955009e-02 -6.22634948e+00] [-7.86880893e-02 6.22689565e-04 9.96899091e-01 -2.00414138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.098639999999996 meters 0.02933171323361651 Centerline is valid? [True, True] Translation: X:33.02, Y:-6.24, Z:-2.01 [[ 9.27716770e-01 3.66401248e-01 7.13562970e-02 3.30225898e+01] [-3.65267082e-01 9.30456705e-01 -2.88145631e-02 -6.24064583e+00] [-7.69516369e-02 6.67647045e-04 9.97034603e-01 -2.00652221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters 0.02932940406178907 Centerline is valid? [True, True] Translation: X:33.05, Y:-6.25, Z:-2.01 [[ 9.27752395e-01 3.66482947e-01 7.04680286e-02 3.30480090e+01] [-3.65379770e-01 9.30424562e-01 -2.84210915e-02 -6.25455379e+00] [-7.59810299e-02 6.20143603e-04 9.97109071e-01 -2.00803440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15864 meters 0.02922125965996268 Centerline is valid? [True, True] Translation: X:33.07, Y:-6.27, Z:-2.01 [[ 9.27007544e-01 3.67956771e-01 7.25591370e-02 3.30722728e+01] [-3.66794444e-01 9.29842774e-01 -2.92275750e-02 -6.27126119e+00] [-7.82230733e-02 4.79894200e-04 9.96935765e-01 -2.00978064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18864 meters 0.02913954716495117 Centerline is valid? [True, True] Translation: X:33.10, Y:-6.28, Z:-2.01 [[ 9.26671315e-01 3.68659978e-01 7.32809226e-02 3.30964317e+01] [-3.67479593e-01 9.29564236e-01 -2.94801542e-02 -6.28488505e+00] [-7.89874778e-02 3.89169682e-04 9.96875532e-01 -2.01032139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21864 meters 0.029433913593546135 Centerline is valid? [True, True] Translation: X:33.12, Y:-6.30, Z:-2.01 [[ 9.26910920e-01 3.67823044e-01 7.44470006e-02 3.31206207e+01] [-3.66605369e-01 9.29895706e-01 -2.99078428e-02 -6.30196803e+00] [-8.02287400e-02 4.29235897e-04 9.96776387e-01 -2.01316180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24864 meters 0.029228980782426157 Centerline is valid? [True, True] Translation: X:33.15, Y:-6.32, Z:-2.02 [[ 9.26841941e-01 3.68209350e-01 7.33886300e-02 3.31477869e+01] [-3.67029461e-01 9.29742836e-01 -2.94556157e-02 -6.31647615e+00] [-7.90783862e-02 3.64910703e-04 9.96868334e-01 -2.01558392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.278639999999996 meters 0.02926702500495849 Centerline is valid? [True, True] Translation: X:33.17, Y:-6.33, Z:-2.02 [[ 9.26895393e-01 3.68304011e-01 7.22293937e-02 3.31746177e+01] [-3.67161447e-01 9.29705347e-01 -2.89903390e-02 -6.33111696e+00] [-7.78293117e-02 3.51162988e-04 9.96966637e-01 -2.01735980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30864 meters 0.029334777637852354 Centerline is valid? [True, True] Translation: X:33.20, Y:-6.35, Z:-2.02 [[ 9.25655422e-01 3.71105076e-01 7.37771089e-02 3.32004259e+01] [-3.69921704e-01 9.28590872e-01 -2.96129154e-02 -6.35186630e+00] [-7.94982531e-02 1.19601870e-04 9.96834998e-01 -2.02003899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33864 meters 0.0294366945894065 Centerline is valid? [True, True] Translation: X:33.23, Y:-6.37, Z:-2.02 [[ 9.25114037e-01 3.72321132e-01 7.44378510e-02 3.32285015e+01] [-3.71119811e-01 9.28103967e-01 -2.98849771e-02 -6.36892771e+00] [-8.02128733e-02 2.16506273e-05 9.96777756e-01 -2.02183276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36864 meters 0.029567042468963745 Centerline is valid? [True, True] Translation: X:33.26, Y:-6.39, Z:-2.02 [[ 9.24388662e-01 3.74219351e-01 7.39288768e-02 3.32556322e+01] [-3.73039630e-01 9.27340207e-01 -2.96913235e-02 -6.38776981e+00] [-7.96682878e-02 -1.32078031e-04 9.96821422e-01 -2.02307090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39864 meters 0.029501181475946364 Centerline is valid? [True, True] Translation: X:33.28, Y:-6.40, Z:-2.02 [[ 9.23931133e-01 3.75340127e-01 7.39665518e-02 3.32843518e+01] [-3.74161921e-01 9.26887124e-01 -2.97172646e-02 -6.40138305e+00] [-7.97127263e-02 -2.18761119e-04 9.96817854e-01 -2.02455799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42864 meters 0.029447480551434632 Centerline is valid? [True, True] Translation: X:33.31, Y:-6.42, Z:-2.03 [[ 9.23969252e-01 3.75359743e-01 7.33885911e-02 3.33132437e+01] [-3.74199120e-01 9.26879183e-01 -2.94957466e-02 -6.41550813e+00] [-7.90938732e-02 -2.08783206e-04 9.96867150e-01 -2.02708285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.458639999999995 meters 0.029415863346089848 Centerline is valid? [True, True] Translation: X:33.34, Y:-6.43, Z:-2.03 [[ 9.23291983e-01 3.77236921e-01 7.22787566e-02 3.33417721e+01] [-3.76116108e-01 9.26116720e-01 -2.90601685e-02 -6.43136788e+00] [-7.79011335e-02 -3.54184047e-04 9.96961026e-01 -2.02843721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters 0.029415863346089848 Centerline is valid? [True, True] Translation: X:33.37, Y:-6.44, Z:-2.03 [[ 9.23244200e-01 3.77354553e-01 7.22750917e-02 3.33711534e+01] [-3.76233386e-01 9.26068797e-01 -2.90692811e-02 -6.44313456e+00] [-7.79011327e-02 -3.54257266e-04 9.96961026e-01 -2.03030507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51864 meters 0.02983392647559278 Centerline is valid? [True, True] Translation: X:33.40, Y:-6.46, Z:-2.03 [[ 9.21721675e-01 3.80785134e-01 7.37009834e-02 3.33987593e+01] [-3.79629277e-01 9.24663325e-01 -2.96538114e-02 -6.45968415e+00] [-7.94403268e-02 -6.46490278e-04 9.96839414e-01 -2.03212044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54864 meters 0.029808409086643412 Centerline is valid? [True, True] Translation: X:33.43, Y:-6.47, Z:-2.03 [[ 9.21042569e-01 3.82675909e-01 7.23860164e-02 3.34284368e+01] [-3.81565990e-01 9.23882315e-01 -2.91352508e-02 -6.47272862e+00] [-7.80255190e-02 -7.85235815e-04 9.96951053e-01 -2.03241406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57864 meters 0.029939596854506815 Centerline is valid? [True, True] Translation: X:33.46, Y:-6.49, Z:-2.03 [[ 9.19689123e-01 3.86293838e-01 7.03490424e-02 3.34575778e+01] [-3.85255370e-01 9.22375176e-01 -2.83255158e-02 -6.48604759e+00] [-7.58301826e-02 -1.05167756e-03 9.97120192e-01 -2.03357336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60864 meters 0.030229095727122058 Centerline is valid? [True, True] Translation: X:33.49, Y:-6.50, Z:-2.04 [[ 9.18579464e-01 3.88714130e-01 7.15058965e-02 3.34864612e+01] [-3.87647712e-01 9.21357548e-01 -2.88014000e-02 -6.49892110e+00] [-7.70780086e-02 -1.26272261e-03 9.97024266e-01 -2.03518133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.638639999999995 meters 0.030427579250269125 Centerline is valid? [True, True] Translation: X:33.52, Y:-6.51, Z:-2.04 [[ 9.17843194e-01 3.90551779e-01 7.09449021e-02 3.35164231e+01] [-3.89506883e-01 9.20579900e-01 -2.85838206e-02 -6.51141932e+00] [-7.64739128e-02 -1.39806253e-03 9.97070602e-01 -2.03744374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters 0.030721217730147424 Centerline is valid? [True, True] Translation: X:33.55, Y:-6.52, Z:-2.04 [[ 9.16432754e-01 3.93867062e-01 7.08501572e-02 3.35465240e+01] [-3.92834037e-01 9.19165912e-01 -2.85560206e-02 -6.52258661e+00] [-7.63703253e-02 -1.66268067e-03 9.97078136e-01 -2.03869722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69864 meters 0.030745539673337027 Centerline is valid? [True, True] Translation: X:33.58, Y:-6.53, Z:-2.04 [[ 9.15794916e-01 3.95620446e-01 6.93118682e-02 3.35771157e+01] [-3.94636104e-01 9.18412415e-01 -2.79460337e-02 -6.53370242e+00] [-7.47129026e-02 -1.76013010e-03 9.97203532e-01 -2.03985822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72864 meters 0.03106944648669335 Centerline is valid? [True, True] Translation: X:33.61, Y:-6.54, Z:-2.04 [[ 9.15409511e-01 3.96556514e-01 6.90533036e-02 3.36066491e+01] [-3.95581527e-01 9.18008504e-01 -2.78503696e-02 -6.54297631e+00] [-7.44357654e-02 -1.82171809e-03 9.97224146e-01 -2.04034287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75864 meters 0.031027762483130616 Centerline is valid? [True, True] Translation: X:33.64, Y:-6.55, Z:-2.04 [[ 9.15487624e-01 3.96383502e-01 6.90110829e-02 3.36365644e+01] [-3.95408989e-01 9.18083257e-01 -2.78364077e-02 -6.55248915e+00] [-7.43918124e-02 -1.80371577e-03 9.97227459e-01 -2.04218283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78864 meters 0.030645503398698683 Centerline is valid? [True, True] Translation: X:33.67, Y:-6.56, Z:-2.04 [[ 9.15700673e-01 3.95781954e-01 6.96342126e-02 3.36663069e+01] [-3.94787617e-01 9.18342815e-01 -2.80928984e-02 -6.56202901e+00] [-7.50667411e-02 -1.76603891e-03 9.97176948e-01 -2.04360931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81864 meters 0.030404720542044985 Centerline is valid? [True, True] Translation: X:33.70, Y:-6.57, Z:-2.05 [[ 9.16794947e-01 3.93383484e-01 6.88219445e-02 3.36960131e+01] [-3.92405150e-01 9.19373179e-01 -2.77697014e-02 -6.57117496e+00] [-7.41971917e-02 -1.54696356e-03 9.97242390e-01 -2.04523181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.848639999999996 meters 0.030428827783733937 Centerline is valid? [True, True] Translation: X:33.72, Y:-6.58, Z:-2.05 [[ 9.17608977e-01 3.91522384e-01 6.85856229e-02 3.37245168e+01] [-3.90545423e-01 9.20167534e-01 -2.76763632e-02 -6.58109307e+00] [-7.39461792e-02 -1.38972176e-03 9.97261265e-01 -2.04723361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87864 meters 0.030053063068340307 Centerline is valid? [True, True] Translation: X:33.75, Y:-6.59, Z:-2.05 [[ 9.19714350e-01 3.85995665e-01 7.16439882e-02 3.37534682e+01] [-3.84912829e-01 9.22500065e-01 -2.89092437e-02 -6.58784180e+00] [-7.72504265e-02 -9.88443922e-04 9.97011231e-01 -2.04971073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90864 meters 0.02974575624519659 Centerline is valid? [True, True] Translation: X:33.78, Y:-6.60, Z:-2.05 [[ 9.21008700e-01 3.82989745e-01 7.11465358e-02 3.37820990e+01] [-3.81913259e-01 9.23752302e-01 -2.87044783e-02 -6.59804719e+00] [-7.67152970e-02 -7.34731086e-04 9.97052769e-01 -2.05089678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93864 meters 0.029696200173547814 Centerline is valid? [True, True] Translation: X:33.81, Y:-6.61, Z:-2.05 [[ 9.22281113e-01 3.79670528e-01 7.24419656e-02 3.38115931e+01] [-3.78544087e-01 9.25121653e-01 -2.92284369e-02 -6.60969018e+00] [-7.81148071e-02 -4.65642394e-04 9.96944261e-01 -2.05373893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96864 meters 0.029513579236578585 Centerline is valid? [True, True] Translation: X:33.84, Y:-6.62, Z:-2.06 [[ 9.25267133e-01 3.72228390e-01 7.29846415e-02 3.38412134e+01] [-3.71061258e-01 9.28141151e-01 -2.94541471e-02 -6.62263997e+00] [-7.87037189e-02 1.71181343e-04 9.96898037e-01 -2.05600111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99864 meters 0.0294851215716607 Centerline is valid? [True, True] Translation: X:33.87, Y:-6.64, Z:-2.06 [[ 9.26221040e-01 3.69754711e-01 7.34577376e-02 3.38703781e+01] [-3.68563738e-01 9.29129323e-01 -2.96559031e-02 -6.63537541e+00] [-7.92171479e-02 3.94063066e-04 9.96857306e-01 -2.05777786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters 0.029402529163111073 Centerline is valid? [True, True] Translation: X:33.90, Y:-6.65, Z:-2.06 [[ 9.27630879e-01 3.66419752e-01 7.23706950e-02 3.38985017e+01] [-3.65252859e-01 9.30449410e-01 -2.92274617e-02 -6.65044604e+00] [-7.80467897e-02 6.78692671e-04 9.96949466e-01 -2.05904291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05864 meters 0.029717058143194627 Centerline is valid? [True, True] Translation: X:33.93, Y:-6.67, Z:-2.06 [[ 9.27779744e-01 3.65941757e-01 7.28792024e-02 3.39272926e+01] [-3.64756070e-01 9.30637466e-01 -2.94434548e-02 -6.66513939e+00] [-7.85987058e-02 7.33909461e-04 9.96906066e-01 -2.06070219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters 0.029816423438937183 Centerline is valid? [True, True] Translation: X:33.96, Y:-6.68, Z:-2.06 [[ 9.28005226e-01 3.65156714e-01 7.39383179e-02 3.39555355e+01] [-3.63932906e-01 9.30945701e-01 -2.98821300e-02 -6.68000210e+00] [-7.97442196e-02 8.22185901e-04 9.96815020e-01 -2.06240788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11864 meters 0.02971116375588572 Centerline is valid? [True, True] Translation: X:33.98, Y:-6.70, Z:-2.06 [[ 9.28327910e-01 3.64341643e-01 7.39084532e-02 3.39836583e+01] [-3.63115396e-01 9.31264922e-01 -2.98806785e-02 -6.69557365e+00] [-7.97151254e-02 9.01770568e-04 9.96817278e-01 -2.06353712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14864 meters 0.029964005295513428 Centerline is valid? [True, True] Translation: X:34.01, Y:-6.72, Z:-2.07 [[ 9.29065893e-01 3.62503729e-01 7.36723331e-02 3.40097131e+01] [-3.61278706e-01 9.31981711e-01 -2.97957546e-02 -6.71571617e+00] [-7.94623392e-02 1.06597423e-03 9.96837299e-01 -2.06692520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17864 meters 0.029979166091484873 Centerline is valid? [True, True] Translation: X:34.04, Y:-6.73, Z:-2.07 [[ 9.29522571e-01 3.61538905e-01 7.26457898e-02 3.40384201e+01] [-3.60343978e-01 9.32356323e-01 -2.93922507e-02 -6.73355946e+00] [-7.83582036e-02 1.14328755e-03 9.96924613e-01 -2.06924268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters 0.02998778295574119 Centerline is valid? [True, True] Translation: X:34.07, Y:-6.76, Z:-2.07 [[ 9.30588734e-01 3.59234085e-01 7.03951767e-02 3.40655529e+01] [-3.58104443e-01 9.33246568e-01 -2.84965104e-02 -6.75564790e+00] [-7.59329749e-02 1.30970602e-03 9.97112064e-01 -2.07120721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23864 meters 0.029966056185194385 Centerline is valid? [True, True] Translation: X:34.09, Y:-6.77, Z:-2.07 [[ 9.30491300e-01 3.59694605e-01 6.93233854e-02 3.40937800e+01] [-3.58599398e-01 9.33069231e-01 -2.80763590e-02 -6.77166624e+00] [-7.47824327e-02 1.26548358e-03 9.97199071e-01 -2.07198576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters 0.029858013472039698 Centerline is valid? [True, True] Translation: X:34.12, Y:-6.79, Z:-2.07 [[ 9.29494467e-01 3.62177604e-01 6.97668874e-02 3.41205000e+01] [-3.61074537e-01 9.32108477e-01 -2.82659924e-02 -6.79111041e+00] [-7.52676165e-02 1.08203696e-03 9.97162783e-01 -2.07398423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29864 meters 0.029616223932218137 Centerline is valid? [True, True] Translation: X:34.15, Y:-6.81, Z:-2.08 [[ 9.28332319e-01 3.64902771e-01 7.10286807e-02 3.41491285e+01] [-3.63766539e-01 9.31045209e-01 -2.87875601e-02 -6.80696387e+00] [-7.66355733e-02 8.86565060e-04 9.97058776e-01 -2.07628310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32864 meters 0.029304571843909718 Centerline is valid? [True, True] Translation: X:34.18, Y:-6.82, Z:-2.08 [[ 9.27244741e-01 3.67886712e-01 6.98323502e-02 3.41780418e+01] [-3.66795760e-01 9.29870396e-01 -2.83181470e-02 -6.82264677e+00] [-7.53529051e-02 6.43642921e-04 9.97156721e-01 -2.07732483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35864 meters 0.02935934928313957 Centerline is valid? [True, True] Translation: X:34.20, Y:-6.84, Z:-2.08 [[ 9.25395940e-01 3.72727170e-01 6.86790413e-02 3.42041888e+01] [-3.71682726e-01 9.27940935e-01 -2.78849659e-02 -6.84253831e+00] [-7.41235782e-02 2.77820893e-04 9.97249025e-01 -2.07998521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters 0.029291924501062168 Centerline is valid? [True, True] Translation: X:34.23, Y:-6.86, Z:-2.08 [[ 9.24935508e-01 3.73831789e-01 6.88774273e-02 3.42329835e+01] [-3.72781626e-01 9.27496493e-01 -2.80020631e-02 -6.85910281e+00] [-7.43516336e-02 2.23863072e-04 9.97232061e-01 -2.08215841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.418639999999996 meters 0.029286619931184987 Centerline is valid? [True, True] Translation: X:34.26, Y:-6.88, Z:-2.08 [[ 9.24462363e-01 3.74824427e-01 6.98282718e-02 3.42599660e+01] [-3.73744697e-01 9.27095796e-01 -2.84303785e-02 -6.87990207e+00] [-7.53938976e-02 1.84868631e-04 9.97153813e-01 -2.08295158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44864 meters 0.02936980115532443 Centerline is valid? [True, True] Translation: X:34.29, Y:-6.90, Z:-2.08 [[ 9.24156536e-01 3.75438985e-01 7.05709937e-02 3.42887472e+01] [-3.74334673e-01 9.26847095e-01 -2.87752485e-02 -6.89620510e+00] [-7.62118706e-02 1.75664142e-04 9.97091631e-01 -2.08462515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47864 meters 0.029453241881800672 Centerline is valid? [True, True] Translation: X:34.32, Y:-6.91, Z:-2.09 [[ 9.23411438e-01 3.77129990e-01 7.13041816e-02 3.43176797e+01] [-3.76004273e-01 9.26160334e-01 -2.91173740e-02 -6.91213460e+00] [-7.70201397e-02 7.66392352e-05 9.97029534e-01 -2.08674226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50864 meters 0.029430464906777223 Centerline is valid? [True, True] Translation: X:34.35, Y:-6.93, Z:-2.09 [[ 9.22350513e-01 3.79718321e-01 7.12988637e-02 3.43470134e+01] [-3.78597163e-01 9.25102149e-01 -2.91582075e-02 -6.92756134e+00] [-7.70306376e-02 -9.94599331e-05 9.97028721e-01 -2.08862543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53864 meters 0.029397101056827673 Centerline is valid? [True, True] Translation: X:34.38, Y:-6.94, Z:-2.09 [[ 9.20187049e-01 3.85066116e-01 7.05682671e-02 3.43763214e+01] [-3.83980277e-01 9.22888853e-01 -2.89017700e-02 -6.94322187e+00] [-7.62557594e-02 -5.01788287e-04 9.97088164e-01 -2.09021051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56864 meters 0.02955431353786412 Centerline is valid? [True, True] Translation: X:34.41, Y:-6.96, Z:-2.09 [[ 9.18437104e-01 3.89033730e-01 7.15963905e-02 3.44057047e+01] [-3.87924705e-01 9.21223160e-01 -2.93651609e-02 -6.95729968e+00] [-7.73802912e-02 -8.03955324e-04 9.97001326e-01 -2.09241243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.598639999999996 meters 0.030531272657544642 Centerline is valid? [True, True] Translation: X:34.43, Y:-6.97, Z:-2.09 [[ 9.14586587e-01 3.97553209e-01 7.40460717e-02 3.44338116e+01] [-3.96392000e-01 9.17577821e-01 -3.04027043e-02 -6.97384982e+00] [-8.00297258e-02 -1.54536483e-03 9.96791279e-01 -2.09327765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62864 meters 0.030485669942709556 Centerline is valid? [True, True] Translation: X:34.46, Y:-6.99, Z:-2.10 [[ 9.13457791e-01 4.00115779e-01 7.41769993e-02 3.44632884e+01] [-3.98957914e-01 9.16462907e-01 -3.04684006e-02 -6.98651190e+00] [-8.01713563e-02 -1.76190299e-03 9.96779539e-01 -2.09502136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65864 meters 0.030944964980962466 Centerline is valid? [True, True] Translation: X:34.49, Y:-7.00, Z:-2.10 [[ 9.11952052e-01 4.03604723e-01 7.38016468e-02 3.44931809e+01] [-4.02468292e-01 9.14931183e-01 -3.03348524e-02 -6.99950257e+00] [-7.97667177e-02 -2.03889186e-03 9.96811473e-01 -2.09692428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68864 meters 0.03134186334409686 Centerline is valid? [True, True] Translation: X:34.52, Y:-7.01, Z:-2.10 [[ 9.10351334e-01 4.07373427e-01 7.28514846e-02 3.45231764e+01] [-4.06275572e-01 9.13258759e-01 -2.99766183e-02 -7.01107559e+00] [-7.87439342e-02 -2.30852410e-03 9.96892203e-01 -2.09895876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71864 meters 0.03146257295455378 Centerline is valid? [True, True] Translation: X:34.55, Y:-7.02, Z:-2.10 [[ 9.09623608e-01 4.09299299e-01 7.11264817e-02 3.45542543e+01] [-4.08257189e-01 9.12397027e-01 -2.92870786e-02 -7.02297511e+00] [-7.68827712e-02 -2.39767938e-03 9.97037256e-01 -2.09976753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74864 meters 0.03153277930369834 Centerline is valid? [True, True] Translation: X:34.59, Y:-7.03, Z:-2.10 [[ 9.08476412e-01 4.11656431e-01 7.21775028e-02 3.45863030e+01] [-4.10587270e-01 9.11335418e-01 -2.97632347e-02 -7.03062209e+00] [-7.80301416e-02 -2.59596719e-03 9.96947620e-01 -2.10139089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.778639999999996 meters 0.03165803719833417 Centerline is valid? [True, True] Translation: X:34.62, Y:-7.04, Z:-2.10 [[ 9.07980968e-01 4.12777699e-01 7.20078661e-02 3.46182129e+01] [-4.11713976e-01 9.10827948e-01 -2.97330051e-02 -7.04002994e+00] [-7.78598983e-02 -2.64964201e-03 9.96960789e-01 -2.10246115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters 0.03159388576612554 Centerline is valid? [True, True] Translation: X:34.65, Y:-7.05, Z:-2.11 [[ 9.07786238e-01 4.13135101e-01 7.24122528e-02 3.46498865e+01] [-4.12057040e-01 9.10665877e-01 -2.99442178e-02 -7.04978862e+00] [-7.83143752e-02 -2.65502974e-03 9.96925177e-01 -2.10502373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83864 meters 0.03154260122930879 Centerline is valid? [True, True] Translation: X:34.68, Y:-7.06, Z:-2.11 [[ 9.08404416e-01 4.11576747e-01 7.35254947e-02 3.46806241e+01] [-4.10456656e-01 9.11371622e-01 -3.04483278e-02 -7.05849378e+00] [-7.95408731e-02 -2.51963330e-03 9.96828421e-01 -2.10736077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86864 meters 0.03143278940250433 Centerline is valid? [True, True] Translation: X:34.71, Y:-7.07, Z:-2.11 [[ 9.08718167e-01 4.10889347e-01 7.34931088e-02 3.47112215e+01] [-4.09764891e-01 9.11682003e-01 -3.04738982e-02 -7.06975778e+00] [-7.95237448e-02 -2.42271080e-03 9.96830028e-01 -2.10942599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89864 meters 0.031032825859988893 Centerline is valid? [True, True] Translation: X:34.74, Y:-7.08, Z:-2.11 [[ 9.10353864e-01 4.07273168e-01 7.33785297e-02 3.47422838e+01] [-4.06137380e-01 9.13304052e-01 -3.04653286e-02 -7.07878342e+00] [-7.94246195e-02 -2.06753417e-03 9.96838731e-01 -2.11160253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92864 meters 0.030713314684692145 Centerline is valid? [True, True] Translation: X:34.77, Y:-7.09, Z:-2.11 [[ 9.11583354e-01 4.04775809e-01 7.19189296e-02 3.47728432e+01] [-4.03674449e-01 9.14414221e-01 -2.98926595e-02 -7.09019494e+00] [-7.78635174e-02 -1.78218343e-03 9.96962435e-01 -2.11420389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.958639999999995 meters 0.03055070864913917 Centerline is valid? [True, True] Translation: X:34.80, Y:-7.10, Z:-2.12 [[ 9.12365414e-01 4.03104352e-01 7.13879066e-02 3.48029881e+01] [-4.02012185e-01 9.15152614e-01 -2.96967314e-02 -7.10212429e+00] [-7.73017110e-02 -1.60453764e-03 9.97006455e-01 -2.11656040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters 0.03030141501643871 Centerline is valid? [True, True] Translation: X:34.83, Y:-7.11, Z:-2.12 [[ 9.13092383e-01 4.01578881e-01 7.06873640e-02 3.48333193e+01] [-4.00500631e-01 9.15823328e-01 -2.94427735e-02 -7.11394544e+00] [-7.65607330e-02 -1.42636161e-03 9.97063899e-01 -2.11795064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01864 meters 0.030097841834759526 Centerline is valid? [True, True] Translation: X:34.86, Y:-7.13, Z:-2.12 [[ 9.13280608e-01 4.01339960e-01 6.96043607e-02 3.48638508e+01] [-4.00291071e-01 9.15928169e-01 -2.90283839e-02 -7.12552282e+00] [-7.54028451e-02 -1.35094404e-03 9.97152238e-01 -2.11934038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04864 meters 0.03014282156532302 Centerline is valid? [True, True] Translation: X:34.89, Y:-7.14, Z:-2.12 [[ 9.13305442e-01 4.01352767e-01 6.92035193e-02 3.48944703e+01] [-4.00313142e-01 9.15922618e-01 -2.88989045e-02 -7.13736401e+00] [-7.49837239e-02 -1.30955149e-03 9.97183898e-01 -2.12197356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07864 meters 0.03026613607094593 Centerline is valid? [True, True] Translation: X:34.93, Y:-7.15, Z:-2.12 [[ 9.12818004e-01 4.02616818e-01 6.82860831e-02 3.49252367e+01] [-4.01605062e-01 9.15367608e-01 -2.85572511e-02 -7.14896644e+00] [-7.40044981e-02 -1.35646369e-03 9.97256985e-01 -2.12344044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10864 meters 0.030334422280733336 Centerline is valid? [True, True] Translation: X:34.96, Y:-7.16, Z:-2.12 [[ 9.12266076e-01 4.03940798e-01 6.78412709e-02 3.49566941e+01] [-4.02942819e-01 9.14784032e-01 -2.84123200e-02 -7.16065418e+00] [-7.35370066e-02 -1.41655718e-03 9.97291483e-01 -2.12455275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.138639999999995 meters 0.030507159720782353 Centerline is valid? [True, True] Translation: X:34.99, Y:-7.17, Z:-2.13 [[ 9.10797426e-01 4.06836220e-01 7.02306135e-02 3.49876763e+01] [-4.05771933e-01 9.13499591e-01 -2.94556575e-02 -7.16966101e+00] [-7.61392651e-02 -1.66947472e-03 9.97095795e-01 -2.12653012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.168639999999996 meters 0.030639862258862824 Centerline is valid? [True, True] Translation: X:35.02, Y:-7.18, Z:-2.13 [[ 9.10432365e-01 4.07545578e-01 7.08485055e-02 3.50195464e+01] [-4.06461565e-01 9.13183270e-01 -2.97541787e-02 -7.18022334e+00] [-7.68238538e-02 -1.70802716e-03 9.97043218e-01 -2.12854581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19864 meters 0.030837069799063956 Centerline is valid? [True, True] Translation: X:35.05, Y:-7.19, Z:-2.13 [[ 9.09848551e-01 4.08575517e-01 7.23993204e-02 3.50504177e+01] [-4.07443256e-01 9.12722755e-01 -3.04493893e-02 -7.19024654e+00] [-7.85213821e-02 -1.79428211e-03 9.96910815e-01 -2.13053405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22864 meters 0.030766401859443456 Centerline is valid? [True, True] Translation: X:35.08, Y:-7.20, Z:-2.13 [[ 9.10218548e-01 4.07831690e-01 7.19410075e-02 3.50826147e+01] [-4.06708439e-01 9.13055571e-01 -3.02947061e-02 -7.19695951e+00] [-7.80412789e-02 -1.68421154e-03 9.96948706e-01 -2.13277050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25864 meters 0.03063461922452894 Centerline is valid? [True, True] Translation: X:35.11, Y:-7.21, Z:-2.14 [[ 9.10888901e-01 4.06441621e-01 7.13205346e-02 3.51140613e+01] [-4.05330505e-01 9.13675494e-01 -3.00711444e-02 -7.20632482e+00] [-7.73859893e-02 -1.51691663e-03 9.97000054e-01 -2.13500573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28864 meters 0.030303163621330776 Centerline is valid? [True, True] Translation: X:35.15, Y:-7.21, Z:-2.14 [[ 9.12650540e-01 4.02487546e-01 7.12233605e-02 3.51456454e+01] [-4.01364984e-01 9.15424738e-01 -3.00615935e-02 -7.21314830e+00] [-7.72990431e-02 -1.15083342e-03 9.97007289e-01 -2.13734767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.318639999999995 meters 0.030325025020498556 Centerline is valid? [True, True] Translation: X:35.18, Y:-7.22, Z:-2.14 [[ 9.13745668e-01 3.99996551e-01 7.12152547e-02 3.51766445e+01] [-3.98865836e-01 9.16516173e-01 -3.00690917e-02 -7.22315969e+00] [-7.72974657e-02 -9.29829785e-04 9.97007642e-01 -2.13919360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters 0.030173146853480028 Centerline is valid? [True, True] Translation: X:35.21, Y:-7.23, Z:-2.14 [[ 9.15453583e-01 3.96038188e-01 7.14037219e-02 3.52091833e+01] [-3.94888579e-01 9.18233853e-01 -3.01595867e-02 -7.22907114e+00] [-7.75096628e-02 -5.86812550e-04 9.96991428e-01 -2.14087067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37864 meters 0.030173146853480028 Centerline is valid? [True, True] Translation: X:35.24, Y:-7.24, Z:-2.14 [[ 9.15377544e-01 3.96214691e-01 7.13993765e-02 3.52391387e+01] [-3.95064816e-01 9.18157704e-01 -3.01698710e-02 -7.24165641e+00] [-7.75096337e-02 -5.90559110e-04 9.96991428e-01 -2.14278852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40864 meters 0.030117581403328195 Centerline is valid? [True, True] Translation: X:35.27, Y:-7.25, Z:-2.14 [[ 9.15643972e-01 3.95563392e-01 7.15941335e-02 3.52708029e+01] [-3.94403970e-01 9.18438528e-01 -3.02684403e-02 -7.25129611e+00] [-7.77278976e-02 -5.21895600e-04 9.96974474e-01 -2.14438999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43864 meters 0.030118370469538528 Centerline is valid? [True, True] Translation: X:35.30, Y:-7.26, Z:-2.15 [[ 9.15607474e-01 3.95670743e-01 7.14675924e-02 3.53021471e+01] [-3.94514487e-01 9.18392290e-01 -3.02311373e-02 -7.26246990e+00] [-7.75968624e-02 -5.15145344e-04 9.96984685e-01 -2.14642025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46864 meters 0.03009363422749365 Centerline is valid? [True, True] Translation: X:35.33, Y:-7.27, Z:-2.15 [[ 9.15816427e-01 3.95269997e-01 7.10063485e-02 3.53323138e+01] [-3.94126296e-01 9.18564866e-01 -3.00507773e-02 -7.27291791e+00] [-7.71021077e-02 -4.64473572e-04 9.97023094e-01 -2.14781348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49864 meters 0.030267532168826775 Centerline is valid? [True, True] Translation: X:35.36, Y:-7.28, Z:-2.15 [[ 9.15806842e-01 3.95112277e-01 7.20008056e-02 3.53629691e+01] [-3.93934979e-01 9.18632727e-01 -3.04818758e-02 -7.28145758e+00] [-7.81860597e-02 -4.48125472e-04 9.96938684e-01 -2.15123652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.528639999999996 meters 0.030086655114824622 Centerline is valid? [True, True] Translation: X:35.39, Y:-7.29, Z:-2.15 [[ 9.16488682e-01 3.93330083e-01 7.30748971e-02 3.53948603e+01] [-3.92110965e-01 9.19397281e-01 -3.09456148e-02 -7.28932368e+00] [-7.93567030e-02 -2.92162702e-04 9.96846241e-01 -2.15153382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55864 meters 0.030318349057665495 Centerline is valid? [True, True] Translation: X:35.43, Y:-7.30, Z:-2.15 [[ 9.17132544e-01 3.91558122e-01 7.44992213e-02 3.54250767e+01] [-3.90284183e-01 9.20153367e-01 -3.15600504e-02 -7.30012528e+00] [-8.09083034e-02 -1.31118401e-04 9.96721540e-01 -2.15434386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58864 meters 0.030235033682681337 Centerline is valid? [True, True] Translation: X:35.46, Y:-7.31, Z:-2.16 [[ 9.17999881e-01 3.89499390e-01 7.46086049e-02 3.54555446e+01] [-3.88213874e-01 9.21026721e-01 -3.16190911e-02 -7.31250149e+00] [-8.10321354e-02 6.22263154e-05 9.96711487e-01 -2.15703748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61864 meters 0.03049665257609525 Centerline is valid? [True, True] Translation: X:35.49, Y:-7.33, Z:-2.16 [[ 9.18927071e-01 3.87311244e-01 7.45857788e-02 3.54860403e+01] [-3.86017952e-01 9.21948983e-01 -3.16261570e-02 -7.32532215e+00] [-8.10134491e-02 2.70682245e-04 9.96712972e-01 -2.15898066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64864 meters 0.03045035050830196 Centerline is valid? [True, True] Translation: X:35.52, Y:-7.34, Z:-2.16 [[ 9.20963340e-01 3.82412843e-01 7.47458638e-02 3.55153985e+01] [-3.81096602e-01 9.23991289e-01 -3.17092629e-02 -7.33780940e+00] [-8.11905565e-02 7.17673961e-04 9.96698339e-01 -2.16136458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67864 meters 0.030786703071760218 Centerline is valid? [True, True] Translation: X:35.54, Y:-7.35, Z:-2.16 [[ 9.21983487e-01 3.79797340e-01 7.55011955e-02 3.55447416e+01] [-3.78444639e-01 9.25069210e-01 -3.20407871e-02 -7.35051878e+00] [-8.20128370e-02 9.68053977e-04 9.96630803e-01 -2.16332953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters 0.030857271148636574 Centerline is valid? [True, True] Translation: X:35.57, Y:-7.37, Z:-2.17 [[ 9.22239048e-01 3.79215154e-01 7.53060810e-02 3.55738959e+01] [-3.77866487e-01 9.25307953e-01 -3.19704451e-02 -7.36625633e+00] [-8.18049930e-02 1.02874849e-03 9.96647824e-01 -2.16503307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73864 meters 0.03060757267834383 Centerline is valid? [True, True] Translation: X:35.60, Y:-7.38, Z:-2.17 [[ 9.22349720e-01 3.79552318e-01 7.21874740e-02 3.56031247e+01] [-3.78313154e-01 9.25169766e-01 -3.06604116e-02 -7.38051126e+00] [-7.84228987e-02 9.70151133e-04 9.96919710e-01 -2.16605143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters 0.030530182024376004 Centerline is valid? [True, True] Translation: X:35.63, Y:-7.40, Z:-2.17 [[ 9.21803800e-01 3.80812183e-01 7.25247212e-02 3.56320129e+01] [-3.79564342e-01 9.24651994e-01 -3.08155829e-02 -7.39637716e+00] [-7.87950775e-02 8.78123407e-04 9.96890448e-01 -2.16856782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79864 meters 0.030186521103520898 Centerline is valid? [True, True] Translation: X:35.66, Y:-7.41, Z:-2.17 [[ 9.21453425e-01 3.82308128e-01 6.90223185e-02 3.56588502e+01] [-3.81181243e-01 9.24034614e-01 -2.93409646e-02 -7.41460358e+00] [-7.49963007e-02 7.26319134e-04 9.97183547e-01 -2.16960289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82864 meters 0.030067686469341326 Centerline is valid? [True, True] Translation: X:35.69, Y:-7.43, Z:-2.17 [[ 9.20825519e-01 3.83658304e-01 6.99047181e-02 3.56880831e+01] [-3.82505382e-01 9.23474906e-01 -2.97275934e-02 -7.43031224e+00] [-7.59604911e-02 6.34995724e-04 9.97110626e-01 -2.17245612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85864 meters 0.030201337267022933 Centerline is valid? [True, True] Translation: X:35.72, Y:-7.45, Z:-2.17 [[ 9.20393232e-01 3.84545261e-01 7.07194442e-02 3.57164135e+01] [-3.83366656e-01 9.23105954e-01 -3.00899509e-02 -7.44770630e+00] [-7.68524880e-02 5.83110310e-04 9.97042304e-01 -2.17446422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters 0.0301612725078598 Centerline is valid? [True, True] Translation: X:35.75, Y:-7.46, Z:-2.18 [[ 9.20389660e-01 3.84556787e-01 7.07032601e-02 3.57457170e+01] [-3.83377541e-01 9.23101144e-01 -3.00988218e-02 -7.46232962e+00] [-7.68409664e-02 5.96602381e-04 9.97043184e-01 -2.17621683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.918639999999996 meters 0.030165515580263296 Centerline is valid? [True, True] Translation: X:35.78, Y:-7.48, Z:-2.18 [[ 9.19683803e-01 3.86181496e-01 7.10320657e-02 3.57753044e+01] [-3.84994358e-01 9.22422690e-01 -3.02609582e-02 -7.47829751e+00] [-7.72078112e-02 4.83568549e-04 9.97014905e-01 -2.17799597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94864 meters 0.03010234847252317 Centerline is valid? [True, True] Translation: X:35.81, Y:-7.49, Z:-2.18 [[ 9.18973064e-01 3.87886532e-01 7.09404363e-02 3.58055871e+01] [-3.86704271e-01 9.21707055e-01 -3.02640376e-02 -7.49153844e+00] [-7.71253132e-02 3.78865594e-04 9.97021335e-01 -2.17979876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97864 meters 0.03008035390067077 Centerline is valid? [True, True] Translation: X:35.84, Y:-7.50, Z:-2.18 [[ 9.18903811e-01 3.88084628e-01 7.07538590e-02 3.58365822e+01] [-3.86905904e-01 9.21623655e-01 -3.02268121e-02 -7.50365510e+00] [-7.69389912e-02 4.00447019e-04 9.97035722e-01 -2.18151703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00864 meters 0.02998113792165994 Centerline is valid? [True, True] Translation: X:35.87, Y:-7.52, Z:-2.18 [[ 9.18708634e-01 3.88703538e-01 6.98856501e-02 3.58655890e+01] [-3.87552312e-01 9.21362802e-01 -2.98963597e-02 -7.51696944e+00] [-7.60108592e-02 3.81698539e-04 9.97106917e-01 -2.18402348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03864 meters 0.030227268496699267 Centerline is valid? [True, True] Translation: X:35.90, Y:-7.53, Z:-2.19 [[ 9.19030952e-01 3.87912806e-01 7.00411644e-02 3.58956632e+01] [-3.86751265e-01 9.21695948e-01 -3.00006323e-02 -7.53051496e+00] [-7.61942869e-02 4.83000763e-04 9.97092873e-01 -2.18676100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters 0.030446966680938752 Centerline is valid? [True, True] Translation: X:35.93, Y:-7.54, Z:-2.19 [[ 9.19448353e-01 3.86647367e-01 7.15439646e-02 3.59255301e+01] [-3.85428262e-01 9.22227415e-01 -3.06863147e-02 -7.54366244e+00] [-7.78445883e-02 6.39415585e-04 9.96965301e-01 -2.18796134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.098639999999996 meters 0.030566782839379223 Centerline is valid? [True, True] Translation: X:35.96, Y:-7.56, Z:-2.19 [[ 9.19859448e-01 3.85392527e-01 7.30150387e-02 3.59557811e+01] [-3.84115698e-01 9.22752386e-01 -3.13554544e-02 -7.55544340e+00] [-7.94589590e-02 7.96388409e-04 9.96837820e-01 -2.19020118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters 0.030413954189898625 Centerline is valid? [True, True] Translation: X:35.98, Y:-7.57, Z:-2.19 [[ 9.20030051e-01 3.85210767e-01 7.18148286e-02 3.59849161e+01] [-3.83972231e-01 9.22828246e-01 -3.08764232e-02 -7.56823333e+00] [-7.81666830e-02 8.32337234e-04 9.96939957e-01 -2.19207471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15864 meters 0.030652467628216083 Centerline is valid? [True, True] Translation: X:36.01, Y:-7.58, Z:-2.19 [[ 9.20297589e-01 3.84449225e-01 7.24647562e-02 3.60146311e+01] [-3.83182824e-01 9.23145660e-01 -3.11931545e-02 -7.58185703e+00] [-7.88877093e-02 9.39734963e-04 9.96883065e-01 -2.19382223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18864 meters 0.03074019078750222 Centerline is valid? [True, True] Translation: X:36.04, Y:-7.59, Z:-2.20 [[ 9.20601727e-01 3.83501174e-01 7.36159590e-02 3.60438616e+01] [-3.82188050e-01 9.23539766e-01 -3.17268883e-02 -7.59487631e+00] [-8.01545645e-02 1.07268831e-03 9.96781869e-01 -2.19529133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21864 meters 0.030764933679381504 Centerline is valid? [True, True] Translation: X:36.07, Y:-7.61, Z:-2.20 [[ 9.20541684e-01 3.83576160e-01 7.39752570e-02 3.60740525e+01] [-3.82247189e-01 9.23508582e-01 -3.19215420e-02 -7.60791247e+00] [-8.05611272e-02 1.10827594e-03 9.96749054e-01 -2.19624663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24864 meters 0.030528002335948507 Centerline is valid? [True, True] Translation: X:36.10, Y:-7.62, Z:-2.20 [[ 9.20396006e-01 3.84183147e-01 7.26257576e-02 3.61029913e+01] [-3.82900963e-01 9.23256279e-01 -3.13798544e-02 -7.62245822e+00] [-7.91077979e-02 1.07342016e-03 9.96865489e-01 -2.19756229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.278639999999996 meters 0.03051877662084511 Centerline is valid? [True, True] Translation: X:36.13, Y:-7.64, Z:-2.20 [[ 9.20185671e-01 3.84642366e-01 7.28600180e-02 3.61330340e+01] [-3.83350226e-01 9.23065057e-01 -3.15199170e-02 -7.63668225e+00] [-7.93784321e-02 1.07327152e-03 9.96843976e-01 -2.19980686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters 0.03069527764220186 Centerline is valid? [True, True] Translation: X:36.16, Y:-7.65, Z:-2.20 [[ 9.20059677e-01 3.84884382e-01 7.31724200e-02 3.61633821e+01] [-3.83578436e-01 9.22964143e-01 -3.16981637e-02 -7.65054741e+00] [-7.97356481e-02 1.09683975e-03 9.96815441e-01 -2.20226084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33864 meters 0.030426087928481428 Centerline is valid? [True, True] Translation: X:36.19, Y:-7.67, Z:-2.20 [[ 9.19518817e-01 3.86045454e-01 7.38515544e-02 3.61924057e+01] [-3.84715336e-01 9.22479167e-01 -3.20358643e-02 -7.66783147e+00] [-8.04938202e-02 1.04575448e-03 9.96754559e-01 -2.20393422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36864 meters 0.030384275653625167 Centerline is valid? [True, True] Translation: X:36.22, Y:-7.68, Z:-2.21 [[ 9.19221649e-01 3.86505309e-01 7.51345940e-02 3.62207273e+01] [-3.85126490e-01 9.22286570e-01 -3.26354111e-02 -7.68270665e+00] [-8.19093866e-02 1.06285398e-03 9.96639214e-01 -2.20691441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39864 meters 0.03024489147589596 Centerline is valid? [True, True] Translation: X:36.25, Y:-7.70, Z:-2.21 [[ 9.18792616e-01 3.87299356e-01 7.62845829e-02 3.62487559e+01] [-3.85877348e-01 9.21953425e-01 -3.31745978e-02 -7.69808138e+00] [-8.31793329e-02 1.04408299e-03 9.96534048e-01 -2.20718405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42864 meters 0.03016259915584601 Centerline is valid? [True, True] Translation: X:36.28, Y:-7.71, Z:-2.21 [[ 9.18458771e-01 3.88167912e-01 7.58891168e-02 3.62790770e+01] [-3.86760218e-01 9.21588127e-01 -3.30432707e-02 -7.71231334e+00] [-8.27648464e-02 9.97990453e-04 9.96568605e-01 -2.20910998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.458639999999995 meters 0.030034382328210325 Centerline is valid? [True, True] Translation: X:36.31, Y:-7.73, Z:-2.21 [[ 9.18142888e-01 3.89189862e-01 7.44640087e-02 3.63082099e+01] [-3.87834564e-01 9.21157093e-01 -3.24647575e-02 -7.72634792e+00] [-8.12280043e-02 9.27569828e-04 9.96695114e-01 -2.21148075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters 0.029919932201135094 Centerline is valid? [True, True] Translation: X:36.34, Y:-7.74, Z:-2.21 [[ 9.17385940e-01 3.90983438e-01 7.43975058e-02 3.63358090e+01] [-3.89633311e-01 9.20397363e-01 -3.24742686e-02 -7.74358601e+00] [-8.11721693e-02 8.03690950e-04 9.96699771e-01 -2.21437149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51864 meters 0.0297024896634534 Centerline is valid? [True, True] Translation: X:36.36, Y:-7.76, Z:-2.22 [[ 9.17271517e-01 3.91412869e-01 7.35454363e-02 3.63648048e+01] [-3.90092400e-01 9.20214838e-01 -3.21336322e-02 -7.75867517e+00] [-8.02551189e-02 7.85749803e-04 9.96774046e-01 -2.21552344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54864 meters 0.02983651497115803 Centerline is valid? [True, True] Translation: X:36.39, Y:-7.77, Z:-2.22 [[ 9.17290973e-01 3.91321603e-01 7.37880342e-02 3.63941281e+01] [-3.89990310e-01 9.20253626e-01 -3.22617859e-02 -7.77350780e+00] [-8.05284398e-02 8.16826666e-04 9.96751977e-01 -2.21798691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57864 meters 0.029653458831226 Centerline is valid? [True, True] Translation: X:36.42, Y:-7.79, Z:-2.22 [[ 9.17630710e-01 3.90680269e-01 7.29575777e-02 3.64218513e+01] [-3.89373303e-01 9.20525997e-01 -3.19424415e-02 -7.79148615e+00] [-7.96386286e-02 9.03632185e-04 9.96823391e-01 -2.21897027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60864 meters 0.029575779625598167 Centerline is valid? [True, True] Translation: X:36.45, Y:-7.81, Z:-2.22 [[ 9.17510829e-01 3.90896914e-01 7.33040274e-02 3.64511187e+01] [-3.89574648e-01 9.20433995e-01 -3.21380653e-02 -7.80589375e+00] [-8.00341893e-02 9.29632258e-04 9.96791686e-01 -2.22089473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.638639999999995 meters 0.029680624387583215 Centerline is valid? [True, True] Translation: X:36.48, Y:-7.82, Z:-2.22 [[ 9.17896282e-01 3.89905011e-01 7.37597350e-02 3.64797338e+01] [-3.88559570e-01 9.20854470e-01 -3.23806470e-02 -7.82148321e+00] [-8.05473582e-02 1.06202459e-03 9.96750217e-01 -2.22431109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters 0.02964522556661193 Centerline is valid? [True, True] Translation: X:36.51, Y:-7.84, Z:-2.23 [[ 9.17686250e-01 3.90496866e-01 7.32403189e-02 3.65091483e+01] [-3.89169067e-01 9.20603670e-01 -3.21919113e-02 -7.83706165e+00] [-7.99961469e-02 1.03920779e-03 9.96794631e-01 -2.22560598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69864 meters 0.029516826317706767 Centerline is valid? [True, True] Translation: X:36.54, Y:-7.85, Z:-2.23 [[ 9.17327197e-01 3.91229959e-01 7.38236594e-02 3.65381275e+01] [-3.89879671e-01 9.20292383e-01 -3.24926446e-02 -7.85237273e+00] [-8.06514475e-02 1.02404257e-03 9.96741840e-01 -2.22775115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72864 meters 0.02940667492300265 Centerline is valid? [True, True] Translation: X:36.57, Y:-7.87, Z:-2.23 [[ 9.16690262e-01 3.92750791e-01 7.36598844e-02 3.65661448e+01] [-3.91407949e-01 9.19644472e-01 -3.24632376e-02 -7.86849966e+00] [-8.04908678e-02 9.27669469e-04 9.96754915e-01 -2.22917956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75864 meters 0.029451260463034586 Centerline is valid? [True, True] Translation: X:36.60, Y:-7.88, Z:-2.23 [[ 9.15943334e-01 3.94348874e-01 7.44094997e-02 3.65959831e+01] [-3.92980445e-01 9.18960430e-01 -3.28344079e-02 -7.88333742e+00] [-8.13275976e-02 8.32978773e-04 9.96687076e-01 -2.23125146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78864 meters 0.02934360477383449 Centerline is valid? [True, True] Translation: X:36.63, Y:-7.90, Z:-2.23 [[ 9.15425348e-01 3.95338472e-01 7.55243341e-02 3.66253670e+01] [-3.93928218e-01 9.18535168e-01 -3.33722008e-02 -7.89785893e+00] [-8.25650718e-02 7.98592180e-04 9.96585356e-01 -2.23334541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.818639999999995 meters 0.029212178739705944 Centerline is valid? [True, True] Translation: X:36.66, Y:-7.91, Z:-2.23 [[ 9.14513262e-01 3.97429083e-01 7.56016993e-02 3.66553269e+01] [-3.96019282e-01 9.17632660e-01 -3.34519000e-02 -7.91291610e+00] [-8.26693464e-02 6.52475491e-04 9.96576818e-01 -2.23499235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.848639999999996 meters 0.029028681305877282 Centerline is valid? [True, True] Translation: X:36.68, Y:-7.93, Z:-2.24 [[ 9.12903888e-01 4.00752544e-01 7.74847703e-02 3.66832120e+01] [-3.99279548e-01 9.16186245e-01 -3.43308391e-02 -7.92956413e+00] [-8.47486518e-02 4.02672458e-04 9.96402280e-01 -2.23716772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87864 meters 0.028978071922853895 Centerline is valid? [True, True] Translation: X:36.71, Y:-7.95, Z:-2.24 [[ 9.10863173e-01 4.05226986e-01 7.82264025e-02 3.67122448e+01] [-4.03738294e-01 9.14216106e-01 -3.47030360e-02 -7.94651795e+00] [-8.55784437e-02 2.67231573e-05 9.96331435e-01 -2.23963477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90864 meters 0.02918495975492012 Centerline is valid? [True, True] Translation: X:36.74, Y:-7.96, Z:-2.24 [[ 9.09169030e-01 4.08707038e-01 7.98137373e-02 3.67409538e+01] [-4.07166383e-01 9.12665595e-01 -3.54548775e-02 -7.96125752e+00] [-8.73339100e-02 -2.62994173e-04 9.96179060e-01 -2.24233858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93864 meters 0.02921885211088246 Centerline is valid? [True, True] Translation: X:36.77, Y:-7.98, Z:-2.24 [[ 9.07722518e-01 4.11822480e-01 8.02625353e-02 3.67692150e+01] [-4.10272744e-01 9.11263940e-01 -3.56974470e-02 -7.97571492e+00] [-8.78413653e-02 -5.26154106e-04 9.96134337e-01 -2.24470495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96864 meters 0.029376291546091327 Centerline is valid? [True, True] Translation: X:36.80, Y:-7.99, Z:-2.25 [[ 9.06518974e-01 4.14495778e-01 8.01036790e-02 3.67987522e+01] [-4.12958615e-01 9.10050932e-01 -3.56718812e-02 -7.99050683e+00] [-8.76842719e-02 -7.42267153e-04 9.96148040e-01 -2.24710051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99864 meters 0.029783529723311053 Centerline is valid? [True, True] Translation: X:36.83, Y:-8.01, Z:-2.25 [[ 9.03724319e-01 4.20578673e-01 7.99745935e-02 3.68269723e+01] [-4.19066003e-01 9.07255160e-01 -3.56617412e-02 -8.00604467e+00] [-8.75559305e-02 -1.28625047e-03 9.96158775e-01 -2.24908745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters 0.0300694194521652 Centerline is valid? [True, True] Translation: X:36.86, Y:-8.02, Z:-2.25 [[ 9.01959269e-01 4.24178865e-01 8.08811926e-02 3.68566016e+01] [-4.22642160e-01 9.05576990e-01 -3.61098212e-02 -8.01872554e+00] [-8.85611699e-02 -1.61421399e-03 9.96069432e-01 -2.25085411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05864 meters 0.030330124503148807 Centerline is valid? [True, True] Translation: X:36.89, Y:-8.03, Z:-2.25 [[ 9.00477179e-01 4.27356044e-01 8.06700762e-02 3.68865768e+01] [-4.25836208e-01 9.04081451e-01 -3.60590357e-02 -8.03048611e+00] [-8.83423664e-02 -1.88190064e-03 9.96088392e-01 -2.25296254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08864 meters 0.031035676998559362 Centerline is valid? [True, True] Translation: X:36.92, Y:-8.04, Z:-2.26 [[ 8.97855963e-01 4.32732640e-01 8.12227265e-02 3.69166816e+01] [-4.31210748e-01 9.01519118e-01 -3.63396664e-02 -8.04139730e+00] [-8.89492006e-02 -2.39632644e-03 9.96033281e-01 -2.25556717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11864 meters 0.03132115761428277 Centerline is valid? [True, True] Translation: X:36.95, Y:-8.05, Z:-2.26 [[ 8.95919629e-01 4.37023176e-01 7.96163371e-02 3.69468683e+01] [-4.35575903e-01 8.99446054e-01 -3.56430582e-02 -8.05181266e+00] [-8.71874428e-02 -2.74564244e-03 9.96188141e-01 -2.25733088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14864 meters 0.0313871552683212 Centerline is valid? [True, True] Translation: X:36.98, Y:-8.06, Z:-2.26 [[ 8.95230207e-01 4.38447264e-01 7.95416482e-02 3.69776481e+01] [-4.37004545e-01 8.98752422e-01 -3.56526490e-02 -8.06210447e+00] [-8.71200553e-02 -2.84273350e-03 9.96193764e-01 -2.25893467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17864 meters 0.031774185540471324 Centerline is valid? [True, True] Translation: X:37.01, Y:-8.07, Z:-2.26 [[ 8.94654234e-01 4.39660651e-01 7.93241053e-02 3.70084975e+01] [-4.38226827e-01 8.98159241e-01 -3.55981230e-02 -8.07148060e+00] [-8.68967721e-02 -2.91393953e-03 9.96213060e-01 -2.26128755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters 0.03176834607674089 Centerline is valid? [True, True] Translation: X:37.04, Y:-8.08, Z:-2.26 [[ 8.93855732e-01 4.41089036e-01 8.03890041e-02 3.70396716e+01] [-4.39618349e-01 8.97458148e-01 -3.61189680e-02 -8.07950890e+00] [-8.80774475e-02 -3.05533467e-03 9.96108944e-01 -2.26241201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23864 meters 0.03199880345663899 Centerline is valid? [True, True] Translation: X:37.07, Y:-8.08, Z:-2.27 [[ 8.93459059e-01 4.42161552e-01 7.88927925e-02 3.70730920e+01] [-4.40746398e-01 8.96930170e-01 -3.54807253e-02 -8.08460581e+00] [-8.64495384e-02 -3.07113877e-03 9.96251497e-01 -2.26560632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26864 meters 0.032144695638394685 Centerline is valid? [True, True] Translation: X:37.10, Y:-8.09, Z:-2.27 [[ 8.92856111e-01 4.43459913e-01 7.84300363e-02 3.71046687e+01] [-4.42063630e-01 8.96288672e-01 -3.53038678e-02 -8.09466707e+00] [-8.59518032e-02 -3.14979240e-03 9.96294317e-01 -2.26685508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29864 meters 0.032144695638394685 Centerline is valid? [True, True] Translation: X:37.13, Y:-8.11, Z:-2.27 [[ 8.92626797e-01 4.43924539e-01 7.84117654e-02 3.71344820e+01] [-4.42526486e-01 8.96058638e-01 -3.53444107e-02 -8.10776033e+00] [-8.59517909e-02 -3.14991482e-03 9.96294318e-01 -2.26877454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32864 meters 0.032169535036973895 Centerline is valid? [True, True] Translation: X:37.17, Y:-8.11, Z:-2.27 [[ 8.92588480e-01 4.44278601e-01 7.68266270e-02 3.71672222e+01] [-4.42934050e-01 8.95883390e-01 -3.46753299e-02 -8.11374054e+00] [-8.42332061e-02 -3.07832909e-03 9.96441313e-01 -2.27142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35864 meters 0.031804497835443174 Centerline is valid? [True, True] Translation: X:37.20, Y:-8.12, Z:-2.27 [[ 8.92804175e-01 4.43955157e-01 7.61874196e-02 3.71983473e+01] [-4.42628294e-01 8.96044032e-01 -3.44279895e-02 -8.12242406e+00] [-8.35517660e-02 -2.98525483e-03 9.96498967e-01 -2.27206092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.388639999999995 meters 0.03191857494334698 Centerline is valid? [True, True] Translation: X:37.23, Y:-8.13, Z:-2.27 [[ 8.93407397e-01 4.42866673e-01 7.54475551e-02 3.72293933e+01] [-4.41558247e-01 8.96583050e-01 -3.41342859e-02 -8.13218255e+00] [-8.27619367e-02 -2.81866669e-03 9.96565360e-01 -2.27384058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.418639999999996 meters 0.03147616725062058 Centerline is valid? [True, True] Translation: X:37.26, Y:-8.14, Z:-2.27 [[ 8.94416369e-01 4.40990162e-01 7.44784276e-02 3.72620056e+01] [-4.39705384e-01 8.97508245e-01 -3.37361204e-02 -8.13878762e+00] [-8.17223000e-02 -2.57442738e-03 9.96651814e-01 -2.27489441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44864 meters 0.03153832635672851 Centerline is valid? [True, True] Translation: X:37.29, Y:-8.15, Z:-2.28 [[ 8.94411869e-01 4.40911356e-01 7.49972315e-02 3.72937737e+01] [-4.39604785e-01 8.97547041e-01 -3.40138608e-02 -8.14908440e+00] [-8.23106407e-02 -2.54674105e-03 9.96603468e-01 -2.27728728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47864 meters 0.031589952525676285 Centerline is valid? [True, True] Translation: X:37.32, Y:-8.16, Z:-2.28 [[ 8.94811655e-01 4.40235267e-01 7.41957712e-02 3.73245091e+01] [-4.38950586e-01 8.97879203e-01 -3.36945078e-02 -8.15961422e+00] [-8.14523505e-02 -2.41803895e-03 9.96674304e-01 -2.27952244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50864 meters 0.03145730247654633 Centerline is valid? [True, True] Translation: X:37.36, Y:-8.17, Z:-2.28 [[ 8.95185069e-01 4.39441302e-01 7.43978182e-02 3.73560588e+01] [-4.38143557e-01 8.98268323e-01 -3.38266756e-02 -8.16776386e+00] [-8.16940417e-02 -2.31578977e-03 9.96654765e-01 -2.28107363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53864 meters 0.03143020563189636 Centerline is valid? [True, True] Translation: X:37.39, Y:-8.18, Z:-2.28 [[ 8.94822163e-01 4.40193582e-01 7.43162705e-02 3.73877526e+01] [-4.38897848e-01 8.97899836e-01 -3.38313943e-02 -8.17876058e+00] [-8.16209297e-02 -2.34416977e-03 9.96660689e-01 -2.28272531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters 0.0314031281465612 Centerline is valid? [True, True] Translation: X:37.42, Y:-8.19, Z:-2.28 [[ 8.95885034e-01 4.38095771e-01 7.39060236e-02 3.74203289e+01] [-4.36804255e-01 8.98925831e-01 -3.36807500e-02 -8.18578103e+00] [-8.11914279e-02 -2.10838565e-03 9.96696296e-01 -2.28292004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.598639999999996 meters 0.03129182710578058 Centerline is valid? [True, True] Translation: X:37.45, Y:-8.20, Z:-2.28 [[ 8.96601512e-01 4.36710205e-01 7.34161196e-02 3.74507491e+01] [-4.35430215e-01 8.99600110e-01 -3.34689279e-02 -8.19576010e+00] [-8.06613716e-02 -1.95930541e-03 9.96739637e-01 -2.28486973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters 0.031244700388207598 Centerline is valid? [True, True] Translation: X:37.48, Y:-8.21, Z:-2.29 [[ 8.97031857e-01 4.36022151e-01 7.22394003e-02 3.74816921e+01] [-4.34779808e-01 8.99934018e-01 -3.29436197e-02 -8.20597487e+00] [-7.93748416e-02 -1.85675628e-03 9.96843111e-01 -2.28686151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65864 meters 0.03136917369721862 Centerline is valid? [True, True] Translation: X:37.51, Y:-8.22, Z:-2.29 [[ 8.97667146e-01 4.34546024e-01 7.32355633e-02 3.75118756e+01] [-4.33263304e-01 9.00647948e-01 -3.34093396e-02 -8.21649780e+00] [-8.04773555e-02 -1.73981557e-03 9.96754919e-01 -2.28936191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68864 meters 0.031247299532059146 Centerline is valid? [True, True] Translation: X:37.54, Y:-8.22, Z:-2.29 [[ 8.99516055e-01 4.30719634e-01 7.31536967e-02 3.75435621e+01] [-4.29426216e-01 9.02484724e-01 -3.33833358e-02 -8.22450622e+00] [-8.03989520e-02 -1.38526867e-03 9.96761802e-01 -2.29132305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71864 meters 0.03105493640411891 Centerline is valid? [True, True] Translation: X:37.57, Y:-8.23, Z:-2.29 [[ 9.00324851e-01 4.29177357e-01 7.22631172e-02 3.75743509e+01] [-4.27909442e-01 9.03219410e-01 -3.29879811e-02 -8.23402098e+00] [-7.94271446e-02 -1.22217100e-03 9.96839924e-01 -2.29255666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74864 meters 0.031024736982988722 Centerline is valid? [True, True] Translation: X:37.61, Y:-8.24, Z:-2.29 [[ 9.01134607e-01 4.27258931e-01 7.35270383e-02 3.76076429e+01] [-4.25938775e-01 9.04128687e-01 -3.35779259e-02 -8.23973791e+00] [-8.08243734e-02 -1.05978561e-03 9.96727795e-01 -2.29452924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.778639999999996 meters 0.0307836921867594 Centerline is valid? [True, True] Translation: X:37.64, Y:-8.25, Z:-2.30 [[ 9.01618380e-01 4.26493711e-01 7.20236917e-02 3.76389947e+01] [-4.25223440e-01 9.04490021e-01 -3.29063485e-02 -8.24922531e+00] [-7.91790611e-02 -9.57193289e-04 9.96859950e-01 -2.29535432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80864 meters 0.030839013975077007 Centerline is valid? [True, True] Translation: X:37.67, Y:-8.26, Z:-2.30 [[ 9.02469988e-01 4.24698592e-01 7.19654534e-02 3.76718020e+01] [-4.23423792e-01 9.05334459e-01 -3.28908614e-02 -8.25586358e+00] [-7.91215074e-02 -7.88869887e-04 9.96864667e-01 -2.29736217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83864 meters 0.030851595744369614 Centerline is valid? [True, True] Translation: X:37.70, Y:-8.27, Z:-2.30 [[ 9.03371161e-01 4.22488073e-01 7.36503524e-02 3.77024291e+01] [-4.21144504e-01 9.06368286e-01 -3.36724865e-02 -8.26675789e+00] [-8.09805676e-02 -5.98687931e-04 9.96715501e-01 -2.30062677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86864 meters 0.03088974337018469 Centerline is valid? [True, True] Translation: X:37.73, Y:-8.28, Z:-2.30 [[ 9.04210444e-01 4.20758269e-01 7.32526554e-02 3.77330118e+01] [-4.19422616e-01 9.07172692e-01 -3.35018842e-02 -8.27830931e+00] [-8.05490034e-02 -4.31066720e-04 9.96750557e-01 -2.30122951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89864 meters 0.031034140209718425 Centerline is valid? [True, True] Translation: X:37.76, Y:-8.29, Z:-2.30 [[ 9.05204757e-01 4.18359830e-01 7.46953847e-02 3.77641195e+01] [-4.16961835e-01 9.08281349e-01 -3.41733839e-02 -8.28786748e+00] [-8.21411958e-02 -2.11214988e-04 9.96620680e-01 -2.30471199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92864 meters 0.030953387295393875 Centerline is valid? [True, True] Translation: X:37.79, Y:-8.30, Z:-2.31 [[ 9.06019995e-01 4.17107642e-01 7.17564220e-02 3.77948612e+01] [-4.15812832e-01 9.08857089e-01 -3.28402239e-02 -8.29926889e+00] [-7.89142412e-02 -8.33415432e-05 9.96881405e-01 -2.30587545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.958639999999995 meters 0.03095655673608274 Centerline is valid? [True, True] Translation: X:37.82, Y:-8.31, Z:-2.31 [[ 9.06955003e-01 4.15345302e-01 7.01491440e-02 3.78243808e+01] [-4.14101798e-01 9.09663825e-01 -3.21158341e-02 -8.31079773e+00] [-7.71512994e-02 7.87297295e-05 9.97019393e-01 -2.30806253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters 0.031077220065102412 Centerline is valid? [True, True] Translation: X:37.85, Y:-8.32, Z:-2.31 [[ 9.08643284e-01 4.11820642e-01 6.90734432e-02 3.78524051e+01] [-4.10604545e-01 9.11264845e-01 -3.16273728e-02 -8.32317316e+00] [-7.59690054e-02 3.76130191e-04 9.97110109e-01 -2.30970688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01864 meters 0.031043310243143152 Centerline is valid? [True, True] Translation: X:37.88, Y:-8.34, Z:-2.31 [[ 9.09421673e-01 4.10066943e-01 6.92627096e-02 3.78800603e+01] [-4.08839079e-01 9.12055276e-01 -3.17140341e-02 -8.33628542e+00] [-7.61762968e-02 5.24127570e-04 9.97094227e-01 -2.31063029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04864 meters 0.031134044441748023 Centerline is valid? [True, True] Translation: X:37.91, Y:-8.35, Z:-2.31 [[ 9.10266294e-01 4.08011600e-01 7.02979923e-02 3.79069300e+01] [-4.06740573e-01 9.12976470e-01 -3.21880698e-02 -8.34982647e+00] [-7.73135187e-02 7.06669312e-04 9.97006580e-01 -2.31184844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07864 meters 0.031279352997854774 Centerline is valid? [True, True] Translation: X:37.94, Y:-8.36, Z:-2.31 [[ 9.10052818e-01 4.08309884e-01 7.13225598e-02 3.79353803e+01] [-4.07002183e-01 9.12843117e-01 -3.26598496e-02 -8.36374572e+00] [-7.84416473e-02 6.93750596e-04 9.96918465e-01 -2.31471958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10864 meters 0.031188813919984897 Centerline is valid? [True, True] Translation: X:37.96, Y:-8.38, Z:-2.32 [[ 9.10047689e-01 4.08520703e-01 7.01714932e-02 3.79634719e+01] [-4.07254758e-01 9.12748805e-01 -3.21431361e-02 -8.37840823e+00] [-7.71800831e-02 6.74112299e-04 9.97016941e-01 -2.31701736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.138639999999995 meters 0.031221309175743107 Centerline is valid? [True, True] Translation: X:37.99, Y:-8.39, Z:-2.32 [[ 9.10058819e-01 4.08532235e-01 6.99596994e-02 3.79916234e+01] [-4.07273153e-01 9.12743639e-01 -3.20566505e-02 -8.39309473e+00] [-7.69514456e-02 6.80730121e-04 9.97034609e-01 -2.32026055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters 0.03114802316466509 Centerline is valid? [True, True] Translation: X:38.02, Y:-8.41, Z:-2.32 [[ 9.09869057e-01 4.09027389e-01 6.95334063e-02 3.80193410e+01] [-4.07784221e-01 9.12521879e-01 -3.18724093e-02 -8.40935127e+00] [-7.64874429e-02 6.45093127e-04 9.97070336e-01 -2.32187388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19864 meters 0.031203841571876837 Centerline is valid? [True, True] Translation: X:38.05, Y:-8.42, Z:-2.32 [[ 9.10021618e-01 4.08732769e-01 6.92688781e-02 3.80489559e+01] [-4.07497259e-01 9.12653857e-01 -3.17635118e-02 -8.42283734e+00] [-7.62012969e-02 6.78604382e-04 9.97092223e-01 -2.32265223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22864 meters 0.031012682245577624 Centerline is valid? [True, True] Translation: X:38.08, Y:-8.44, Z:-2.32 [[ 9.09638838e-01 4.09628734e-01 6.90035192e-02 3.80775792e+01] [-4.08404466e-01 9.12252118e-01 -3.16522478e-02 -8.43691716e+00] [-7.59142768e-02 6.10768468e-04 9.97114161e-01 -2.32340520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25864 meters 0.030689265066181335 Centerline is valid? [True, True] Translation: X:38.11, Y:-8.45, Z:-2.32 [[ 9.08868885e-01 4.11519949e-01 6.78872709e-02 3.81057449e+01] [-4.10339535e-01 9.11400639e-01 -3.11502926e-02 -8.45294699e+00] [-7.46914689e-02 4.54700566e-04 9.97206587e-01 -2.32425042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28864 meters 0.03060212920653095 Centerline is valid? [True, True] Translation: X:38.13, Y:-8.47, Z:-2.33 [[ 9.08535431e-01 4.12173263e-01 6.83854681e-02 3.81347878e+01] [-4.10976499e-01 9.11105389e-01 -3.13892810e-02 -8.46634189e+00] [-7.52441909e-02 4.13453631e-04 9.97165052e-01 -2.32656298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.318639999999995 meters 0.030302948273582243 Centerline is valid? [True, True] Translation: X:38.16, Y:-8.48, Z:-2.33 [[ 9.07737507e-01 4.13727404e-01 6.95862986e-02 3.81648987e+01] [-4.12491913e-01 9.10400761e-01 -3.19511623e-02 -8.47759589e+00] [-7.65704906e-02 2.99483013e-04 9.97064125e-01 -2.32832472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters 0.03025795923713816 Centerline is valid? [True, True] Translation: X:38.19, Y:-8.49, Z:-2.33 [[ 9.07437415e-01 4.14207237e-01 7.06378303e-02 3.81944550e+01] [-4.12934666e-01 9.10182559e-01 -3.24448953e-02 -8.49083176e+00] [-7.77322315e-02 2.72903021e-04 9.96974235e-01 -2.33019306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37864 meters 0.030226118739338528 Centerline is valid? [True, True] Translation: X:38.22, Y:-8.50, Z:-2.33 [[ 9.06986171e-01 4.15092069e-01 7.12366444e-02 3.82230514e+01] [-4.13799709e-01 9.09779386e-01 -3.27302591e-02 -8.50431509e+00] [-7.83957016e-02 2.08189604e-04 9.96922299e-01 -2.33233321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40864 meters 0.03014391880495584 Centerline is valid? [True, True] Translation: X:38.25, Y:-8.52, Z:-2.33 [[ 9.06469941e-01 4.16110047e-01 7.18656713e-02 3.82527167e+01] [-4.14797202e-01 9.09314254e-01 -3.30283037e-02 -8.51565127e+00] [-7.90918883e-02 1.29485102e-04 9.96867321e-01 -2.33444587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43864 meters 0.030289460823376087 Centerline is valid? [True, True] Translation: X:38.28, Y:-8.53, Z:-2.34 [[ 9.06591329e-01 4.15954313e-01 7.12332136e-02 3.82825839e+01] [-4.14663184e-01 9.09385499e-01 -3.27484004e-02 -8.52713465e+00] [-7.84002900e-02 1.51624685e-04 9.96921949e-01 -2.33640099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46864 meters 0.030174223368739345 Centerline is valid? [True, True] Translation: X:38.31, Y:-8.54, Z:-2.34 [[ 9.06733010e-01 4.15620759e-01 7.13767077e-02 3.83121215e+01] [-4.14322523e-01 9.09537986e-01 -3.28252646e-02 -8.53917015e+00] [-7.85626883e-02 1.90773305e-04 9.96909157e-01 -2.33848124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49864 meters 0.030334375201344414 Centerline is valid? [True, True] Translation: X:38.34, Y:-8.55, Z:-2.34 [[ 9.08159963e-01 4.12400058e-01 7.19143463e-02 3.83418350e+01] [-4.11071186e-01 9.11002721e-01 -3.30835521e-02 -8.55138006e+00] [-7.91578240e-02 4.83241761e-04 9.96861979e-01 -2.33915673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters 0.030604443769145593 Centerline is valid? [True, True] Translation: X:38.37, Y:-8.56, Z:-2.34 [[ 9.09544463e-01 4.09562582e-01 7.06212512e-02 3.83716985e+01] [-4.08271759e-01 9.12281734e-01 -3.24993478e-02 -8.56337050e+00] [-7.77369944e-02 7.26939417e-04 9.96973636e-01 -2.34057409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55864 meters 0.031105617180793313 Centerline is valid? [True, True] Translation: X:38.40, Y:-8.57, Z:-2.34 [[ 9.11683996e-01 4.04485698e-01 7.22745597e-02 3.84003636e+01] [-4.03116934e-01 9.14543542e-01 -3.32693238e-02 -8.57498285e+00] [-7.95551974e-02 1.19601112e-03 9.96829745e-01 -2.34227281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58864 meters 0.03150469648220875 Centerline is valid? [True, True] Translation: X:38.43, Y:-8.59, Z:-2.35 [[ 9.12562902e-01 4.02405851e-01 7.27906584e-02 3.84289274e+01] [-4.01010431e-01 9.15460318e-01 -3.35118007e-02 -8.58955703e+00] [-8.01223040e-02 1.39181285e-03 9.96784069e-01 -2.34523021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61864 meters 0.03177904626671921 Centerline is valid? [True, True] Translation: X:38.46, Y:-8.61, Z:-2.35 [[ 9.13320997e-01 4.00588857e-01 7.33029620e-02 3.84566637e+01] [-3.99166961e-01 9.16256566e-01 -3.37585803e-02 -8.60515672e+00] [-8.06876314e-02 1.57229960e-03 9.96738197e-01 -2.34773213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64864 meters 0.03188460527803629 Centerline is valid? [True, True] Translation: X:38.48, Y:-8.62, Z:-2.35 [[ 9.14278744e-01 3.98549124e-01 7.24774070e-02 3.84844872e+01] [-3.97151943e-01 9.17145334e-01 -3.33881890e-02 -8.62030429e+00] [-7.97791491e-02 1.74156845e-03 9.96811042e-01 -2.34994204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67864 meters 0.032376304648923104 Centerline is valid? [True, True] Translation: X:38.51, Y:-8.64, Z:-2.35 [[ 9.15268415e-01 3.96408318e-01 7.17228952e-02 3.85127981e+01] [-3.95032887e-01 9.18072314e-01 -3.30491149e-02 -8.63615456e+00] [-7.89477484e-02 1.91590863e-03 9.96876914e-01 -2.35143707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters 0.032274656841697245 Centerline is valid? [True, True] Translation: X:38.54, Y:-8.65, Z:-2.35 [[ 9.15035537e-01 3.96920372e-01 7.18622611e-02 3.85420237e+01] [-3.95540212e-01 9.17851110e-01 -3.31252314e-02 -8.65292098e+00] [-7.91069353e-02 1.88634990e-03 9.96864351e-01 -2.35190553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73864 meters 0.032180713978855864 Centerline is valid? [True, True] Translation: X:38.57, Y:-8.68, Z:-2.35 [[ 9.14822575e-01 3.97168283e-01 7.31915978e-02 3.85673039e+01] [-3.95736090e-01 9.17743806e-01 -3.37528208e-02 -8.67532347e+00] [-8.05766855e-02 1.91328569e-03 9.96746576e-01 -2.35369160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76864 meters 0.03205489969598012 Centerline is valid? [True, True] Translation: X:38.59, Y:-8.69, Z:-2.36 [[ 9.14268495e-01 3.98440460e-01 7.32005467e-02 3.85939421e+01] [-3.97011118e-01 9.17192411e-01 -3.37676317e-02 -8.69349109e+00] [-8.05933767e-02 1.81125093e-03 9.96745417e-01 -2.35586259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79864 meters 0.03150055901510484 Centerline is valid? [True, True] Translation: X:38.62, Y:-8.71, Z:-2.36 [[ 9.12868688e-01 4.01875185e-01 7.18825098e-02 3.86192923e+01] [-4.00506721e-01 9.15693243e-01 -3.31700434e-02 -8.71445263e+00] [-7.91525458e-02 1.49046566e-03 9.96861401e-01 -2.35910197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82864 meters 0.03097473866634741 Centerline is valid? [True, True] Translation: X:38.65, Y:-8.73, Z:-2.36 [[ 9.11465107e-01 4.05164608e-01 7.12249951e-02 3.86462489e+01] [-4.03830243e-01 9.14242960e-01 -3.28777136e-02 -8.73223779e+00] [-7.84378363e-02 1.20408159e-03 9.96918280e-01 -2.36115124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85864 meters 0.030564549109013982 Centerline is valid? [True, True] Translation: X:38.67, Y:-8.75, Z:-2.36 [[ 9.10232231e-01 4.08136966e-01 7.00107409e-02 3.86733153e+01] [-4.06855603e-01 9.12920220e-01 -3.23294009e-02 -8.74992269e+00] [-7.71090446e-02 9.43000517e-04 9.97022219e-01 -2.36273616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters 0.03053828225679235 Centerline is valid? [True, True] Translation: X:38.70, Y:-8.77, Z:-2.37 [[ 9.09159306e-01 4.10232889e-01 7.16821682e-02 3.87009333e+01] [-4.08895137e-01 9.11980453e-01 -3.31122271e-02 -8.76733768e+00] [-7.89564608e-02 7.93799447e-04 9.96877749e-01 -2.36543336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.918639999999996 meters 0.030402322882603243 Centerline is valid? [True, True] Translation: X:38.73, Y:-8.79, Z:-2.37 [[ 9.06950793e-01 4.14696976e-01 7.39369876e-02 3.87284142e+01] [-4.13286673e-01 9.09959464e-01 -3.41745378e-02 -8.78679670e+00] [-8.14517391e-02 4.37452559e-04 9.96677191e-01 -2.36758462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94864 meters 0.030160295686622488 Centerline is valid? [True, True] Translation: X:38.76, Y:-8.80, Z:-2.37 [[ 9.06484349e-01 4.16012781e-01 7.22460452e-02 3.87569137e+01] [-4.14667560e-01 9.09358701e-01 -3.34300458e-02 -8.80311708e+00] [-7.96048962e-02 3.45722012e-04 9.96826435e-01 -2.36815447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97864 meters 0.030102887157911346 Centerline is valid? [True, True] Translation: X:38.78, Y:-8.82, Z:-2.37 [[ 9.05399690e-01 4.18420210e-01 7.19439347e-02 3.87842589e+01] [-4.17091691e-01 9.08253546e-01 -3.33169332e-02 -8.82284790e+00] [-7.92838119e-02 1.57923588e-04 9.96852071e-01 -2.37106032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00864 meters 0.0301198149652555 Centerline is valid? [True, True] Translation: X:38.81, Y:-8.84, Z:-2.37 [[ 9.04889234e-01 4.19533158e-01 7.18846576e-02 3.88135222e+01] [-4.18206814e-01 9.07740006e-01 -3.33337903e-02 -8.83858471e+00] [-7.92372099e-02 1.00734310e-04 9.96855784e-01 -2.37291777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03864 meters 0.030113728347306867 Centerline is valid? [True, True] Translation: X:38.84, Y:-8.86, Z:-2.37 [[ 9.02930141e-01 4.23281834e-01 7.44959711e-02 3.88410824e+01] [-4.21866130e-01 9.05998042e-01 -3.45907122e-02 -8.85514940e+00] [-8.21348240e-02 -1.94330373e-04 9.96621208e-01 -2.37433744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters 0.03000180511978511 Centerline is valid? [True, True] Translation: X:38.87, Y:-8.87, Z:-2.38 [[ 9.02038433e-01 4.25380808e-01 7.33337083e-02 3.88702007e+01] [-4.24012709e-01 9.05014392e-01 -3.40906528e-02 -8.86897394e+00] [-8.08695708e-02 -3.43345255e-04 9.96724633e-01 -2.37536038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.098639999999996 meters 0.029851803892660237 Centerline is valid? [True, True] Translation: X:38.90, Y:-8.88, Z:-2.38 [[ 9.00977632e-01 4.27652010e-01 7.31646386e-02 3.88996549e+01] [-4.26294317e-01 9.03943306e-01 -3.40537062e-02 -8.88314413e+00] [-8.06998212e-02 -5.08042026e-04 9.96738321e-01 -2.37702682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters 0.02987430353414032 Centerline is valid? [True, True] Translation: X:38.93, Y:-8.90, Z:-2.38 [[ 9.00046902e-01 4.29890925e-01 7.14798350e-02 3.89288607e+01] [-4.28598814e-01 9.02880593e-01 -3.33120392e-02 -8.89754949e+00] [-7.88582992e-02 -6.53774832e-04 9.96885621e-01 -2.37857547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15864 meters 0.030025561008492026 Centerline is valid? [True, True] Translation: X:38.96, Y:-8.91, Z:-2.38 [[ 8.98588301e-01 4.32658479e-01 7.31143351e-02 3.89573330e+01] [-4.31312340e-01 9.01557467e-01 -3.41145052e-02 -8.91364984e+00] [-8.06767047e-02 -8.80219722e-04 9.96739933e-01 -2.38092389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18864 meters 0.030025561008492026 Centerline is valid? [True, True] Translation: X:38.99, Y:-8.93, Z:-2.38 [[ 8.98362854e-01 4.33129116e-01 7.30982268e-02 3.89869632e+01] [-4.31781727e-01 9.01331452e-01 -3.41489919e-02 -8.92712226e+00] [-8.06766536e-02 -8.84292795e-04 9.96739934e-01 -2.38284252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21864 meters 0.03018011401546901 Centerline is valid? [True, True] Translation: X:39.02, Y:-8.94, Z:-2.39 [[ 8.98490855e-01 4.32832310e-01 7.32828476e-02 3.90163505e+01] [-4.31473314e-01 9.01474084e-01 -3.42820041e-02 -8.94190697e+00] [-8.09009469e-02 -8.17525972e-04 9.96721811e-01 -2.38636491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24864 meters 0.030123543192803966 Centerline is valid? [True, True] Translation: X:39.05, Y:-8.96, Z:-2.39 [[ 8.99322847e-01 4.30865375e-01 7.46555115e-02 3.90458432e+01] [-4.29444159e-01 9.02416011e-01 -3.49722268e-02 -8.95712907e+00] [-8.24386505e-02 -6.09050778e-04 9.96595955e-01 -2.38818226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.278639999999996 meters 0.03004265552316405 Centerline is valid? [True, True] Translation: X:39.08, Y:-8.97, Z:-2.39 [[ 8.99783731e-01 4.29938427e-01 7.44458568e-02 3.90754593e+01] [-4.28518181e-01 9.02858083e-01 -3.49206251e-02 -8.97153954e+00] [-8.22277622e-02 -4.80392821e-04 9.96613448e-01 -2.38979247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters 0.02992294818309075 Centerline is valid? [True, True] Translation: X:39.10, Y:-8.99, Z:-2.39 [[ 9.00379585e-01 4.28794904e-01 7.38344994e-02 3.91040387e+01] [-4.27390885e-01 9.03401802e-01 -3.46729721e-02 -8.98590541e+00] [-8.15698136e-02 -3.37355842e-04 9.96667573e-01 -2.39071406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33864 meters 0.030049860268342974 Centerline is valid? [True, True] Translation: X:39.13, Y:-9.00, Z:-2.39 [[ 9.01169833e-01 4.27013905e-01 7.45121304e-02 3.91336248e+01] [-4.25575420e-01 9.04245046e-01 -3.50208468e-02 -9.00073885e+00] [-8.23316133e-02 -1.50800539e-04 9.96604978e-01 -2.39349833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36864 meters 0.030225996450249225 Centerline is valid? [True, True] Translation: X:39.16, Y:-9.02, Z:-2.40 [[ 9.02403253e-01 4.24369495e-01 7.46920468e-02 3.91620681e+01] [-4.22911034e-01 9.05489102e-01 -3.51531354e-02 -9.01679343e+00] [-8.25507527e-02 1.34212981e-04 9.96586853e-01 -2.39595444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39864 meters 0.030217766703802943 Centerline is valid? [True, True] Translation: X:39.19, Y:-9.03, Z:-2.40 [[ 9.02372830e-01 4.24504188e-01 7.42931347e-02 3.91909772e+01] [-4.23057890e-01 9.05425959e-01 -3.50122046e-02 -9.03188762e+00] [-8.21297602e-02 1.63765407e-04 9.96621631e-01 -2.39724476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42864 meters 0.030219002063860727 Centerline is valid? [True, True] Translation: X:39.22, Y:-9.05, Z:-2.40 [[ 9.02306562e-01 4.24591110e-01 7.46006490e-02 3.92185262e+01] [-4.23129976e-01 9.05385196e-01 -3.51947505e-02 -9.04824912e+00] [-8.24857014e-02 1.90683525e-04 9.96592230e-01 -2.39850522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.458639999999995 meters 0.03026292325161772 Centerline is valid? [True, True] Translation: X:39.25, Y:-9.06, Z:-2.40 [[ 9.01926218e-01 4.25312027e-01 7.50917896e-02 3.92473580e+01] [-4.23832036e-01 9.05046771e-01 -3.54506338e-02 -9.06362377e+00] [-8.30391626e-02 1.47550037e-04 9.96546274e-01 -2.40145617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48864 meters 0.030036704010353858 Centerline is valid? [True, True] Translation: X:39.27, Y:-9.08, Z:-2.40 [[ 9.01742103e-01 4.25986789e-01 7.34604388e-02 3.92749188e+01] [-4.24569160e-01 9.04729374e-01 -3.47244486e-02 -9.08043870e+00] [-8.12539732e-02 1.23460495e-04 9.96693422e-01 -2.40368917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51864 meters 0.030008546234880404 Centerline is valid? [True, True] Translation: X:39.30, Y:-9.10, Z:-2.41 [[ 9.01188926e-01 4.27201900e-01 7.31919133e-02 3.93037192e+01] [-4.25795257e-01 9.04156255e-01 -3.46390670e-02 -9.09602206e+00] [-8.09748015e-02 5.15740830e-05 9.96716148e-01 -2.40548895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54864 meters 0.029947190459666092 Centerline is valid? [True, True] Translation: X:39.33, Y:-9.11, Z:-2.41 [[ 9.00935547e-01 4.27784101e-01 7.29102398e-02 3.93330274e+01] [-4.26386504e-01 9.03880944e-01 -3.45512398e-02 -9.11240198e+00] [-8.06826475e-02 4.04978649e-05 9.96739840e-01 -2.40638814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57864 meters 0.03005448969792373 Centerline is valid? [True, True] Translation: X:39.36, Y:-9.13, Z:-2.41 [[ 9.00205073e-01 4.29248754e-01 7.33234867e-02 3.93603379e+01] [-4.27836322e-01 9.03186307e-01 -3.47933493e-02 -9.13137591e+00] [-8.11597710e-02 -4.93012396e-05 9.96701103e-01 -2.40770511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60864 meters 0.02995798728564848 Centerline is valid? [True, True] Translation: X:39.39, Y:-9.15, Z:-2.41 [[ 8.99619659e-01 4.30412170e-01 7.36873965e-02 3.93898332e+01] [-4.28985718e-01 9.02632456e-01 -3.50128886e-02 -9.14715400e+00] [-8.15826090e-02 -1.12557828e-04 9.96666577e-01 -2.40969193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.638639999999995 meters 0.029680439086747844 Centerline is valid? [True, True] Translation: X:39.42, Y:-9.16, Z:-2.41 [[ 8.99348588e-01 4.31290177e-01 7.18394039e-02 3.94190297e+01] [-4.29933845e-01 9.02213257e-01 -3.41778881e-02 -9.16165655e+00] [-7.95550500e-02 -1.48355685e-04 9.96830463e-01 -2.41030525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters 0.029731371366000556 Centerline is valid? [True, True] Translation: X:39.45, Y:-9.18, Z:-2.41 [[ 8.98827983e-01 4.32312840e-01 7.22071037e-02 3.94484238e+01] [-4.30942505e-01 9.01723665e-01 -3.43946224e-02 -9.17665345e+00] [-7.99800911e-02 -2.02261041e-04 9.96796441e-01 -2.41262163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69864 meters 0.030017089653372065 Centerline is valid? [True, True] Translation: X:39.48, Y:-9.19, Z:-2.42 [[ 8.98559296e-01 4.32737799e-01 7.30012885e-02 3.94773841e+01] [-4.31334683e-01 9.01519804e-01 -3.48200251e-02 -9.19161649e+00] [-8.08800484e-02 -2.00130386e-04 9.96723822e-01 -2.41581182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72864 meters 0.02989380851302727 Centerline is valid? [True, True] Translation: X:39.51, Y:-9.21, Z:-2.42 [[ 8.98606465e-01 4.32565569e-01 7.34401030e-02 3.95060253e+01] [-4.31141089e-01 9.01602467e-01 -3.50763924e-02 -9.20747932e+00] [-8.13866176e-02 -1.43172970e-04 9.96682596e-01 -2.41730615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75864 meters 0.02988775003816854 Centerline is valid? [True, True] Translation: X:39.54, Y:-9.22, Z:-2.42 [[ 8.98722392e-01 4.32290015e-01 7.36437730e-02 3.95361993e+01] [-4.30852815e-01 9.01734627e-01 -3.52209357e-02 -9.22078377e+00] [-8.16327990e-02 -7.57833420e-05 9.96662471e-01 -2.41866483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78864 meters 0.02998949618190484 Centerline is valid? [True, True] Translation: X:39.57, Y:-9.23, Z:-2.42 [[ 8.98836817e-01 4.32180318e-01 7.28872388e-02 3.95653306e+01] [-4.30768575e-01 9.01787210e-01 -3.49036169e-02 -9.23398257e+00] [-8.08134360e-02 -2.48760449e-05 9.96729245e-01 -2.41896187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.818639999999995 meters 0.029929577810359154 Centerline is valid? [True, True] Translation: X:39.59, Y:-9.25, Z:-2.42 [[ 8.98664856e-01 4.32760199e-01 7.15547840e-02 3.95944163e+01] [-4.31398414e-01 9.01509073e-01 -3.43045195e-02 -9.24794912e+00] [-7.93529176e-02 -4.03542429e-05 9.96846584e-01 -2.42145756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.848639999999996 meters 0.029722455951706292 Centerline is valid? [True, True] Translation: X:39.62, Y:-9.26, Z:-2.42 [[ 8.98153226e-01 4.33735340e-01 7.20724466e-02 3.96249446e+01] [-4.32353534e-01 9.01040313e-01 -3.45944416e-02 -9.26185064e+00] [-7.99450118e-02 -8.96676833e-05 9.96799271e-01 -2.42266283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87864 meters 0.029694528226312144 Centerline is valid? [True, True] Translation: X:39.65, Y:-9.28, Z:-2.42 [[ 8.97366855e-01 4.35265621e-01 7.26399853e-02 3.96537300e+01] [-4.33863864e-01 9.00302062e-01 -3.49048113e-02 -9.27526927e+00] [-8.05907928e-02 -1.93443911e-04 9.96747253e-01 -2.42420466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90864 meters 0.029743579276116632 Centerline is valid? [True, True] Translation: X:39.68, Y:-9.29, Z:-2.42 [[ 8.96528409e-01 4.36980033e-01 7.26998063e-02 3.96839997e+01] [-4.35579709e-01 8.99471147e-01 -3.49567407e-02 -9.28815361e+00] [-8.06667758e-02 -3.26849271e-04 9.96741072e-01 -2.42479401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93864 meters 0.029795278757136456 Centerline is valid? [True, True] Translation: X:39.72, Y:-9.30, Z:-2.43 [[ 8.95257212e-01 4.39568117e-01 7.27625922e-02 3.97152167e+01] [-4.38170089e-01 8.98209108e-01 -3.50338639e-02 -9.29982807e+00] [-8.07557926e-02 -5.18072175e-04 9.96733783e-01 -2.42660940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96864 meters 0.02979054111516549 Centerline is valid? [True, True] Translation: X:39.74, Y:-9.31, Z:-2.43 [[ 8.94435310e-01 4.41050620e-01 7.38906406e-02 3.97447522e+01] [-4.39610068e-01 8.97482014e-01 -3.56233366e-02 -9.31254245e+00] [-8.20272156e-02 -6.20299403e-04 9.96629897e-01 -2.42940050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99864 meters 0.02966960703440353 Centerline is valid? [True, True] Translation: X:39.77, Y:-9.32, Z:-2.43 [[ 8.94298061e-01 4.41470193e-01 7.30414074e-02 3.97745772e+01] [-4.40060731e-01 8.97275705e-01 -3.52542537e-02 -9.32448540e+00] [-8.11019825e-02 -6.14844463e-04 9.96705619e-01 -2.43135867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters 0.02970063411358289 Centerline is valid? [True, True] Translation: X:39.80, Y:-9.34, Z:-2.43 [[ 8.93841290e-01 4.42285726e-01 7.36958950e-02 3.98042297e+01] [-4.40850088e-01 8.96873963e-01 -3.56131164e-02 -9.33862846e+00] [-8.18471024e-02 -6.56367909e-04 9.96644681e-01 -2.43313671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05864 meters 0.02968158435703459 Centerline is valid? [True, True] Translation: X:39.83, Y:-9.35, Z:-2.43 [[ 8.93537055e-01 4.42814648e-01 7.42072678e-02 3.98342440e+01] [-4.41356876e-01 8.96612928e-01 -3.59077381e-02 -9.35267589e+00] [-8.24356680e-02 -6.66993268e-04 9.96596165e-01 -2.43493192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08864 meters 0.02970651129275711 Centerline is valid? [True, True] Translation: X:39.87, Y:-9.37, Z:-2.44 [[ 8.93032398e-01 4.43938449e-01 7.35648697e-02 3.98651053e+01] [-4.42505828e-01 8.96056992e-01 -3.56435093e-02 -9.36528749e+00] [-8.17418400e-02 -7.22075025e-04 9.96653275e-01 -2.43558468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11864 meters 0.029633360022605474 Centerline is valid? [True, True] Translation: X:39.89, Y:-9.38, Z:-2.44 [[ 8.92099069e-01 4.45614878e-01 7.47437715e-02 3.98944658e+01] [-4.44138557e-01 8.95224357e-01 -3.62531803e-02 -9.37818129e+00] [-8.30674013e-02 -8.55162375e-04 9.96543564e-01 -2.43778879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14864 meters 0.029763425802331843 Centerline is valid? [True, True] Translation: X:39.92, Y:-9.39, Z:-2.44 [[ 8.91610384e-01 4.46772811e-01 7.36544543e-02 3.99241795e+01] [-4.45341397e-01 8.94646965e-01 -3.57470018e-02 -9.39171009e+00] [-8.18655225e-02 -9.28979611e-04 9.96642952e-01 -2.43996181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17864 meters 0.030131218260394596 Centerline is valid? [True, True] Translation: X:39.95, Y:-9.41, Z:-2.44 [[ 8.89742816e-01 4.49888830e-01 7.71865466e-02 3.99526614e+01] [-4.48324461e-01 8.93083712e-01 -3.75054727e-02 -9.40557125e+00] [-8.58073408e-02 -1.23439206e-03 9.96310984e-01 -2.44233908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters 0.030135053548285315 Centerline is valid? [True, True] Translation: X:39.98, Y:-9.42, Z:-2.44 [[ 8.88818475e-01 4.51744279e-01 7.69988701e-02 3.99830558e+01] [-4.50190760e-01 8.92146415e-01 -3.74573557e-02 -9.41887719e+00] [-8.56154121e-02 -1.37139013e-03 9.96327316e-01 -2.44403961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23864 meters 0.030280184332410063 Centerline is valid? [True, True] Translation: X:40.01, Y:-9.43, Z:-2.45 [[ 8.87409184e-01 4.54643454e-01 7.61857618e-02 4.00129931e+01] [-4.53129332e-01 8.90672103e-01 -3.71081205e-02 -9.43032540e+00] [-8.47274968e-02 -1.59191648e-03 9.96402889e-01 -2.44604087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26864 meters 0.030239405836879785 Centerline is valid? [True, True] Translation: X:40.04, Y:-9.44, Z:-2.45 [[ 8.87308935e-01 4.55001132e-01 7.52118616e-02 4.00433507e+01] [-4.53524010e-01 8.90489466e-01 -3.66672025e-02 -9.44231047e+00] [-8.36589891e-02 -1.57524870e-03 9.96493197e-01 -2.44792674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29864 meters 0.030027497530230946 Centerline is valid? [True, True] Translation: X:40.07, Y:-9.45, Z:-2.45 [[ 8.87325903e-01 4.55220965e-01 7.36655625e-02 4.00734268e+01] [-4.53802999e-01 8.90377162e-01 -3.59353197e-02 -9.45333200e+00] [-8.19486454e-02 -1.54331320e-03 9.96635358e-01 -2.44821684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32864 meters 0.030122126438736564 Centerline is valid? [True, True] Translation: X:40.11, Y:-9.46, Z:-2.45 [[ 8.86875608e-01 4.56132868e-01 7.34470115e-02 4.01058690e+01] [-4.54722906e-01 8.89910275e-01 -3.58717396e-02 -9.46210663e+00] [-8.17235296e-02 -1.58426767e-03 9.96653779e-01 -2.45041456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35864 meters 0.029981727382030043 Centerline is valid? [True, True] Translation: X:40.14, Y:-9.47, Z:-2.45 [[ 8.86900803e-01 4.56248124e-01 7.24197168e-02 4.01358337e+01] [-4.54874143e-01 8.89851281e-01 -3.54148586e-02 -9.47323600e+00] [-8.06007405e-02 -1.53239006e-03 9.96745290e-01 -2.45219728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters 0.029847865609875148 Centerline is valid? [True, True] Translation: X:40.17, Y:-9.48, Z:-2.45 [[ 8.87308143e-01 4.55521250e-01 7.20045170e-02 4.01674253e+01] [-4.54157373e-01 8.90223775e-01 -3.52521111e-02 -9.48207001e+00] [-8.01582186e-02 -1.42189706e-03 9.96781139e-01 -2.45366400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.418639999999996 meters 0.029741394431282056 Centerline is valid? [True, True] Translation: X:40.20, Y:-9.49, Z:-2.45 [[ 8.87688224e-01 4.54728210e-01 7.23316827e-02 4.01986452e+01] [-4.53345857e-01 8.90629281e-01 -3.54544456e-02 -9.49265943e+00] [-8.05428511e-02 -1.31877481e-03 9.96750275e-01 -2.45494083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44864 meters 0.029772244359104492 Centerline is valid? [True, True] Translation: X:40.23, Y:-9.50, Z:-2.46 [[ 8.88348400e-01 4.53637585e-01 7.10637779e-02 4.02298845e+01] [-4.52296390e-01 8.91185501e-01 -3.48766225e-02 -9.50245319e+00] [-7.91523554e-02 -1.15929840e-03 9.96861856e-01 -2.45640073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47864 meters 0.02972921972983891 Centerline is valid? [True, True] Translation: X:40.26, Y:-9.51, Z:-2.46 [[ 8.88681001e-01 4.52846728e-01 7.19438574e-02 4.02629141e+01] [-4.51466054e-01 8.91587745e-01 -3.53510169e-02 -9.50928202e+00] [-8.01528540e-02 -1.06443227e-03 9.96782016e-01 -2.45915614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50864 meters 0.029535633560613915 Centerline is valid? [True, True] Translation: X:40.29, Y:-9.52, Z:-2.46 [[ 8.88882764e-01 4.52642386e-01 7.07269550e-02 4.02933473e+01] [-4.51304529e-01 8.91691584e-01 -3.47899619e-02 -9.52009997e+00] [-7.88140418e-02 -9.95197651e-04 9.96888839e-01 -2.46117939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53864 meters 0.029418062635816877 Centerline is valid? [True, True] Translation: X:40.32, Y:-9.53, Z:-2.46 [[ 8.89275631e-01 4.51892163e-01 7.05855861e-02 4.03238012e+01] [-4.50556254e-01 8.92072102e-01 -3.47336461e-02 -9.53060194e+00] [-7.86632947e-02 -9.14992245e-04 9.96900822e-01 -2.46326885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.568639999999995 meters 0.029391068865226085 Centerline is valid? [True, True] Translation: X:40.36, Y:-9.54, Z:-2.47 [[ 8.90424677e-01 4.49573653e-01 7.09043354e-02 4.03570192e+01] [-4.48217382e-01 8.93242988e-01 -3.49018884e-02 -9.53694991e+00] [-7.90257699e-02 -7.03052877e-04 9.96872326e-01 -2.46516197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.598639999999996 meters 0.029245082383376815 Centerline is valid? [True, True] Translation: X:40.39, Y:-9.55, Z:-2.47 [[ 8.91641789e-01 4.47386178e-01 6.94300220e-02 4.03879746e+01] [-4.46078329e-01 8.94340746e-01 -3.41870618e-02 -9.54778296e+00] [-7.73889165e-02 -4.88615185e-04 9.97000861e-01 -2.46636903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62864 meters 0.029151783501982106 Centerline is valid? [True, True] Translation: X:40.42, Y:-9.56, Z:-2.47 [[ 8.93747644e-01 4.43308197e-01 6.85054068e-02 4.04192818e+01] [-4.42022183e-01 8.96369247e-01 -3.37425895e-02 -9.55675474e+00] [-7.63645064e-02 -1.23549649e-04 9.97079960e-01 -2.46825998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65864 meters 0.029110819493025186 Centerline is valid? [True, True] Translation: X:40.45, Y:-9.57, Z:-2.47 [[ 8.94269073e-01 4.42091957e-01 6.95523323e-02 4.04493450e+01] [-4.40761725e-01 8.96969733e-01 -3.42695266e-02 -9.56806854e+00] [-7.75366190e-02 -9.82821370e-06 9.96989505e-01 -2.47061326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68864 meters 0.029010050366694105 Centerline is valid? [True, True] Translation: X:40.48, Y:-9.58, Z:-2.47 [[ 8.94701456e-01 4.41387164e-01 6.84593102e-02 4.04797613e+01] [-4.40095592e-01 8.97316760e-01 -3.37416919e-02 -9.57987411e+00] [-7.63228361e-02 6.01001618e-05 9.97083157e-01 -2.47148016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71864 meters 0.028905091140197032 Centerline is valid? [True, True] Translation: X:40.51, Y:-9.59, Z:-2.47 [[ 8.94873392e-01 4.41029488e-01 6.85171724e-02 4.05099906e+01] [-4.39733753e-01 8.97492607e-01 -3.37823270e-02 -9.59322513e+00] [-7.63926580e-02 1.01592137e-04 9.97077806e-01 -2.47339852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74864 meters 0.0287419542873475 Centerline is valid? [True, True] Translation: X:40.54, Y:-9.61, Z:-2.48 [[ 8.94590109e-01 4.41626308e-01 6.83720718e-02 4.05395047e+01] [-4.40336651e-01 8.97199086e-01 -3.37258632e-02 -9.60690880e+00] [-7.62375888e-02 6.40945159e-05 9.97089678e-01 -2.47506353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.778639999999996 meters 0.02879232209275021 Centerline is valid? [True, True] Translation: X:40.57, Y:-9.62, Z:-2.48 [[ 8.94413370e-01 4.41897361e-01 6.89307368e-02 4.05686506e+01] [-4.40586467e-01 8.97065616e-01 -3.40124242e-02 -9.62076959e+00] [-7.68653944e-02 5.12170931e-05 9.97041478e-01 -2.47700294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters 0.028898058845659456 Centerline is valid? [True, True] Translation: X:40.60, Y:-9.63, Z:-2.48 [[ 8.93466541e-01 4.43414486e-01 7.14222173e-02 4.05985208e+01] [-4.42010868e-01 8.96316679e-01 -3.52534246e-02 -9.63344452e+00] [-7.96488038e-02 -7.16408749e-05 9.96822985e-01 -2.48010097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83864 meters 0.02905725358007152 Centerline is valid? [True, True] Translation: X:40.63, Y:-9.65, Z:-2.48 [[ 8.93223584e-01 4.43656205e-01 7.29438243e-02 4.06272166e+01] [-4.42191894e-01 8.96197057e-01 -3.60161713e-02 -9.64720289e+00] [-8.13508385e-02 -8.46741451e-05 9.96685524e-01 -2.48278382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86864 meters 0.02886668162689478 Centerline is valid? [True, True] Translation: X:40.66, Y:-9.66, Z:-2.48 [[ 8.93355244e-01 4.43657059e-01 7.13079382e-02 4.06563608e+01] [-4.42256917e-01 8.96196635e-01 -3.52194675e-02 -9.66125942e+00] [-7.95312996e-02 -7.29328669e-05 9.96832367e-01 -2.48481885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89864 meters 0.02889569516565623 Centerline is valid? [True, True] Translation: X:40.69, Y:-9.67, Z:-2.49 [[ 8.92435424e-01 4.45486265e-01 7.14212979e-02 4.06864791e+01] [-4.44086478e-01 8.95288745e-01 -3.52882794e-02 -9.67438376e+00] [-7.96631280e-02 -2.24722093e-04 9.96821817e-01 -2.48626076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92864 meters 0.028928650052598617 Centerline is valid? [True, True] Translation: X:40.72, Y:-9.69, Z:-2.49 [[ 8.91413985e-01 4.47238330e-01 7.32050772e-02 4.07160278e+01] [-4.45772195e-01 8.94414744e-01 -3.61858399e-02 -9.68707747e+00] [-8.16593950e-02 -3.76224206e-04 9.96660224e-01 -2.48784307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.958639999999995 meters 0.02901120849456824 Centerline is valid? [True, True] Translation: X:40.75, Y:-9.70, Z:-2.49 [[ 8.91019984e-01 4.48219519e-01 7.19906349e-02 4.07454534e+01] [-4.46803997e-01 8.93923409e-01 -3.55967173e-02 -9.69955919e+00] [-8.03092573e-02 -4.48316956e-04 9.96769894e-01 -2.48974067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters 0.02907396664831539 Centerline is valid? [True, True] Translation: X:40.77, Y:-9.71, Z:-2.49 [[ 8.89936657e-01 4.50209887e-01 7.29644090e-02 4.07746259e+01] [-4.48761471e-01 8.92922542e-01 -3.60898345e-02 -9.71353200e+00] [-8.13995659e-02 -6.25948877e-04 9.96681353e-01 -2.49214895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01864 meters 0.02913982921358649 Centerline is valid? [True, True] Translation: X:40.80, Y:-9.73, Z:-2.49 [[ 8.89276219e-01 4.52044154e-01 6.95980543e-02 4.08041502e+01] [-4.50731279e-01 8.91995249e-01 -3.44353057e-02 -9.72712458e+00] [-7.76474124e-02 -7.47521608e-04 9.96980602e-01 -2.49292336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04864 meters 0.02919089109013536 Centerline is valid? [True, True] Translation: X:40.83, Y:-9.74, Z:-2.50 [[ 8.89080491e-01 4.52257027e-01 7.07068758e-02 4.08328483e+01] [-4.50901704e-01 8.91887320e-01 -3.49951710e-02 -9.74041716e+00] [-7.88893780e-02 -7.68327024e-04 9.96883080e-01 -2.49578132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07864 meters 0.029279724907054022 Centerline is valid? [True, True] Translation: X:40.86, Y:-9.75, Z:-2.50 [[ 8.89372189e-01 4.51784261e-01 7.00577712e-02 4.08619337e+01] [-4.50451417e-01 8.92126940e-01 -3.46849231e-02 -9.75346924e+00] [-7.81705274e-02 -7.09816363e-04 9.96939750e-01 -2.49703588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10864 meters 0.029306855808033154 Centerline is valid? [True, True] Translation: X:40.89, Y:-9.77, Z:-2.50 [[ 8.89422103e-01 4.51718991e-01 6.98446547e-02 4.08902698e+01] [-4.50393189e-01 8.92160005e-01 -3.45904762e-02 -9.76840484e+00] [-7.79377825e-02 -6.92022678e-04 9.96957985e-01 -2.49963683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.138639999999995 meters 0.029306855808033154 Centerline is valid? [True, True] Translation: X:40.92, Y:-9.78, Z:-2.50 [[ 8.89365036e-01 4.51832020e-01 6.98402327e-02 4.09186492e+01] [-4.50505865e-01 8.92102767e-01 -3.45994025e-02 -9.78241260e+00] [-7.79377827e-02 -6.91935604e-04 9.96957985e-01 -2.50150465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters 0.029297666101790434 Centerline is valid? [True, True] Translation: X:40.95, Y:-9.80, Z:-2.50 [[ 8.88721053e-01 4.53175527e-01 6.93313251e-02 4.09471782e+01] [-4.51871891e-01 8.91420951e-01 -3.43581597e-02 -9.79825870e+00] [-7.73736729e-02 -7.94057122e-04 9.97001848e-01 -2.50282641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19864 meters 0.029426546270963704 Centerline is valid? [True, True] Translation: X:40.98, Y:-9.81, Z:-2.51 [[ 8.88213560e-01 4.54134888e-01 6.95569867e-02 4.09762300e+01] [-4.52824819e-01 8.90932514e-01 -3.44809867e-02 -9.81261131e+00] [-7.76296001e-02 -8.70649893e-04 9.96981889e-01 -2.50514354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22864 meters 0.029505487696521566 Centerline is valid? [True, True] Translation: X:41.00, Y:-9.83, Z:-2.51 [[ 8.87259793e-01 4.55896256e-01 7.02044467e-02 4.10049426e+01] [-4.54566265e-01 8.90032333e-01 -3.48131609e-02 -9.82617324e+00] [-7.83554173e-02 -1.02425518e-03 9.96924962e-01 -2.50646766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25864 meters 0.029818161556791623 Centerline is valid? [True, True] Translation: X:41.03, Y:-9.84, Z:-2.51 [[ 8.84682875e-01 4.60516910e-01 7.25285174e-02 4.10341244e+01] [-4.59111763e-01 8.87649714e-01 -3.59774217e-02 -9.83944379e+00] [-8.09481288e-02 -1.47008664e-03 9.96717231e-01 -2.50853080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28864 meters 0.029876038462061914 Centerline is valid? [True, True] Translation: X:41.06, Y:-9.85, Z:-2.51 [[ 8.83535803e-01 4.62968900e-01 7.08821682e-02 4.10625756e+01] [-4.61633900e-01 8.86372996e-01 -3.51717887e-02 -9.85335885e+00] [-7.91114841e-02 -1.64607720e-03 9.96864416e-01 -2.51034475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.318639999999995 meters 0.030066159737069536 Centerline is valid? [True, True] Translation: X:41.09, Y:-9.87, Z:-2.51 [[ 8.82866315e-01 4.64134576e-01 7.15972375e-02 4.10915105e+01] [-4.62775368e-01 8.85762951e-01 -3.55380666e-02 -9.86727623e+00] [-7.99126258e-02 -1.75807601e-03 9.96800322e-01 -2.51320771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters 0.03018942146319543 Centerline is valid? [True, True] Translation: X:41.12, Y:-9.88, Z:-2.51 [[ 8.82504201e-01 4.64874932e-01 7.12575103e-02 4.11207944e+01] [-4.63530115e-01 8.85374516e-01 -3.53807573e-02 -9.88033356e+00] [-7.95372108e-02 -1.80633499e-03 9.96830261e-01 -2.51482910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37864 meters 0.030088477187454818 Centerline is valid? [True, True] Translation: X:41.15, Y:-9.89, Z:-2.52 [[ 8.82795868e-01 4.64370450e-01 7.09333533e-02 4.11503545e+01] [-4.63035455e-01 8.85639341e-01 -3.52295998e-02 -9.89034585e+00] [-7.91809534e-02 -1.74411237e-03 9.96858734e-01 -2.51619557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40864 meters 0.02987967047372249 Centerline is valid? [True, True] Translation: X:41.18, Y:-9.90, Z:-2.52 [[ 8.83467933e-01 4.63196179e-01 7.02403740e-02 4.11784801e+01] [-4.61883147e-01 8.86254297e-01 -3.48895477e-02 -9.90187921e+00] [-7.84115384e-02 -1.61904838e-03 9.96919761e-01 -2.51787508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43864 meters 0.030003280474977752 Centerline is valid? [True, True] Translation: X:41.21, Y:-9.91, Z:-2.52 [[ 8.83505691e-01 4.63198698e-01 6.97471176e-02 4.12066668e+01] [-4.61904075e-01 8.86253001e-01 -3.46445391e-02 -9.91444218e+00] [-7.78608977e-02 -1.60783039e-03 9.96962936e-01 -2.52030291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46864 meters 0.03005437495084751 Centerline is valid? [True, True] Translation: X:41.24, Y:-9.92, Z:-2.52 [[ 8.83802307e-01 4.62622633e-01 6.98124719e-02 4.12351449e+01] [-4.61323891e-01 8.86553928e-01 -3.46756586e-02 -9.92316912e+00] [-7.79342656e-02 -1.55973407e-03 9.96957280e-01 -2.52126088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49864 meters 0.030326145230506783 Centerline is valid? [True, True] Translation: X:41.26, Y:-9.94, Z:-2.52 [[ 8.83994075e-01 4.62149852e-01 7.05123399e-02 4.12614888e+01] [-4.60824518e-01 8.86800499e-01 -3.50091357e-02 -9.93520330e+00] [-7.87098451e-02 -1.54594652e-03 9.96896369e-01 -2.52387894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters 0.029984319797891398 Centerline is valid? [True, True] Translation: X:41.29, Y:-9.95, Z:-2.53 [[ 8.84698008e-01 4.60749983e-01 7.08441074e-02 4.12889050e+01] [-4.59410120e-01 8.87528779e-01 -3.51426877e-02 -9.94616154e+00] [-7.90681769e-02 -1.45583404e-03 9.96868148e-01 -2.52501764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55864 meters 0.029990768976930638 Centerline is valid? [True, True] Translation: X:41.32, Y:-9.96, Z:-2.53 [[ 8.84877837e-01 4.60179801e-01 7.22894494e-02 4.13151378e+01] [-4.58783939e-01 8.87824564e-01 -3.58446619e-02 -9.95781027e+00] [-8.06753383e-02 -1.44709148e-03 9.96739382e-01 -2.52776953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58864 meters 0.03011471153237285 Centerline is valid? [True, True] Translation: X:41.34, Y:-9.97, Z:-2.53 [[ 8.85677058e-01 4.58628841e-01 7.23583828e-02 4.13422236e+01] [-4.57227637e-01 8.88626921e-01 -3.58480571e-02 -9.96929377e+00] [-8.07405599e-02 -1.33445062e-03 9.96734258e-01 -2.53033220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61864 meters 0.029870225568762426 Centerline is valid? [True, True] Translation: X:41.37, Y:-9.98, Z:-2.53 [[ 8.87767612e-01 4.54289321e-01 7.40937247e-02 4.13698935e+01] [-4.52806194e-01 8.90853669e-01 -3.66918372e-02 -9.97873408e+00] [-8.26753763e-02 -9.76272790e-04 9.96576053e-01 -2.53281123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64864 meters 0.02985964456779885 Centerline is valid? [True, True] Translation: X:41.40, Y:-9.99, Z:-2.53 [[ 8.89244788e-01 4.51664891e-01 7.24053464e-02 4.13970335e+01] [-4.50242414e-01 8.92187355e-01 -3.58258656e-02 -9.99022651e+00] [-8.07804202e-02 -7.41993720e-04 9.96731646e-01 -2.53445085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67864 meters 0.02959815286219834 Centerline is valid? [True, True] Translation: X:41.42, Y:-10.00, Z:-2.54 [[ 8.90336196e-01 4.49821754e-01 7.04403831e-02 4.14230025e+01] [-4.48470865e-01 8.93118169e-01 -3.48399137e-02 -1.00019205e+01] [-7.85833370e-02 -5.71223331e-04 9.96907384e-01 -2.53518194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters 0.029563780313809677 Centerline is valid? [True, True] Translation: X:41.45, Y:-10.01, Z:-2.54 [[ 8.91987495e-01 4.46703701e-01 6.93838062e-02 4.14504396e+01] [-4.45386586e-01 8.94681897e-01 -3.42796044e-02 -1.00118123e+01] [-7.73892615e-02 -3.25638099e-04 9.97000901e-01 -2.53635034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73864 meters 0.02969586679245799 Centerline is valid? [True, True] Translation: X:41.48, Y:-10.02, Z:-2.54 [[ 8.92847545e-01 4.44885199e-01 7.00030147e-02 4.14759931e+01] [-4.43542014e-01 8.95587582e-01 -3.45451009e-02 -1.00227584e+01] [-7.80624348e-02 -2.05769641e-04 9.96948451e-01 -2.53823866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76864 meters 0.0295837347761894 Centerline is valid? [True, True] Translation: X:41.50, Y:-10.03, Z:-2.54 [[ 8.94344529e-01 4.41962627e-01 6.94038921e-02 4.15013190e+01] [-4.40636947e-01 8.97033464e-01 -3.42059137e-02 -1.00334178e+01] [-7.73753493e-02 9.95265637e-06 9.97002034e-01 -2.54013499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79864 meters 0.029593338477998696 Centerline is valid? [True, True] Translation: X:41.53, Y:-10.05, Z:-2.54 [[ 8.95545835e-01 4.39552824e-01 6.92168468e-02 4.15267405e+01] [-4.38230449e-01 8.98216724e-01 -3.40703851e-02 -1.00458721e+01] [-7.71474634e-02 1.78661659e-04 9.97019677e-01 -2.54130228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82864 meters 0.0296406350291812 Centerline is valid? [True, True] Translation: X:41.55, Y:-10.06, Z:-2.54 [[ 8.96181402e-01 4.38271467e-01 6.91159621e-02 4.15517527e+01] [-4.36952499e-01 8.98842622e-01 -3.39772576e-02 -1.00579850e+01] [-7.70156351e-02 2.49394003e-04 9.97029854e-01 -2.54217636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85864 meters 0.02963147226672937 Centerline is valid? [True, True] Translation: X:41.58, Y:-10.07, Z:-2.54 [[ 8.97038817e-01 4.36504596e-01 6.91744106e-02 4.15773999e+01] [-4.35181461e-01 8.99701954e-01 -3.39630623e-02 -1.00699288e+01] [-7.70613852e-02 3.62764150e-04 9.97026284e-01 -2.54363861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters 0.029755472727982905 Centerline is valid? [True, True] Translation: X:41.60, Y:-10.08, Z:-2.55 [[ 8.98403398e-01 4.33710142e-01 6.90423573e-02 4.16022956e+01] [-4.32387113e-01 9.01052271e-01 -3.38554073e-02 -1.00821634e+01] [-7.68942064e-02 5.62787393e-04 9.97039099e-01 -2.54561488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.918639999999996 meters 0.029853412911159637 Centerline is valid? [True, True] Translation: X:41.63, Y:-10.10, Z:-2.55 [[ 8.99112116e-01 4.32402632e-01 6.80100536e-02 4.16269226e+01] [-4.31118333e-01 9.01680415e-01 -3.33078396e-02 -1.00961414e+01] [-7.57257309e-02 6.27101197e-04 9.97128487e-01 -2.54680488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94864 meters 0.030167837390698518 Centerline is valid? [True, True] Translation: X:41.65, Y:-10.11, Z:-2.55 [[ 8.99969211e-01 4.30272805e-01 7.01479323e-02 4.16523534e+01] [-4.28903222e-01 9.02698556e-01 -3.43124329e-02 -1.01097596e+01] [-7.80861440e-02 7.93459024e-04 9.96946300e-01 -2.54959626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97864 meters 0.03022076583321801 Centerline is valid? [True, True] Translation: X:41.68, Y:-10.12, Z:-2.55 [[ 9.01320133e-01 4.27651966e-01 6.88172465e-02 4.16767130e+01] [-4.26329167e-01 9.03942952e-01 -3.36241063e-02 -1.01226826e+01] [-7.65862801e-02 9.67284553e-04 9.97062489e-01 -2.55100427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00864 meters 0.03042985943082491 Centerline is valid? [True, True] Translation: X:41.70, Y:-10.14, Z:-2.55 [[ 9.02188661e-01 4.25786329e-01 6.90045091e-02 4.17019549e+01] [-4.24453999e-01 9.04823082e-01 -3.36748067e-02 -1.01360362e+01] [-7.67751450e-02 1.09178892e-03 9.97047835e-01 -2.55308092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03864 meters 0.03032644620093594 Centerline is valid? [True, True] Translation: X:41.73, Y:-10.15, Z:-2.56 [[ 9.02522565e-01 4.25190590e-01 6.83079949e-02 4.17250429e+01] [-4.23886173e-01 9.05103175e-01 -3.32979707e-02 -1.01520139e+01] [-7.59837669e-02 1.09735538e-03 9.97108451e-01 -2.55574916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters 0.030204185295121526 Centerline is valid? [True, True] Translation: X:41.75, Y:-10.17, Z:-2.56 [[ 9.02408031e-01 4.25312661e-01 6.90571175e-02 4.17498611e+01] [-4.23982930e-01 9.05045862e-01 -3.36223494e-02 -1.01670640e+01] [-7.67998694e-02 1.06203911e-03 9.97045963e-01 -2.55700699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.098639999999996 meters 0.030220028796155825 Centerline is valid? [True, True] Translation: X:41.77, Y:-10.18, Z:-2.56 [[ 9.02214489e-01 4.25749507e-01 6.88939311e-02 4.17748641e+01] [-4.24430124e-01 9.04840526e-01 -3.35065933e-02 -1.01816125e+01] [-7.66034364e-02 9.89474266e-04 9.97061149e-01 -2.55822506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12864 meters 0.029899015979392186 Centerline is valid? [True, True] Translation: X:41.80, Y:-10.20, Z:-2.56 [[ 9.00455582e-01 4.29518697e-01 6.85086377e-02 4.18003593e+01] [-4.28227074e-01 9.03057739e-01 -3.32910446e-02 -1.01994358e+01] [-7.61663816e-02 6.39853516e-04 9.97094917e-01 -2.56087395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15864 meters 0.02979218820945201 Centerline is valid? [True, True] Translation: X:41.83, Y:-10.22, Z:-2.56 [[ 8.99345647e-01 4.31698938e-01 6.93789151e-02 4.18268019e+01] [-4.30380710e-01 9.02017635e-01 -3.37139467e-02 -1.02151691e+01] [-7.71352799e-02 4.61144438e-04 9.97020529e-01 -2.56343257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18864 meters 0.029763186299113134 Centerline is valid? [True, True] Translation: X:41.85, Y:-10.23, Z:-2.56 [[ 8.98232982e-01 4.34146463e-01 6.85153958e-02 4.18530121e+01] [-4.32867994e-01 9.00842266e-01 -3.32943286e-02 -1.02303101e+01] [-7.61761794e-02 2.47942147e-04 9.97094343e-01 -2.56429190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21864 meters 0.02966334814133891 Centerline is valid? [True, True] Translation: X:41.88, Y:-10.25, Z:-2.56 [[ 8.96237375e-01 4.38043520e-01 6.98315241e-02 4.18795418e+01] [-4.36727173e-01 8.98953763e-01 -3.39338872e-02 -1.02458162e+01] [-7.76398307e-02 -8.45061433e-05 9.96981469e-01 -2.56458609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters 0.02961558976799286 Centerline is valid? [True, True] Translation: X:41.91, Y:-10.26, Z:-2.57 [[ 8.95400246e-01 4.39712885e-01 7.00783658e-02 4.19071554e+01] [-4.38392199e-01 8.98138367e-01 -3.40551535e-02 -1.02607858e+01] [-7.79145588e-02 -2.28816058e-04 9.96960014e-01 -2.56644451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.278639999999996 meters 0.029536770066963765 Centerline is valid? [True, True] Translation: X:41.93, Y:-10.28, Z:-2.57 [[ 8.94818690e-01 4.40869780e-01 7.02378051e-02 4.19346646e+01] [-4.39546199e-01 8.97571017e-01 -3.41380655e-02 -1.02756663e+01] [-7.80938596e-02 -3.25381188e-04 9.96945958e-01 -2.56790345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30864 meters 0.029463403259900336 Centerline is valid? [True, True] Translation: X:41.96, Y:-10.29, Z:-2.57 [[ 8.94515374e-01 4.41418916e-01 7.06511560e-02 4.19619474e+01] [-4.40080964e-01 8.97301066e-01 -3.43444546e-02 -1.02903500e+01] [-7.85556495e-02 -3.70586216e-04 9.96909661e-01 -2.56943699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33864 meters 0.029573805647644398 Centerline is valid? [True, True] Translation: X:41.99, Y:-10.30, Z:-2.57 [[ 8.94158093e-01 4.42111880e-01 7.08406013e-02 4.19904327e+01] [-4.40768468e-01 8.96959811e-01 -3.44420530e-02 -1.03036312e+01] [-7.87684132e-02 -4.27662869e-04 9.96892850e-01 -2.57032134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36864 meters 0.029427991591760554 Centerline is valid? [True, True] Translation: X:42.02, Y:-10.32, Z:-2.57 [[ 8.93714203e-01 4.42827071e-01 7.19660223e-02 4.20188836e+01] [-4.41442427e-01 8.96606905e-01 -3.49948875e-02 -1.03168919e+01] [-8.00219160e-02 -4.93427579e-04 9.96792982e-01 -2.57264863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39864 meters 0.029508706524327452 Centerline is valid? [True, True] Translation: X:42.05, Y:-10.33, Z:-2.57 [[ 8.92289622e-01 4.45619885e-01 7.24026811e-02 4.20488187e+01] [-4.44226945e-01 8.95221966e-01 -3.52143872e-02 -1.03300127e+01] [-8.05087016e-02 -7.41789582e-04 9.96753630e-01 -2.57329235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42864 meters 0.029514596198091696 Centerline is valid? [True, True] Translation: X:42.08, Y:-10.34, Z:-2.57 [[ 8.91635375e-01 4.46958788e-01 7.22094227e-02 4.20771077e+01] [-4.45576883e-01 8.94554144e-01 -3.51301112e-02 -1.03425167e+01] [-8.02969502e-02 -8.51599649e-04 9.96770623e-01 -2.57448942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.458639999999995 meters 0.02963996281061322 Centerline is valid? [True, True] Translation: X:42.11, Y:-10.35, Z:-2.58 [[ 8.90555239e-01 4.49051050e-01 7.25570207e-02 4.21052216e+01] [-4.47662376e-01 8.93505495e-01 -3.53033670e-02 -1.03542372e+01] [-8.06831107e-02 -1.04144986e-03 9.96739259e-01 -2.57684845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters 0.029978754835611892 Centerline is valid? [True, True] Translation: X:42.13, Y:-10.36, Z:-2.58 [[ 8.89369167e-01 4.51414505e-01 7.24391381e-02 4.21337106e+01] [-4.50038160e-01 8.92313495e-01 -3.52460100e-02 -1.03646126e+01] [-8.05489807e-02 -1.25366189e-03 9.96749863e-01 -2.57870297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51864 meters 0.029871009196465893 Centerline is valid? [True, True] Translation: X:42.16, Y:-10.38, Z:-2.58 [[ 8.89177194e-01 4.51950233e-01 7.14486170e-02 4.21610175e+01] [-4.50613166e-01 8.92042227e-01 -3.47626325e-02 -1.03757331e+01] [-7.94461633e-02 -1.28554754e-03 9.96838329e-01 -2.57943576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54864 meters 0.029907946572699604 Centerline is valid? [True, True] Translation: X:42.19, Y:-10.39, Z:-2.58 [[ 8.88965187e-01 4.52312350e-01 7.17943877e-02 4.21877694e+01] [-4.50964621e-01 8.91858593e-01 -3.49164799e-02 -1.03859149e+01] [-7.98235966e-02 -1.33719379e-03 9.96808109e-01 -2.58041747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57864 meters 0.02979695693044559 Centerline is valid? [True, True] Translation: X:42.22, Y:-10.39, Z:-2.58 [[ 8.88890046e-01 4.52938152e-01 6.87132996e-02 4.22173811e+01] [-4.51708417e-01 8.91540894e-01 -3.33817350e-02 -1.03908021e+01] [-7.63805779e-02 -1.36568390e-03 9.97077801e-01 -2.58057241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60864 meters 0.029954512832833482 Centerline is valid? [True, True] Translation: X:42.24, Y:-10.40, Z:-2.58 [[ 8.88738784e-01 4.53160401e-01 6.92027769e-02 4.22445986e+01] [-4.51916670e-01 8.91427849e-01 -3.35814445e-02 -1.03994506e+01] [-7.69070634e-02 -1.42875635e-03 9.97037242e-01 -2.58298255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.638639999999995 meters 0.02962935284699915 Centerline is valid? [True, True] Translation: X:42.27, Y:-10.40, Z:-2.58 [[ 8.89399959e-01 4.52070785e-01 6.78212253e-02 4.22740374e+01] [-4.50875875e-01 8.91981059e-01 -3.28745477e-02 -1.04034179e+01] [-7.53568709e-02 -1.34033297e-03 9.97155728e-01 -2.58434443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters 0.029654261773334585 Centerline is valid? [True, True] Translation: X:42.30, Y:-10.41, Z:-2.59 [[ 8.90029147e-01 4.50882006e-01 6.74798744e-02 4.23013493e+01] [-4.49698448e-01 8.92582665e-01 -3.26724994e-02 -1.04119765e+01] [-7.49628082e-02 -1.26611802e-03 9.97185527e-01 -2.58576081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69864 meters 0.029479663743171933 Centerline is valid? [True, True] Translation: X:42.33, Y:-10.42, Z:-2.59 [[ 8.91282598e-01 4.48251371e-01 6.84546467e-02 4.23293651e+01] [-4.47028452e-01 8.93906881e-01 -3.31066601e-02 -1.04201651e+01] [-7.60321856e-02 -1.09378468e-03 9.97104764e-01 -2.58787882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72864 meters 0.02926171985786477 Centerline is valid? [True, True] Translation: X:42.36, Y:-10.42, Z:-2.59 [[ 8.93642604e-01 4.43317625e-01 6.98024369e-02 4.23587331e+01] [-4.42033959e-01 8.96364303e-01 -3.37196694e-02 -1.04245937e+01] [-7.75169364e-02 -7.21714423e-04 9.96990774e-01 -2.59134386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75864 meters 0.02903741434815205 Centerline is valid? [True, True] Translation: X:42.39, Y:-10.43, Z:-2.59 [[ 8.95506413e-01 4.39810035e-01 6.80837551e-02 4.23867259e+01] [-4.38581508e-01 8.98090719e-01 -3.28530251e-02 -1.04330155e+01] [-7.55944787e-02 -4.40181313e-04 9.97138547e-01 -2.59124994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78864 meters 0.028976182561849067 Centerline is valid? [True, True] Translation: X:42.41, Y:-10.44, Z:-2.59 [[ 8.96989804e-01 4.36781307e-01 6.80542551e-02 4.24142847e+01] [-4.35548027e-01 8.99567697e-01 -3.28005243e-02 -1.04405475e+01] [-7.55460654e-02 -2.19160663e-04 9.97142289e-01 -2.59226849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.818639999999995 meters 0.028917458335945237 Centerline is valid? [True, True] Translation: X:42.44, Y:-10.45, Z:-2.59 [[ 9.00312201e-01 4.30264959e-01 6.56506433e-02 4.24436949e+01] [-4.29102829e-01 9.02702601e-01 -3.16034241e-02 -1.04455864e+01] [-7.28608525e-02 2.82071524e-04 9.97342076e-01 -2.59380977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters 0.02903552766333046 Centerline is valid? [True, True] Translation: X:42.47, Y:-10.46, Z:-2.60 [[ 9.02038202e-01 4.26769117e-01 6.47703904e-02 4.24697145e+01] [-4.25631506e-01 9.04360462e-01 -3.11444420e-02 -1.04558702e+01] [-7.18672662e-02 5.25157615e-04 9.97414067e-01 -2.59524455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87864 meters 0.029170327406046054 Centerline is valid? [True, True] Translation: X:42.50, Y:-10.47, Z:-2.60 [[ 9.03867424e-01 4.22884172e-01 6.47507335e-02 4.24959574e+01] [-4.21739782e-01 9.06183388e-01 -3.11002023e-02 -1.04664957e+01] [-7.18278223e-02 8.02499476e-04 9.97416723e-01 -2.59719658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90864 meters 0.030483866257935154 Centerline is valid? [True, True] Translation: X:42.52, Y:-10.48, Z:-2.60 [[ 9.07793254e-01 4.14154876e-01 6.62355450e-02 4.25230445e+01] [-4.12934887e-01 9.10205160e-01 -3.18016565e-02 -1.04768994e+01] [-7.34587459e-02 1.51836190e-03 9.97297101e-01 -2.59971149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93864 meters 0.03130526022190955 Centerline is valid? [True, True] Translation: X:42.55, Y:-10.49, Z:-2.60 [[ 9.09897480e-01 4.09223318e-01 6.79915549e-02 4.25498602e+01] [-4.07924455e-01 9.12432150e-01 -3.26375579e-02 -1.04890351e+01] [-7.53937304e-02 1.96141372e-03 9.97151913e-01 -2.60123516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96864 meters 0.03217524889357888 Centerline is valid? [True, True] Translation: X:42.58, Y:-10.50, Z:-2.60 [[ 9.12021277e-01 4.04561823e-01 6.74308649e-02 4.25758394e+01] [-4.03272417e-01 9.14507715e-01 -3.23573475e-02 -1.05008692e+01] [-7.47565936e-02 2.31758151e-03 9.97199118e-01 -2.60226336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.998639999999995 meters 0.03217524889357888 Centerline is valid? [True, True] Translation: X:42.60, Y:-10.51, Z:-2.60 [[ 9.12209653e-01 4.04134604e-01 6.74445762e-02 4.26003207e+01] [-4.02846145e-01 9.14696581e-01 -3.23287461e-02 -1.05129897e+01] [-7.47564883e-02 2.32080672e-03 9.97199118e-01 -2.60388397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters 0.033238054430931134 Centerline is valid? [True, True] Translation: X:42.63, Y:-10.53, Z:-2.61 [[ 9.14608482e-01 3.98820907e-01 6.65823435e-02 4.26260687e+01] [-3.97553456e-01 9.17024885e-01 -3.18843349e-02 -1.05272436e+01] [-7.37738052e-02 2.69164244e-03 9.97271368e-01 -2.60510719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05864 meters 0.03329734803660022 Centerline is valid? [True, True] Translation: X:42.65, Y:-10.54, Z:-2.61 [[ 9.15295574e-01 3.97244866e-01 6.65622180e-02 4.26504354e+01] [-3.95974478e-01 9.17708346e-01 -3.18685625e-02 -1.05419193e+01] [-7.37443258e-02 2.81221467e-03 9.97273215e-01 -2.60673261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08864 meters 0.03346139957087029 Centerline is valid? [True, True] Translation: X:42.67, Y:-10.56, Z:-2.61 [[ 9.15928693e-01 3.96019332e-01 6.51407494e-02 4.26747134e+01] [-3.94800704e-01 9.18237798e-01 -3.11729131e-02 -1.05570148e+01] [-7.21597745e-02 2.83455190e-03 9.97389058e-01 -2.60814789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11864 meters 0.033536458896764924 Centerline is valid? [True, True] Translation: X:42.70, Y:-10.57, Z:-2.61 [[ 9.15925926e-01 3.95911351e-01 6.58323650e-02 4.26981387e+01] [-3.94668868e-01 9.18284337e-01 -3.14699955e-02 -1.05721757e+01] [-7.29121581e-02 2.84219982e-03 9.97334317e-01 -2.61029343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14864 meters 0.03240690288032435 Centerline is valid? [True, True] Translation: X:42.72, Y:-10.59, Z:-2.61 [[ 9.14943058e-01 3.98141850e-01 6.60474587e-02 4.27205640e+01] [-3.96899668e-01 9.17320063e-01 -3.15365769e-02 -1.05920247e+01] [-7.31426901e-02 2.63995767e-03 9.97317992e-01 -2.61160441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17864 meters 0.03230418517701063 Centerline is valid? [True, True] Translation: X:42.74, Y:-10.61, Z:-2.61 [[ 9.14717702e-01 3.98696333e-01 6.58236978e-02 4.27445253e+01] [-3.97466257e-01 9.17079434e-01 -3.13988140e-02 -1.06075330e+01] [-7.28841516e-02 2.55835220e-03 9.97337132e-01 -2.61291528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.208639999999995 meters 0.03135405043609373 Centerline is valid? [True, True] Translation: X:42.77, Y:-10.63, Z:-2.61 [[ 9.13604106e-01 4.01251496e-01 6.57630091e-02 4.27665274e+01] [-4.00032705e-01 9.15964980e-01 -3.13367216e-02 -1.06275425e+01] [-7.28105198e-02 2.32200311e-03 9.97343089e-01 -2.61348048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23864 meters 0.031280579396688546 Centerline is valid? [True, True] Translation: X:42.79, Y:-10.64, Z:-2.62 [[ 9.13482981e-01 4.01448960e-01 6.62387814e-02 4.27894840e+01] [-4.00215481e-01 9.15878530e-01 -3.15291468e-02 -1.06429247e+01] [-7.33240209e-02 2.29155324e-03 9.97305538e-01 -2.61620454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26864 meters 0.0307494812443055 Centerline is valid? [True, True] Translation: X:42.81, Y:-10.66, Z:-2.62 [[ 9.12741655e-01 4.03007331e-01 6.69907596e-02 4.28135093e+01] [-4.01752647e-01 9.15194210e-01 -3.18491608e-02 -1.06600149e+01] [-7.41450006e-02 2.15634070e-03 9.97245140e-01 -2.61813641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29864 meters 0.029842941123424293 Centerline is valid? [True, True] Translation: X:42.84, Y:-10.68, Z:-2.62 [[ 9.11471250e-01 4.05864063e-01 6.70411961e-02 4.28359339e+01] [-4.04617670e-01 9.13931492e-01 -3.18397490e-02 -1.06792221e+01] [-7.41936702e-02 1.89496325e-03 9.97242051e-01 -2.61904242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32864 meters 0.029576455934751576 Centerline is valid? [True, True] Translation: X:42.86, Y:-10.69, Z:-2.62 [[ 9.10694520e-01 4.07459698e-01 6.79123389e-02 4.28608014e+01] [-4.06187573e-01 9.13221498e-01 -3.22203446e-02 -1.06935266e+01] [-7.51474997e-02 1.75774312e-03 9.97170880e-01 -2.62091081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35864 meters 0.028700299647624123 Centerline is valid? [True, True] Translation: X:42.89, Y:-10.71, Z:-2.62 [[ 9.08545879e-01 4.12149273e-01 6.83912427e-02 4.28859082e+01] [-4.10875045e-01 9.11115339e-01 -3.24119893e-02 -1.07068615e+01] [-7.56708881e-02 1.34752440e-03 9.97131938e-01 -2.62260680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters 0.028397506599852896 Centerline is valid? [True, True] Translation: X:42.91, Y:-10.72, Z:-2.62 [[ 9.07591274e-01 4.13960620e-01 7.01048167e-02 4.29112645e+01] [-4.12629985e-01 9.10294010e-01 -3.31860093e-02 -1.07191065e+01] [-7.75536957e-02 1.19198306e-03 9.96987464e-01 -2.62495907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.418639999999996 meters 0.02826589517135436 Centerline is valid? [True, True] Translation: X:42.94, Y:-10.73, Z:-2.63 [[ 9.06305870e-01 4.16440995e-01 7.20178331e-02 4.29362083e+01] [-4.15047925e-01 9.09162231e-01 -3.40478638e-02 -1.07315639e+01] [-7.96548201e-02 9.66926622e-04 9.96822038e-01 -2.62770201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44864 meters 0.028020958242231577 Centerline is valid? [True, True] Translation: X:42.96, Y:-10.74, Z:-2.63 [[ 9.05400331e-01 4.18378516e-01 7.21779618e-02 4.29624061e+01] [-4.16988672e-01 9.08272447e-01 -3.40823774e-02 -1.07444267e+01] [-7.98165885e-02 7.60803304e-04 9.96809276e-01 -2.62958407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47864 meters 0.027871077635792635 Centerline is valid? [True, True] Translation: X:42.99, Y:-10.76, Z:-2.63 [[ 9.04376179e-01 4.20737011e-01 7.13028290e-02 4.29887054e+01] [-4.19390788e-01 9.07182508e-01 -3.36342691e-02 -1.07560587e+01] [-7.88358611e-02 5.14282109e-04 9.96887477e-01 -2.63224888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50864 meters 0.027948942525730873 Centerline is valid? [True, True] Translation: X:43.01, Y:-10.77, Z:-2.63 [[ 9.04345343e-01 4.20671259e-01 7.20776826e-02 4.30148674e+01] [-4.19298413e-01 9.07213013e-01 -3.39615989e-02 -1.07669880e+01] [-7.96764802e-02 4.90955922e-04 9.96820655e-01 -2.63446400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53864 meters 0.02787170493418157 Centerline is valid? [True, True] Translation: X:43.04, Y:-10.78, Z:-2.64 [[ 9.04992096e-01 4.19712843e-01 6.95013364e-02 4.30417146e+01] [-4.18436446e-01 9.07656795e-01 -3.27121341e-02 -1.07772166e+01] [-7.68130630e-02 5.22330636e-04 9.97045375e-01 -2.63512557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters 0.027961093700160512 Centerline is valid? [True, True] Translation: X:43.07, Y:-10.79, Z:-2.64 [[ 9.05237153e-01 4.18852734e-01 7.14708589e-02 4.30682193e+01] [-4.17503225e-01 9.08053993e-01 -3.36006382e-02 -1.07889328e+01] [-7.89731179e-02 5.77231989e-04 9.96876579e-01 -2.63809002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.598639999999996 meters 0.028005753747688905 Centerline is valid? [True, True] Translation: X:43.09, Y:-10.80, Z:-2.64 [[ 9.05610344e-01 4.18148331e-01 7.08652171e-02 4.30935144e+01] [-4.16822506e-01 9.08378564e-01 -3.32773578e-02 -1.08000403e+01] [-7.82873158e-02 5.98102005e-04 9.96930659e-01 -2.63929781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62864 meters 0.027846887937300443 Centerline is valid? [True, True] Translation: X:43.12, Y:-10.81, Z:-2.64 [[ 9.05669716e-01 4.18053813e-01 7.06638124e-02 4.31196579e+01] [-4.16738560e-01 9.08422088e-01 -3.31403524e-02 -1.08094503e+01] [-7.80470186e-02 5.65878168e-04 9.96949519e-01 -2.64109982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65864 meters 0.028058205504273716 Centerline is valid? [True, True] Translation: X:43.14, Y:-10.82, Z:-2.64 [[ 9.05632116e-01 4.18025065e-01 7.13128017e-02 4.31441434e+01] [-4.16688835e-01 9.08435336e-01 -3.34014291e-02 -1.08218389e+01] [-7.87457036e-02 5.34158677e-04 9.96894593e-01 -2.64351874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68864 meters 0.027887928498041437 Centerline is valid? [True, True] Translation: X:43.17, Y:-10.83, Z:-2.65 [[ 9.05646890e-01 4.18001189e-01 7.12651129e-02 4.31682101e+01] [-4.16670056e-01 9.08446343e-01 -3.33362444e-02 -1.08348911e+01] [-7.86751210e-02 4.96827411e-04 9.96900185e-01 -2.64543872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71864 meters 0.027994784585234866 Centerline is valid? [True, True] Translation: X:43.19, Y:-10.85, Z:-2.65 [[ 9.05513316e-01 4.18143726e-01 7.21211399e-02 4.31933606e+01] [-4.16784207e-01 9.08380768e-01 -3.36942824e-02 -1.08476244e+01] [-7.96025092e-02 4.51669333e-04 9.96826583e-01 -2.64765493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters 0.027680532472887747 Centerline is valid? [True, True] Translation: X:43.22, Y:-10.86, Z:-2.65 [[ 9.05069289e-01 4.19325412e-01 7.08221736e-02 4.32198223e+01] [-4.18021010e-01 9.07835945e-01 -3.30504358e-02 -1.08582571e+01] [-7.81538025e-02 3.07777862e-04 9.96941266e-01 -2.64890519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.778639999999996 meters 0.027702297515860196 Centerline is valid? [True, True] Translation: X:43.25, Y:-10.87, Z:-2.65 [[ 9.04693299e-01 4.20000728e-01 7.16199858e-02 4.32458825e+01] [-4.18671858e-01 9.07523741e-01 -3.33846355e-02 -1.08708628e+01] [-7.90184086e-02 2.17583480e-04 9.96873133e-01 -2.65080974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80864 meters 0.027663080998641405 Centerline is valid? [True, True] Translation: X:43.27, Y:-10.88, Z:-2.65 [[ 9.04200099e-01 4.20767459e-01 7.33275301e-02 4.32708566e+01] [-4.19380083e-01 9.07168525e-01 -3.41410913e-02 -1.08839139e+01] [-8.08858875e-02 1.18272469e-04 9.96723361e-01 -2.65377028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83864 meters 0.0277317299351219 Centerline is valid? [True, True] Translation: X:43.30, Y:-10.90, Z:-2.66 [[ 9.03744000e-01 4.21617622e-01 7.40632391e-02 4.32969574e+01] [-4.20208305e-01 9.06773721e-01 -3.44441435e-02 -1.08957904e+01] [-8.16808567e-02 6.69988342e-06 9.96658536e-01 -2.65634214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86864 meters 0.027833012397305807 Centerline is valid? [True, True] Translation: X:43.32, Y:-10.91, Z:-2.66 [[ 9.03731576e-01 4.21637189e-01 7.41034408e-02 4.33237194e+01] [-4.20229763e-01 9.06764622e-01 -3.44218943e-02 -1.09052956e+01] [-8.17079292e-02 -3.23186033e-05 9.96656317e-01 -2.65845008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89864 meters 0.02785019132506423 Centerline is valid? [True, True] Translation: X:43.35, Y:-10.92, Z:-2.66 [[ 9.04411287e-01 4.20168600e-01 7.41523473e-02 4.33490263e+01] [-4.18758059e-01 9.07446056e-01 -3.43997715e-02 -1.09169713e+01] [-8.17429589e-02 5.96486199e-05 9.96653443e-01 -2.66086413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92864 meters 0.027764142399728485 Centerline is valid? [True, True] Translation: X:43.37, Y:-10.93, Z:-2.66 [[ 9.04979061e-01 4.18998818e-01 7.38436814e-02 4.33738452e+01] [-4.17599762e-01 9.07986770e-01 -3.42120386e-02 -1.09285962e+01] [-8.13838895e-02 1.24074796e-04 9.96682822e-01 -2.66315373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.958639999999995 meters 0.027741208444885663 Centerline is valid? [True, True] Translation: X:43.40, Y:-10.94, Z:-2.66 [[ 9.05544353e-01 4.17546264e-01 7.51301716e-02 4.33997681e+01] [-4.16096640e-01 9.08655639e-01 -3.47637264e-02 -1.09398674e+01] [-8.27829181e-02 2.18684179e-04 9.96567580e-01 -2.66496324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98864 meters 0.027722732022036154 Centerline is valid? [True, True] Translation: X:43.43, Y:-10.95, Z:-2.67 [[ 9.06219042e-01 4.16148124e-01 7.47514958e-02 4.34262032e+01] [-4.14711716e-01 9.09296786e-01 -3.45477674e-02 -1.09495092e+01] [-8.23482835e-02 3.07523582e-04 9.96603565e-01 -2.66532393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01864 meters 0.02776330220890256 Centerline is valid? [True, True] Translation: X:43.45, Y:-10.96, Z:-2.67 [[ 9.06606378e-01 4.15289595e-01 7.48293282e-02 4.34514078e+01] [-4.13850988e-01 9.09689196e-01 -3.45387596e-02 -1.09603458e+01] [-8.24150189e-02 3.44868273e-04 9.96598036e-01 -2.66714834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04864 meters 0.02783573590538262 Centerline is valid? [True, True] Translation: X:43.48, Y:-10.97, Z:-2.67 [[ 9.06758318e-01 4.14792682e-01 7.57389185e-02 4.34771721e+01] [-4.13320798e-01 9.09915878e-01 -3.49143594e-02 -1.09718809e+01] [-8.33982653e-02 3.54415547e-04 9.96516234e-01 -2.66961557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07864 meters 0.02791709293198633 Centerline is valid? [True, True] Translation: X:43.50, Y:-10.98, Z:-2.67 [[ 9.07165309e-01 4.13855095e-01 7.59938361e-02 4.35032114e+01] [-4.12373479e-01 9.10342681e-01 -3.49902431e-02 -1.09813186e+01] [-8.36613229e-02 4.04092188e-04 9.96494164e-01 -2.67206818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10864 meters 0.02774083007566714 Centerline is valid? [True, True] Translation: X:43.53, Y:-10.99, Z:-2.67 [[ 9.07637579e-01 4.13095929e-01 7.44699812e-02 4.35299715e+01] [-4.11674160e-01 9.10687417e-01 -3.42463641e-02 -1.09912163e+01] [-8.19659084e-02 4.25920024e-04 9.96635043e-01 -2.67325106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.138639999999995 meters 0.027741837714308368 Centerline is valid? [True, True] Translation: X:43.56, Y:-11.00, Z:-2.68 [[ 9.08008099e-01 4.12323886e-01 7.42314331e-02 4.35554366e+01] [-4.10911937e-01 9.11037213e-01 -3.40965715e-02 -1.10014108e+01] [-8.16864288e-02 4.57381063e-04 9.96657975e-01 -2.67509404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters 0.027946407835752796 Centerline is valid? [True, True] Translation: X:43.58, Y:-11.01, Z:-2.68 [[ 9.09052683e-01 4.10064708e-01 7.39604939e-02 4.35818388e+01] [-4.08659189e-01 9.12056223e-01 -3.39280641e-02 -1.10116907e+01] [-8.13688304e-02 6.17762215e-04 9.96683868e-01 -2.67674952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19864 meters 0.02793857316431145 Centerline is valid? [True, True] Translation: X:43.61, Y:-11.02, Z:-2.68 [[ 9.09381077e-01 4.09367488e-01 7.37856151e-02 4.36068543e+01] [-4.07969897e-01 9.12369362e-01 -3.38040110e-02 -1.10229458e+01] [-8.11579976e-02 6.38418206e-04 9.96701044e-01 -2.67828009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22864 meters 0.027760263268301142 Centerline is valid? [True, True] Translation: X:43.63, Y:-11.03, Z:-2.68 [[ 9.09346951e-01 4.09625146e-01 7.27692461e-02 4.36339888e+01] [-4.08269997e-01 9.12253756e-01 -3.32970551e-02 -1.10332901e+01] [-8.00233292e-02 5.69075663e-04 9.96792828e-01 -2.67885903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25864 meters 0.027668330604163616 Centerline is valid? [True, True] Translation: X:43.66, Y:-11.04, Z:-2.68 [[ 9.09056210e-01 4.10221084e-01 7.30443006e-02 4.36592527e+01] [-4.08860749e-01 9.11985981e-01 -3.33835051e-02 -1.10438349e+01] [-8.03099957e-02 4.82535134e-04 9.96769819e-01 -2.68074937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28864 meters 0.027612717592266644 Centerline is valid? [True, True] Translation: X:43.69, Y:-11.06, Z:-2.68 [[ 9.09013841e-01 4.10138917e-01 7.40263874e-02 4.36857109e+01] [-4.08744927e-01 9.12022949e-01 -3.37894284e-02 -1.10553324e+01] [-8.13721237e-02 4.57147783e-04 9.96683685e-01 -2.68246700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.318639999999995 meters 0.02763565658346488 Centerline is valid? [True, True] Translation: X:43.71, Y:-11.07, Z:-2.68 [[ 9.08965047e-01 4.10298318e-01 7.37416646e-02 4.37108562e+01] [-4.08918814e-01 9.11951274e-01 -3.36196036e-02 -1.10669412e+01] [-8.10428718e-02 4.04690583e-04 9.96710534e-01 -2.68378333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters 0.02772215687456062 Centerline is valid? [True, True] Translation: X:43.74, Y:-11.08, Z:-2.69 [[ 9.09515437e-01 4.09155887e-01 7.33016412e-02 4.37360810e+01] [-4.07792624e-01 9.12464380e-01 -3.33755934e-02 -1.10781515e+01] [-8.05409572e-02 4.63748762e-04 9.96751192e-01 -2.68579067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37864 meters 0.027690472757487553 Centerline is valid? [True, True] Translation: X:43.76, Y:-11.09, Z:-2.69 [[ 9.10458877e-01 4.07314835e-01 7.18279749e-02 4.37628667e+01] [-4.06003424e-01 9.13287629e-01 -3.26638564e-02 -1.10896714e+01] [-7.89040741e-02 5.76694337e-04 9.96882046e-01 -2.68657634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40864 meters 0.027850415089462097 Centerline is valid? [True, True] Translation: X:43.79, Y:-11.10, Z:-2.69 [[ 9.11356336e-01 4.05409929e-01 7.12209157e-02 4.37874251e+01] [-4.04117781e-01 9.14134727e-01 -3.23499649e-02 -1.11028096e+01] [-7.82205093e-02 7.00707015e-04 9.96935836e-01 -2.68823676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43864 meters 0.027881592239486018 Centerline is valid? [True, True] Translation: X:43.81, Y:-11.11, Z:-2.69 [[ 9.11938542e-01 4.03837718e-01 7.26855802e-02 4.38130057e+01] [-4.02490167e-01 9.14830276e-01 -3.29731848e-02 -1.11148830e+01] [-7.98107851e-02 8.14286731e-04 9.96809699e-01 -2.68928421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46864 meters 0.027989606271048007 Centerline is valid? [True, True] Translation: X:43.84, Y:-11.13, Z:-2.69 [[ 9.12571610e-01 4.02455500e-01 7.24059935e-02 4.38382117e+01] [-4.01117040e-01 9.15439112e-01 -3.28078148e-02 -1.11264648e+01] [-7.94869639e-02 8.96202537e-04 9.96835503e-01 -2.69067142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.498639999999995 meters 0.028070979615857736 Centerline is valid? [True, True] Translation: X:43.86, Y:-11.14, Z:-2.69 [[ 9.13214293e-01 4.01057482e-01 7.20593545e-02 4.38641195e+01] [-3.99730823e-01 9.16052371e-01 -3.26086275e-02 -1.11368716e+01] [-7.90880766e-02 9.74319676e-04 9.96867156e-01 -2.69233101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.528639999999996 meters 0.027948577620867214 Centerline is valid? [True, True] Translation: X:43.89, Y:-11.15, Z:-2.69 [[ 9.13331735e-01 4.01004040e-01 7.08583244e-02 4.38907387e+01] [-3.99724194e-01 9.16075816e-01 -3.20260462e-02 -1.11486852e+01] [-7.77541713e-02 9.26617719e-04 9.96972131e-01 -2.69492051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55864 meters 0.028069454265472485 Centerline is valid? [True, True] Translation: X:43.92, Y:-11.16, Z:-2.70 [[ 9.13295221e-01 4.01044469e-01 7.10997427e-02 4.39157015e+01] [-3.99758817e-01 9.16058151e-01 -3.20990996e-02 -1.11610923e+01] [-7.80046652e-02 8.93205227e-04 9.96952594e-01 -2.69711191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58864 meters 0.027787370525508427 Centerline is valid? [True, True] Translation: X:43.94, Y:-11.18, Z:-2.70 [[ 9.13855278e-01 3.99933309e-01 7.01561092e-02 4.39402030e+01] [-3.98681480e-01 9.16543763e-01 -3.16323912e-02 -1.11756669e+01] [-7.69519912e-02 9.37486249e-04 9.97034359e-01 -2.69728334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61864 meters 0.027869758866258768 Centerline is valid? [True, True] Translation: X:43.97, Y:-11.19, Z:-2.70 [[ 9.14156905e-01 3.99138500e-01 7.07503392e-02 4.39655434e+01] [-3.97866112e-01 9.16890127e-01 -3.18598738e-02 -1.11891504e+01] [-7.75867898e-02 9.75761270e-04 9.96985124e-01 -2.69968424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64864 meters 0.02815895618335902 Centerline is valid? [True, True] Translation: X:43.99, Y:-11.20, Z:-2.70 [[ 9.15014040e-01 3.96950800e-01 7.19678385e-02 4.39910471e+01] [-3.95630377e-01 9.17839173e-01 -3.23706298e-02 -1.12024963e+01] [-7.89044487e-02 1.14691768e-03 9.96881524e-01 -2.70307203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67864 meters 0.02801423978765543 Centerline is valid? [True, True] Translation: X:44.02, Y:-11.22, Z:-2.70 [[ 9.15371236e-01 3.96154994e-01 7.18103104e-02 4.40161655e+01] [-3.94840894e-01 9.18182897e-01 -3.22619781e-02 -1.12155044e+01] [-7.87157426e-02 1.17803963e-03 9.96896406e-01 -2.70417264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters 0.027982484125463128 Centerline is valid? [True, True] Translation: X:44.04, Y:-11.23, Z:-2.71 [[ 9.15695239e-01 3.95325898e-01 7.22472343e-02 4.40412093e+01] [-3.93996403e-01 9.18540118e-01 -3.24173801e-02 -1.12290927e+01] [-7.91774130e-02 1.21929019e-03 9.96859795e-01 -2.70665375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73864 meters 0.02801967544703839 Centerline is valid? [True, True] Translation: X:44.07, Y:-11.24, Z:-2.71 [[ 9.15526897e-01 3.95492343e-01 7.34595610e-02 4.40654048e+01] [-3.94121377e-01 9.18468502e-01 -3.29234014e-02 -1.12448788e+01] [-8.04912461e-02 1.19027620e-03 9.96754605e-01 -2.70742059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76864 meters 0.028052893220382152 Centerline is valid? [True, True] Translation: X:44.09, Y:-11.26, Z:-2.71 [[ 9.15313372e-01 3.96103400e-01 7.28253247e-02 4.40907888e+01] [-3.94760927e-01 9.18205262e-01 -3.26022658e-02 -1.12580355e+01] [-7.97824646e-02 1.09269719e-03 9.96811700e-01 -2.70849933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79864 meters 0.02791500533563356 Centerline is valid? [True, True] Translation: X:44.12, Y:-11.27, Z:-2.71 [[ 9.15171375e-01 3.96320471e-01 7.34264150e-02 4.41154372e+01] [-3.94959556e-01 9.18111643e-01 -3.28323016e-02 -1.12708315e+01] [-8.04257597e-02 1.04671830e-03 9.96760052e-01 -2.71067012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82864 meters 0.027568073588449992 Centerline is valid? [True, True] Translation: X:44.14, Y:-11.29, Z:-2.71 [[ 9.14686649e-01 3.97567758e-01 7.27200940e-02 4.41397227e+01] [-3.96240056e-01 9.17572386e-01 -3.24766816e-02 -1.12858596e+01] [-7.96376317e-02 8.91372923e-04 9.96823481e-01 -2.71338363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85864 meters 0.02762213640652663 Centerline is valid? [True, True] Translation: X:44.17, Y:-11.30, Z:-2.72 [[ 9.14486132e-01 3.97859877e-01 7.36385270e-02 4.41651625e+01] [-3.96502232e-01 9.17445806e-01 -3.28507790e-02 -1.12989066e+01] [-8.06293646e-02 8.43741571e-04 9.96743795e-01 -2.71642778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters 0.02790640189968674 Centerline is valid? [True, True] Translation: X:44.19, Y:-11.31, Z:-2.72 [[ 9.14488141e-01 3.97849190e-01 7.36713083e-02 4.41898889e+01] [-3.96493499e-01 9.17450472e-01 -3.28258669e-02 -1.13106591e+01] [-8.06495211e-02 8.08671244e-04 9.96742194e-01 -2.71805557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.918639999999996 meters 0.02790640189968674 Centerline is valid? [True, True] Translation: X:44.21, Y:-11.32, Z:-2.72 [[ 9.14681050e-01 3.97402506e-01 7.36873450e-02 4.42147010e+01] [-3.96048270e-01 9.17644046e-01 -3.27898347e-02 -1.13220947e+01] [-8.06495158e-02 8.08494950e-04 9.96742194e-01 -2.71967666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94864 meters 0.027843235215208723 Centerline is valid? [True, True] Translation: X:44.24, Y:-11.33, Z:-2.72 [[ 9.14786908e-01 3.97011614e-01 7.44761113e-02 4.42407741e+01] [-3.95629789e-01 9.17813220e-01 -3.31053406e-02 -1.13331687e+01] [-8.14983643e-02 8.19363993e-04 9.96673139e-01 -2.72030799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97864 meters 0.027787689727598975 Centerline is valid? [True, True] Translation: X:44.27, Y:-11.34, Z:-2.72 [[ 9.14784791e-01 3.96985636e-01 7.46404114e-02 4.42666228e+01] [-3.95599405e-01 9.17824471e-01 -3.31564600e-02 -1.13445645e+01] [-8.16694344e-02 8.03322925e-04 9.96659148e-01 -2.72107583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00864 meters 0.02777934665522001 Centerline is valid? [True, True] Translation: X:44.29, Y:-11.35, Z:-2.72 [[ 9.15049998e-01 3.96418208e-01 7.44050058e-02 4.42927213e+01] [-3.95042391e-01 9.18069685e-01 -3.30085333e-02 -1.13540820e+01] [-8.13941638e-02 8.11326873e-04 9.96681660e-01 -2.72191949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03864 meters 0.027644379611116633 Centerline is valid? [True, True] Translation: X:44.32, Y:-11.37, Z:-2.72 [[ 9.14993006e-01 3.96340759e-01 7.55102703e-02 4.43188665e+01] [-3.94927002e-01 9.18103141e-01 -3.34557295e-02 -1.13653249e+01] [-8.25860856e-02 7.90713846e-04 9.96583621e-01 -2.72408452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.068639999999995 meters 0.027674481866852386 Centerline is valid? [True, True] Translation: X:44.34, Y:-11.38, Z:-2.73 [[ 9.15206535e-01 3.96092815e-01 7.42123989e-02 4.43449495e+01] [-3.94729561e-01 9.18210160e-01 -3.28432062e-02 -1.13770901e+01] [-8.11515367e-02 7.64489277e-04 9.96701482e-01 -2.72590949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.098639999999996 meters 0.02791201942491654 Centerline is valid? [True, True] Translation: X:44.37, Y:-11.39, Z:-2.73 [[ 9.15444239e-01 3.95467296e-01 7.46154337e-02 4.43702641e+01] [-3.94090375e-01 9.18479721e-01 -3.29814919e-02 -1.13882685e+01] [-8.15758641e-02 7.87492571e-04 9.96666824e-01 -2.72900461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12864 meters 0.028111012386537886 Centerline is valid? [True, True] Translation: X:44.40, Y:-11.40, Z:-2.73 [[ 9.16797392e-01 3.92435672e-01 7.40053023e-02 4.43977956e+01] [-3.91074737e-01 9.19778899e-01 -3.26699770e-02 -1.13970647e+01] [-8.08893799e-02 1.01014555e-03 9.96722573e-01 -2.73020172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15864 meters 0.028276133761876206 Centerline is valid? [True, True] Translation: X:44.42, Y:-11.41, Z:-2.73 [[ 9.17666693e-01 3.90394132e-01 7.40287915e-02 4.44244407e+01] [-3.89028748e-01 9.20647101e-01 -3.26427244e-02 -1.14073320e+01] [-8.08979204e-02 1.15581286e-03 9.96721722e-01 -2.73202267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18864 meters 0.028822023886622708 Centerline is valid? [True, True] Translation: X:44.45, Y:-11.42, Z:-2.73 [[ 9.19653282e-01 3.85854679e-01 7.31710910e-02 4.44510104e+01] [-3.84509387e-01 9.22558349e-01 -3.22277001e-02 -1.14189666e+01] [-7.99398098e-02 1.50333882e-03 9.96798559e-01 -2.73423310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21864 meters 0.028993428047311042 Centerline is valid? [True, True] Translation: X:44.48, Y:-11.43, Z:-2.74 [[ 9.20526741e-01 3.83874130e-01 7.26028304e-02 4.44769845e+01] [-3.82546424e-01 9.23383994e-01 -3.19410987e-02 -1.14317122e+01] [-7.93016530e-02 1.62868241e-03 9.96849334e-01 -2.73553502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters 0.029274125604986132 Centerline is valid? [True, True] Translation: X:44.50, Y:-11.44, Z:-2.74 [[ 9.21154307e-01 3.82178883e-01 7.35801873e-02 4.45024005e+01] [-3.80812720e-01 9.24086678e-01 -3.23339431e-02 -1.14440556e+01] [-8.03518211e-02 1.76427963e-03 9.96765003e-01 -2.73784980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.278639999999996 meters 0.029625015867344676 Centerline is valid? [True, True] Translation: X:44.53, Y:-11.46, Z:-2.74 [[ 9.22042631e-01 3.80042117e-01 7.35212623e-02 4.45276771e+01] [-3.78674299e-01 9.24967200e-01 -3.22715634e-02 -1.14577776e+01] [-8.02693094e-02 1.91514476e-03 9.96771373e-01 -2.74039808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30864 meters 0.029505439474658893 Centerline is valid? [True, True] Translation: X:44.55, Y:-11.47, Z:-2.74 [[ 9.22324078e-01 3.79611948e-01 7.22015510e-02 4.45534057e+01] [-3.78294300e-01 9.25143889e-01 -3.16576531e-02 -1.14718468e+01] [-7.88144470e-02 1.88518050e-03 9.96887521e-01 -2.74149728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33864 meters 0.029680177926549804 Centerline is valid? [True, True] Translation: X:44.58, Y:-11.49, Z:-2.74 [[ 9.22044111e-01 3.79969932e-01 7.38749495e-02 4.45782813e+01] [-3.78593870e-01 9.24996946e-01 -3.23625124e-02 -1.14852053e+01] [-8.06308843e-02 1.87106093e-03 9.96742273e-01 -2.74456210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36864 meters 0.028930268441218883 Centerline is valid? [True, True] Translation: X:44.60, Y:-11.50, Z:-2.75 [[ 9.20615143e-01 3.83541261e-01 7.32383740e-02 4.46022469e+01] [-3.82201638e-01 9.23522478e-01 -3.20646132e-02 -1.15029498e+01] [-7.99353869e-02 1.52734195e-03 9.96798877e-01 -2.74550414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39864 meters 0.028770153430540735 Centerline is valid? [True, True] Translation: X:44.63, Y:-11.52, Z:-2.75 [[ 9.19593826e-01 3.85954053e-01 7.33938962e-02 4.46277193e+01] [-3.84618650e-01 9.22517096e-01 -3.21045242e-02 -1.15177007e+01] [-8.00979952e-02 1.29446091e-03 9.96786153e-01 -2.74795963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42864 meters 0.02826945047379129 Centerline is valid? [True, True] Translation: X:44.65, Y:-11.53, Z:-2.75 [[ 9.18236064e-01 3.89173118e-01 7.33949274e-02 4.46536883e+01] [-3.87848348e-01 9.21164082e-01 -3.20997323e-02 -1.15322920e+01] [-8.01011239e-02 1.00903057e-03 9.96786232e-01 -2.75027628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.458639999999995 meters 0.02780490456836866 Centerline is valid? [True, True] Translation: X:44.68, Y:-11.55, Z:-2.75 [[ 9.15760114e-01 3.95195743e-01 7.21369337e-02 4.46799145e+01] [-3.93935189e-01 9.18596813e-01 -3.15430138e-02 -1.15473201e+01] [-7.87304222e-02 4.68557350e-04 9.96895833e-01 -2.75170020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48864 meters 0.027816057564733668 Centerline is valid? [True, True] Translation: X:44.71, Y:-11.56, Z:-2.75 [[ 9.14762200e-01 3.97356109e-01 7.29262665e-02 4.47057586e+01] [-3.96076052e-01 9.17664454e-01 -3.18702227e-02 -1.15594600e+01] [-7.95856702e-02 2.69327289e-04 9.96827993e-01 -2.75355472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51864 meters 0.027565616126878693 Centerline is valid? [True, True] Translation: X:44.73, Y:-11.57, Z:-2.75 [[ 9.14145406e-01 3.98950380e-01 7.19497840e-02 4.47319632e+01] [-3.97712258e-01 9.16972511e-01 -3.14066030e-02 -1.15716658e+01] [-7.85056503e-02 9.48908224e-05 9.96913664e-01 -2.75497794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54864 meters 0.027461344152956438 Centerline is valid? [True, True] Translation: X:44.76, Y:-11.58, Z:-2.76 [[ 9.12905436e-01 4.01764434e-01 7.20347473e-02 4.47582883e+01] [-4.00535070e-01 9.15743035e-01 -3.14062199e-02 -1.15840030e+01] [-7.85832202e-02 -1.81533743e-04 9.96907541e-01 -2.75536383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57864 meters 0.027612131750547962 Centerline is valid? [True, True] Translation: X:44.78, Y:-11.59, Z:-2.76 [[ 9.12817675e-01 4.01991806e-01 7.18782292e-02 4.47839500e+01] [-4.00771526e-01 9.15643234e-01 -3.12993849e-02 -1.15949610e+01] [-7.83969105e-02 -2.36115889e-04 9.96922198e-01 -2.75662017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60864 meters 0.027632525774640263 Centerline is valid? [True, True] Translation: X:44.81, Y:-11.60, Z:-2.76 [[ 9.12672850e-01 4.01811911e-01 7.46689794e-02 4.48113726e+01] [-4.00497902e-01 9.15722182e-01 -3.24702286e-02 -1.16045567e+01] [-8.14229654e-02 -2.70073511e-04 9.96679601e-01 -2.75960038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.638639999999995 meters 0.02757836719489504 Centerline is valid? [True, True] Translation: X:44.84, Y:-11.61, Z:-2.76 [[ 9.13058812e-01 4.01128384e-01 7.36181041e-02 4.48381605e+01] [-3.99852000e-01 9.16021813e-01 -3.19752469e-02 -1.16148510e+01] [-8.02619683e-02 -2.41065276e-04 9.96773775e-01 -2.76050616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.668639999999996 meters 0.02749062980584947 Centerline is valid? [True, True] Translation: X:44.86, Y:-11.63, Z:-2.76 [[ 9.13043828e-01 4.01119006e-01 7.38546597e-02 4.48645191e+01] [-3.99836938e-01 9.16025911e-01 -3.20461094e-02 -1.16250829e+01] [-8.05070855e-02 -2.70318651e-04 9.96754000e-01 -2.76188206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69864 meters 0.027703464971724195 Centerline is valid? [True, True] Translation: X:44.89, Y:-11.64, Z:-2.77 [[ 9.12892791e-01 4.01337793e-01 7.45300554e-02 4.48915277e+01] [-4.00034559e-01 9.15930062e-01 -3.23183010e-02 -1.16355022e+01] [-8.12348739e-02 -3.11453850e-04 9.96694937e-01 -2.76550320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72864 meters 0.027691363650124142 Centerline is valid? [True, True] Translation: X:44.92, Y:-11.65, Z:-2.77 [[ 9.12816696e-01 4.01407294e-01 7.50857025e-02 4.49184384e+01] [-4.00087976e-01 9.15899589e-01 -3.25200580e-02 -1.16463961e+01] [-8.18247526e-02 -3.56034812e-04 9.96646669e-01 -2.76626658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75864 meters 0.02763249071387633 Centerline is valid? [True, True] Translation: X:44.95, Y:-11.65, Z:-2.77 [[ 9.12705111e-01 4.01505951e-01 7.59101579e-02 4.49456773e+01] [-4.00160475e-01 9.15856328e-01 -3.28448125e-02 -1.16546237e+01] [-8.27101861e-02 -3.98616608e-04 9.96573563e-01 -2.76784268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78864 meters 0.027708212200980728 Centerline is valid? [True, True] Translation: X:44.97, Y:-11.66, Z:-2.77 [[ 9.12926337e-01 4.00894641e-01 7.64786900e-02 4.49726366e+01] [-3.99528577e-01 9.16124093e-01 -3.30690722e-02 -1.16647878e+01] [-8.33211843e-02 -3.65795212e-04 9.96522677e-01 -2.76990266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.818639999999995 meters 0.027694124811600506 Centerline is valid? [True, True] Translation: X:45.00, Y:-11.68, Z:-2.77 [[ 9.13193593e-01 4.00553436e-01 7.50626917e-02 4.49987434e+01] [-3.99239566e-01 9.16273329e-01 -3.24184550e-02 -1.16754090e+01] [-8.17632659e-02 -3.63671044e-04 9.96651713e-01 -2.77216135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters 0.027551414087564608 Centerline is valid? [True, True] Translation: X:45.03, Y:-11.69, Z:-2.77 [[ 9.13634212e-01 3.99696177e-01 7.42663637e-02 4.50255709e+01] [-3.98410335e-01 9.16647623e-01 -3.20365538e-02 -1.16859894e+01] [-8.08809738e-02 -3.18795215e-04 9.96723716e-01 -2.77287647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87864 meters 0.027819515502195653 Centerline is valid? [True, True] Translation: X:45.05, Y:-11.69, Z:-2.78 [[ 9.14283248e-01 3.97833761e-01 7.62524771e-02 4.50533772e+01] [-3.96474993e-01 9.17457498e-01 -3.28530007e-02 -1.16942790e+01] [-8.30284397e-02 -1.95252130e-04 9.96547159e-01 -2.77657304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90864 meters 0.028016032464207183 Centerline is valid? [True, True] Translation: X:45.08, Y:-11.70, Z:-2.78 [[ 9.15332714e-01 3.95509427e-01 7.57516690e-02 4.50799081e+01] [-3.94163874e-01 9.18461917e-01 -3.25967461e-02 -1.17032364e+01] [-8.24673434e-02 -2.17032444e-05 9.96593767e-01 -2.77779194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93864 meters 0.027960988493921587 Centerline is valid? [True, True] Translation: X:45.11, Y:-11.71, Z:-2.78 [[ 9.16225225e-01 3.93601312e-01 7.48955619e-02 4.51069876e+01] [-3.92283149e-01 9.19281239e-01 -3.21859529e-02 -1.17130703e+01] [-8.15185182e-02 1.09315047e-04 9.96671821e-01 -2.77884387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96864 meters 0.028215822374999023 Centerline is valid? [True, True] Translation: X:45.13, Y:-11.72, Z:-2.78 [[ 9.17914132e-01 3.89420408e-01 7.60617684e-02 4.51348251e+01] [-3.88049738e-01 9.21060010e-01 -3.26475044e-02 -1.17219188e+01] [-8.27710577e-02 4.51856376e-04 9.96568486e-01 -2.78123534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.998639999999995 meters 0.028276839245452164 Centerline is valid? [True, True] Translation: X:45.16, Y:-11.73, Z:-2.78 [[ 9.18431579e-01 3.88090443e-01 7.66109896e-02 4.51611679e+01] [-3.86698530e-01 9.21621135e-01 -3.28440189e-02 -1.17321514e+01] [-8.33527570e-02 5.39627070e-04 9.96519958e-01 -2.78351272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters 0.028217504253768715 Centerline is valid? [True, True] Translation: X:45.19, Y:-11.74, Z:-2.79 [[ 9.18328083e-01 3.88549148e-01 7.55188180e-02 4.51889137e+01] [-3.87201378e-01 9.21427888e-01 -3.23379193e-02 -1.17399859e+01] [-8.21500159e-02 4.55829058e-04 9.96619871e-01 -2.78508920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05864 meters 0.028338227923382624 Centerline is valid? [True, True] Translation: X:45.22, Y:-11.75, Z:-2.79 [[ 9.17692977e-01 3.89637648e-01 7.76022162e-02 4.52158573e+01] [-3.88221563e-01 9.20968183e-01 -3.31907338e-02 -1.17496389e+01] [-8.44015315e-02 3.32049666e-04 9.96431769e-01 -2.78748310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08864 meters 0.028294761394877736 Centerline is valid? [True, True] Translation: X:45.24, Y:-11.76, Z:-2.79 [[ 9.17353146e-01 3.90513073e-01 7.72188179e-02 4.52418535e+01] [-3.89117366e-01 9.20597357e-01 -3.29875969e-02 -1.17587297e+01] [-8.39695275e-02 2.14092724e-04 9.96468300e-01 -2.78899984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11864 meters 0.02808718722101606 Centerline is valid? [True, True] Translation: X:45.27, Y:-11.77, Z:-2.79 [[ 9.17417814e-01 3.90706525e-01 7.54517408e-02 4.52688858e+01] [-3.89378201e-01 9.20515284e-01 -3.21905068e-02 -1.17675625e+01] [-8.20315217e-02 1.52881266e-04 9.96629724e-01 -2.79076259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14864 meters 0.028192294267946127 Centerline is valid? [True, True] Translation: X:45.29, Y:-11.78, Z:-2.79 [[ 9.18016145e-01 3.89352890e-01 7.51710329e-02 4.52945228e+01] [-3.88033182e-01 9.21088634e-01 -3.20308971e-02 -1.17776456e+01] [-8.17105064e-02 2.36025654e-04 9.96656078e-01 -2.79266386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17864 meters 0.028368395091654376 Centerline is valid? [True, True] Translation: X:45.32, Y:-11.79, Z:-2.79 [[ 9.18768131e-01 3.87632936e-01 7.48720821e-02 4.53208814e+01] [-3.86321574e-01 9.21813748e-01 -3.18599373e-02 -1.17879277e+01] [-8.13680757e-02 3.47194447e-04 9.96684060e-01 -2.79401473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.208639999999995 meters 0.0285654107497239 Centerline is valid? [True, True] Translation: X:45.35, Y:-11.80, Z:-2.80 [[ 9.19517463e-01 3.85481247e-01 7.67583493e-02 4.53478677e+01] [-3.84099030e-01 9.22715529e-01 -3.26188293e-02 -1.17984312e+01] [-8.34000679e-02 5.10775614e-04 9.96516015e-01 -2.79677856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23864 meters 0.029071185516207833 Centerline is valid? [True, True] Translation: X:45.38, Y:-11.81, Z:-2.80 [[ 9.21798282e-01 3.79799567e-01 7.77188296e-02 4.53751313e+01] [-3.78365616e-01 9.25068260e-01 -3.29874980e-02 -1.18081745e+01] [-8.44238599e-02 1.00168612e-03 9.96429430e-01 -2.79759039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26864 meters 0.029473659072076958 Centerline is valid? [True, True] Translation: X:45.40, Y:-11.82, Z:-2.80 [[ 9.22698334e-01 3.77456768e-01 7.84485306e-02 4.54018156e+01] [-3.75990632e-01 9.26026441e-01 -3.32577014e-02 -1.18195163e+01] [-8.51987581e-02 1.19091307e-03 9.96363264e-01 -2.80071542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29864 meters 0.029672920432699607 Centerline is valid? [True, True] Translation: X:45.43, Y:-11.83, Z:-2.80 [[ 9.24653262e-01 3.72918616e-01 7.71236123e-02 4.54274920e+01] [-3.71489057e-01 9.27862766e-01 -3.26583534e-02 -1.18315773e+01] [-8.37390362e-02 1.54707503e-03 9.96486518e-01 -2.80217878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32864 meters 0.030068103423933255 Centerline is valid? [True, True] Translation: X:45.45, Y:-11.84, Z:-2.80 [[ 9.25190246e-01 3.71406935e-01 7.79736974e-02 4.54532799e+01] [-3.69943532e-01 9.28468691e-01 -3.29798812e-02 -1.18438606e+01] [-8.46450934e-02 1.66679944e-03 9.96409770e-01 -2.80456658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35864 meters 0.030030783647019794 Centerline is valid? [True, True] Translation: X:45.48, Y:-11.86, Z:-2.81 [[ 9.25817167e-01 3.69764449e-01 7.83378927e-02 4.54784440e+01] [-3.68284739e-01 9.29123807e-01 -3.30953352e-02 -1.18567907e+01] [-8.50230795e-02 1.78957904e-03 9.96377375e-01 -2.80607772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters 0.030419453253216926 Centerline is valid? [True, True] Translation: X:45.50, Y:-11.87, Z:-2.81 [[ 9.26315363e-01 3.68336034e-01 7.91733185e-02 4.55036971e+01] [-3.66822690e-01 9.29690775e-01 -3.34092228e-02 -1.18707665e+01] [-8.59125245e-02 1.90490669e-03 9.96300863e-01 -2.80685541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.418639999999996 meters 0.030117420254027468 Centerline is valid? [True, True] Translation: X:45.53, Y:-11.88, Z:-2.81 [[ 9.26384513e-01 3.68439236e-01 7.78733840e-02 4.55290220e+01] [-3.66978838e-01 9.29650033e-01 -3.28229752e-02 -1.18840710e+01] [-8.44882660e-02 1.82881183e-03 9.96422796e-01 -2.80846313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44864 meters 0.03008991997876426 Centerline is valid? [True, True] Translation: X:45.56, Y:-11.90, Z:-2.81 [[ 9.26680262e-01 3.67911464e-01 7.68429961e-02 4.55551464e+01] [-3.66490821e-01 9.29859049e-01 -3.23516050e-02 -1.18964214e+01] [-8.33556817e-02 1.81734105e-03 9.96518202e-01 -2.80983403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47864 meters 0.030392448695643084 Centerline is valid? [True, True] Translation: X:45.58, Y:-11.91, Z:-2.81 [[ 9.27308570e-01 3.66116328e-01 7.78309134e-02 4.55807887e+01] [-3.64655784e-01 9.30567010e-01 -3.27291888e-02 -1.19099951e+01] [-8.44095708e-02 1.96856449e-03 9.96429199e-01 -2.81196935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50864 meters 0.03036156555183499 Centerline is valid? [True, True] Translation: X:45.61, Y:-11.92, Z:-2.81 [[ 9.27509767e-01 3.65484587e-01 7.84005653e-02 4.56059501e+01] [-3.64003564e-01 9.30815232e-01 -3.29303681e-02 -1.19237985e+01] [-8.50119823e-02 2.00515287e-03 9.96377911e-01 -2.81359988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53864 meters 0.030496604337497315 Centerline is valid? [True, True] Translation: X:45.63, Y:-11.94, Z:-2.82 [[ 9.27774747e-01 3.64828694e-01 7.83201300e-02 4.56306798e+01] [-3.63350770e-01 9.31072433e-01 -3.28685714e-02 -1.19407650e+01] [-8.49131119e-02 2.03695101e-03 9.96386278e-01 -2.81601737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.568639999999995 meters 0.030706067068950432 Centerline is valid? [True, True] Translation: X:45.66, Y:-11.95, Z:-2.82 [[ 9.28019506e-01 3.64061179e-01 7.89889528e-02 4.56577726e+01] [-3.62555408e-01 9.31372620e-01 -3.31454325e-02 -1.19549437e+01] [-8.56351131e-02 2.12173588e-03 9.96324307e-01 -2.81799853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.598639999999996 meters 0.03072061296824019 Centerline is valid? [True, True] Translation: X:45.69, Y:-11.97, Z:-2.82 [[ 9.28421201e-01 3.63225406e-01 7.81113218e-02 4.56851690e+01] [-3.61750025e-01 9.31698759e-01 -3.27771600e-02 -1.19676065e+01] [-8.46817188e-02 2.17423763e-03 9.96405680e-01 -2.81864167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62864 meters 0.030991379286490695 Centerline is valid? [True, True] Translation: X:45.71, Y:-11.98, Z:-2.82 [[ 9.28716989e-01 3.62461042e-01 7.81456778e-02 4.57119321e+01] [-3.60981660e-01 9.31996220e-01 -3.27915765e-02 -1.19823140e+01] [-8.47171453e-02 2.24493766e-03 9.96402512e-01 -2.82036288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65864 meters 0.03093649610547063 Centerline is valid? [True, True] Translation: X:45.74, Y:-12.00, Z:-2.82 [[ 9.28427119e-01 3.62927849e-01 7.94132230e-02 4.57393743e+01] [-3.61401539e-01 9.31814552e-01 -3.33251956e-02 -1.19966821e+01] [-8.60930383e-02 2.23995429e-03 9.96284584e-01 -2.82310777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68864 meters 0.03088768779756476 Centerline is valid? [True, True] Translation: X:45.77, Y:-12.01, Z:-2.82 [[ 9.28202649e-01 3.63728158e-01 7.83688039e-02 4.57682084e+01] [-3.62244056e-01 9.31502674e-01 -3.28939481e-02 -1.20114832e+01] [-8.49652056e-02 2.14361639e-03 9.96381613e-01 -2.82486692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71864 meters 0.03036661329135314 Centerline is valid? [True, True] Translation: X:45.80, Y:-12.03, Z:-2.83 [[ 9.27081032e-01 3.66750174e-01 7.75568841e-02 4.57966389e+01] [-3.65306495e-01 9.30317616e-01 -3.25622320e-02 -1.20250481e+01] [-8.40947397e-02 1.85579416e-03 9.96456036e-01 -2.82525113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters 0.03007435594319507 Centerline is valid? [True, True] Translation: X:45.83, Y:-12.04, Z:-2.83 [[ 9.26446958e-01 3.68536855e-01 7.66591242e-02 4.58261244e+01] [-3.67132062e-01 9.29611621e-01 -3.21913567e-02 -1.20370689e+01] [-8.31269141e-02 1.67956221e-03 9.96537553e-01 -2.82582986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.778639999999996 meters 0.02978500431857264 Centerline is valid? [True, True] Translation: X:45.85, Y:-12.05, Z:-2.83 [[ 9.25636168e-01 3.70484650e-01 7.70636681e-02 4.58542015e+01] [-3.69071216e-01 9.28837348e-01 -3.23669233e-02 -1.20492153e+01] [-8.35710614e-02 1.51801317e-03 9.96500664e-01 -2.82768904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80864 meters 0.02978500431857264 Centerline is valid? [True, True] Translation: X:45.88, Y:-12.06, Z:-2.83 [[ 9.25613948e-01 3.70540279e-01 7.70630946e-02 4.58826167e+01] [-3.69126924e-01 9.28815163e-01 -3.23682886e-02 -1.20611286e+01] [-8.35711255e-02 1.51447633e-03 9.96500664e-01 -2.82950895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83864 meters 0.029666978253948914 Centerline is valid? [True, True] Translation: X:45.91, Y:-12.07, Z:-2.83 [[ 9.25163037e-01 3.71786929e-01 7.64711414e-02 4.59101054e+01] [-3.70399174e-01 9.28317044e-01 -3.21234673e-02 -1.20743452e+01] [-8.29325492e-02 1.39459701e-03 9.96554187e-01 -2.83046992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86864 meters 0.029882434937861174 Centerline is valid? [True, True] Translation: X:45.94, Y:-12.09, Z:-2.83 [[ 9.25097458e-01 3.72016002e-01 7.61497622e-02 4.59376370e+01] [-3.70640684e-01 9.28225308e-01 -3.19884646e-02 -1.20863505e+01] [-8.25843572e-02 1.36824740e-03 9.96583138e-01 -2.83254811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89864 meters 0.030102640104391364 Centerline is valid? [True, True] Translation: X:45.97, Y:-12.10, Z:-2.84 [[ 9.25338418e-01 3.71034413e-01 7.79889523e-02 4.59656007e+01] [-3.69588247e-01 9.28617920e-01 -3.27610589e-02 -1.20975650e+01] [-8.45774189e-02 1.49126618e-03 9.96415795e-01 -2.83537115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92864 meters 0.02974565201356835 Centerline is valid? [True, True] Translation: X:45.99, Y:-12.11, Z:-2.84 [[ 9.25653792e-01 3.70659783e-01 7.60025225e-02 4.59947777e+01] [-3.69285034e-01 9.28767522e-01 -3.19288913e-02 -1.21105965e+01] [-8.24234304e-02 1.48850525e-03 9.96596289e-01 -2.83505568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.958639999999995 meters 0.029631628050058333 Centerline is valid? [True, True] Translation: X:46.02, Y:-12.12, Z:-2.84 [[ 9.25793608e-01 3.70421173e-01 7.54609134e-02 4.60220972e+01] [-3.69064726e-01 9.28862687e-01 -3.17070360e-02 -1.21232541e+01] [-8.18377842e-02 1.50420990e-03 9.96644528e-01 -2.83564079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98864 meters 0.029858016743689004 Centerline is valid? [True, True] Translation: X:46.05, Y:-12.14, Z:-2.84 [[ 9.25802481e-01 3.70375252e-01 7.55773648e-02 4.60500110e+01] [-3.69014455e-01 9.28880989e-01 -3.17559664e-02 -1.21355168e+01] [-8.19640014e-02 1.51061239e-03 9.96634146e-01 -2.83736884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01864 meters 0.029960516346527764 Centerline is valid? [True, True] Translation: X:46.08, Y:-12.15, Z:-2.84 [[ 9.25546369e-01 3.70423482e-01 7.84242529e-02 4.60775400e+01] [-3.68958130e-01 9.28861668e-01 -3.29530121e-02 -1.21495125e+01] [-8.50518518e-02 1.56427505e-03 9.96375299e-01 -2.83913629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04864 meters 0.029911057381192274 Centerline is valid? [True, True] Translation: X:46.11, Y:-12.16, Z:-2.84 [[ 9.25559243e-01 3.70232803e-01 7.91691841e-02 4.61061655e+01] [-3.68738336e-01 9.28937623e-01 -3.32705802e-02 -1.21630968e+01] [-8.58610938e-02 1.60117977e-03 9.96305831e-01 -2.84042806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07864 meters 0.02995159861808285 Centerline is valid? [True, True] Translation: X:46.13, Y:-12.18, Z:-2.84 [[ 9.25743470e-01 3.69782252e-01 7.91208818e-02 4.61344833e+01] [-3.68287173e-01 9.29116980e-01 -3.32595272e-02 -1.21797184e+01] [-8.58113376e-02 1.65058424e-03 9.96310037e-01 -2.84185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10864 meters 0.030003290508193278 Centerline is valid? [True, True] Translation: X:46.16, Y:-12.19, Z:-2.84 [[ 9.25790395e-01 3.69786819e-01 7.85484070e-02 4.61628952e+01] [-3.68312415e-01 9.29115166e-01 -3.30298909e-02 -1.21947921e+01] [-8.51945345e-02 1.64840233e-03 9.96362973e-01 -2.84482502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.138639999999995 meters 0.029358202345729806 Centerline is valid? [True, True] Translation: X:46.19, Y:-12.21, Z:-2.85 [[ 9.24514983e-01 3.73264146e-01 7.71098132e-02 4.61902241e+01] [-3.71854439e-01 9.27724178e-01 -3.24364911e-02 -1.22144486e+01] [-8.36440172e-02 1.31439562e-03 9.96494832e-01 -2.84508939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.168639999999996 meters 0.029025620730753748 Centerline is valid? [True, True] Translation: X:46.22, Y:-12.23, Z:-2.85 [[ 9.23585667e-01 3.75500085e-01 7.73899267e-02 4.62182124e+01] [-3.74086835e-01 9.26821673e-01 -3.25672633e-02 -1.22298333e+01] [-8.39556715e-02 1.12810490e-03 9.96468852e-01 -2.84824042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19864 meters 0.028788163198495486 Centerline is valid? [True, True] Translation: X:46.25, Y:-12.24, Z:-2.85 [[ 9.22732240e-01 3.77733485e-01 7.66982878e-02 4.62465332e+01] [-3.76352208e-01 9.25913903e-01 -3.22871537e-02 -1.22448161e+01] [-8.32119501e-02 9.26827710e-04 9.96531441e-01 -2.84919357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22864 meters 0.02872689159623524 Centerline is valid? [True, True] Translation: X:46.28, Y:-12.26, Z:-2.85 [[ 9.21772338e-01 3.79889092e-01 7.75888767e-02 4.62757320e+01] [-3.78482008e-01 9.25031735e-01 -3.26750500e-02 -1.22604246e+01] [-8.41850683e-02 7.52963369e-04 9.96449852e-01 -2.85153815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25864 meters 0.02842788612796873 Centerline is valid? [True, True] Translation: X:46.30, Y:-12.28, Z:-2.85 [[ 9.20050273e-01 3.84498195e-01 7.52903219e-02 4.63033021e+01] [-3.83187503e-01 9.23125682e-01 -3.17224241e-02 -1.22791573e+01] [-8.16996446e-02 3.35914495e-04 9.96656940e-01 -2.85370637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28864 meters 0.028430772720309593 Centerline is valid? [True, True] Translation: X:46.33, Y:-12.29, Z:-2.86 [[ 9.19403875e-01 3.85899096e-01 7.60157998e-02 4.63325788e+01] [-3.84566663e-01 9.22540967e-01 -3.20413043e-02 -1.22937811e+01] [-8.24923999e-02 2.25756890e-04 9.96591668e-01 -2.85504237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.318639999999995 meters 0.028621908700325473 Centerline is valid? [True, True] Translation: X:46.36, Y:-12.31, Z:-2.86 [[ 9.18072622e-01 3.89054613e-01 7.60208408e-02 4.63618692e+01] [-3.87731721e-01 9.21214690e-01 -3.20563103e-02 -1.23096921e+01] [-8.25031707e-02 -4.56705080e-05 9.96590801e-01 -2.85713880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters 0.02875845923043716 Centerline is valid? [True, True] Translation: X:46.39, Y:-12.32, Z:-2.86 [[ 9.17662967e-01 3.89816928e-01 7.70547895e-02 4.63910060e+01] [-3.88459103e-01 9.20892367e-01 -3.25080461e-02 -1.23237106e+01] [-8.36313542e-02 -1.01204405e-04 9.96496757e-01 -2.85992182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37864 meters 0.028748898697761163 Centerline is valid? [True, True] Translation: X:46.42, Y:-12.34, Z:-2.86 [[ 9.17675799e-01 3.89713635e-01 7.74235792e-02 4.64209075e+01] [-3.88341271e-01 9.20936087e-01 -3.26769206e-02 -1.23374527e+01] [-8.40368096e-02 -7.99519698e-05 9.96462648e-01 -2.86226847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40864 meters 0.02862860757808569 Centerline is valid? [True, True] Translation: X:46.45, Y:-12.35, Z:-2.86 [[ 9.17855844e-01 3.89558856e-01 7.60562123e-02 4.64503283e+01] [-3.88232835e-01 9.21001572e-01 -3.21149601e-02 -1.23496566e+01] [-8.25585582e-02 -5.06151554e-05 9.96586214e-01 -2.86414197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43864 meters 0.028462243668969576 Centerline is valid? [True, True] Translation: X:46.48, Y:-12.36, Z:-2.87 [[ 9.17800274e-01 3.89668879e-01 7.61631319e-02 4.64812383e+01] [-3.88338422e-01 9.20955028e-01 -3.21730776e-02 -1.23614912e+01] [-8.26796663e-02 -4.86111047e-05 9.96576174e-01 -2.86611210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46864 meters 0.02849231775107304 Centerline is valid? [True, True] Translation: X:46.51, Y:-12.37, Z:-2.87 [[ 9.17702135e-01 3.89965768e-01 7.58253915e-02 4.65114140e+01] [-3.88646851e-01 9.20829352e-01 -3.20457444e-02 -1.23736385e+01] [-8.23189895e-02 -6.08515194e-05 9.96606031e-01 -2.86763166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.498639999999995 meters 0.028600701223599468 Centerline is valid? [True, True] Translation: X:46.54, Y:-12.39, Z:-2.87 [[ 9.17452703e-01 3.90165193e-01 7.77924126e-02 4.65410244e+01] [-3.88776552e-01 9.20744871e-01 -3.28888316e-02 -1.23855332e+01] [-8.44590422e-02 -6.99185021e-05 9.96426949e-01 -2.86990626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.528639999999996 meters 0.02875617991740005 Centerline is valid? [True, True] Translation: X:46.57, Y:-12.40, Z:-2.87 [[ 9.17460348e-01 3.90065938e-01 7.81989442e-02 4.65712630e+01] [-3.88661362e-01 9.20786925e-01 -3.30723993e-02 -1.23973738e+01] [-8.49049818e-02 -5.02932730e-05 9.96389051e-01 -2.87227654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55864 meters 0.02850847949875924 Centerline is valid? [True, True] Translation: X:46.60, Y:-12.41, Z:-2.87 [[ 9.18001685e-01 3.89089376e-01 7.66965649e-02 4.66011487e+01] [-3.87734002e-01 9.21200008e-01 -3.24482455e-02 -1.24084963e+01] [-8.32781438e-02 4.96779634e-05 9.96526341e-01 -2.87329261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58864 meters 0.028503450263664822 Centerline is valid? [True, True] Translation: X:46.63, Y:-12.42, Z:-2.88 [[ 9.18968330e-01 3.87071982e-01 7.53159314e-02 4.66307194e+01] [-3.85757374e-01 9.22049470e-01 -3.18751311e-02 -1.24208207e+01] [-8.17829847e-02 2.38560036e-04 9.96650132e-01 -2.87561139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61864 meters 0.028581149708053265 Centerline is valid? [True, True] Translation: X:46.66, Y:-12.43, Z:-2.88 [[ 9.18906340e-01 3.87148269e-01 7.56792934e-02 4.66605376e+01] [-3.85820122e-01 9.22017439e-01 -3.20417758e-02 -1.24342042e+01] [-8.21825463e-02 2.44796710e-04 9.96617263e-01 -2.87791787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64864 meters 0.02857930507757379 Centerline is valid? [True, True] Translation: X:46.69, Y:-12.45, Z:-2.88 [[ 9.18855879e-01 3.87273815e-01 7.56496310e-02 4.66904764e+01] [-3.85945747e-01 9.21964712e-01 -3.20460553e-02 -1.24471871e+01] [-8.21568884e-02 2.49052971e-04 9.96619378e-01 -2.87904142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67864 meters 0.02842790819750424 Centerline is valid? [True, True] Translation: X:46.72, Y:-12.46, Z:-2.88 [[ 9.18098842e-01 3.89183744e-01 7.50368541e-02 4.67203957e+01] [-3.87882267e-01 9.21160141e-01 -3.18016121e-02 -1.24587567e+01] [-8.14976296e-02 9.15582290e-05 9.96673531e-01 -2.88011128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.708639999999995 meters 0.028522400934005706 Centerline is valid? [True, True] Translation: X:46.75, Y:-12.47, Z:-2.88 [[ 9.17698269e-01 3.90010888e-01 7.56399009e-02 4.67496442e+01] [-3.88690243e-01 9.20810245e-01 -3.20684988e-02 -1.24713679e+01] [-8.21570593e-02 2.87144359e-05 9.96619394e-01 -2.88254274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73864 meters 0.028431296704739227 Centerline is valid? [True, True] Translation: X:46.78, Y:-12.49, Z:-2.88 [[ 9.17408780e-01 3.90669772e-01 7.57513069e-02 4.67799131e+01] [-3.89346338e-01 9.20530895e-01 -3.21294238e-02 -1.24850976e+01] [-8.22834130e-02 -1.76784548e-05 9.96608970e-01 -2.88450341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76864 meters 0.028582588223463178 Centerline is valid? [True, True] Translation: X:46.81, Y:-12.50, Z:-2.89 [[ 9.17195405e-01 3.91219008e-01 7.55001787e-02 4.68099738e+01] [-3.89904645e-01 9.20297607e-01 -3.20418836e-02 -1.24986046e+01] [-8.20180277e-02 -4.92019614e-05 9.96630845e-01 -2.88646324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79864 meters 0.028508102135178896 Centerline is valid? [True, True] Translation: X:46.84, Y:-12.51, Z:-2.89 [[ 9.17164980e-01 3.91042165e-01 7.67751573e-02 4.68399636e+01] [-3.89681007e-01 9.20372764e-01 -3.25988998e-02 -1.25097727e+01] [-8.34093081e-02 -1.92513054e-05 9.96515372e-01 -2.88877071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82864 meters 0.02856710343538074 Centerline is valid? [True, True] Translation: X:46.87, Y:-12.52, Z:-2.89 [[ 9.17928872e-01 3.89393758e-01 7.60203095e-02 4.68705167e+01] [-3.88052700e-01 9.21071377e-01 -3.22896258e-02 -1.25209173e+01] [-8.25935099e-02 1.39693421e-04 9.96583309e-01 -2.89058150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85864 meters 0.02867875995037579 Centerline is valid? [True, True] Translation: X:46.90, Y:-12.53, Z:-2.89 [[ 9.18809382e-01 3.87329871e-01 7.59268711e-02 4.69007149e+01] [-3.85984000e-01 9.21941136e-01 -3.22628948e-02 -1.25331407e+01] [-8.24964887e-02 3.36892998e-04 9.96591298e-01 -2.89275073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.888639999999995 meters 0.02882687756167747 Centerline is valid? [True, True] Translation: X:46.93, Y:-12.54, Z:-2.89 [[ 9.20962945e-01 3.82042556e-01 7.66207432e-02 4.69307671e+01] [-3.80652316e-01 9.24144356e-01 -3.25733514e-02 -1.25441236e+01] [-8.32530338e-02 8.32986311e-04 9.96528092e-01 -2.89357473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.918639999999996 meters 0.02924364432124532 Centerline is valid? [True, True] Translation: X:46.96, Y:-12.56, Z:-2.90 [[ 9.21975997e-01 3.79312928e-01 7.79869451e-02 4.69610413e+01] [-3.77861830e-01 9.25267783e-01 -3.31657443e-02 -1.25550525e+01] [-8.47390035e-02 1.10973041e-03 9.96402564e-01 -2.89636000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94864 meters 0.029622775859261263 Centerline is valid? [True, True] Translation: X:46.99, Y:-12.57, Z:-2.90 [[ 9.23429942e-01 3.75810461e-01 7.77408488e-02 4.69911862e+01] [-3.74355166e-01 9.26695436e-01 -3.30723179e-02 -1.25667981e+01] [-8.44710129e-02 1.43728027e-03 9.96424900e-01 -2.89839447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97864 meters 0.029763747950110962 Centerline is valid? [True, True] Translation: X:47.02, Y:-12.58, Z:-2.90 [[ 9.24158269e-01 3.73960709e-01 7.80056531e-02 4.70203056e+01] [-3.72487929e-01 9.27443128e-01 -3.31961810e-02 -1.25804106e+01] [-8.47598743e-02 1.62236103e-03 9.96400086e-01 -2.90126405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00864 meters 0.03005526969814581 Centerline is valid? [True, True] Translation: X:47.05, Y:-12.59, Z:-2.90 [[ 9.24994446e-01 3.72193626e-01 7.65322097e-02 4.70500084e+01] [-3.70768991e-01 9.28153436e-01 -3.25815153e-02 -1.25943075e+01] [-8.31602657e-02 1.76195052e-03 9.96534628e-01 -2.90199951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03864 meters 0.03066014201754967 Centerline is valid? [True, True] Translation: X:47.08, Y:-12.61, Z:-2.90 [[ 9.26251706e-01 3.68752689e-01 7.79694258e-02 4.70786935e+01] [-3.67260536e-01 9.29525118e-01 -3.32077452e-02 -1.26076591e+01] [-8.47199851e-02 2.12363761e-03 9.96402536e-01 -2.90306398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters 0.030842142805370527 Centerline is valid? [True, True] Translation: X:47.11, Y:-12.62, Z:-2.90 [[ 9.26701767e-01 3.67511607e-01 7.84796466e-02 4.71072732e+01] [-3.65994590e-01 9.30016188e-01 -3.34342741e-02 -1.26219254e+01] [-8.52748255e-02 2.26047485e-03 9.96354904e-01 -2.90465428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.098639999999996 meters 0.03122005043270045 Centerline is valid? [True, True] Translation: X:47.14, Y:-12.64, Z:-2.91 [[ 9.27272070e-01 3.66130315e-01 7.81991072e-02 4.71359660e+01] [-3.64618311e-01 9.30560522e-01 -3.33257145e-02 -1.26367804e+01] [-8.49705564e-02 2.38917785e-03 9.96380598e-01 -2.90691418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12864 meters 0.03187764545135012 Centerline is valid? [True, True] Translation: X:47.16, Y:-12.66, Z:-2.91 [[ 9.28829717e-01 3.62230290e-01 7.78753736e-02 4.71628411e+01] [-3.60716188e-01 9.32084590e-01 -3.31986342e-02 -1.26551831e+01] [-8.46119865e-02 2.74497014e-03 9.96410195e-01 -2.90871682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15864 meters 0.031929408663937356 Centerline is valid? [True, True] Translation: X:47.19, Y:-12.67, Z:-2.91 [[ 9.28694698e-01 3.62575264e-01 7.78802680e-02 4.71912533e+01] [-3.61061123e-01 9.31950509e-01 -3.32131807e-02 -1.26715086e+01] [-8.46228331e-02 2.72536777e-03 9.96409328e-01 -2.91134080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18864 meters 0.03176849636112453 Centerline is valid? [True, True] Translation: X:47.22, Y:-12.69, Z:-2.91 [[ 9.28670511e-01 3.62740958e-01 7.73955988e-02 4.72197909e+01] [-3.61244928e-01 9.31886080e-01 -3.30217451e-02 -1.26877669e+01] [-8.41022207e-02 2.70755341e-03 9.96453454e-01 -2.91327462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21864 meters 0.031702399964311144 Centerline is valid? [True, True] Translation: X:47.25, Y:-12.70, Z:-2.92 [[ 9.28184088e-01 3.63923660e-01 7.76779736e-02 4.72479241e+01] [-3.62419031e-01 9.31425067e-01 -3.31630947e-02 -1.27043022e+01] [-8.44200466e-02 2.62948099e-03 9.96426787e-01 -2.91604500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.248639999999995 meters 0.030730364633334572 Centerline is valid? [True, True] Translation: X:47.27, Y:-12.73, Z:-2.92 [[ 9.26637060e-01 3.68302639e-01 7.54779811e-02 4.72727954e+01] [-3.66894417e-01 9.29703372e-01 -3.22510064e-02 -1.27256640e+01] [-8.20502642e-02 2.19252786e-03 9.96625781e-01 -2.91584397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.278639999999996 meters 0.030133896602316645 Centerline is valid? [True, True] Translation: X:47.30, Y:-12.74, Z:-2.92 [[ 9.25211130e-01 3.71756698e-01 7.60350047e-02 4.73014425e+01] [-3.70338553e-01 9.28328238e-01 -3.24967367e-02 -1.27417785e+01] [-8.26663215e-02 1.90764888e-03 9.96575456e-01 -2.91682903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30864 meters 0.029798236645672122 Centerline is valid? [True, True] Translation: X:47.33, Y:-12.76, Z:-2.92 [[ 9.23739857e-01 3.75539023e-01 7.53333850e-02 4.73297461e+01] [-3.74157855e-01 9.26805247e-01 -3.22169699e-02 -1.27577914e+01] [-8.19181059e-02 1.57352147e-03 9.96637822e-01 -2.91814805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33864 meters 0.029100488694411644 Centerline is valid? [True, True] Translation: X:47.36, Y:-12.78, Z:-2.92 [[ 9.20756109e-01 3.82739553e-01 7.56215712e-02 4.73563526e+01] [-3.81368794e-01 9.23855773e-01 -3.23782985e-02 -1.27765043e+01] [-8.22558805e-02 9.72808729e-04 9.96610768e-01 -2.92100854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36864 meters 0.029037230685291838 Centerline is valid? [True, True] Translation: X:47.38, Y:-12.79, Z:-2.92 [[ 9.19423661e-01 3.85885735e-01 7.58441216e-02 4.73848460e+01] [-3.84514346e-01 9.22546295e-01 -3.25123100e-02 -1.27912798e+01] [-8.25157501e-02 7.29434240e-04 9.96589494e-01 -2.92260269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39864 meters 0.028914723161474688 Centerline is valid? [True, True] Translation: X:47.41, Y:-12.81, Z:-2.92 [[ 9.17840226e-01 3.89768042e-01 7.51677625e-02 4.74137791e+01] [-3.88430860e-01 9.20912973e-01 -3.22608650e-02 -1.28061961e+01] [-8.17972218e-02 4.12840984e-04 9.96648907e-01 -2.92442526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42864 meters 0.02868212920638808 Centerline is valid? [True, True] Translation: X:47.44, Y:-12.82, Z:-2.93 [[ 9.16387153e-01 3.93563648e-01 7.30906376e-02 4.74429024e+01] [-3.92308546e-01 9.19297364e-01 -3.14063917e-02 -1.28208065e+01] [-7.95524445e-02 1.06332145e-04 9.96830676e-01 -2.92574641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.458639999999995 meters 0.028965891672871787 Centerline is valid? [True, True] Translation: X:47.47, Y:-12.83, Z:-2.93 [[ 9.15604453e-01 3.95191688e-01 7.41081355e-02 4.74726133e+01] [-3.93903370e-01 9.18598677e-01 -3.18842478e-02 -1.28345057e+01] [-8.06760249e-02 1.91498081e-06 9.96740377e-01 -2.92870518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48864 meters 0.028719358408532486 Centerline is valid? [True, True] Translation: X:47.50, Y:-12.85, Z:-2.93 [[ 9.14853901e-01 3.97163154e-01 7.28269768e-02 4.75022623e+01] [-3.95921967e-01 9.17748011e-01 -3.13749008e-02 -1.28470449e+01] [-7.92977677e-02 -1.30349455e-04 9.96850965e-01 -2.92916775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51864 meters 0.0287932505786689 Centerline is valid? [True, True] Translation: X:47.53, Y:-12.86, Z:-2.93 [[ 9.14230942e-01 3.98566472e-01 7.29832266e-02 4.75336185e+01] [-3.97321218e-01 9.17139423e-01 -3.14822027e-02 -1.28590248e+01] [-7.94835448e-02 -2.15780695e-04 9.96836155e-01 -2.93103000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54864 meters 0.028575202653325724 Centerline is valid? [True, True] Translation: X:47.56, Y:-12.87, Z:-2.93 [[ 9.13364860e-01 4.00594975e-01 7.27206942e-02 4.75642657e+01] [-3.99361585e-01 9.16255174e-01 -3.14130746e-02 -1.28709761e+01] [-7.92146322e-02 -3.50253201e-04 9.96857522e-01 -2.93263003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57864 meters 0.028746334821995356 Centerline is valid? [True, True] Translation: X:47.59, Y:-12.88, Z:-2.93 [[ 9.12671805e-01 4.02226626e-01 7.24148975e-02 4.75946217e+01] [-4.01005239e-01 9.15540026e-01 -3.13250518e-02 -1.28832708e+01] [-7.88985071e-02 -4.49261709e-04 9.96882553e-01 -2.93456827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60864 meters 0.02882696843046503 Centerline is valid? [True, True] Translation: X:47.63, Y:-12.90, Z:-2.94 [[ 9.11030125e-01 4.06042529e-01 7.17884151e-02 4.76256318e+01] [-4.04850600e-01 9.13853887e-01 -3.10976490e-02 -1.28953866e+01] [-7.82310903e-02 -7.32687880e-04 9.96934983e-01 -2.93584838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.638639999999995 meters 0.02888589391895606 Centerline is valid? [True, True] Translation: X:47.66, Y:-12.91, Z:-2.94 [[ 9.10250607e-01 4.08138392e-01 6.97630624e-02 4.76559796e+01] [-4.07015934e-01 9.12919673e-01 -3.02605236e-02 -1.29062289e+01] [-7.60385536e-02 -8.50018034e-04 9.97104516e-01 -2.93628081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.668639999999996 meters 0.028954904692869286 Centerline is valid? [True, True] Translation: X:47.69, Y:-12.92, Z:-2.94 [[ 9.09142297e-01 4.10264917e-01 7.17145898e-02 4.76867273e+01] [-4.09082741e-01 9.11965813e-01 -3.11394861e-02 -1.29168740e+01] [-7.81766929e-02 -1.02697703e-03 9.96938990e-01 -2.94019808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69864 meters 0.029352849759928242 Centerline is valid? [True, True] Translation: X:47.72, Y:-12.93, Z:-2.94 [[ 9.07813846e-01 4.13318519e-01 7.10057903e-02 4.77174833e+01] [-4.12168099e-01 9.10585634e-01 -3.08425300e-02 -1.29264910e+01] [-7.74046414e-02 -1.26704584e-03 9.96998955e-01 -2.94216861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72864 meters 0.029352849759928242 Centerline is valid? [True, True] Translation: X:47.75, Y:-12.94, Z:-2.94 [[ 9.07734033e-01 4.13494539e-01 7.10013483e-02 4.77473094e+01] [-4.12343857e-01 9.10505712e-01 -3.08527528e-02 -1.29393840e+01] [-7.74045780e-02 -1.27087616e-03 9.96998955e-01 -2.94408657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75864 meters 0.029277059513738147 Centerline is valid? [True, True] Translation: X:47.78, Y:-12.95, Z:-2.95 [[ 9.07722844e-01 4.13542934e-01 7.08624048e-02 4.77779777e+01] [-4.12395643e-01 9.10483751e-01 -3.08086591e-02 -1.29514592e+01] [-7.72597714e-02 -1.25762341e-03 9.97010204e-01 -2.94619719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78864 meters 0.029062743352435878 Centerline is valid? [True, True] Translation: X:47.81, Y:-12.96, Z:-2.95 [[ 9.07908652e-01 4.13313395e-01 6.98134414e-02 4.78080594e+01] [-4.12198067e-01 9.10588042e-01 -3.03672685e-02 -1.29631809e+01] [-7.61224838e-02 -1.20625982e-03 9.97097745e-01 -2.94696419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.818639999999995 meters 0.028801662714486084 Centerline is valid? [True, True] Translation: X:47.84, Y:-12.97, Z:-2.95 [[ 9.09193165e-01 4.10385133e-01 7.03692483e-02 4.78390517e+01] [-4.09242348e-01 9.11911796e-01 -3.06198689e-02 -1.29724472e+01] [-7.67364866e-02 -9.58700878e-04 9.97050948e-01 -2.94819692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.848639999999996 meters 0.02875008787318902 Centerline is valid? [True, True] Translation: X:47.87, Y:-12.98, Z:-2.95 [[ 9.10206578e-01 4.07994225e-01 7.11666911e-02 4.78692896e+01] [-4.06817191e-01 9.12984196e-01 -3.09779125e-02 -1.29831652e+01] [-7.76128737e-02 -7.55533647e-04 9.96983285e-01 -2.95020934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87864 meters 0.028597614587844534 Centerline is valid? [True, True] Translation: X:47.90, Y:-12.99, Z:-2.95 [[ 9.12289316e-01 4.02945810e-01 7.32316745e-02 4.79002073e+01] [-4.01682055e-01 9.15223781e-01 -3.18897559e-02 -1.29939733e+01] [-7.98732135e-02 -3.23165931e-04 9.96804979e-01 -2.95303367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90864 meters 0.028465972680168847 Centerline is valid? [True, True] Translation: X:47.93, Y:-13.01, Z:-2.95 [[ 9.13450908e-01 4.00633509e-01 7.14158989e-02 4.79301853e+01] [-3.99423517e-01 9.16238386e-01 -3.11138753e-02 -1.30065513e+01] [-7.78992490e-02 -1.04191890e-04 9.96961231e-01 -2.95499612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93864 meters 0.028418565906730687 Centerline is valid? [True, True] Translation: X:47.96, Y:-13.02, Z:-2.96 [[ 9.14428644e-01 3.98615837e-01 7.01831125e-02 4.79595044e+01] [-3.97440572e-01 9.17117991e-01 -3.05873050e-02 -1.30194474e+01] [-7.65587793e-02 7.62914490e-05 9.97065067e-01 -2.95586262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96864 meters 0.02843493938695044 Centerline is valid? [True, True] Translation: X:47.99, Y:-13.03, Z:-2.96 [[ 9.15282212e-01 3.96659758e-01 7.01392050e-02 4.79896451e+01] [-3.95479313e-01 9.17965671e-01 -3.05800515e-02 -1.30338777e+01] [-7.65152582e-02 2.50772554e-04 9.97068379e-01 -2.95841091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.998639999999995 meters 0.028392178973552416 Centerline is valid? [True, True] Translation: X:48.02, Y:-13.05, Z:-2.96 [[ 9.15709391e-01 3.95677948e-01 7.01090062e-02 4.80194107e+01] [-3.94494416e-01 9.18389264e-01 -3.05829221e-02 -1.30480378e+01] [-7.64883465e-02 3.47457534e-04 9.97070415e-01 -2.96026080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters 0.028268695872267754 Centerline is valid? [True, True] Translation: X:48.05, Y:-13.06, Z:-2.96 [[ 9.15772855e-01 3.95437372e-01 7.06354176e-02 4.80479574e+01] [-3.94234111e-01 9.18492862e-01 -3.08273964e-02 -1.30635509e+01] [-7.70684315e-02 3.84001741e-04 9.97025732e-01 -2.96148620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05864 meters 0.028339109792841845 Centerline is valid? [True, True] Translation: X:48.08, Y:-13.08, Z:-2.96 [[ 9.15803137e-01 3.95280291e-01 7.11203607e-02 4.80764451e+01] [-3.94059118e-01 9.18560463e-01 -3.10497716e-02 -1.30790517e+01] [-7.76017142e-02 4.09851690e-04 9.96984356e-01 -2.96385850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08864 meters 0.02819633525290684 Centerline is valid? [True, True] Translation: X:48.10, Y:-13.10, Z:-2.96 [[ 9.15607797e-01 3.95417257e-01 7.28529665e-02 4.81049757e+01] [-3.94135306e-01 9.18501507e-01 -3.18173227e-02 -1.30953734e+01] [-7.94966780e-02 4.18262459e-04 9.96835043e-01 -2.96405987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11864 meters 0.02857951030653508 Centerline is valid? [True, True] Translation: X:48.13, Y:-13.11, Z:-2.97 [[ 9.15340223e-01 3.95487421e-01 7.57758247e-02 4.81338424e+01] [-3.94098952e-01 9.18471284e-01 -3.31136876e-02 -1.31088461e+01] [-8.26939659e-02 4.47117090e-04 9.96574888e-01 -2.96743793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14864 meters 0.02844006632510128 Centerline is valid? [True, True] Translation: X:48.16, Y:-13.13, Z:-2.97 [[ 9.14779302e-01 3.96763702e-01 7.58774889e-02 4.81628350e+01] [-3.95372432e-01 9.17920709e-01 -3.31995806e-02 -1.31256348e+01] [-8.28219069e-02 3.70421853e-04 9.96564295e-01 -2.96910029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17864 meters 0.0284214527232458 Centerline is valid? [True, True] Translation: X:48.19, Y:-13.14, Z:-2.97 [[ 9.14212473e-01 3.98008315e-01 7.61901238e-02 4.81925119e+01] [-3.96606036e-01 9.17381758e-01 -3.33820562e-02 -1.31398460e+01] [-8.31817657e-02 3.00829209e-04 9.96534346e-01 -2.97006593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters 0.028416304977481262 Centerline is valid? [True, True] Translation: X:48.22, Y:-13.15, Z:-2.97 [[ 9.13771826e-01 3.99074538e-01 7.58983715e-02 4.82223019e+01] [-3.97682880e-01 9.16918455e-01 -3.32997600e-02 -1.31534759e+01] [-8.28817039e-02 2.44899502e-04 9.96559363e-01 -2.97170657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23864 meters 0.0284994049663021 Centerline is valid? [True, True] Translation: X:48.25, Y:-13.17, Z:-2.97 [[ 9.12605302e-01 4.01926308e-01 7.48786080e-02 4.82508524e+01] [-4.00577897e-01 9.15672017e-01 -3.28953733e-02 -1.31691245e+01] [-8.17857620e-02 2.57766873e-05 9.96649933e-01 -2.97425896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26864 meters 0.028501991525759992 Centerline is valid? [True, True] Translation: X:48.28, Y:-13.18, Z:-2.98 [[ 9.11929836e-01 4.03467598e-01 7.48189326e-02 4.82803697e+01] [-4.02123125e-01 9.14993930e-01 -3.29104841e-02 -1.31843689e+01] [-8.17371832e-02 -7.43706934e-05 9.96653916e-01 -2.97595239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29864 meters 0.02858844005951488 Centerline is valid? [True, True] Translation: X:48.31, Y:-13.20, Z:-2.98 [[ 9.11452559e-01 4.04620798e-01 7.44059334e-02 4.83101334e+01] [-4.03291310e-01 9.14484550e-01 -3.27738927e-02 -1.31987800e+01] [-8.13040751e-02 -1.35417972e-04 9.96689334e-01 -2.97759192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32864 meters 0.028494655009786873 Centerline is valid? [True, True] Translation: X:48.34, Y:-13.21, Z:-2.98 [[ 9.10326763e-01 4.07164103e-01 7.43140551e-02 4.83406183e+01] [-4.05842681e-01 9.13354964e-01 -3.27784592e-02 -1.32118668e+01] [-8.12213231e-02 -3.20706732e-04 9.96696039e-01 -2.97796922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35864 meters 0.02855248260554127 Centerline is valid? [True, True] Translation: X:48.37, Y:-13.22, Z:-2.98 [[ 9.09022332e-01 4.10159473e-01 7.38079015e-02 4.83711132e+01] [-4.08862229e-01 9.12013658e-01 -3.26000970e-02 -1.32246876e+01] [-8.06850529e-02 -5.43046899e-04 9.96739498e-01 -2.97958508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.388639999999995 meters 0.028765860876891484 Centerline is valid? [True, True] Translation: X:48.40, Y:-13.24, Z:-2.98 [[ 9.07636724e-01 4.13174431e-01 7.40436851e-02 4.84012443e+01] [-4.11875317e-01 9.10651575e-01 -3.27479990e-02 -1.32371502e+01] [-8.09586343e-02 -7.73479716e-04 9.96717162e-01 -2.98151463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.418639999999996 meters 0.029064651874504528 Centerline is valid? [True, True] Translation: X:48.43, Y:-13.25, Z:-2.98 [[ 9.04744170e-01 4.19503257e-01 7.38580000e-02 4.84312575e+01] [-4.18228436e-01 9.07752901e-01 -3.27054448e-02 -1.32498113e+01] [-8.07648543e-02 -1.29945531e-03 9.96732336e-01 -2.98267929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44864 meters 0.029249586428935426 Centerline is valid? [True, True] Translation: X:48.46, Y:-13.26, Z:-2.98 [[ 9.03768442e-01 4.21583888e-01 7.39569364e-02 4.84612724e+01] [-4.20309919e-01 9.06788234e-01 -3.27821664e-02 -1.32608782e+01] [-8.08837129e-02 -1.45734643e-03 9.96722479e-01 -2.98395481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47864 meters 0.029437770339984022 Centerline is valid? [True, True] Translation: X:48.49, Y:-13.27, Z:-2.99 [[ 9.02556943e-01 4.24182614e-01 7.38923217e-02 4.84912172e+01] [-4.22917832e-01 9.05575134e-01 -3.27747397e-02 -1.32724235e+01] [-8.08175238e-02 -1.66931163e-03 9.96727516e-01 -2.98658532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50864 meters 0.02956785445205532 Centerline is valid? [True, True] Translation: X:48.52, Y:-13.28, Z:-2.99 [[ 9.01083047e-01 4.27281918e-01 7.40236767e-02 4.85223153e+01] [-4.26019789e-01 9.04116419e-01 -3.28730988e-02 -1.32818720e+01] [-8.09721022e-02 -1.91415914e-03 9.96714530e-01 -2.98906510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53864 meters 0.029968972830957067 Centerline is valid? [True, True] Translation: X:48.55, Y:-13.29, Z:-2.99 [[ 9.00928358e-01 4.27782539e-01 7.30081749e-02 4.85524671e+01] [-4.26553972e-01 9.03879680e-01 -3.24535555e-02 -1.32928086e+01] [-7.98736701e-02 -1.90359855e-03 9.96803177e-01 -2.99006920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters 0.029578495134918954 Centerline is valid? [True, True] Translation: X:48.58, Y:-13.30, Z:-2.99 [[ 9.01915094e-01 4.25845147e-01 7.21461940e-02 4.85848088e+01] [-4.24638388e-01 9.04794461e-01 -3.20815088e-02 -1.32998984e+01] [-7.89392316e-02 -1.70124642e-03 9.96877978e-01 -2.99190272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.598639999999996 meters 0.029138720688905932 Centerline is valid? [True, True] Translation: X:48.62, Y:-13.31, Z:-2.99 [[ 9.03017861e-01 4.23529989e-01 7.19797920e-02 4.86160672e+01] [-4.22320375e-01 9.05880869e-01 -3.20211034e-02 -1.33099625e+01] [-7.87670141e-02 -1.48290449e-03 9.96891949e-01 -2.99447848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62864 meters 0.02894931394129334 Centerline is valid? [True, True] Translation: X:48.65, Y:-13.32, Z:-3.00 [[ 9.03826230e-01 4.21870681e-01 7.15770570e-02 4.86465475e+01] [-4.20667938e-01 9.06655062e-01 -3.18603798e-02 -1.33206800e+01] [-7.83366612e-02 -1.31392605e-03 9.96926096e-01 -2.99690269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65864 meters 0.028752899539757574 Centerline is valid? [True, True] Translation: X:48.68, Y:-13.33, Z:-3.00 [[ 9.04775105e-01 4.19804604e-01 7.17363562e-02 4.86765736e+01] [-4.18589133e-01 9.07613808e-01 -3.19423575e-02 -1.33318951e+01] [-7.85184561e-02 -1.12740926e-03 9.96912023e-01 -2.99867613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68864 meters 0.028590682940897023 Centerline is valid? [True, True] Translation: X:48.71, Y:-13.34, Z:-3.00 [[ 9.06540962e-01 4.15700944e-01 7.33226424e-02 4.87067116e+01] [-4.14416693e-01 9.09501027e-01 -3.26601513e-02 -1.33425403e+01] [-8.02638744e-02 -7.78362030e-04 9.96773347e-01 -3.00091156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71864 meters 0.028494517968207102 Centerline is valid? [True, True] Translation: X:48.74, Y:-13.35, Z:-3.00 [[ 9.07301737e-01 4.13898253e-01 7.41066423e-02 4.87376154e+01] [-4.12579272e-01 9.10322942e-01 -3.30224861e-02 -1.33548259e+01] [-8.11289260e-02 -6.13505591e-04 9.96703427e-01 -3.00235108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.748639999999995 meters 0.02843146524152798 Centerline is valid? [True, True] Translation: X:48.77, Y:-13.37, Z:-3.00 [[ 9.08190600e-01 4.11544756e-01 7.62938237e-02 4.87672872e+01] [-4.10136963e-01 9.11389463e-01 -3.40134955e-02 -1.33662985e+01] [-8.35314628e-02 -4.00180327e-04 9.96505060e-01 -3.00454236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.778639999999996 meters 0.028301688049248087 Centerline is valid? [True, True] Translation: X:48.80, Y:-13.38, Z:-3.01 [[ 9.08854390e-01 4.10056330e-01 7.64035571e-02 4.87976650e+01] [-4.08638089e-01 9.12060164e-01 -3.40759257e-02 -1.33783274e+01] [-8.36576898e-02 -2.51348905e-04 9.96494520e-01 -3.00712604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80864 meters 0.028404789993060297 Centerline is valid? [True, True] Translation: X:48.83, Y:-13.39, Z:-3.01 [[ 9.11214836e-01 4.04880728e-01 7.58888604e-02 4.88270572e+01] [-4.03462284e-01 9.14369477e-01 -3.38621490e-02 -1.33899369e+01] [-8.31005891e-02 2.37399541e-04 9.96541136e-01 -3.01041657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83864 meters 0.028524121495325773 Centerline is valid? [True, True] Translation: X:48.86, Y:-13.40, Z:-3.01 [[ 9.12399475e-01 4.02112234e-01 7.63737492e-02 4.88564522e+01] [-4.00664903e-01 9.15590245e-01 -3.40901391e-02 -1.34034603e+01] [-8.36351218e-02 5.03544168e-04 9.96496319e-01 -3.01421511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86864 meters 0.0285014653010105 Centerline is valid? [True, True] Translation: X:48.89, Y:-13.42, Z:-3.02 [[ 9.13628519e-01 3.99504264e-01 7.53609445e-02 4.88865121e+01] [-3.98085199e-01 9.16731034e-01 -3.36509276e-02 -1.34175708e+01] [-8.25294056e-02 7.44370532e-04 9.96588352e-01 -3.01503121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89864 meters 0.029013912466464765 Centerline is valid? [True, True] Translation: X:48.92, Y:-13.43, Z:-3.02 [[ 9.15754323e-01 3.94385935e-01 7.65098362e-02 4.89151281e+01] [-3.92904001e-01 9.18944067e-01 -3.41796294e-02 -1.34321811e+01] [-8.37882251e-02 1.23912265e-03 9.96482814e-01 -3.01789401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92864 meters 0.029126316684063618 Centerline is valid? [True, True] Translation: X:48.95, Y:-13.45, Z:-3.02 [[ 9.16824805e-01 3.92188127e-01 7.49716683e-02 4.89450738e+01] [-3.90756916e-01 9.19883933e-01 -3.35049672e-02 -1.34471873e+01] [-8.21054834e-02 1.42248713e-03 9.96622630e-01 -3.01895041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.958639999999995 meters 0.02947220714396091 Centerline is valid? [True, True] Translation: X:48.97, Y:-13.47, Z:-3.02 [[ 9.18169344e-01 3.89022731e-01 7.50091322e-02 4.89725924e+01] [-3.87577664e-01 9.21226536e-01 -3.35443646e-02 -1.34650832e+01] [-8.21499234e-02 1.72754296e-03 9.96618486e-01 -3.02194331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98864 meters 0.029684929043711127 Centerline is valid? [True, True] Translation: X:49.00, Y:-13.48, Z:-3.02 [[ 9.18367599e-01 3.88315034e-01 7.62390145e-02 4.90005834e+01] [-3.86816388e-01 9.21524817e-01 -3.41334776e-02 -1.34806342e+01] [-8.35106863e-02 1.85657968e-03 9.96505152e-01 -3.02445026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01864 meters 0.02993129731756197 Centerline is valid? [True, True] Translation: X:49.03, Y:-13.50, Z:-3.03 [[ 9.18817291e-01 3.87261859e-01 7.61776724e-02 4.90287976e+01] [-3.85758794e-01 9.21967628e-01 -3.41444878e-02 -1.34957659e+01] [-8.34562058e-02 1.98633877e-03 9.96509466e-01 -3.02653128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04864 meters 0.030279047076022105 Centerline is valid? [True, True] Translation: X:49.06, Y:-13.51, Z:-3.03 [[ 9.19596329e-01 3.85096558e-01 7.77382340e-02 4.90561104e+01] [-3.83520015e-01 9.22873508e-01 -3.48839105e-02 -1.35144633e+01] [-8.51762305e-02 2.26494743e-03 9.96363327e-01 -3.02794104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07864 meters 0.030443752088246803 Centerline is valid? [True, True] Translation: X:49.08, Y:-13.53, Z:-3.03 [[ 9.19695570e-01 3.84874153e-01 7.76655911e-02 4.90846747e+01] [-3.83296275e-01 9.22966141e-01 -3.48922283e-02 -1.35315507e+01] [-8.51118278e-02 2.32129596e-03 9.96368701e-01 -3.03030413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.10864 meters 0.030366034218147132 Centerline is valid? [True, True] Translation: X:49.11, Y:-13.55, Z:-3.03 [[ 9.19848185e-01 3.84746770e-01 7.64803175e-02 4.91121058e+01] [-3.83212804e-01 9.23019212e-01 -3.44017710e-02 -1.35492067e+01] [-8.38287727e-02 2.33616973e-03 9.96477435e-01 -3.03236267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.138639999999995 meters 0.03041848630476538 Centerline is valid? [True, True] Translation: X:49.14, Y:-13.57, Z:-3.03 [[ 9.19955188e-01 3.84699502e-01 7.54237746e-02 4.91409464e+01] [-3.83204291e-01 9.23038893e-01 -3.39657668e-02 -1.35667905e+01] [-8.26856909e-02 2.34426930e-03 9.96572918e-01 -3.03381395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.168639999999996 meters 0.030389008697673248 Centerline is valid? [True, True] Translation: X:49.17, Y:-13.59, Z:-3.03 [[ 9.20096840e-01 3.84543752e-01 7.44842762e-02 4.91685597e+01] [-3.83081621e-01 9.23103729e-01 -3.35853730e-02 -1.35867895e+01] [-8.16717585e-02 2.36823830e-03 9.96656468e-01 -3.03476937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19864 meters 0.03062251703805412 Centerline is valid? [True, True] Translation: X:49.20, Y:-13.60, Z:-3.04 [[ 9.20113734e-01 3.84228906e-01 7.58871782e-02 4.91960028e+01] [-3.82706423e-01 9.23234527e-01 -3.42608089e-02 -1.36038215e+01] [-8.32256561e-02 2.48133028e-03 9.96527638e-01 -3.03713274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22864 meters 0.030823217544144722 Centerline is valid? [True, True] Translation: X:49.22, Y:-13.62, Z:-3.04 [[ 9.20243964e-01 3.83616276e-01 7.73925004e-02 4.92228696e+01] [-3.82027221e-01 9.23488859e-01 -3.49790050e-02 -1.36213295e+01] [-8.48896275e-02 2.62317643e-03 9.96386908e-01 -3.03959184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25864 meters 0.030580893364418625 Centerline is valid? [True, True] Translation: X:49.25, Y:-13.64, Z:-3.04 [[ 9.20337924e-01 3.83151739e-01 7.85674941e-02 4.92474880e+01] [-3.81509671e-01 9.23681366e-01 -3.55401864e-02 -1.36441918e+01] [-8.61886145e-02 2.73472252e-03 9.96275085e-01 -3.04026182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28864 meters 0.030977742646824145 Centerline is valid? [True, True] Translation: X:49.28, Y:-13.66, Z:-3.04 [[ 9.20161429e-01 3.83760570e-01 7.76580297e-02 4.92754440e+01] [-3.82156645e-01 9.23428780e-01 -3.51509042e-02 -1.36602772e+01] [-8.52011906e-02 2.66697419e-03 9.96360198e-01 -3.04191399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.318639999999995 meters 0.030880309537042443 Centerline is valid? [True, True] Translation: X:49.30, Y:-13.68, Z:-3.04 [[ 9.19661669e-01 3.84712154e-01 7.88604735e-02 4.93034326e+01] [-3.83057846e-01 9.23032768e-01 -3.57378863e-02 -1.36782199e+01] [-8.65396004e-02 2.65864105e-03 9.96244864e-01 -3.04482854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.348639999999996 meters 0.030434806114239387 Centerline is valid? [True, True] Translation: X:49.33, Y:-13.70, Z:-3.05 [[ 9.18653649e-01 3.87089207e-01 7.89773313e-02 4.93283989e+01] [-3.85434932e-01 9.22038937e-01 -3.58345175e-02 -1.37016673e+01] [-8.66913296e-02 2.47888792e-03 9.96232136e-01 -3.04692738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37864 meters 0.03007662360790819 Centerline is valid? [True, True] Translation: X:49.36, Y:-13.72, Z:-3.05 [[ 9.17658229e-01 3.89302739e-01 7.96664992e-02 4.93557051e+01] [-3.87624145e-01 9.21106921e-01 -3.61878690e-02 -1.37191799e+01] [-8.74694003e-02 2.32743718e-03 9.96164488e-01 -3.04863823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40864 meters 0.029718452474885932 Centerline is valid? [True, True] Translation: X:49.38, Y:-13.74, Z:-3.05 [[ 9.16463719e-01 3.92415496e-01 7.81302207e-02 4.93834292e+01] [-3.90809013e-01 9.19785827e-01 -3.55295276e-02 -1.37358498e+01] [-8.58054069e-02 2.02752852e-03 9.96309852e-01 -3.04962452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43864 meters 0.029199614613420435 Centerline is valid? [True, True] Translation: X:49.41, Y:-13.76, Z:-3.05 [[ 9.14503084e-01 3.97191427e-01 7.69615397e-02 4.94096214e+01] [-3.95646898e-01 9.17734416e-01 -3.50296255e-02 -1.37559713e+01] [-8.45437207e-02 1.58510613e-03 9.96418510e-01 -3.05173599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46864 meters 0.029001501382657432 Centerline is valid? [True, True] Translation: X:49.44, Y:-13.77, Z:-3.05 [[ 9.13731544e-01 3.99165980e-01 7.59024724e-02 4.94377638e+01] [-3.97668738e-01 9.16877610e-01 -3.45691058e-02 -1.37711892e+01] [-8.33920885e-02 1.40284208e-03 9.96515826e-01 -3.05322707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.498639999999995 meters 0.02896082121030013 Centerline is valid? [True, True] Translation: X:49.47, Y:-13.79, Z:-3.06 [[ 9.12502367e-01 4.01866444e-01 7.64381551e-02 4.94664797e+01] [-4.00353979e-01 9.15697503e-01 -3.48536173e-02 -1.37865886e+01] [-8.40007270e-02 1.20168874e-03 9.96464969e-01 -3.05684807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.528639999999996 meters 0.028925827244767215 Centerline is valid? [True, True] Translation: X:49.49, Y:-13.80, Z:-3.06 [[ 9.10668481e-01 4.05978048e-01 7.65816066e-02 4.94938951e+01] [-4.04470935e-01 9.13882422e-01 -3.49597024e-02 -1.38030652e+01] [-8.41794559e-02 8.61665068e-04 9.96450238e-01 -3.05813748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55864 meters 0.028814496554842146 Centerline is valid? [True, True] Translation: X:49.52, Y:-13.82, Z:-3.06 [[ 9.09930748e-01 4.07770337e-01 7.58247104e-02 4.95222455e+01] [-4.06295771e-01 9.13084238e-01 -3.46543040e-02 -1.38186012e+01] [-8.33653452e-02 7.25757594e-04 9.96518787e-01 -3.05982505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58864 meters 0.028804373705896752 Centerline is valid? [True, True] Translation: X:49.55, Y:-13.83, Z:-3.06 [[ 9.09106705e-01 4.09652316e-01 7.55644062e-02 4.95506938e+01] [-4.08190984e-01 9.12241544e-01 -3.45758105e-02 -1.38345864e+01] [-8.30970514e-02 5.88391873e-04 9.96541286e-01 -3.06134550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61864 meters 0.028804373705896752 Centerline is valid? [True, True] Translation: X:49.58, Y:-13.85, Z:-3.06 [[ 9.08897079e-01 4.10120177e-01 7.55482705e-02 4.95803953e+01] [-4.08657530e-01 9.12031304e-01 -3.46110376e-02 -1.38478109e+01] [-8.30970724e-02 5.84501310e-04 9.96541286e-01 -3.06326383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64864 meters 0.028645225876012034 Centerline is valid? [True, True] Translation: X:49.61, Y:-13.86, Z:-3.07 [[ 9.07728378e-01 4.12756937e-01 7.52389647e-02 4.96080180e+01] [-4.11311565e-01 9.10841130e-01 -3.45142301e-02 -1.38639239e+01] [-8.27767316e-02 3.82889766e-04 9.96568044e-01 -3.06510673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.678639999999994 meters 0.02876575184909231 Centerline is valid? [True, True] Translation: X:49.64, Y:-13.88, Z:-3.07 [[ 9.07027949e-01 4.14515032e-01 7.40107265e-02 4.96366301e+01] [-4.13119135e-01 9.10042429e-01 -3.39905412e-02 -1.38787987e+01] [-8.14424916e-02 2.55123532e-04 9.96678010e-01 -3.06815869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters 0.02879784348414349 Centerline is valid? [True, True] Translation: X:49.67, Y:-13.89, Z:-3.07 [[ 9.06213758e-01 4.16266848e-01 7.41521106e-02 4.96654131e+01] [-4.14868006e-01 9.09242483e-01 -3.40975827e-02 -1.38941706e+01] [-8.16159425e-02 1.36360378e-04 9.96663845e-01 -3.06961072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73864 meters 0.028676287738005218 Centerline is valid? [True, True] Translation: X:49.69, Y:-13.91, Z:-3.07 [[ 9.05184526e-01 4.18742781e-01 7.27698891e-02 4.96930227e+01] [-4.17400178e-01 9.08104884e-01 -3.35053815e-02 -1.39111056e+01] [-8.01128284e-02 -4.56117452e-05 9.96785801e-01 -3.07040256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76864 meters 0.02887412419748901 Centerline is valid? [True, True] Translation: X:49.72, Y:-13.93, Z:-3.07 [[ 9.04313410e-01 4.20536372e-01 7.32558201e-02 4.97222653e+01] [-4.19178216e-01 9.07275665e-01 -3.37711669e-02 -1.39265853e+01] [-8.06652269e-02 -1.67524866e-04 9.96741237e-01 -3.07308955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79864 meters 0.028908430635590926 Centerline is valid? [True, True] Translation: X:49.75, Y:-13.94, Z:-3.07 [[ 9.03173288e-01 4.23299656e-01 7.13821640e-02 4.97501260e+01] [-4.22015409e-01 9.05989663e-01 -3.29503481e-02 -1.39427843e+01] [-7.86193737e-02 -3.64498912e-04 9.96904640e-01 -3.07452178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82864 meters 0.029115881370672815 Centerline is valid? [True, True] Translation: X:49.78, Y:-13.96, Z:-3.08 [[ 9.02178864e-01 4.25283307e-01 7.21623640e-02 4.97791850e+01] [-4.23973907e-01 9.05060137e-01 -3.33507662e-02 -1.39570036e+01] [-7.94948033e-02 -5.06603037e-04 9.96835152e-01 -3.07685493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85864 meters 0.029058582991551916 Centerline is valid? [True, True] Translation: X:49.81, Y:-13.97, Z:-3.08 [[ 9.01393895e-01 4.27022555e-01 7.16992573e-02 4.98088342e+01] [-4.25732158e-01 9.04240762e-01 -3.31779271e-02 -1.39709302e+01] [-7.90011142e-02 -6.18298641e-04 9.96874336e-01 -3.07845948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters 0.02943702545294696 Centerline is valid? [True, True] Translation: X:49.84, Y:-13.98, Z:-3.08 [[ 8.99634239e-01 4.30692469e-01 7.18486838e-02 4.98376216e+01] [-4.29405327e-01 9.02498295e-01 -3.32850172e-02 -1.39849709e+01] [-7.91789209e-02 -9.07866406e-04 9.96860007e-01 -3.08007409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.918639999999996 meters 0.02953735884126688 Centerline is valid? [True, True] Translation: X:49.87, Y:-14.00, Z:-3.08 [[ 8.98485631e-01 4.33222681e-01 7.10047839e-02 4.98673883e+01] [-4.31971799e-01 9.01286250e-01 -3.29159665e-02 -1.39981727e+01] [-7.82555787e-02 -1.09754130e-03 9.96932726e-01 -3.08180043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94864 meters 0.02972804829854467 Centerline is valid? [True, True] Translation: X:49.90, Y:-14.01, Z:-3.08 [[ 8.97572934e-01 4.35072341e-01 7.12382375e-02 4.98971237e+01] [-4.33815500e-01 9.00394671e-01 -3.30688393e-02 -1.40097217e+01] [-7.85298667e-02 -1.22255650e-03 9.96911012e-01 -3.08351171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97864 meters 0.030116239687221255 Centerline is valid? [True, True] Translation: X:49.93, Y:-14.02, Z:-3.08 [[ 8.96043117e-01 4.38339130e-01 7.04665871e-02 4.99276101e+01] [-4.37116436e-01 8.98808480e-01 -3.27496187e-02 -1.40214903e+01] [-7.76914054e-02 -1.45703298e-03 9.96976390e-01 -3.08436145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00864 meters 0.030548453352849034 Centerline is valid? [True, True] Translation: X:49.96, Y:-14.03, Z:-3.09 [[ 8.93691823e-01 4.43289488e-01 6.93495168e-02 4.99577950e+01] [-4.42117533e-01 8.96376648e-01 -3.22644046e-02 -1.40315397e+01] [-7.64657588e-02 -1.82620270e-03 9.97070535e-01 -3.08571603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03864 meters 0.030781575856537048 Centerline is valid? [True, True] Translation: X:49.99, Y:-14.04, Z:-3.09 [[ 8.92744502e-01 4.45160680e-01 6.95645246e-02 4.99872801e+01] [-4.43985190e-01 8.95448539e-01 -3.23892589e-02 -1.40435417e+01] [-7.67098765e-02 -1.97028590e-03 9.97051510e-01 -3.08818678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters 0.03073610102750246 Centerline is valid? [True, True] Translation: X:50.02, Y:-14.05, Z:-3.09 [[ 8.91857534e-01 4.46999622e-01 6.91482258e-02 5.00180696e+01] [-4.45840747e-01 8.94531725e-01 -3.22338598e-02 -1.40542947e+01] [-7.62638048e-02 -2.08108592e-03 9.97085503e-01 -3.08804257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.098639999999996 meters 0.030578264000025245 Centerline is valid? [True, True] Translation: X:50.05, Y:-14.07, Z:-3.09 [[ 8.92049579e-01 4.46666588e-01 6.88222888e-02 5.00480786e+01] [-4.45514729e-01 8.94698231e-01 -3.21201141e-02 -1.40653261e+01] [-7.59221618e-02 -2.00860905e-03 9.97111724e-01 -3.08947644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12864 meters 0.030713511608683183 Centerline is valid? [True, True] Translation: X:50.08, Y:-14.08, Z:-3.09 [[ 8.92165709e-01 4.46224218e-01 7.01733164e-02 5.00789250e+01] [-4.45022063e-01 8.94919021e-01 -3.27919023e-02 -1.40765662e+01] [-7.74319767e-02 -1.97286322e-03 9.96995685e-01 -3.09219645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15864 meters 0.030567359834490198 Centerline is valid? [True, True] Translation: X:50.11, Y:-14.09, Z:-3.09 [[ 8.92270743e-01 4.45990523e-01 7.03233492e-02 5.01094410e+01] [-4.44778953e-01 8.95035632e-01 -3.29074547e-02 -1.40890320e+01] [-7.76183162e-02 -1.91598656e-03 9.96981307e-01 -3.09377035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18864 meters 0.030736790806896605 Centerline is valid? [True, True] Translation: X:50.14, Y:-14.10, Z:-3.10 [[ 8.91609381e-01 4.47226295e-01 7.08615073e-02 5.01392219e+01] [-4.45996502e-01 8.94418607e-01 -3.32035543e-02 -1.41004922e+01] [-7.82293532e-02 -1.99938390e-03 9.96933383e-01 -3.09580986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21864 meters 0.03076298656853301 Centerline is valid? [True, True] Translation: X:50.17, Y:-14.11, Z:-3.10 [[ 8.91055270e-01 4.48329429e-01 7.08606330e-02 5.01709799e+01] [-4.47099917e-01 8.93866031e-01 -3.32442767e-02 -1.41115009e+01] [-7.82443005e-02 -2.05929524e-03 9.96932088e-01 -3.09775932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters 0.030884653786131023 Centerline is valid? [True, True] Translation: X:50.20, Y:-14.12, Z:-3.10 [[ 8.89869615e-01 4.50714709e-01 7.06280328e-02 5.02024964e+01] [-4.49497333e-01 8.92665286e-01 -3.31788309e-02 -1.41198871e+01] [-7.80013802e-02 -2.22227897e-03 9.96950774e-01 -3.09952543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.278639999999996 meters 0.0310492939612192 Centerline is valid? [True, True] Translation: X:50.23, Y:-14.13, Z:-3.10 [[ 8.89209799e-01 4.51938128e-01 7.11186463e-02 5.02321075e+01] [-4.50704509e-01 8.92046295e-01 -3.34492665e-02 -1.41316531e+01] [-7.85581238e-02 -2.31007900e-03 9.96906859e-01 -3.10134512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30864 meters 0.03114806445171468 Centerline is valid? [True, True] Translation: X:50.26, Y:-14.14, Z:-3.10 [[ 8.88789828e-01 4.52720290e-01 7.13931366e-02 5.02627394e+01] [-4.51476357e-01 8.91649488e-01 -3.36197712e-02 -1.41432750e+01] [-7.88780063e-02 -2.35140259e-03 9.96881503e-01 -3.10283962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33864 meters 0.031044435228895842 Centerline is valid? [True, True] Translation: X:50.29, Y:-14.15, Z:-3.11 [[ 8.88715816e-01 4.52883058e-01 7.12820665e-02 5.02948655e+01] [-4.51639925e-01 8.91566905e-01 -3.36129653e-02 -1.41523422e+01] [-7.87754740e-02 -2.32145329e-03 9.96889681e-01 -3.10525252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36864 meters 0.030926366294502662 Centerline is valid? [True, True] Translation: X:50.33, Y:-14.16, Z:-3.11 [[ 8.89024020e-01 4.52235392e-01 7.15502758e-02 5.03255401e+01] [-4.50977240e-01 8.91895827e-01 -3.37840665e-02 -1.41635695e+01] [-7.90937429e-02 -2.23269934e-03 9.96864682e-01 -3.10673892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39864 meters 0.030764480150151163 Centerline is valid? [True, True] Translation: X:50.36, Y:-14.18, Z:-3.11 [[ 8.89269390e-01 4.51881477e-01 7.07324735e-02 5.03560657e+01] [-4.50647748e-01 8.92075416e-01 -3.34373809e-02 -1.41750624e+01] [-7.82084338e-02 -2.14059055e-03 9.96934731e-01 -3.10844793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters 0.030693372042637165 Centerline is valid? [True, True] Translation: X:50.39, Y:-14.18, Z:-3.11 [[ 8.90057552e-01 4.50171580e-01 7.17154272e-02 5.03880585e+01] [-4.48895030e-01 8.92939862e-01 -3.39360336e-02 -1.41836533e+01] [-7.93146015e-02 -1.98767576e-03 9.96847653e-01 -3.11040255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.458639999999995 meters 0.030718375471307832 Centerline is valid? [True, True] Translation: X:50.42, Y:-14.19, Z:-3.11 [[ 8.89774037e-01 4.50915875e-01 7.05481202e-02 5.04201954e+01] [-4.49681239e-01 8.92564210e-01 -3.34052977e-02 -1.41936215e+01] [-7.80317062e-02 -2.00099948e-03 9.96948870e-01 -3.11166670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48864 meters 0.03073735397955682 Centerline is valid? [True, True] Translation: X:50.45, Y:-14.20, Z:-3.11 [[ 8.89419079e-01 4.51541927e-01 7.10182339e-02 5.04514754e+01] [-4.50289137e-01 8.92247596e-01 -3.36737384e-02 -1.42041681e+01] [-7.85709532e-02 -2.02867392e-03 9.96906460e-01 -3.11435343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51864 meters 0.031032599338335846 Centerline is valid? [True, True] Translation: X:50.48, Y:-14.21, Z:-3.12 [[ 8.88059564e-01 4.54207396e-01 7.10341641e-02 5.04831425e+01] [-4.52959039e-01 8.90893198e-01 -3.37256519e-02 -1.42118887e+01] [-7.86022942e-02 -2.22517893e-03 9.96903570e-01 -3.11659904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54864 meters 0.031052793979430695 Centerline is valid? [True, True] Translation: X:50.51, Y:-14.22, Z:-3.12 [[ 8.87531990e-01 4.55108340e-01 7.18565649e-02 5.05141105e+01] [-4.53830587e-01 8.90433113e-01 -3.41565497e-02 -1.42226604e+01] [-7.95283954e-02 -2.29567656e-03 9.96829958e-01 -3.11910705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57864 meters 0.030959304311692824 Centerline is valid? [True, True] Translation: X:50.55, Y:-14.23, Z:-3.12 [[ 8.87156154e-01 4.55951978e-01 7.11459951e-02 5.05456471e+01] [-4.54698866e-01 8.90001378e-01 -3.38598360e-02 -1.42334874e+01] [-7.87584929e-02 -2.31104150e-03 9.96891047e-01 -3.12065791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60864 meters 0.03086242292803768 Centerline is valid? [True, True] Translation: X:50.58, Y:-14.24, Z:-3.12 [[ 8.87550596e-01 4.55262377e-01 7.06406924e-02 5.05787808e+01] [-4.54021403e-01 8.90354622e-01 -3.36632314e-02 -1.42387541e+01] [-7.82208697e-02 -2.19456516e-03 9.96933638e-01 -3.12171829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.638639999999995 meters 0.030928365490149066 Centerline is valid? [True, True] Translation: X:50.61, Y:-14.25, Z:-3.12 [[ 8.87567859e-01 4.55347766e-01 6.98692195e-02 5.06090327e+01] [-4.54131041e-01 8.90311080e-01 -3.33343524e-02 -1.42494639e+01] [-7.73840632e-02 -2.14328156e-03 9.96999054e-01 -3.12379643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.668639999999996 meters 0.030693408660298536 Centerline is valid? [True, True] Translation: X:50.64, Y:-14.26, Z:-3.13 [[ 8.87861198e-01 4.54782537e-01 6.98236225e-02 5.06396470e+01] [-4.53562631e-01 8.90600140e-01 -3.33516090e-02 -1.42606179e+01] [-7.73526573e-02 -2.05778644e-03 9.97001671e-01 -3.12614207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69864 meters 0.030695948589770396 Centerline is valid? [True, True] Translation: X:50.67, Y:-14.27, Z:-3.13 [[ 8.88355059e-01 4.54045704e-01 6.83212134e-02 5.06705090e+01] [-4.52872778e-01 8.90976332e-01 -3.26714351e-02 -1.42714944e+01] [-7.57069089e-02 -1.91698305e-03 9.97128271e-01 -3.12775439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72864 meters 0.03023378078756199 Centerline is valid? [True, True] Translation: X:50.70, Y:-14.28, Z:-3.13 [[ 8.89890786e-01 4.50775258e-01 6.99718204e-02 5.07030260e+01] [-4.49531695e-01 8.92635966e-01 -3.35005535e-02 -1.42784224e+01] [-7.75605842e-02 -1.64271715e-03 9.96986287e-01 -3.12999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75864 meters 0.029966151553142063 Centerline is valid? [True, True] Translation: X:50.73, Y:-14.29, Z:-3.13 [[ 8.90942470e-01 4.48728754e-01 6.97425316e-02 5.07332018e+01] [-4.47484045e-01 8.93666871e-01 -3.34298271e-02 -1.42900677e+01] [-7.73275146e-02 -1.42461743e-03 9.97004727e-01 -3.13180932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78864 meters 0.02938681290359548 Centerline is valid? [True, True] Translation: X:50.76, Y:-14.30, Z:-3.13 [[ 8.93853587e-01 4.42674950e-01 7.11663791e-02 5.07642070e+01] [-4.41356901e-01 8.96681716e-01 -3.41465342e-02 -1.43008602e+01] [-7.89294062e-02 -8.87770417e-04 9.96879813e-01 -3.13430971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.818639999999995 meters 0.029018047063913803 Centerline is valid? [True, True] Translation: X:50.79, Y:-14.31, Z:-3.14 [[ 8.95253443e-01 4.39763870e-01 7.16171121e-02 5.07946458e+01] [-4.38418065e-01 8.98113222e-01 -3.43837401e-02 -1.43126004e+01] [-7.94410019e-02 -6.16073959e-04 9.96839379e-01 -3.13664761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.848639999999996 meters 0.028805152697703743 Centerline is valid? [True, True] Translation: X:50.82, Y:-14.32, Z:-3.14 [[ 8.96848931e-01 4.36549578e-01 7.13194230e-02 5.08244297e+01] [-4.35201654e-01 8.99680154e-01 -3.42803351e-02 -1.43241574e+01] [-7.91297353e-02 -2.94048971e-04 9.96864283e-01 -3.13853970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87864 meters 0.028517116159086194 Centerline is valid? [True, True] Translation: X:50.85, Y:-14.34, Z:-3.14 [[ 8.99387288e-01 4.30964492e-01 7.32947006e-02 5.08537776e+01] [-4.29518777e-01 9.02368854e-01 -3.52713961e-02 -1.43368123e+01] [-8.13395743e-02 2.41195100e-04 9.96686418e-01 -3.14112220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90864 meters 0.028623435419182337 Centerline is valid? [True, True] Translation: X:50.88, Y:-14.35, Z:-3.14 [[ 9.00885241e-01 4.27649216e-01 7.43096956e-02 5.08824140e+01] [-4.26148420e-01 9.03944581e-01 -3.58011105e-02 -1.43510232e+01] [-8.24821634e-02 5.85732731e-04 9.96592369e-01 -3.14236108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93864 meters 0.028936832693479075 Centerline is valid? [True, True] Translation: X:50.91, Y:-14.37, Z:-3.15 [[ 9.02380025e-01 4.24360474e-01 7.50231913e-02 5.09107197e+01] [-4.22815886e-01 9.05492860e-01 -3.61857340e-02 -1.43657601e+01] [-8.32887592e-02 9.32286441e-04 9.96525019e-01 -3.14562694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96864 meters 0.029028722547235725 Centerline is valid? [True, True] Translation: X:50.94, Y:-14.38, Z:-3.15 [[ 9.04461998e-01 4.20288315e-01 7.28438551e-02 5.09386695e+01] [-4.18815881e-01 9.07389678e-01 -3.51742815e-02 -1.43830633e+01] [-8.08811017e-02 1.30563753e-03 9.96722902e-01 -3.14757180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.998639999999995 meters 0.029002781395205325 Centerline is valid? [True, True] Translation: X:50.97, Y:-14.40, Z:-3.15 [[ 9.04450077e-01 4.20456587e-01 7.20160818e-02 5.09676696e+01] [-4.19014532e-01 9.07311704e-01 -3.48180126e-02 -1.43998970e+01] [-7.99804966e-02 1.31536942e-03 9.96795561e-01 -3.14966518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.028639999999996 meters 0.028814965763902297 Centerline is valid? [True, True] Translation: X:51.00, Y:-14.42, Z:-3.15 [[ 9.04170687e-01 4.21134524e-01 7.15617363e-02 5.09957503e+01] [-4.19709304e-01 9.06997275e-01 -3.46416337e-02 -1.44176464e+01] [-7.94950878e-02 1.28682316e-03 9.96834427e-01 -3.15125215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05864 meters 0.028570869286084995 Centerline is valid? [True, True] Translation: X:51.02, Y:-14.44, Z:-3.15 [[ 9.02606349e-01 4.24459790e-01 7.16635613e-02 5.10211648e+01] [-4.23037572e-01 9.05446198e-01 -3.47331984e-02 -1.44390432e+01] [-7.96303453e-02 1.03402638e-03 9.96823926e-01 -3.15330407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08864 meters 0.028288723153810615 Centerline is valid? [True, True] Translation: X:51.05, Y:-14.46, Z:-3.16 [[ 9.01379669e-01 4.27200566e-01 7.08122117e-02 5.10488979e+01] [-4.25817450e-01 9.04156518e-01 -3.43582595e-02 -1.44561139e+01] [-7.87031906e-02 8.16761129e-04 9.96897758e-01 -3.15513801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11864 meters 0.02811057192777797 Centerline is valid? [True, True] Translation: X:51.07, Y:-14.48, Z:-3.16 [[ 8.98366160e-01 4.33674774e-01 6.97454946e-02 5.10743150e+01] [-4.32349920e-01 9.01069428e-01 -3.38737730e-02 -1.44767936e+01] [-7.75357338e-02 2.76592374e-04 9.96989535e-01 -3.15712607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14864 meters 0.028042469946412515 Centerline is valid? [True, True] Translation: X:51.10, Y:-14.49, Z:-3.16 [[ 8.97262796e-01 4.36114390e-01 6.87292790e-02 5.11018883e+01] [-4.34833188e-01 8.99891233e-01 -3.34045974e-02 -1.44934117e+01] [-7.64171013e-02 8.69309640e-05 9.97075934e-01 -3.15849031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.178639999999994 meters 0.02812330591388109 Centerline is valid? [True, True] Translation: X:51.13, Y:-14.51, Z:-3.16 [[ 8.96416657e-01 4.37843828e-01 6.87746962e-02 5.11307139e+01] [-4.36562965e-01 8.99051045e-01 -3.34663432e-02 -1.45101466e+01] [-7.64849943e-02 -2.46978183e-05 9.97070732e-01 -3.16164489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.208639999999995 meters 0.028082340294200522 Centerline is valid? [True, True] Translation: X:51.16, Y:-14.53, Z:-3.16 [[ 8.95425546e-01 4.40003437e-01 6.78974825e-02 5.11591404e+01] [-4.38757991e-01 8.97996073e-01 -3.30828921e-02 -1.45264623e+01] [-7.55282589e-02 -1.67296332e-04 9.97143648e-01 -3.16297477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23864 meters 0.028142469347468675 Centerline is valid? [True, True] Translation: X:51.19, Y:-14.54, Z:-3.16 [[ 8.93587028e-01 4.43605382e-01 6.86766954e-02 5.11864196e+01] [-4.42338436e-01 8.96222111e-01 -3.35057461e-02 -1.45434171e+01] [-7.64129023e-02 -4.38041960e-04 9.97076164e-01 -3.16446932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26864 meters 0.028240644686293424 Centerline is valid? [True, True] Translation: X:51.22, Y:-14.56, Z:-3.17 [[ 8.92449915e-01 4.45736735e-01 6.96556735e-02 5.12153323e+01] [-4.44436784e-01 8.95163901e-01 -3.40225565e-02 -1.45573470e+01] [-7.75183477e-02 -5.94115905e-04 9.96990749e-01 -3.16542786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29864 meters 0.028522582215130644 Centerline is valid? [True, True] Translation: X:51.24, Y:-14.57, Z:-3.17 [[ 8.90972060e-01 4.48480939e-01 7.09481243e-02 5.12442388e+01] [-4.47137710e-01 8.93792027e-01 -3.46940939e-02 -1.45711479e+01] [-7.89725077e-02 -8.12113499e-04 9.96876464e-01 -3.16750788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32864 meters 0.028683623769624824 Centerline is valid? [True, True] Translation: X:51.27, Y:-14.58, Z:-3.17 [[ 8.89246025e-01 4.52047648e-01 6.99602145e-02 5.12746109e+01] [-4.50749477e-01 8.91993142e-01 -3.42511905e-02 -1.45838584e+01] [-7.78872016e-02 -1.07679515e-03 9.96961596e-01 -3.16963092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35864 meters 0.0289900435697819 Centerline is valid? [True, True] Translation: X:51.31, Y:-14.60, Z:-3.17 [[ 8.88339461e-01 4.54006860e-01 6.87806185e-02 5.13050079e+01] [-4.52754652e-01 8.90997396e-01 -3.37174432e-02 -1.45973229e+01] [-7.65913025e-02 -1.18820963e-03 9.97061864e-01 -3.17115444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters 0.029081015173696337 Centerline is valid? [True, True] Translation: X:51.34, Y:-14.61, Z:-3.17 [[ 8.87406158e-01 4.55510389e-01 7.08561688e-02 5.13359383e+01] [-4.54182543e-01 8.90229493e-01 -3.47802778e-02 -1.46081096e+01] [-7.89210291e-02 -1.31740224e-03 9.96880001e-01 -3.17393189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.418639999999996 meters 0.029210693355468078 Centerline is valid? [True, True] Translation: X:51.37, Y:-14.62, Z:-3.17 [[ 8.86643171e-01 4.57077229e-01 7.03156762e-02 5.13662703e+01] [-4.55771272e-01 8.89425895e-01 -3.45561222e-02 -1.46203940e+01] [-7.83353998e-02 -1.40891546e-03 9.96926066e-01 -3.17457269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44864 meters 0.0292199763117502 Centerline is valid? [True, True] Translation: X:51.40, Y:-14.63, Z:-3.18 [[ 8.86168662e-01 4.57807723e-01 7.15345475e-02 5.13964229e+01] [-4.56454781e-01 8.89050033e-01 -3.52004541e-02 -1.46316562e+01] [-7.97128315e-02 -1.45874692e-03 9.96816802e-01 -3.17656040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47864 meters 0.029401476475795146 Centerline is valid? [True, True] Translation: X:51.43, Y:-14.64, Z:-3.18 [[ 8.85353344e-01 4.59223822e-01 7.25461082e-02 5.14274630e+01] [-4.57833686e-01 8.88319205e-01 -3.57394093e-02 -1.46412264e+01] [-8.08564893e-02 -1.57204666e-03 9.96724514e-01 -3.17858928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50864 meters 0.02937553847360734 Centerline is valid? [True, True] Translation: X:51.46, Y:-14.65, Z:-3.18 [[ 8.85348550e-01 4.59310714e-01 7.20528418e-02 5.14572697e+01] [-4.57936482e-01 8.88274348e-01 -3.55367595e-02 -1.46525124e+01] [-8.03251054e-02 -1.53320634e-03 9.96767539e-01 -3.18015450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53864 meters 0.02957030276275523 Centerline is valid? [True, True] Translation: X:51.49, Y:-14.66, Z:-3.18 [[ 8.85279873e-01 4.59386383e-01 7.24133786e-02 5.14877174e+01] [-4.57995141e-01 8.88235257e-01 -3.57572272e-02 -1.46646572e+01] [-8.07464992e-02 -1.50982196e-03 9.96733527e-01 -3.18300660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters 0.02957030276275523 Centerline is valid? [True, True] Translation: X:51.52, Y:-14.68, Z:-3.18 [[ 8.85043948e-01 4.59843672e-01 7.23948027e-02 5.15170401e+01] [-4.58450884e-01 8.87998603e-01 -3.57948035e-02 -1.46787822e+01] [-8.07464976e-02 -1.50948709e-03 9.96733527e-01 -3.18492473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.598639999999996 meters 0.029169378912602153 Centerline is valid? [True, True] Translation: X:51.55, Y:-14.69, Z:-3.19 [[ 8.85312673e-01 4.59340980e-01 7.23003077e-02 5.15467298e+01] [-4.57946537e-01 8.88258883e-01 -3.57928328e-02 -1.46906160e+01] [-8.06625054e-02 -1.42182704e-03 9.96740457e-01 -3.18669783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62864 meters 0.02904294234910087 Centerline is valid? [True, True] Translation: X:51.58, Y:-14.70, Z:-3.19 [[ 8.86856051e-01 4.56231252e-01 7.30711261e-02 5.15768019e+01] [-4.54792924e-01 8.89860553e-01 -3.62159108e-02 -1.47015684e+01] [-8.15459430e-02 -1.11393147e-03 9.96668961e-01 -3.18864780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65864 meters 0.029153149375400964 Centerline is valid? [True, True] Translation: X:51.61, Y:-14.71, Z:-3.19 [[ 8.87373312e-01 4.55063955e-01 7.40634992e-02 5.16071389e+01] [-4.53578512e-01 8.90458216e-01 -3.67518612e-02 -1.47142911e+01] [-8.26748987e-02 -9.80990911e-04 9.96576088e-01 -3.19224400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68864 meters 0.028907462157474206 Centerline is valid? [True, True] Translation: X:51.64, Y:-14.73, Z:-3.19 [[ 8.89699183e-01 4.50712272e-01 7.27585850e-02 5.16374683e+01] [-4.49261177e-01 8.92669124e-01 -3.61418130e-02 -1.47265311e+01] [-8.12389010e-02 -5.32266025e-04 9.96694516e-01 -3.19379432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71864 meters 0.028725446195506255 Centerline is valid? [True, True] Translation: X:51.67, Y:-14.74, Z:-3.20 [[ 8.90100578e-01 4.49883796e-01 7.29762342e-02 5.16675196e+01] [-4.48419273e-01 8.93086994e-01 -3.62736398e-02 -1.47403084e+01] [-8.14930484e-02 -4.36762110e-04 9.96673814e-01 -3.19567159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters 0.02879218678318948 Centerline is valid? [True, True] Translation: X:51.70, Y:-14.75, Z:-3.20 [[ 8.90542662e-01 4.48903748e-01 7.36151650e-02 5.16971959e+01] [-4.47406135e-01 8.93580064e-01 -3.66390411e-02 -1.47539638e+01] [-8.22284468e-02 -3.07247276e-04 9.96613460e-01 -3.19865767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.778639999999996 meters 0.028762939695015678 Centerline is valid? [True, True] Translation: X:51.73, Y:-14.77, Z:-3.20 [[ 8.91682926e-01 4.46540138e-01 7.41853385e-02 5.17270120e+01] [-4.45007029e-01 8.94763602e-01 -3.69708120e-02 -1.47670920e+01] [-8.28872921e-02 -4.67552937e-05 9.96558927e-01 -3.20248619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80864 meters 0.02896897274699059 Centerline is valid? [True, True] Translation: X:51.76, Y:-14.78, Z:-3.20 [[ 8.91940843e-01 4.45968143e-01 7.45248148e-02 5.17568037e+01] [-4.44414938e-01 8.95048833e-01 -3.71880268e-02 -1.47811490e+01] [-8.32880237e-02 4.95790233e-05 9.96525515e-01 -3.20468409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83864 meters 0.028942555719130476 Centerline is valid? [True, True] Translation: X:51.79, Y:-14.79, Z:-3.21 [[ 8.93325424e-01 4.42899940e-01 7.62189550e-02 5.17858908e+01] [-4.41260030e-01 8.96570964e-01 -3.80800680e-02 -1.47938897e+01] [-8.52013618e-02 3.85514496e-04 9.96363678e-01 -3.20625792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86864 meters 0.029001120109835386 Centerline is valid? [True, True] Translation: X:51.82, Y:-14.81, Z:-3.21 [[ 8.94420163e-01 4.40849615e-01 7.52608042e-02 5.18154984e+01] [-4.39240042e-01 8.97580773e-01 -3.76422797e-02 -1.48078976e+01] [-8.41472354e-02 6.10455185e-04 9.96453145e-01 -3.20742746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89864 meters 0.029048967816758513 Centerline is valid? [True, True] Translation: X:51.84, Y:-14.82, Z:-3.21 [[ 8.95395523e-01 4.38788623e-01 7.57060269e-02 5.18447030e+01] [-4.37148637e-01 8.98589907e-01 -3.79110589e-02 -1.48223194e+01] [-8.46636130e-02 8.50605941e-04 9.96409228e-01 -3.20947055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters 0.02921067149741517 Centerline is valid? [True, True] Translation: X:51.87, Y:-14.84, Z:-3.21 [[ 8.96258778e-01 4.37009973e-01 7.57791943e-02 5.18728276e+01] [-4.35356926e-01 8.99456039e-01 -3.79892160e-02 -1.48372691e+01] [-8.47617202e-02 1.05717120e-03 9.96400689e-01 -3.21275163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.958639999999995 meters 0.029925804806399153 Centerline is valid? [True, True] Translation: X:51.90, Y:-14.85, Z:-3.22 [[ 8.98446415e-01 4.32393606e-01 7.63531797e-02 5.19009021e+01] [-4.30695119e-01 9.01683642e-01 -3.83187192e-02 -1.48526781e+01] [-8.54151823e-02 1.54237406e-03 9.96344252e-01 -3.21507161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98864 meters 0.029894095493039598 Centerline is valid? [True, True] Translation: X:51.93, Y:-14.87, Z:-3.22 [[ 8.98733065e-01 4.31887075e-01 7.58447866e-02 5.19296898e+01] [-4.30205757e-01 9.01926236e-01 -3.81060507e-02 -1.48681900e+01] [-8.48639137e-02 1.61830392e-03 9.96391237e-01 -3.21731529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01864 meters 0.03022968785034314 Centerline is valid? [True, True] Translation: X:51.96, Y:-14.88, Z:-3.22 [[ 8.99649008e-01 4.29749566e-01 7.71166151e-02 5.19578467e+01] [-4.27999442e-01 9.02946138e-01 -3.87911003e-02 -1.48842487e+01] [-8.63026084e-02 1.89250671e-03 9.96267172e-01 -3.21890257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04864 meters 0.03035456117102771 Centerline is valid? [True, True] Translation: X:51.99, Y:-14.90, Z:-3.22 [[ 8.99325784e-01 4.30393857e-01 7.72933492e-02 5.19870446e+01] [-4.28634317e-01 9.02639250e-01 -3.89230876e-02 -1.49005245e+01] [-8.65202685e-02 1.87395433e-03 9.96248328e-01 -3.22090504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07864 meters 0.030324439188514414 Centerline is valid? [True, True] Translation: X:52.02, Y:-14.92, Z:-3.22 [[ 8.98309260e-01 4.32250774e-01 7.87384376e-02 5.20155142e+01] [-4.30427487e-01 9.01751702e-01 -3.96994513e-02 -1.49165531e+01] [-8.81626386e-02 1.77119691e-03 9.96104519e-01 -3.22328791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.10864 meters 0.030311577881652126 Centerline is valid? [True, True] Translation: X:52.04, Y:-14.93, Z:-3.23 [[ 8.98135997e-01 4.32536951e-01 7.91423862e-02 5.20445342e+01] [-4.30691644e-01 9.01614418e-01 -3.99518329e-02 -1.49327097e+01] [-8.86365605e-02 1.79621491e-03 9.96062415e-01 -3.22615456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.138639999999995 meters 0.03038604981567383 Centerline is valid? [True, True] Translation: X:52.07, Y:-14.95, Z:-3.23 [[ 8.98187784e-01 4.32829547e-01 7.69239046e-02 5.20719981e+01] [-4.31083693e-01 9.01474068e-01 -3.88761507e-02 -1.49502027e+01] [-8.61716519e-02 1.75744282e-03 9.96278755e-01 -3.22747422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.168639999999996 meters 0.030620638826530728 Centerline is valid? [True, True] Translation: X:52.10, Y:-14.97, Z:-3.23 [[ 8.98341791e-01 4.32219108e-01 7.85408814e-02 5.21008140e+01] [-4.30392851e-01 9.01766633e-01 -3.97358063e-02 -1.49651014e+01] [-8.80001209e-02 1.89290149e-03 9.96118665e-01 -3.23015671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19864 meters 0.030593645622268906 Centerline is valid? [True, True] Translation: X:52.13, Y:-14.98, Z:-3.23 [[ 8.98482960e-01 4.32129222e-01 7.74125665e-02 5.21295892e+01] [-4.30351270e-01 9.01809671e-01 -3.92058886e-02 -1.49797696e+01] [-8.67534113e-02 1.91122656e-03 9.96227982e-01 -3.23158665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22864 meters 0.03091354772423695 Centerline is valid? [True, True] Translation: X:52.16, Y:-15.00, Z:-3.23 [[ 8.98968672e-01 4.30684301e-01 7.97894767e-02 5.21570160e+01] [-4.28786308e-01 9.02500096e-01 -4.04459972e-02 -1.49953760e+01] [-8.94294664e-02 2.14704928e-03 9.95990844e-01 -3.23391106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25864 meters 0.03117601132755462 Centerline is valid? [True, True] Translation: X:52.19, Y:-15.01, Z:-3.24 [[ 8.99311601e-01 4.30006922e-01 7.95782092e-02 5.21856681e+01] [-4.28113784e-01 9.02822826e-01 -4.03674781e-02 -1.50109531e+01] [-8.92033187e-02 2.23441310e-03 9.96010931e-01 -3.23514658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28864 meters 0.03131662890773199 Centerline is valid? [True, True] Translation: X:52.21, Y:-15.03, Z:-3.24 [[ 8.99258501e-01 4.29938330e-01 8.05430368e-02 5.22127015e+01] [-4.27994737e-01 9.02855308e-01 -4.08998482e-02 -1.50291176e+01] [-9.03031207e-02 2.30754035e-03 9.95911654e-01 -3.23814216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.318639999999995 meters 0.03117472822971093 Centerline is valid? [True, True] Translation: X:52.24, Y:-15.05, Z:-3.24 [[ 8.99197145e-01 4.30280683e-01 7.93916113e-02 5.22406865e+01] [-4.28390002e-01 9.02692276e-01 -4.03566784e-02 -1.50459132e+01] [-8.90308934e-02 2.27803748e-03 9.96026260e-01 -3.23975666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.348639999999996 meters 0.03106539533508817 Centerline is valid? [True, True] Translation: X:52.27, Y:-15.06, Z:-3.24 [[ 8.98888260e-01 4.30933858e-01 7.93467461e-02 5.22690738e+01] [-4.29043913e-01 9.02380706e-01 -4.03779927e-02 -1.50632806e+01] [-8.90012169e-02 2.25206512e-03 9.96028971e-01 -3.24114973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37864 meters 0.031262047829378005 Centerline is valid? [True, True] Translation: X:52.30, Y:-15.08, Z:-3.24 [[ 8.98229734e-01 4.32197691e-01 7.99280976e-02 5.22961156e+01] [-4.30280462e-01 9.01776232e-01 -4.07228486e-02 -1.50831929e+01] [-8.96775798e-02 2.18697471e-03 9.95968448e-01 -3.24388549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40864 meters 0.031248630385924576 Centerline is valid? [True, True] Translation: X:52.32, Y:-15.10, Z:-3.24 [[ 8.98361656e-01 4.32126846e-01 7.88208375e-02 5.23229706e+01] [-4.30258135e-01 9.01810139e-01 -4.02045966e-02 -1.51005068e+01] [-8.84549160e-02 2.20496139e-03 9.96077741e-01 -3.24450285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43864 meters 0.031536123936762646 Centerline is valid? [True, True] Translation: X:52.35, Y:-15.12, Z:-3.25 [[ 8.98384089e-01 4.31840255e-01 8.01250468e-02 5.23497503e+01] [-4.29904004e-01 9.01947149e-01 -4.09131749e-02 -1.51178499e+01] [-8.99365134e-02 2.30966691e-03 9.95944822e-01 -3.24796464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46864 meters 0.0313382574816578 Centerline is valid? [True, True] Translation: X:52.38, Y:-15.14, Z:-3.25 [[ 8.98901001e-01 4.31038886e-01 7.86286757e-02 5.23760027e+01] [-4.29167507e-01 9.02330202e-01 -4.01927509e-02 -1.51392717e+01] [-8.82736673e-02 2.38443126e-03 9.96093406e-01 -3.24977511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.498639999999995 meters 0.031253659902784184 Centerline is valid? [True, True] Translation: X:52.40, Y:-15.16, Z:-3.25 [[ 8.99009910e-01 4.31037294e-01 7.73823856e-02 5.24033734e+01] [-4.29220950e-01 9.02330955e-01 -3.96008158e-02 -1.51563580e+01] [-8.68939504e-02 2.38738483e-03 9.96214707e-01 -3.25123892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.528639999999996 meters 0.031151102427743178 Centerline is valid? [True, True] Translation: X:52.43, Y:-15.18, Z:-3.25 [[ 8.98625837e-01 4.31972529e-01 7.66246632e-02 5.24278258e+01] [-4.30191497e-01 9.01883801e-01 -3.92541038e-02 -1.51783104e+01] [-8.60632370e-02 2.31147329e-03 9.96286995e-01 -3.25338029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55864 meters 0.03100334612082498 Centerline is valid? [True, True] Translation: X:52.46, Y:-15.20, Z:-3.26 [[ 8.98028421e-01 4.33160474e-01 7.69217764e-02 5.24550292e+01] [-4.31366151e-01 9.01314019e-01 -3.94497423e-02 -1.51966353e+01] [-8.64187445e-02 2.24553916e-03 9.96256372e-01 -3.25536610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58864 meters 0.03106478016040146 Centerline is valid? [True, True] Translation: X:52.48, Y:-15.21, Z:-3.26 [[ 8.97649694e-01 4.34100002e-01 7.60408752e-02 5.24826035e+01] [-4.32346144e-01 9.00862074e-01 -3.90427439e-02 -1.52140616e+01] [-8.54507957e-02 2.17072800e-03 9.96340027e-01 -3.25742695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61864 meters 0.030698270915676923 Centerline is valid? [True, True] Translation: X:52.51, Y:-15.23, Z:-3.26 [[ 8.96593430e-01 4.36412913e-01 7.52594879e-02 5.25087537e+01] [-4.34699666e-01 8.99744353e-01 -3.86820205e-02 -1.52342143e+01] [-8.45956325e-02 1.96677121e-03 9.96413424e-01 -3.25940575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64864 meters 0.03037845885024463 Centerline is valid? [True, True] Translation: X:52.54, Y:-15.25, Z:-3.26 [[ 8.95671053e-01 4.38418707e-01 7.45815173e-02 5.25357791e+01] [-4.36739785e-01 8.98769050e-01 -3.83738755e-02 -1.52524378e+01] [-8.38553843e-02 1.79765362e-03 9.96476313e-01 -3.26042249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.678639999999994 meters 0.030295954662069725 Centerline is valid? [True, True] Translation: X:52.56, Y:-15.27, Z:-3.26 [[ 8.94575156e-01 4.40751759e-01 7.39809329e-02 5.25633857e+01] [-4.39104399e-01 8.97627606e-01 -3.81052188e-02 -1.52700014e+01] [-8.32022699e-02 1.60262898e-03 9.96531391e-01 -3.26214587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.708639999999995 meters 0.02993268262610536 Centerline is valid? [True, True] Translation: X:52.59, Y:-15.29, Z:-3.26 [[ 8.92915014e-01 4.44252489e-01 7.30924296e-02 5.25897939e+01] [-4.42652908e-01 8.95900688e-01 -3.76876657e-02 -1.52887753e+01] [-8.22263973e-02 1.29730602e-03 9.96612832e-01 -3.26394560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73864 meters 0.02971791686276217 Centerline is valid? [True, True] Translation: X:52.62, Y:-15.31, Z:-3.27 [[ 8.92017222e-01 4.45993784e-01 7.34494477e-02 5.26182880e+01] [-4.44380874e-01 8.95035279e-01 -3.79142127e-02 -1.53060255e+01] [-8.26493501e-02 1.18060086e-03 9.96577990e-01 -3.26582493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76864 meters 0.029903128604650376 Centerline is valid? [True, True] Translation: X:52.65, Y:-15.32, Z:-3.27 [[ 8.91269281e-01 4.47511307e-01 7.32986933e-02 5.26453036e+01] [-4.45906409e-01 8.94277623e-01 -3.78814899e-02 -1.53245047e+01] [-8.25017763e-02 1.07825118e-03 9.96590334e-01 -3.26837297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79864 meters 0.02987201480520897 Centerline is valid? [True, True] Translation: X:52.67, Y:-15.34, Z:-3.27 [[ 8.90940598e-01 4.48091342e-01 7.37495770e-02 5.26744509e+01] [-4.46464974e-01 8.93987139e-01 -3.81578562e-02 -1.53403310e+01] [-8.30293783e-02 1.06978029e-03 9.96546526e-01 -3.27098297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82864 meters 0.02965428867712864 Centerline is valid? [True, True] Translation: X:52.70, Y:-15.36, Z:-3.27 [[ 8.90744620e-01 4.48771346e-01 7.19604172e-02 5.27026828e+01] [-4.47221726e-01 8.93646035e-01 -3.72758804e-02 -1.53557921e+01] [-8.10354886e-02 1.02102793e-03 9.96710694e-01 -3.27187949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85864 meters 0.02964213702865319 Centerline is valid? [True, True] Translation: X:52.73, Y:-15.37, Z:-3.27 [[ 8.90757328e-01 4.48873893e-01 7.11590533e-02 5.27304888e+01] [-4.47356183e-01 8.93594519e-01 -3.68955480e-02 -1.53720089e+01] [-8.01487883e-02 1.03153728e-03 9.96782377e-01 -3.27289248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.888639999999995 meters 0.02946816051515443 Centerline is valid? [True, True] Translation: X:52.76, Y:-15.39, Z:-3.28 [[ 8.90216200e-01 4.50015878e-01 7.07165279e-02 5.27587981e+01] [-4.48518496e-01 8.93020052e-01 -3.66925686e-02 -1.53881697e+01] [-7.96635159e-02 9.46648238e-04 9.96821362e-01 -3.27511778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.918639999999996 meters 0.02963485646660458 Centerline is valid? [True, True] Translation: X:52.79, Y:-15.40, Z:-3.28 [[ 8.90237518e-01 4.49929399e-01 7.09978741e-02 5.27877267e+01] [-4.48416404e-01 8.93063572e-01 -3.68806802e-02 -1.54044650e+01] [-7.99993173e-02 9.95953873e-04 9.96794421e-01 -3.27691760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94864 meters 0.0297222810726947 Centerline is valid? [True, True] Translation: X:52.82, Y:-15.42, Z:-3.28 [[ 8.90610274e-01 4.49096381e-01 7.15945510e-02 5.28158924e+01] [-4.47551460e-01 8.93482616e-01 -3.72358065e-02 -1.54193717e+01] [-8.06909527e-02 1.12034600e-03 9.96738539e-01 -3.27944785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97864 meters 0.029843032414991963 Centerline is valid? [True, True] Translation: X:52.84, Y:-15.43, Z:-3.28 [[ 8.90545548e-01 4.48949381e-01 7.33012960e-02 5.28443302e+01] [-4.47325780e-01 8.93556387e-01 -3.81658204e-02 -1.54333317e+01] [-8.26333626e-02 1.19884200e-03 9.96579294e-01 -3.28255908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00864 meters 0.029880034408425068 Centerline is valid? [True, True] Translation: X:52.87, Y:-15.45, Z:-3.28 [[ 8.90139534e-01 4.49863822e-01 7.26233591e-02 5.28722445e+01] [-4.48269844e-01 8.93096435e-01 -3.78537371e-02 -1.54499510e+01] [-8.18886899e-02 1.14024602e-03 9.96640829e-01 -3.28422293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03864 meters 0.029562288076780352 Centerline is valid? [True, True] Translation: X:52.90, Y:-15.47, Z:-3.28 [[ 8.90104144e-01 4.50124711e-01 7.14307923e-02 5.29006498e+01] [-4.48580384e-01 8.92964983e-01 -3.72716913e-02 -1.54654359e+01] [-8.05621055e-02 1.13323461e-03 9.96748947e-01 -3.28487885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters 0.029627777070672268 Centerline is valid? [True, True] Translation: X:52.93, Y:-15.48, Z:-3.29 [[ 8.89972653e-01 4.50389324e-01 7.14012141e-02 5.29302527e+01] [-4.48844068e-01 8.92831535e-01 -3.72941323e-02 -1.54808230e+01] [-8.05461347e-02 1.14274649e-03 9.96750227e-01 -3.28632521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.098639999999996 meters 0.029558240745825425 Centerline is valid? [True, True] Translation: X:52.96, Y:-15.50, Z:-3.29 [[ 8.89452058e-01 4.51436819e-01 7.12729689e-02 5.29595710e+01] [-4.49897589e-01 8.92302436e-01 -3.72628823e-02 -1.54950854e+01] [-8.04188808e-02 1.07801045e-03 9.96760574e-01 -3.28801404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12864 meters 0.029600812526245482 Centerline is valid? [True, True] Translation: X:52.99, Y:-15.51, Z:-3.29 [[ 8.88937709e-01 4.52289543e-01 7.22766845e-02 5.29891390e+01] [-4.50705495e-01 8.91870535e-01 -3.78352479e-02 -1.55103536e+01] [-8.15739323e-02 1.05767965e-03 9.96666732e-01 -3.29072850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15864 meters 0.02957168827021554 Centerline is valid? [True, True] Translation: X:53.02, Y:-15.53, Z:-3.29 [[ 8.88147697e-01 4.53909763e-01 7.18303206e-02 5.30172160e+01] [-4.52346910e-01 8.91047158e-01 -3.76461818e-02 -1.55255277e+01] [-8.10921725e-02 9.43146071e-04 9.96706160e-01 -3.29194191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18864 meters 0.029283466024524318 Centerline is valid? [True, True] Translation: X:53.05, Y:-15.54, Z:-3.29 [[ 8.86919560e-01 4.56479929e-01 7.07090450e-02 5.30459056e+01] [-4.54970546e-01 8.89733408e-01 -3.70980348e-02 -1.55396369e+01] [-7.98467079e-02 7.32439915e-04 9.96806885e-01 -3.29248358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21864 meters 0.02918866128936831 Centerline is valid? [True, True] Translation: X:53.07, Y:-15.55, Z:-3.29 [[ 8.86398534e-01 4.57289898e-01 7.19971438e-02 5.30745253e+01] [-4.55724212e-01 8.89317405e-01 -3.78152831e-02 -1.55537056e+01] [-8.13208600e-02 7.08569929e-04 9.96687722e-01 -3.29496508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.248639999999995 meters 0.029251507877220983 Centerline is valid? [True, True] Translation: X:53.10, Y:-15.57, Z:-3.30 [[ 8.86309488e-01 4.57847357e-01 6.95074736e-02 5.31029794e+01] [-4.56386930e-01 8.89030568e-01 -3.65461220e-02 -1.55685892e+01] [-7.85268141e-02 6.68872201e-04 9.96911777e-01 -3.29590134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.278639999999996 meters 0.029178301354548384 Centerline is valid? [True, True] Translation: X:53.13, Y:-15.58, Z:-3.30 [[ 8.85277013e-01 4.59532975e-01 7.15126255e-02 5.31316447e+01] [-4.57989018e-01 8.88160525e-01 -3.76422770e-02 -1.55827888e+01] [-8.08125585e-02 5.71845421e-04 9.96729152e-01 -3.29860735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30864 meters 0.029009937246708542 Centerline is valid? [True, True] Translation: X:53.16, Y:-15.60, Z:-3.30 [[ 8.84817580e-01 4.60484633e-01 7.10756830e-02 5.31616829e+01] [-4.58959162e-01 8.87667523e-01 -3.74547064e-02 -1.55969446e+01] [-8.03388922e-02 5.19746734e-04 9.96767472e-01 -3.30053814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33864 meters 0.028903432038483483 Centerline is valid? [True, True] Translation: X:53.19, Y:-15.61, Z:-3.30 [[ 8.84205149e-01 4.61983743e-01 6.89367532e-02 5.31907697e+01] [-4.60550031e-01 8.86888298e-01 -3.63705421e-02 -1.56107651e+01] [-7.79417989e-02 4.10196764e-04 9.96957826e-01 -3.30126804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36864 meters 0.02898292266397363 Centerline is valid? [True, True] Translation: X:53.22, Y:-15.62, Z:-3.30 [[ 8.83066202e-01 4.64186411e-01 6.87390565e-02 5.32203116e+01] [-4.62764378e-01 8.85737496e-01 -3.63072836e-02 -1.56244050e+01] [-7.77381075e-02 2.51748342e-04 9.96973783e-01 -3.30427167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39864 meters 0.02890758063623571 Centerline is valid? [True, True] Translation: X:53.25, Y:-15.64, Z:-3.31 [[ 8.82635374e-01 4.65231535e-01 6.71894038e-02 5.32495530e+01] [-4.63872753e-01 8.85189009e-01 -3.55315000e-02 -1.56383724e+01] [-7.60056960e-02 1.94025006e-04 9.97107365e-01 -3.30623920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters 0.02890758063623571 Centerline is valid? [True, True] Translation: X:53.28, Y:-15.65, Z:-3.31 [[ 8.82393419e-01 4.65692703e-01 6.71726119e-02 5.32784326e+01] [-4.64332841e-01 8.84946479e-01 -3.55632210e-02 -1.56532709e+01] [-7.60056989e-02 1.90302440e-04 9.97107365e-01 -3.30815706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.458639999999995 meters 0.02900982054414406 Centerline is valid? [True, True] Translation: X:53.31, Y:-15.67, Z:-3.31 [[ 8.82109941e-01 4.66123246e-01 6.79056063e-02 5.33083300e+01] [-4.64731249e-01 8.84719776e-01 -3.59970120e-02 -1.56679284e+01] [-7.68564769e-02 1.95464930e-04 9.97042147e-01 -3.31102649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48864 meters 0.028886579898363712 Centerline is valid? [True, True] Translation: X:53.34, Y:-15.68, Z:-3.31 [[ 8.81873796e-01 4.66516195e-01 6.82733345e-02 5.33383736e+01] [-4.65106682e-01 8.84512633e-01 -3.62377691e-02 -1.56809953e+01] [-7.72941331e-02 2.02754887e-04 9.97008313e-01 -3.31210223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51864 meters 0.028900344526067035 Centerline is valid? [True, True] Translation: X:53.37, Y:-15.70, Z:-3.31 [[ 8.81275108e-01 4.67518917e-01 6.91393302e-02 5.33680799e+01] [-4.66072769e-01 8.83983053e-01 -3.67442053e-02 -1.56956180e+01] [-7.82966072e-02 1.57794370e-04 9.96930096e-01 -3.31475426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54864 meters 0.029047552383097065 Centerline is valid? [True, True] Translation: X:53.40, Y:-15.71, Z:-3.32 [[ 8.80734837e-01 4.68395317e-01 7.00854779e-02 5.33982534e+01] [-4.66908235e-01 8.83518993e-01 -3.72946258e-02 -1.57092346e+01] [-7.93904790e-02 1.23189424e-04 9.96843587e-01 -3.31784775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57864 meters 0.02894038692269232 Centerline is valid? [True, True] Translation: X:53.43, Y:-15.72, Z:-3.32 [[ 8.80002557e-01 4.69946737e-01 6.88880531e-02 5.34266720e+01] [-4.68511387e-01 8.82694774e-01 -3.67017247e-02 -1.57233475e+01] [-7.80549803e-02 2.27742980e-05 9.96949056e-01 -3.31934242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60864 meters 0.02890656958820392 Centerline is valid? [True, True] Translation: X:53.46, Y:-15.74, Z:-3.32 [[ 8.79048958e-01 4.71811242e-01 6.83160465e-02 5.34570193e+01] [-4.70402077e-01 8.81699575e-01 -3.64382383e-02 -1.57376417e+01] [-7.74261996e-02 -1.05014770e-04 9.96998081e-01 -3.32087121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.638639999999995 meters 0.02876132927160435 Centerline is valid? [True, True] Translation: X:53.49, Y:-15.75, Z:-3.32 [[ 8.77064988e-01 4.75643198e-01 6.72350725e-02 5.34871325e+01] [-4.74286675e-01 8.79638213e-01 -3.58993526e-02 -1.57497422e+01] [-7.62178219e-02 -4.02633671e-04 9.97091110e-01 -3.32230811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.668639999999996 meters 0.02879383227023099 Centerline is valid? [True, True] Translation: X:53.52, Y:-15.76, Z:-3.32 [[ 8.75703943e-01 4.78111548e-01 6.74681575e-02 5.35171151e+01] [-4.76751253e-01 8.78298917e-01 -3.60451963e-02 -1.57631232e+01] [-7.64908343e-02 -6.00608064e-04 9.97070104e-01 -3.32320012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69864 meters 0.028890265891831003 Centerline is valid? [True, True] Translation: X:53.55, Y:-15.78, Z:-3.33 [[ 8.74529796e-01 4.80303458e-01 6.71284159e-02 5.35474276e+01] [-4.78959836e-01 8.77102062e-01 -3.59088739e-02 -1.57767608e+01] [-7.61256283e-02 -7.48434957e-04 9.97097953e-01 -3.32587816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72864 meters 0.0290065568720456 Centerline is valid? [True, True] Translation: X:53.58, Y:-15.79, Z:-3.33 [[ 8.72731366e-01 4.83443301e-01 6.79892444e-02 5.35777517e+01] [-4.82070977e-01 8.75375110e-01 -3.64141512e-02 -1.57879501e+01] [-7.71202698e-02 -9.95869552e-04 9.97021300e-01 -3.32730140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75864 meters 0.028939864405861875 Centerline is valid? [True, True] Translation: X:53.61, Y:-15.80, Z:-3.33 [[ 8.72189690e-01 4.84335641e-01 6.85866744e-02 5.36081408e+01] [-4.82938514e-01 8.74881644e-01 -3.67763608e-02 -1.58013458e+01] [-7.78173248e-02 -1.04718391e-03 9.96967084e-01 -3.32950137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78864 meters 0.02899600564966419 Centerline is valid? [True, True] Translation: X:53.64, Y:-15.81, Z:-3.33 [[ 8.71727930e-01 4.85178731e-01 6.84982860e-02 5.36402287e+01] [-4.83784183e-01 8.74414337e-01 -3.67754335e-02 -1.58116765e+01] [-7.77385415e-02 -1.08021479e-03 9.96973195e-01 -3.33108437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.818639999999995 meters 0.028862621876343423 Centerline is valid? [True, True] Translation: X:53.67, Y:-15.82, Z:-3.33 [[ 8.71371387e-01 4.85826401e-01 6.84442407e-02 5.36713202e+01] [-4.84432445e-01 8.74054636e-01 -3.67926659e-02 -1.58237672e+01] [-7.76988543e-02 -1.09653451e-03 9.96976271e-01 -3.33227936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.848639999999996 meters 0.029091218938411254 Centerline is valid? [True, True] Translation: X:53.70, Y:-15.84, Z:-3.33 [[ 8.70555115e-01 4.87132079e-01 6.95422807e-02 5.37015896e+01] [-4.85693483e-01 8.73327497e-01 -3.74289232e-02 -1.58357313e+01] [-7.89660151e-02 -1.19229198e-03 9.96876596e-01 -3.33398332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87864 meters 0.029011927358851355 Centerline is valid? [True, True] Translation: X:53.73, Y:-15.84, Z:-3.34 [[ 8.69879760e-01 4.88111562e-01 7.11077059e-02 5.37342915e+01] [-4.86607186e-01 8.72780318e-01 -3.83140083e-02 -1.58434196e+01] [-8.07629166e-02 -1.27294034e-03 9.96732527e-01 -3.33581535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90864 meters 0.02903521678762433 Centerline is valid? [True, True] Translation: X:53.76, Y:-15.86, Z:-3.34 [[ 8.68829962e-01 4.89979292e-01 7.10970500e-02 5.37645149e+01] [-4.88478229e-01 8.71732933e-01 -3.83498894e-02 -1.58554002e+01] [-8.07682915e-02 -1.40982810e-03 9.96731908e-01 -3.33732046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93864 meters 0.029106758671290433 Centerline is valid? [True, True] Translation: X:53.80, Y:-15.87, Z:-3.34 [[ 8.67788060e-01 4.92014877e-01 6.97512907e-02 5.37971605e+01] [-4.90573401e-01 8.70585443e-01 -3.76659666e-02 -1.58651851e+01] [-7.92566742e-02 -1.53205183e-03 9.96853065e-01 -3.34019265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96864 meters 0.029309039725965307 Centerline is valid? [True, True] Translation: X:53.83, Y:-15.88, Z:-3.34 [[ 8.67400529e-01 4.92903815e-01 6.82799573e-02 5.38278435e+01] [-4.91521911e-01 8.70082442e-01 -3.69155111e-02 -1.58766098e+01] [-7.76049883e-02 -1.54056123e-03 9.96982995e-01 -3.34145391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.998639999999995 meters 0.02909836810505731 Centerline is valid? [True, True] Translation: X:53.86, Y:-15.89, Z:-3.34 [[ 8.66923712e-01 4.93645443e-01 6.89742965e-02 5.38591249e+01] [-4.92234271e-01 8.69661807e-01 -3.73331429e-02 -1.58883769e+01] [-7.84136472e-02 -1.58652572e-03 9.96919647e-01 -3.34364786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.028639999999996 meters 0.029151403805238372 Centerline is valid? [True, True] Translation: X:53.89, Y:-15.90, Z:-3.35 [[ 8.66403260e-01 4.94530382e-01 6.91743585e-02 5.38897123e+01] [-4.93110123e-01 8.69158813e-01 -3.74881905e-02 -1.59005774e+01] [-7.86625525e-02 -1.63068597e-03 9.96899967e-01 -3.34519604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05864 meters 0.029106362864809034 Centerline is valid? [True, True] Translation: X:53.92, Y:-15.91, Z:-3.35 [[ 8.67551242e-01 4.92409802e-01 6.99101455e-02 5.39209193e+01] [-4.90948569e-01 8.70362332e-01 -3.79330209e-02 -1.59102039e+01] [-7.95257486e-02 -1.41344647e-03 9.96831810e-01 -3.34654043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08864 meters 0.028839924227987413 Centerline is valid? [True, True] Translation: X:53.95, Y:-15.92, Z:-3.35 [[ 8.68253250e-01 4.90905496e-01 7.17501730e-02 5.39516015e+01] [-4.89357403e-01 8.71211903e-01 -3.89763057e-02 -1.59221123e+01] [-8.16432874e-02 -1.27017420e-03 9.96660805e-01 -3.34924177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11864 meters 0.02851670848635135 Centerline is valid? [True, True] Translation: X:53.98, Y:-15.93, Z:-3.35 [[ 8.70458384e-01 4.87060116e-01 7.12365477e-02 5.39831816e+01] [-4.85518098e-01 8.73368015e-01 -3.87361295e-02 -1.59322266e+01] [-8.10825460e-02 -8.68444475e-04 9.96707011e-01 -3.35210551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14864 meters 0.028356139006352334 Centerline is valid? [True, True] Translation: X:54.01, Y:-15.95, Z:-3.35 [[ 8.71404475e-01 4.85337725e-01 7.14250187e-02 5.40124807e+01] [-4.83779900e-01 8.74326493e-01 -3.88611837e-02 -1.59454705e+01] [-8.13095846e-02 -6.90179080e-04 9.96688655e-01 -3.35447067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.178639999999994 meters 0.028249437110231444 Centerline is valid? [True, True] Translation: X:54.04, Y:-15.96, Z:-3.36 [[ 8.73884729e-01 4.80950712e-01 7.07947215e-02 5.40424926e+01] [-4.79402958e-01 8.76747599e-01 -3.85545409e-02 -1.59584620e+01] [-8.06119360e-02 -2.46974314e-04 9.96745532e-01 -3.35727834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.208639999999995 meters 0.028210133777161913 Centerline is valid? [True, True] Translation: X:54.07, Y:-15.97, Z:-3.36 [[ 8.75418523e-01 4.77902518e-01 7.24678763e-02 5.40715418e+01] [-4.76267751e-01 8.78412875e-01 -3.94949338e-02 -1.59727981e+01] [-8.25314439e-02 6.04841525e-05 9.96588459e-01 -3.36093237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23864 meters 0.028343872339622996 Centerline is valid? [True, True] Translation: X:54.10, Y:-15.99, Z:-3.36 [[ 8.76246270e-01 4.76372313e-01 7.25389164e-02 5.41012458e+01] [-4.74725414e-01 8.79243630e-01 -3.95780444e-02 -1.59881929e+01] [-8.26332647e-02 2.44046721e-04 9.96579994e-01 -3.36306867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26864 meters 0.02858096295720529 Centerline is valid? [True, True] Translation: X:54.13, Y:-16.00, Z:-3.37 [[ 8.78127878e-01 4.72881401e-01 7.26265134e-02 5.41293147e+01] [-4.71214693e-01 8.81125872e-01 -3.96725403e-02 -1.60033600e+01] [-8.27535064e-02 6.14883428e-04 9.96569857e-01 -3.36584279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29864 meters 0.028427872002201527 Centerline is valid? [True, True] Translation: X:54.16, Y:-16.02, Z:-3.37 [[ 8.78772308e-01 4.72029540e-01 7.03373651e-02 5.41574165e+01] [-4.70461065e-01 8.81582453e-01 -3.84547282e-02 -1.60189651e+01] [-8.01599545e-02 7.01958599e-04 9.96781766e-01 -3.36618950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32864 meters 0.028398310694781437 Centerline is valid? [True, True] Translation: X:54.19, Y:-16.04, Z:-3.37 [[ 8.78086168e-01 4.73286618e-01 7.04589235e-02 5.41852981e+01] [-4.71714888e-01 8.80908285e-01 -3.85442235e-02 -1.60373354e+01] [-8.03103147e-02 6.08626300e-04 9.96769724e-01 -3.36834159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35864 meters 0.028662942319453145 Centerline is valid? [True, True] Translation: X:54.21, Y:-16.05, Z:-3.37 [[ 8.77883942e-01 4.73636303e-01 7.06288625e-02 5.42131934e+01] [-4.72054315e-01 8.80720313e-01 -3.86840392e-02 -1.60549739e+01] [-8.05264392e-02 6.19437587e-04 9.96752281e-01 -3.37083045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.388639999999995 meters 0.02869010596437771 Centerline is valid? [True, True] Translation: X:54.24, Y:-16.07, Z:-3.37 [[ 8.76921909e-01 4.75160433e-01 7.23223883e-02 5.42403098e+01] [-4.73502846e-01 8.79899017e-01 -3.96582310e-02 -1.60725150e+01] [-8.24804206e-02 5.32315007e-04 9.96592543e-01 -3.37307525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.418639999999996 meters 0.028742404005986624 Centerline is valid? [True, True] Translation: X:54.27, Y:-16.09, Z:-3.37 [[ 8.75792877e-01 4.77129692e-01 7.30348778e-02 5.42686803e+01] [-4.75442354e-01 8.78832809e-01 -4.00931699e-02 -1.60891832e+01] [-8.33150886e-02 3.89438340e-04 9.96523178e-01 -3.37468204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44864 meters 0.028922357905779208 Centerline is valid? [True, True] Translation: X:54.30, Y:-16.11, Z:-3.38 [[ 8.73333692e-01 4.81570550e-01 7.33353147e-02 5.42973790e+01] [-4.79880754e-01 8.76407329e-01 -4.03070285e-02 -1.61059835e+01] [-8.36822851e-02 9.27988214e-06 9.96492486e-01 -3.37737812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47864 meters 0.029223720241507812 Centerline is valid? [True, True] Translation: X:54.33, Y:-16.12, Z:-3.38 [[ 8.72041574e-01 4.83822721e-01 7.38855013e-02 5.43254147e+01] [-4.82111279e-01 8.75166011e-01 -4.06591606e-02 -1.61225208e+01] [-8.43339051e-02 -1.64555112e-04 9.96437537e-01 -3.38026690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50864 meters 0.029168014294213358 Centerline is valid? [True, True] Translation: X:54.35, Y:-16.14, Z:-3.38 [[ 8.70420342e-01 4.87256422e-01 7.03534488e-02 5.43531935e+01] [-4.85713163e-01 8.73258830e-01 -3.87522725e-02 -1.61385619e+01] [-8.03190641e-02 -4.40829887e-04 9.96769107e-01 -3.37982495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53864 meters 0.029234202492296572 Centerline is valid? [True, True] Translation: X:54.38, Y:-16.15, Z:-3.38 [[ 8.69163337e-01 4.89521423e-01 7.01702913e-02 5.43829063e+01] [-4.87991697e-01 8.71991045e-01 -3.86745574e-02 -1.61521159e+01] [-8.01198900e-02 -6.28012193e-04 9.96785036e-01 -3.38144012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.568639999999995 meters 0.02947582069256786 Centerline is valid? [True, True] Translation: X:54.41, Y:-16.17, Z:-3.38 [[ 8.67975577e-01 4.91637164e-01 7.00806355e-02 5.44130139e+01] [-4.90114438e-01 8.70799798e-01 -3.86723220e-02 -1.61656431e+01] [-8.00389540e-02 -7.80900321e-04 9.96791431e-01 -3.38364215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.598639999999996 meters 0.029598176796238378 Centerline is valid? [True, True] Translation: X:54.44, Y:-16.18, Z:-3.39 [[ 8.66791951e-01 4.93920295e-01 6.86619028e-02 5.44431291e+01] [-4.92462228e-01 8.69506685e-01 -3.79352001e-02 -1.61789039e+01] [-7.84389487e-02 -9.31467487e-04 9.96918484e-01 -3.38555671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62864 meters 0.029864315147847865 Centerline is valid? [True, True] Translation: X:54.47, Y:-16.19, Z:-3.39 [[ 8.65876095e-01 4.95375578e-01 6.97253466e-02 5.44724672e+01] [-4.93872940e-01 8.68678281e-01 -3.85689501e-02 -1.61931766e+01] [-7.96750101e-02 -1.03952996e-03 9.96820351e-01 -3.38795188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65864 meters 0.02986848565738761 Centerline is valid? [True, True] Translation: X:54.50, Y:-16.21, Z:-3.39 [[ 8.65297728e-01 4.96298544e-01 7.03391568e-02 5.45020827e+01] [-4.94768971e-01 8.68151225e-01 -3.89501757e-02 -1.62060602e+01] [-8.03959407e-02 -1.09813364e-03 9.96762402e-01 -3.38918627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68864 meters 0.030431865734534304 Centerline is valid? [True, True] Translation: X:54.53, Y:-16.22, Z:-3.39 [[ 8.63809326e-01 4.98522402e-01 7.28619427e-02 5.45327322e+01] [-4.96885157e-01 8.66875821e-01 -4.03912309e-02 -1.62164541e+01] [-8.32981898e-02 -1.31369591e-03 9.96523801e-01 -3.39183596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71864 meters 0.030443962524884564 Centerline is valid? [True, True] Translation: X:54.56, Y:-16.23, Z:-3.39 [[ 8.63119244e-01 4.99591692e-01 7.37110069e-02 5.45615604e+01] [-4.97916164e-01 8.66259889e-01 -4.09059761e-02 -1.62303837e+01] [-8.42891745e-02 -1.39516665e-03 9.96440359e-01 -3.39441957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters 0.03062418071324654 Centerline is valid? [True, True] Translation: X:54.59, Y:-16.24, Z:-3.40 [[ 8.62291632e-01 5.01281287e-01 7.19041852e-02 5.45919701e+01] [-4.99689418e-01 8.65283113e-01 -3.99452224e-02 -1.62425690e+01] [-8.22412697e-02 -1.48532948e-03 9.96611342e-01 -3.39577909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.778639999999996 meters 0.030813258804222126 Centerline is valid? [True, True] Translation: X:54.62, Y:-16.26, Z:-3.40 [[ 8.61566150e-01 5.02486329e-01 7.21890505e-02 5.46209185e+01] [-5.00882456e-01 8.64583730e-01 -4.01464691e-02 -1.62560193e+01] [-8.25865304e-02 -1.56939004e-03 9.96582662e-01 -3.39744938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80864 meters 0.030780961868447948 Centerline is valid? [True, True] Translation: X:54.65, Y:-16.27, Z:-3.40 [[ 8.61036231e-01 5.03367690e-01 7.23711062e-02 5.46511169e+01] [-5.01755099e-01 8.64070799e-01 -4.02923570e-02 -1.62699048e+01] [-8.28156303e-02 -1.61939234e-03 9.96563570e-01 -3.39916201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83864 meters 0.030782560376440227 Centerline is valid? [True, True] Translation: X:54.68, Y:-16.28, Z:-3.40 [[ 8.61343939e-01 5.02882624e-01 7.20810995e-02 5.46825606e+01] [-5.01277840e-01 8.64353356e-01 -4.01721703e-02 -1.62807807e+01] [-8.25054266e-02 -1.53060245e-03 9.96589440e-01 -3.39936070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86864 meters 0.030872850128549515 Centerline is valid? [True, True] Translation: X:54.71, Y:-16.29, Z:-3.40 [[ 8.61071434e-01 5.03189539e-01 7.31865629e-02 5.47119071e+01] [-5.01533680e-01 8.64174670e-01 -4.08179913e-02 -1.62944002e+01] [-8.37851600e-02 -1.55831989e-03 9.96482623e-01 -3.40241579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89864 meters 0.030758077683517713 Centerline is valid? [True, True] Translation: X:54.74, Y:-16.31, Z:-3.40 [[ 8.61526705e-01 5.02670079e-01 7.13759616e-02 5.47426798e+01] [-5.01090619e-01 8.64477136e-01 -3.98431020e-02 -1.63060947e+01] [-8.17308221e-02 -1.43992841e-03 9.96653400e-01 -3.40443528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters 0.030807058658232196 Centerline is valid? [True, True] Translation: X:54.77, Y:-16.32, Z:-3.41 [[ 8.61499832e-01 5.02848450e-01 7.04377429e-02 5.47716322e+01] [-5.01309598e-01 8.64373420e-01 -3.93354425e-02 -1.63198355e+01] [-8.06642790e-02 -1.42363953e-03 9.96740311e-01 -3.40614759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.958639999999995 meters 0.030734132765390904 Centerline is valid? [True, True] Translation: X:54.80, Y:-16.33, Z:-3.41 [[ 8.61352378e-01 5.02989722e-01 7.12279502e-02 5.48012693e+01] [-5.01415575e-01 8.64291189e-01 -3.97889702e-02 -1.63327145e+01] [-8.15751328e-02 -1.44247955e-03 9.96666151e-01 -3.40731798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98864 meters 0.03059702781510665 Centerline is valid? [True, True] Translation: X:54.83, Y:-16.34, Z:-3.41 [[ 8.62382743e-01 5.01132249e-01 7.18503534e-02 5.48329027e+01] [-4.99522979e-01 8.65369784e-01 -4.01488508e-02 -1.63422665e+01] [-8.22970087e-02 -1.26722650e-03 9.96607042e-01 -3.40930155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01864 meters 0.030666262997170936 Centerline is valid? [True, True] Translation: X:54.86, Y:-16.36, Z:-3.41 [[ 8.63638741e-01 4.98788180e-01 7.30648792e-02 5.48631528e+01] [-4.97114368e-01 8.66723284e-01 -4.08418148e-02 -1.63560508e+01] [-8.36984465e-02 -1.04902775e-03 9.96490577e-01 -3.41270463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04864 meters 0.030147037915987877 Centerline is valid? [True, True] Translation: X:54.89, Y:-16.37, Z:-3.41 [[ 8.67665254e-01 4.91888104e-01 7.21325132e-02 5.48929975e+01] [-4.90231542e-01 8.70658350e-01 -4.03369980e-02 -1.63681332e+01] [-8.26440643e-02 -3.62621547e-04 9.96579062e-01 -3.41454805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07864 meters 0.030186004264264443 Centerline is valid? [True, True] Translation: X:54.92, Y:-16.38, Z:-3.42 [[ 8.69473870e-01 4.88785543e-01 7.14414641e-02 5.49216143e+01] [-4.87149162e-01 8.72403972e-01 -3.99625289e-02 -1.63827847e+01] [-8.18589234e-02 -5.62747565e-05 9.96643925e-01 -3.41648906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10864 meters 0.030217215100644627 Centerline is valid? [True, True] Translation: X:54.95, Y:-16.40, Z:-3.42 [[ 8.70934638e-01 4.86064814e-01 7.22070154e-02 5.49498419e+01] [-4.84382745e-01 8.73922738e-01 -4.04030356e-02 -1.63979528e+01] [-8.27418465e-02 2.12570871e-04 9.96570992e-01 -3.41885089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.138639999999995 meters 0.030145056783527985 Centerline is valid? [True, True] Translation: X:54.98, Y:-16.41, Z:-3.42 [[ 8.71962221e-01 4.84309619e-01 7.15966314e-02 5.49781243e+01] [-4.82649025e-01 8.74896590e-01 -4.00733696e-02 -1.64134099e+01] [-8.20475671e-02 3.86420003e-04 9.96628340e-01 -3.41939236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.168639999999996 meters 0.029973102846723023 Centerline is valid? [True, True] Translation: X:55.01, Y:-16.43, Z:-3.42 [[ 8.71591075e-01 4.85239289e-01 6.97985022e-02 5.50064420e+01] [-4.83663261e-01 8.74381348e-01 -3.90782342e-02 -1.64292815e+01] [-7.99928030e-02 3.01268965e-04 9.96795396e-01 -3.41982516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19864 meters 0.030018511153484174 Centerline is valid? [True, True] Translation: X:55.03, Y:-16.45, Z:-3.42 [[ 8.70624632e-01 4.87079296e-01 6.90399157e-02 5.50339314e+01] [-4.85542268e-01 8.73357739e-01 -3.86647985e-02 -1.64459133e+01] [-7.91293675e-02 1.40728800e-04 9.96864346e-01 -3.42242928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22864 meters 0.029910833261864132 Centerline is valid? [True, True] Translation: X:55.06, Y:-16.46, Z:-3.42 [[ 8.69915410e-01 4.88391048e-01 6.87121797e-02 5.50612107e+01] [-4.86871783e-01 8.72624881e-01 -3.84926491e-02 -1.64630151e+01] [-7.87594228e-02 3.13272171e-05 9.96893651e-01 -3.42394305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25864 meters 0.030118795823211805 Centerline is valid? [True, True] Translation: X:55.09, Y:-16.48, Z:-3.43 [[ 8.68735051e-01 4.90136695e-01 7.11718420e-02 5.50876263e+01] [-4.88511138e-01 8.71645574e-01 -3.98856173e-02 -1.64805149e+01] [-8.15860257e-02 -1.18203723e-04 9.96666296e-01 -3.42678820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28864 meters 0.030016378323076458 Centerline is valid? [True, True] Translation: X:55.12, Y:-16.50, Z:-3.43 [[ 8.69019728e-01 4.89854084e-01 6.96253399e-02 5.51158649e+01] [-4.88296102e-01 8.71804434e-01 -3.90377521e-02 -1.64967276e+01] [-7.98224823e-02 -7.32053906e-05 9.96809092e-01 -3.42783377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.318639999999995 meters 0.029868055286862514 Centerline is valid? [True, True] Translation: X:55.14, Y:-16.51, Z:-3.43 [[ 8.69452158e-01 4.89212325e-01 6.87331490e-02 5.51436200e+01] [-4.87691171e-01 8.72164721e-01 -3.85489397e-02 -1.65126682e+01] [-7.88052441e-02 -4.09107915e-06 9.96890031e-01 -3.42940264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.348639999999996 meters 0.029868055286862514 Centerline is valid? [True, True] Translation: X:55.17, Y:-16.53, Z:-3.43 [[ 8.69358706e-01 4.89379155e-01 6.87276042e-02 5.51719905e+01] [-4.87857740e-01 8.72071123e-01 -3.85588232e-02 -1.65285053e+01] [-7.88052432e-02 -7.84498896e-06 9.96890031e-01 -3.43132039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37864 meters 0.02979972376047174 Centerline is valid? [True, True] Translation: X:55.20, Y:-16.54, Z:-3.43 [[ 8.69890214e-01 4.88515230e-01 6.81460599e-02 5.51997640e+01] [-4.87015618e-01 8.72555364e-01 -3.82481867e-02 -1.65443824e+01] [-7.81460318e-02 8.35277852e-05 9.96941919e-01 -3.43269181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40864 meters 0.029772213003527996 Centerline is valid? [True, True] Translation: X:55.23, Y:-16.56, Z:-3.43 [[ 8.72004066e-01 4.84982061e-01 6.63423700e-02 5.52269669e+01] [-4.83549835e-01 8.74524008e-01 -3.72466935e-02 -1.65608398e+01] [-7.60819735e-02 3.99426067e-04 9.97101486e-01 -3.43394602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43864 meters 0.029862031894702754 Centerline is valid? [True, True] Translation: X:55.26, Y:-16.58, Z:-3.44 [[ 8.72243836e-01 4.84517667e-01 6.65831921e-02 5.52550768e+01] [-4.83072705e-01 8.74781359e-01 -3.73943323e-02 -1.65773013e+01] [-7.63639499e-02 4.52453116e-04 9.97079908e-01 -3.43558215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46864 meters 0.029878401325648778 Centerline is valid? [True, True] Translation: X:55.28, Y:-16.59, Z:-3.44 [[ 8.71940272e-01 4.84745521e-01 6.88617630e-02 5.52825848e+01] [-4.83199237e-01 8.74655113e-01 -3.86901912e-02 -1.65941129e+01] [-7.89851899e-02 4.61584499e-04 9.96875683e-01 -3.43733615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.498639999999995 meters 0.029914965910941442 Centerline is valid? [True, True] Translation: X:55.31, Y:-16.61, Z:-3.44 [[ 8.71123748e-01 4.86206258e-01 6.88976765e-02 5.53105900e+01] [-4.84661894e-01 8.73844013e-01 -3.87232457e-02 -1.66109872e+01] [-7.90333065e-02 3.40660501e-04 9.96871918e-01 -3.43922809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.528639999999996 meters 0.02989131197601176 Centerline is valid? [True, True] Translation: X:55.34, Y:-16.63, Z:-3.44 [[ 8.69931422e-01 4.88320823e-01 6.90079333e-02 5.53386793e+01] [-4.86776765e-01 8.72664166e-01 -3.88024910e-02 -1.66274277e+01] [-7.91688149e-02 1.64047567e-04 9.96861210e-01 -3.44113923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55864 meters 0.029778581876516556 Centerline is valid? [True, True] Translation: X:55.37, Y:-16.64, Z:-3.44 [[ 8.67728240e-01 4.92381557e-01 6.78830207e-02 5.53681088e+01] [-4.90898676e-01 8.70379438e-01 -3.81853759e-02 -1.66413478e+01] [-7.78857603e-02 -1.89155955e-04 9.96962272e-01 -3.44293845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58864 meters 0.029944440993487746 Centerline is valid? [True, True] Translation: X:55.40, Y:-16.66, Z:-3.45 [[ 8.65976003e-01 4.95301741e-01 6.90054158e-02 5.53960458e+01] [-4.93777659e-01 8.68720890e-01 -3.88283378e-02 -1.66562814e+01] [-7.91781895e-02 -4.48923834e-04 9.96860378e-01 -3.44619792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61864 meters 0.029909598583219402 Centerline is valid? [True, True] Translation: X:55.43, Y:-16.67, Z:-3.45 [[ 8.65144529e-01 4.96804882e-01 6.86283752e-02 5.54253311e+01] [-4.95301135e-01 8.67862075e-01 -3.86290514e-02 -1.66720297e+01] [-7.87510655e-02 -5.71999670e-04 9.96894148e-01 -3.44752360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64864 meters 0.029971069940726094 Centerline is valid? [True, True] Translation: X:55.45, Y:-16.69, Z:-3.45 [[ 8.65044396e-01 4.96822854e-01 6.97513122e-02 5.54547814e+01] [-4.95268167e-01 8.67851789e-01 -3.92774037e-02 -1.66862304e+01] [-8.00477129e-02 -5.68906620e-04 9.96790871e-01 -3.44842517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.678639999999994 meters 0.03005776704934529 Centerline is valid? [True, True] Translation: X:55.48, Y:-16.70, Z:-3.45 [[ 8.65838316e-01 4.95313299e-01 7.06310579e-02 5.54847993e+01] [-4.93712950e-01 8.68714313e-01 -3.97865117e-02 -1.66994953e+01] [-8.10649993e-02 -4.22781636e-04 9.96708727e-01 -3.44977139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.708639999999995 meters 0.029785182775029673 Centerline is valid? [True, True] Translation: X:55.52, Y:-16.71, Z:-3.45 [[ 8.68132949e-01 4.91250333e-01 7.08399120e-02 5.55167478e+01] [-4.89625473e-01 8.71018433e-01 -3.99222486e-02 -1.67091466e+01] [-8.13146870e-02 -2.72060170e-05 9.96688477e-01 -3.45157636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73864 meters 0.029647201373825503 Centerline is valid? [True, True] Translation: X:55.55, Y:-16.72, Z:-3.45 [[ 8.69104143e-01 4.89597202e-01 7.03744887e-02 5.55452619e+01] [-4.87986930e-01 8.71948714e-01 -3.96761471e-02 -1.67233278e+01] [-8.07882755e-02 1.40873127e-04 9.96731275e-01 -3.45355080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76864 meters 0.02974718128526434 Centerline is valid? [True, True] Translation: X:55.57, Y:-16.74, Z:-3.46 [[ 8.70004782e-01 4.87879384e-01 7.11715230e-02 5.55740144e+01] [-4.86225639e-01 8.72910997e-01 -4.01375129e-02 -1.67373429e+01] [-8.17086701e-02 3.14408908e-04 9.96656207e-01 -3.45627432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79864 meters 0.02959753951510478 Centerline is valid? [True, True] Translation: X:55.60, Y:-16.75, Z:-3.46 [[ 8.70231799e-01 4.87583131e-01 7.04223453e-02 5.56025187e+01] [-4.85962168e-01 8.73076497e-01 -3.97265915e-02 -1.67520638e+01] [-8.08541104e-02 3.48747602e-04 9.96725886e-01 -3.45851195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82864 meters 0.02933542450766262 Centerline is valid? [True, True] Translation: X:55.63, Y:-16.77, Z:-3.46 [[ 8.69293191e-01 4.89362291e-01 6.96699164e-02 5.56317128e+01] [-4.87780615e-01 8.72080565e-01 -3.93136072e-02 -1.67664827e+01] [-7.99963769e-02 1.91416377e-04 9.96795136e-01 -3.45841687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85864 meters 0.029219392313506808 Centerline is valid? [True, True] Translation: X:55.66, Y:-16.78, Z:-3.46 [[ 8.68356467e-01 4.90969439e-01 7.00432424e-02 5.56593644e+01] [-4.89375016e-01 8.71176795e-01 -3.95358875e-02 -1.67819514e+01] [-8.04309599e-02 5.38307651e-05 9.96760181e-01 -3.45983971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.888639999999995 meters 0.029152645810374963 Centerline is valid? [True, True] Translation: X:55.69, Y:-16.80, Z:-3.46 [[ 8.68146897e-01 4.91398876e-01 6.96283652e-02 5.56866381e+01] [-4.89823766e-01 8.70934638e-01 -3.93132794e-02 -1.67981990e+01] [-7.99602564e-02 2.40734726e-05 9.96798052e-01 -3.46115086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.918639999999996 meters 0.029308546959391918 Centerline is valid? [True, True] Translation: X:55.71, Y:-16.81, Z:-3.46 [[ 8.67850170e-01 4.91872270e-01 6.99839394e-02 5.57139512e+01] [-4.90281593e-01 8.70667370e-01 -3.95258100e-02 -1.68147879e+01] [-8.03743824e-02 -9.35633997e-06 9.96764746e-01 -3.46352156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94864 meters 0.029130205783784963 Centerline is valid? [True, True] Translation: X:55.74, Y:-16.83, Z:-3.47 [[ 8.67931173e-01 4.91831801e-01 6.92600761e-02 5.57403911e+01] [-4.90272862e-01 8.70690232e-01 -3.91285193e-02 -1.68326350e+01] [-7.95487218e-02 4.52592442e-06 9.96830979e-01 -3.46679161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97864 meters 0.028989238715502023 Centerline is valid? [True, True] Translation: X:55.77, Y:-16.85, Z:-3.47 [[ 8.67682419e-01 4.92110417e-01 7.03886169e-02 5.57677894e+01] [-4.90500123e-01 8.70532789e-01 -3.97780349e-02 -1.68490327e+01] [-8.08507844e-02 -1.09236887e-05 9.96726216e-01 -3.46863136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00864 meters 0.02907277224987195 Centerline is valid? [True, True] Translation: X:55.80, Y:-16.87, Z:-3.47 [[ 8.67538223e-01 4.92381102e-01 7.02729121e-02 5.57960280e+01] [-4.90775910e-01 8.70379716e-01 -3.97260110e-02 -1.68657072e+01] [-8.07244543e-02 -2.44193931e-05 9.96736456e-01 -3.47107267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03864 meters 0.029125454347264407 Centerline is valid? [True, True] Translation: X:55.82, Y:-16.88, Z:-3.47 [[ 8.66730554e-01 4.93895432e-01 6.96092516e-02 5.58231975e+01] [-4.92324061e-01 8.69521293e-01 -3.93667359e-02 -1.68835528e+01] [-7.99697775e-02 -1.49956617e-04 9.96797277e-01 -3.47160501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.068639999999995 meters 0.02914096716196759 Centerline is valid? [True, True] Translation: X:55.85, Y:-16.90, Z:-3.47 [[ 8.66060863e-01 4.94883467e-01 7.09149888e-02 5.58511697e+01] [-4.93254816e-01 8.68959319e-01 -4.01171803e-02 -1.68993527e+01] [-8.14755697e-02 -2.35239941e-04 9.96675311e-01 -3.47328176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.098639999999996 meters 0.029105435291730323 Centerline is valid? [True, True] Translation: X:55.88, Y:-16.92, Z:-3.48 [[ 8.65587674e-01 4.95512249e-01 7.22882406e-02 5.58791397e+01] [-4.93820968e-01 8.68600902e-01 -4.09062867e-02 -1.69150508e+01] [-8.30591971e-02 -2.89471415e-04 9.96544573e-01 -3.47647218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12864 meters 0.029278372359227527 Centerline is valid? [True, True] Translation: X:55.91, Y:-16.93, Z:-3.48 [[ 8.63670600e-01 4.98945815e-01 7.15972676e-02 5.59079896e+01] [-4.97297396e-01 8.66632974e-01 -4.05288506e-02 -1.69317191e+01] [-8.22702533e-02 -6.01558009e-04 9.96609875e-01 -3.47802883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15864 meters 0.029385689606030146 Centerline is valid? [True, True] Translation: X:55.94, Y:-16.95, Z:-3.48 [[ 8.63141019e-01 4.99890771e-01 7.13918640e-02 5.59373398e+01] [-4.98253562e-01 8.66088196e-01 -4.04305032e-02 -1.69477018e+01] [-8.20424861e-02 -6.74024746e-04 9.96628605e-01 -3.47984046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18864 meters 0.02953735847173248 Centerline is valid? [True, True] Translation: X:55.97, Y:-16.96, Z:-3.48 [[ 8.62499584e-01 5.00888073e-01 7.21498892e-02 5.59655595e+01] [-4.99217952e-01 8.65511731e-01 -4.08763968e-02 -1.69628904e+01] [-8.29210751e-02 -7.62644682e-04 9.96555826e-01 -3.48250726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21864 meters 0.02960656455530687 Centerline is valid? [True, True] Translation: X:55.99, Y:-16.98, Z:-3.48 [[ 8.61859338e-01 5.02126236e-01 7.11879475e-02 5.59947055e+01] [-5.00503665e-01 8.64793908e-01 -4.03432411e-02 -1.69760178e+01] [-8.18203032e-02 -8.59629530e-04 9.96646727e-01 -3.48316534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.248639999999995 meters 0.02947404706478367 Centerline is valid? [True, True] Translation: X:56.02, Y:-16.99, Z:-3.48 [[ 8.61525504e-01 5.02688794e-01 7.12585562e-02 5.60242981e+01] [-5.01063797e-01 8.64466982e-01 -4.03968963e-02 -1.69918537e+01] [-8.19077360e-02 -9.02126300e-04 9.96639508e-01 -3.48386939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.278639999999996 meters 0.02942835990141006 Centerline is valid? [True, True] Translation: X:56.05, Y:-17.01, Z:-3.49 [[ 8.61991845e-01 5.01911936e-01 7.10947816e-02 5.60531658e+01] [-5.00290443e-01 8.64918348e-01 -4.03202730e-02 -1.70065760e+01] [-8.17284073e-02 -8.12293215e-04 9.96654307e-01 -3.48529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30864 meters 0.029498878125393542 Centerline is valid? [True, True] Translation: X:56.08, Y:-17.02, Z:-3.49 [[ 8.62491316e-01 5.00805793e-01 7.28168085e-02 5.60832581e+01] [-4.99099675e-01 8.65559385e-01 -4.13093902e-02 -1.70194490e+01] [-8.37152539e-02 -7.13855148e-04 9.96489461e-01 -3.48786208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33864 meters 0.029438444561423905 Centerline is valid? [True, True] Translation: X:56.11, Y:-17.03, Z:-3.49 [[ 8.63010259e-01 5.00027190e-01 7.20145882e-02 5.61125893e+01] [-4.98354814e-01 8.66009482e-01 -4.08663120e-02 -1.70335789e+01] [-8.27995834e-02 -6.20770213e-04 9.96566026e-01 -3.48961051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36864 meters 0.029356827821435953 Centerline is valid? [True, True] Translation: X:56.14, Y:-17.05, Z:-3.49 [[ 8.62496131e-01 5.00977598e-01 7.15672462e-02 5.61415072e+01] [-4.99328243e-01 8.65459970e-01 -4.06244376e-02 -1.70484328e+01] [-8.22905199e-02 -6.97127127e-04 9.96608140e-01 -3.49109952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39864 meters 0.02939543437934715 Centerline is valid? [True, True] Translation: X:56.17, Y:-17.06, Z:-3.49 [[ 8.62458231e-01 5.01224341e-01 7.02848456e-02 5.61707100e+01] [-4.99633536e-01 8.65317094e-01 -3.99081030e-02 -1.70613003e+01] [-8.08215909e-02 -6.97594027e-04 9.96728340e-01 -3.49306228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters 0.029354168083018044 Centerline is valid? [True, True] Translation: X:56.20, Y:-17.07, Z:-3.49 [[ 8.61938469e-01 5.02029606e-01 7.09108546e-02 5.61993707e+01] [-5.00412163e-01 8.64850091e-01 -4.02739051e-02 -1.70745703e+01] [-8.15459518e-02 -7.71026040e-04 9.96669285e-01 -3.49414942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.458639999999995 meters 0.02947859709949059 Centerline is valid? [True, True] Translation: X:56.23, Y:-17.09, Z:-3.50 [[ 8.61647535e-01 5.02530872e-01 7.08960346e-02 5.62274072e+01] [-5.00915447e-01 8.64558881e-01 -4.02697912e-02 -1.70867223e+01] [-8.15306097e-02 -8.14552461e-04 9.96670505e-01 -3.49636089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48864 meters 0.02961552177399447 Centerline is valid? [True, True] Translation: X:56.26, Y:-17.10, Z:-3.50 [[ 8.59876306e-01 5.05546529e-01 7.09608672e-02 5.62569375e+01] [-5.03938372e-01 8.62798640e-01 -4.03066169e-02 -1.70958986e+01] [-8.16018101e-02 -1.10119900e-03 9.96664403e-01 -3.49752590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51864 meters 0.02984667451134842 Centerline is valid? [True, True] Translation: X:56.28, Y:-17.11, Z:-3.50 [[ 8.58922128e-01 5.07232418e-01 7.04844178e-02 5.62836139e+01] [-5.05652391e-01 8.61808378e-01 -4.00247334e-02 -1.71077000e+01] [-8.10459041e-02 -1.26248524e-03 9.96709570e-01 -3.49877189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54864 meters 0.030145786010674636 Centerline is valid? [True, True] Translation: X:56.31, Y:-17.11, Z:-3.50 [[ 8.56235710e-01 5.11900983e-01 6.94103215e-02 5.63131433e+01] [-5.10387281e-01 8.59042753e-01 -3.93747472e-02 -1.71144204e+01] [-7.97824055e-02 -1.71208071e-03 9.96810833e-01 -3.49937033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57864 meters 0.030373628927319766 Centerline is valid? [True, True] Translation: X:56.34, Y:-17.12, Z:-3.50 [[ 8.55747382e-01 5.12648293e-01 6.99152833e-02 5.63403856e+01] [-5.11118227e-01 8.58596750e-01 -3.96204301e-02 -1.71242282e+01] [-8.03403808e-02 -1.82989638e-03 9.96765807e-01 -3.50095516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.608639999999994 meters 0.03021261792649475 Centerline is valid? [True, True] Translation: X:56.37, Y:-17.13, Z:-3.50 [[ 8.55734533e-01 5.12755363e-01 6.92845325e-02 5.63667795e+01] [-5.11256488e-01 8.58532750e-01 -3.92214370e-02 -1.71334570e+01] [-7.95940423e-02 -1.85902869e-03 9.96825628e-01 -3.50160716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.638639999999995 meters 0.030338469583331296 Centerline is valid? [True, True] Translation: X:56.39, Y:-17.14, Z:-3.50 [[ 8.56340628e-01 5.11596615e-01 7.03536188e-02 5.63930160e+01] [-5.10051001e-01 8.59223832e-01 -3.97791852e-02 -1.71439571e+01] [-8.08004024e-02 -1.81940121e-03 9.96728641e-01 -3.50425340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.668639999999996 meters 0.03042919266726426 Centerline is valid? [True, True] Translation: X:56.42, Y:-17.15, Z:-3.51 [[ 8.57743177e-01 5.09212711e-01 7.05624346e-02 5.64214568e+01] [-5.07653536e-01 8.60639140e-01 -3.98517060e-02 -1.71508825e+01] [-8.10217883e-02 -1.63874043e-03 9.96710983e-01 -3.50688756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69864 meters 0.030235327751298273 Centerline is valid? [True, True] Translation: X:56.45, Y:-17.16, Z:-3.51 [[ 8.58642048e-01 5.07700488e-01 7.05269334e-02 5.64487768e+01] [-5.06141118e-01 8.61532281e-01 -3.97906642e-02 -1.71605208e+01] [-8.09629695e-02 -1.53064355e-03 9.96715935e-01 -3.50771447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72864 meters 0.030233351990268546 Centerline is valid? [True, True] Translation: X:56.48, Y:-17.17, Z:-3.51 [[ 8.59224332e-01 5.06754927e-01 7.02352506e-02 5.64762169e+01] [-5.05208562e-01 8.62088906e-01 -3.95857024e-02 -1.71703662e+01] [-8.06092800e-02 -1.47045124e-03 9.96744692e-01 -3.50962892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75864 meters 0.030466852456944304 Centerline is valid? [True, True] Translation: X:56.51, Y:-17.18, Z:-3.51 [[ 8.59892502e-01 5.05362299e-01 7.20682472e-02 5.65058819e+01] [-5.03732684e-01 8.62906109e-01 -4.05762244e-02 -1.71768874e+01] [-8.26938249e-02 -1.41194049e-03 9.96574000e-01 -3.51163596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78864 meters 0.03066063213544902 Centerline is valid? [True, True] Translation: X:56.53, Y:-17.19, Z:-3.51 [[ 8.60251539e-01 5.04740547e-01 7.21406203e-02 5.65320395e+01] [-5.03109080e-01 8.63269972e-01 -4.05735052e-02 -1.71869806e+01] [-8.27559245e-02 -1.39118075e-03 9.96568874e-01 -3.51337464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.818639999999995 meters 0.03088953607519496 Centerline is valid? [True, True] Translation: X:56.56, Y:-17.19, Z:-3.52 [[ 8.59758422e-01 5.05359335e-01 7.36708855e-02 5.65614551e+01] [-5.03664089e-01 8.62907657e-01 -4.13867298e-02 -1.71934298e+01] [-8.44863414e-02 -1.52278990e-03 9.96423474e-01 -3.51562407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.848639999999996 meters 0.030739438021370632 Centerline is valid? [True, True] Translation: X:56.59, Y:-17.20, Z:-3.52 [[ 8.60143369e-01 5.04851178e-01 7.26544825e-02 5.65877942e+01] [-5.03204098e-01 8.63205117e-01 -4.07745163e-02 -1.72046884e+01] [-8.33007836e-02 -1.48810352e-03 9.96523339e-01 -3.51650186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87864 meters 0.030866725530947266 Centerline is valid? [True, True] Translation: X:56.61, Y:-17.22, Z:-3.52 [[ 8.61070481e-01 5.03245425e-01 7.28125519e-02 5.66139019e+01] [-5.01588942e-01 8.64142442e-01 -4.08212435e-02 -1.72171304e+01] [-8.34635204e-02 -1.37200302e-03 9.96509889e-01 -3.52031434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90864 meters 0.03052101470805801 Centerline is valid? [True, True] Translation: X:56.64, Y:-17.23, Z:-3.52 [[ 8.63682403e-01 4.98716960e-01 7.30349209e-02 5.66414178e+01] [-4.97037663e-01 8.66764354e-01 -4.09037323e-02 -1.72267754e+01] [-8.37034511e-02 -9.73272577e-04 9.96490233e-01 -3.52234983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93864 meters 0.030359815576058047 Centerline is valid? [True, True] Translation: X:56.67, Y:-17.24, Z:-3.52 [[ 8.65450238e-01 4.95602181e-01 7.33100496e-02 5.66674288e+01] [-4.93902549e-01 8.68549350e-01 -4.10158427e-02 -1.72379759e+01] [-8.40009370e-02 -7.10849546e-04 9.96465422e-01 -3.52440151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96864 meters 0.03038678525710142 Centerline is valid? [True, True] Translation: X:56.69, Y:-17.25, Z:-3.53 [[ 8.67534437e-01 4.91720068e-01 7.48022377e-02 5.66935477e+01] [-4.89939704e-01 8.70753255e-01 -4.18073668e-02 -1.72495504e+01] [-8.56918132e-02 -3.79255786e-04 9.96321619e-01 -3.52717356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.998639999999995 meters 0.030463554548947464 Centerline is valid? [True, True] Translation: X:56.72, Y:-17.26, Z:-3.53 [[ 8.69393944e-01 4.88390806e-01 7.50239385e-02 5.67182346e+01] [-4.86591324e-01 8.72625012e-01 -4.18864036e-02 -1.72613964e+01] [-8.59246997e-02 -9.02119564e-05 9.96301630e-01 -3.52899202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.028639999999996 meters 0.030135605474774934 Centerline is valid? [True, True] Translation: X:56.75, Y:-17.27, Z:-3.53 [[ 8.71810892e-01 4.84398788e-01 7.28257048e-02 5.67453991e+01] [-4.82693126e-01 8.74847272e-01 -4.06152289e-02 -1.72728216e+01] [-8.33853368e-02 2.56331776e-04 9.96517346e-01 -3.52915683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05864 meters 0.030152106281348182 Centerline is valid? [True, True] Translation: X:56.77, Y:-17.28, Z:-3.53 [[ 8.73187069e-01 4.81911657e-01 7.28388396e-02 5.67703487e+01] [-4.80200125e-01 8.76219690e-01 -4.05819613e-02 -1.72847438e+01] [-8.33797456e-02 4.58423985e-04 9.96517741e-01 -3.53108219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08864 meters 0.030258576659005543 Centerline is valid? [True, True] Translation: X:56.80, Y:-17.30, Z:-3.53 [[ 8.75025165e-01 4.78730691e-01 7.17487741e-02 5.67956201e+01] [-4.77063151e-01 8.77961514e-01 -3.99290525e-02 -1.72973613e+01] [-8.21079253e-02 7.10229514e-04 9.96623191e-01 -3.53087206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11864 meters 0.0301213309401157 Centerline is valid? [True, True] Translation: X:56.82, Y:-17.31, Z:-3.53 [[ 8.75534710e-01 4.77910675e-01 7.09954769e-02 5.68200061e+01] [-4.76278977e-01 8.78408129e-01 -3.94651228e-02 -1.73109623e+01] [-8.12238074e-02 7.39431753e-04 9.96695614e-01 -3.53148300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14864 meters 0.03021332695308544 Centerline is valid? [True, True] Translation: X:56.85, Y:-17.32, Z:-3.53 [[ 8.75820695e-01 4.77246267e-01 7.19312965e-02 5.68451023e+01] [-4.75572619e-01 8.78769255e-01 -3.99409608e-02 -1.73240655e+01] [-8.22726863e-02 7.72564977e-04 9.96609557e-01 -3.53301677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.178639999999994 meters 0.0301695671130477 Centerline is valid? [True, True] Translation: X:56.87, Y:-17.34, Z:-3.53 [[ 8.75716978e-01 4.77425170e-01 7.20068169e-02 5.68700677e+01] [-4.75752041e-01 8.78672117e-01 -3.99412920e-02 -1.73372000e+01] [-8.23393604e-02 7.19877450e-04 9.96604090e-01 -3.53485742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.208639999999995 meters 0.029729484251806857 Centerline is valid? [True, True] Translation: X:56.90, Y:-17.35, Z:-3.54 [[ 8.76227808e-01 4.76808429e-01 6.98466268e-02 5.68953084e+01] [-4.75235674e-01 8.79006943e-01 -3.87020397e-02 -1.73519290e+01] [-7.98491287e-02 7.18194591e-04 9.96806702e-01 -3.53532024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23864 meters 0.029729484251806857 Centerline is valid? [True, True] Translation: X:56.92, Y:-17.37, Z:-3.54 [[ 8.76461382e-01 4.76376559e-01 6.98628709e-02 5.69190141e+01] [-4.74804773e-01 8.79241065e-01 -3.86726982e-02 -1.73654535e+01] [-7.98490719e-02 7.23901957e-04 9.96806702e-01 -3.53693942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26864 meters 0.029923296550379883 Centerline is valid? [True, True] Translation: X:56.94, Y:-17.38, Z:-3.54 [[ 8.77058400e-01 4.75371636e-01 6.92124987e-02 5.69430668e+01] [-4.73829401e-01 8.79784756e-01 -3.82685472e-02 -1.73790616e+01] [-7.90838832e-02 7.68833949e-04 9.96867668e-01 -3.53978469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29864 meters 0.03006167744985854 Centerline is valid? [True, True] Translation: X:56.97, Y:-17.39, Z:-3.54 [[ 8.78030771e-01 4.73629801e-01 6.88242417e-02 5.69678320e+01] [-4.72102966e-01 8.80723586e-01 -3.80099380e-02 -1.73918197e+01] [-7.86177723e-02 8.81766581e-04 9.96904443e-01 -3.54010738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32864 meters 0.029935097124149844 Centerline is valid? [True, True] Translation: X:56.99, Y:-17.40, Z:-3.54 [[ 8.78456493e-01 4.72874451e-01 6.85853031e-02 5.69928303e+01] [-4.71359339e-01 8.81129349e-01 -3.78344190e-02 -1.74049807e+01] [-7.83234536e-02 9.07567888e-04 9.96927587e-01 -3.54144827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.358639999999994 meters 0.029899891200853145 Centerline is valid? [True, True] Translation: X:57.02, Y:-17.42, Z:-3.54 [[ 8.78649475e-01 4.72572522e-01 6.81931922e-02 5.70169788e+01] [-4.71077175e-01 8.81291335e-01 -3.75749667e-02 -1.74190426e+01] [-7.78549662e-02 8.90968458e-04 9.96964297e-01 -3.54247053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.388639999999995 meters 0.029601003160509762 Centerline is valid? [True, True] Translation: X:57.04, Y:-17.43, Z:-3.54 [[ 8.77562896e-01 4.74571920e-01 6.82997539e-02 5.70411525e+01] [-4.73081190e-01 8.80216470e-01 -3.75919413e-02 -1.74347816e+01] [-7.79586480e-02 6.77964018e-04 9.96956363e-01 -3.54343409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.418639999999996 meters 0.029710694837742368 Centerline is valid? [True, True] Translation: X:57.07, Y:-17.45, Z:-3.54 [[ 8.76953973e-01 4.75675201e-01 6.84458321e-02 5.70653124e+01] [-4.74184505e-01 8.79620830e-01 -3.76331074e-02 -1.74481768e+01] [-7.81075156e-02 5.46550026e-04 9.96944792e-01 -3.54458326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44864 meters 0.029406565428873436 Centerline is valid? [True, True] Translation: X:57.09, Y:-17.46, Z:-3.55 [[ 8.74267487e-01 4.80447710e-01 6.94720081e-02 5.70895878e+01] [-4.78930408e-01 8.77023370e-01 -3.81532841e-02 -1.74609676e+01] [-7.92592326e-02 8.39185676e-05 9.96854035e-01 -3.54602611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47864 meters 0.029375257307623373 Centerline is valid? [True, True] Translation: X:57.11, Y:-17.48, Z:-3.55 [[ 8.72694598e-01 4.83425407e-01 6.85858153e-02 5.71137451e+01] [-4.81959037e-01 8.75385531e-01 -3.76252424e-02 -1.74757863e+01] [-7.82280284e-02 -2.20207757e-04 9.96935468e-01 -3.54646286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50864 meters 0.029380635766238485 Centerline is valid? [True, True] Translation: X:57.14, Y:-17.49, Z:-3.55 [[ 8.71562804e-01 4.85408186e-01 6.89722582e-02 5.71382598e+01] [-4.83934821e-01 8.74287539e-01 -3.77940167e-02 -1.74903976e+01] [-7.86471110e-02 -4.38218342e-04 9.96902422e-01 -3.54856425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53864 meters 0.02979412987761243 Centerline is valid? [True, True] Translation: X:57.16, Y:-17.50, Z:-3.55 [[ 8.68629278e-01 4.90776163e-01 6.79848154e-02 5.71635839e+01] [-4.89363993e-01 8.71285182e-01 -3.72157613e-02 -1.75048266e+01] [-7.74987709e-02 -9.42620907e-04 9.96992002e-01 -3.54833476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.568639999999995 meters 0.029801743091134755 Centerline is valid? [True, True] Translation: X:57.19, Y:-17.52, Z:-3.55 [[ 8.67987182e-01 4.91947349e-01 6.77204400e-02 5.71891269e+01] [-4.90552469e-01 8.70624289e-01 -3.70354270e-02 -1.75168864e+01] [-7.71785400e-02 -1.07415309e-03 9.97016710e-01 -3.54952041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.598639999999996 meters 0.030088619261419425 Centerline is valid? [True, True] Translation: X:57.21, Y:-17.53, Z:-3.55 [[ 8.67365219e-01 4.92871699e-01 6.89569896e-02 5.72149476e+01] [-4.91431355e-01 8.70101155e-01 -3.76723158e-02 -1.75290860e+01] [-7.85671745e-02 -1.21197043e-03 9.96908085e-01 -3.55229346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62864 meters 0.03005893955919734 Centerline is valid? [True, True] Translation: X:57.24, Y:-17.54, Z:-3.55 [[ 8.67289920e-01 4.93104362e-01 6.82369677e-02 5.72406351e+01] [-4.91697785e-01 8.69969261e-01 -3.72394123e-02 -1.75404703e+01] [-7.77269810e-02 -1.25459903e-03 9.96973893e-01 -3.55352269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65864 meters 0.030139458233537787 Centerline is valid? [True, True] Translation: X:57.27, Y:-17.55, Z:-3.56 [[ 8.66517010e-01 4.94591214e-01 6.72889473e-02 5.72678259e+01] [-4.93231176e-01 8.69124592e-01 -3.66803756e-02 -1.75495290e+01] [-7.66242704e-02 -1.40483724e-03 9.97059049e-01 -3.55527186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68864 meters 0.029970883650895792 Centerline is valid? [True, True] Translation: X:57.29, Y:-17.56, Z:-3.56 [[ 8.66395577e-01 4.94885551e-01 6.66857916e-02 5.72939444e+01] [-4.93553622e-01 8.68956952e-01 -3.63130581e-02 -1.75604012e+01] [-7.59178900e-02 -1.45154098e-03 9.97113016e-01 -3.55645881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71864 meters 0.030089368419747582 Centerline is valid? [True, True] Translation: X:57.32, Y:-17.57, Z:-3.56 [[ 8.66736474e-01 4.94310064e-01 6.65240248e-02 5.73198232e+01] [-4.92986153e-01 8.69284477e-01 -3.61821988e-02 -1.75708772e+01] [-7.57135271e-02 -1.43499163e-03 9.97128579e-01 -3.55725471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.748639999999995 meters 0.03002978750774271 Centerline is valid? [True, True] Translation: X:57.35, Y:-17.58, Z:-3.56 [[ 8.66792928e-01 4.93980560e-01 6.82145614e-02 5.73485349e+01] [-4.92590793e-01 8.69471688e-01 -3.70579993e-02 -1.75778706e+01] [-7.76165611e-02 -1.48025318e-03 9.96982186e-01 -3.55965954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.778639999999996 meters 0.030200146669155072 Centerline is valid? [True, True] Translation: X:57.37, Y:-17.59, Z:-3.56 [[ 8.67208599e-01 4.93324518e-01 6.76769272e-02 5.73749732e+01] [-4.91957629e-01 8.69844144e-01 -3.67267902e-02 -1.75880333e+01] [-7.69866048e-02 -1.44439234e-03 9.97031081e-01 -3.56056013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80864 meters 0.02980001624890502 Centerline is valid? [True, True] Translation: X:57.40, Y:-17.59, Z:-3.56 [[ 8.67639719e-01 4.92590002e-01 6.75011772e-02 5.74045111e+01] [-4.91231338e-01 8.70260359e-01 -3.65879789e-02 -1.75925926e+01] [-7.67664713e-02 -1.41350988e-03 9.97048099e-01 -3.56131675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83864 meters 0.029721863088314652 Centerline is valid? [True, True] Translation: X:57.43, Y:-17.60, Z:-3.56 [[ 8.68144317e-01 4.91592623e-01 6.82798477e-02 5.74313278e+01] [-4.90202746e-01 8.70824202e-01 -3.69658899e-02 -1.76016573e+01] [-7.76319027e-02 -1.37924158e-03 9.96981136e-01 -3.56373021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86864 meters 0.029835008475443646 Centerline is valid? [True, True] Translation: X:57.46, Y:-17.61, Z:-3.57 [[ 8.68314887e-01 4.91247047e-01 6.85973507e-02 5.74581135e+01] [-4.89846598e-01 8.71019172e-01 -3.70933085e-02 -1.76109526e+01] [-7.79715858e-02 -1.39350690e-03 9.96954608e-01 -3.56563373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89864 meters 0.029653056982164954 Centerline is valid? [True, True] Translation: X:57.49, Y:-17.62, Z:-3.57 [[ 8.69433254e-01 4.88994765e-01 7.04977715e-02 5.74872498e+01] [-4.87511838e-01 8.72285801e-01 -3.80747810e-02 -1.76153540e+01] [-8.01125737e-02 -1.26501735e-03 9.96785020e-01 -3.56776450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.928639999999994 meters 0.029521289771187433 Centerline is valid? [True, True] Translation: X:57.51, Y:-17.62, Z:-3.57 [[ 8.70598167e-01 4.86713128e-01 7.18968862e-02 5.75136196e+01] [-4.85166700e-01 8.73561151e-01 -3.87838739e-02 -1.76240275e+01] [-8.16829472e-02 -1.11680552e-03 9.96657739e-01 -3.56974728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.958639999999995 meters 0.02945901047932573 Centerline is valid? [True, True] Translation: X:57.54, Y:-17.63, Z:-3.57 [[ 8.72331914e-01 4.83680890e-01 7.13430359e-02 5.75411528e+01] [-4.82151588e-01 8.75243995e-01 -3.84421119e-02 -1.76342320e+01] [-8.10362786e-02 -8.63877056e-04 9.96710778e-01 -3.57219794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98864 meters 0.029054595406176265 Centerline is valid? [True, True] Translation: X:57.57, Y:-17.64, Z:-3.57 [[ 8.74023793e-01 4.80673135e-01 7.09630007e-02 5.75681070e+01] [-4.79153193e-01 8.76899630e-01 -3.82002296e-02 -1.76443947e+01] [-8.05892531e-02 -6.14238719e-04 9.96747207e-01 -3.57367193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01864 meters 0.028486539468322216 Centerline is valid? [True, True] Translation: X:57.60, Y:-17.65, Z:-3.58 [[ 8.77847626e-01 4.73551792e-01 7.16396964e-02 5.75951570e+01] [-4.71982259e-01 8.80765973e-01 -3.85233358e-02 -1.76520929e+01] [-8.13406017e-02 4.95316436e-06 9.96686363e-01 -3.57739338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04864 meters 0.02834277489176283 Centerline is valid? [True, True] Translation: X:57.62, Y:-17.66, Z:-3.58 [[ 8.79299604e-01 4.70813474e-01 7.18810051e-02 5.76207968e+01] [-4.69227918e-01 8.82232750e-01 -3.86074676e-02 -1.76631015e+01] [-8.15926927e-02 2.18956625e-04 9.96665734e-01 -3.57818493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07864 meters 0.028351324388247657 Centerline is valid? [True, True] Translation: X:57.65, Y:-17.67, Z:-3.58 [[ 8.81413565e-01 4.66583996e-01 7.35493104e-02 5.76467212e+01] [-4.64912877e-01 8.84476699e-01 -3.94586529e-02 -1.76748227e+01] [-8.34634273e-02 5.85370397e-04 9.96510669e-01 -3.58041471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters 0.028528634184438646 Centerline is valid? [True, True] Translation: X:57.67, Y:-17.69, Z:-3.58 [[ 8.81728017e-01 4.65795964e-01 7.47651270e-02 5.76714521e+01] [-4.64069697e-01 8.84891924e-01 -4.00699320e-02 -1.76893985e+01] [-8.48234697e-02 6.34551917e-04 9.96395793e-01 -3.58300376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.138639999999995 meters 0.028392031112012994 Centerline is valid? [True, True] Translation: X:57.69, Y:-17.70, Z:-3.58 [[ 8.81723326e-01 4.65852518e-01 7.44674950e-02 5.76947685e+01] [-4.64143740e-01 8.84862184e-01 -3.98685896e-02 -1.77040734e+01] [-8.44663531e-02 5.89443751e-04 9.96426158e-01 -3.58482504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.168639999999996 meters 0.02843817458410838 Centerline is valid? [True, True] Translation: X:57.72, Y:-17.72, Z:-3.59 [[ 8.80405163e-01 4.68207836e-01 7.52872638e-02 5.77176561e+01] [-4.66473733e-01 8.83618309e-01 -4.02609043e-02 -1.77206358e+01] [-8.53756756e-02 3.26376994e-04 9.96348778e-01 -3.58660346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19864 meters 0.02822568387112099 Centerline is valid? [True, True] Translation: X:57.74, Y:-17.74, Z:-3.59 [[ 8.79454806e-01 4.69884986e-01 7.59430322e-02 5.77413364e+01] [-4.68130625e-01 8.82727639e-01 -4.05664106e-02 -1.77365099e+01] [-8.60985607e-02 1.25065598e-04 9.96286616e-01 -3.58981712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22864 meters 0.028078249567761244 Centerline is valid? [True, True] Translation: X:57.77, Y:-17.75, Z:-3.59 [[ 8.79001093e-01 4.70898757e-01 7.49095455e-02 5.77650473e+01] [-4.69198991e-01 8.82187260e-01 -3.99743177e-02 -1.77522742e+01] [-8.49081031e-02 -1.00141550e-05 9.96388787e-01 -3.59091456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25864 meters 0.028172641971568338 Centerline is valid? [True, True] Translation: X:57.79, Y:-17.77, Z:-3.59 [[ 8.77990062e-01 4.72786830e-01 7.48736546e-02 5.77889338e+01] [-4.71099131e-01 8.81176805e-01 -3.99130099e-02 -1.77670400e+01] [-8.48472731e-02 -2.29687509e-04 9.96393942e-01 -3.59316694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28864 meters 0.027954682341371367 Centerline is valid? [True, True] Translation: X:57.81, Y:-17.78, Z:-3.59 [[ 8.78270474e-01 4.72215650e-01 7.51887924e-02 5.78139320e+01] [-4.70515603e-01 8.81483030e-01 -4.00341651e-02 -1.77793541e+01] [-8.51824039e-02 -2.16674869e-04 9.96365350e-01 -3.59460899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.318639999999995 meters 0.028000854856714292 Centerline is valid? [True, True] Translation: X:57.84, Y:-17.79, Z:-3.60 [[ 8.79331623e-01 4.70278915e-01 7.49242155e-02 5.78393698e+01] [-4.68587795e-01 8.82517839e-01 -3.98464701e-02 -1.77911659e+01] [-8.48609115e-02 -7.03117381e-05 9.96392804e-01 -3.59525399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.348639999999996 meters 0.027999187234160235 Centerline is valid? [True, True] Translation: X:57.86, Y:-17.80, Z:-3.60 [[ 8.80185553e-01 4.68633316e-01 7.52077572e-02 5.78642238e+01] [-4.66927402e-01 8.83392785e-01 -3.99498161e-02 -1.78037572e+01] [-8.51598049e-02 4.66883105e-05 9.96367304e-01 -3.59658062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37864 meters 0.028037741929751687 Centerline is valid? [True, True] Translation: X:57.89, Y:-17.82, Z:-3.60 [[ 8.81411966e-01 4.66252267e-01 7.56423771e-02 5.78904256e+01] [-4.64521669e-01 8.84651777e-01 -4.01354279e-02 -1.78159285e+01] [-8.56303975e-02 2.38323172e-04 9.96326943e-01 -3.59912633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40864 meters 0.028194174888881002 Centerline is valid? [True, True] Translation: X:57.92, Y:-17.82, Z:-3.60 [[ 8.83374510e-01 4.62421556e-01 7.62612611e-02 5.79184501e+01] [-4.60651750e-01 8.86660008e-01 -4.04227166e-02 -1.78249272e+01] [-8.63101459e-02 5.78514068e-04 9.96268149e-01 -3.60079926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43864 meters 0.028435838077553476 Centerline is valid? [True, True] Translation: X:57.94, Y:-17.84, Z:-3.60 [[ 8.84632343e-01 4.59891656e-01 7.69758498e-02 5.79440480e+01] [-4.58082494e-01 8.87974679e-01 -4.07602600e-02 -1.78369774e+01] [-8.70979090e-02 7.96555055e-04 9.96199438e-01 -3.60357710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46864 meters 0.02887607155892349 Centerline is valid? [True, True] Translation: X:57.97, Y:-17.85, Z:-3.61 [[ 8.86237018e-01 4.56707487e-01 7.74739880e-02 5.79695623e+01] [-4.54866248e-01 8.89616268e-01 -4.09828264e-02 -1.78493309e+01] [-8.76392837e-02 1.08019568e-03 9.96151690e-01 -3.60585533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.498639999999995 meters 0.029261126461887218 Centerline is valid? [True, True] Translation: X:58.00, Y:-17.86, Z:-3.61 [[ 8.88142180e-01 4.52979306e-01 7.75449362e-02 5.79958219e+01] [-4.51124057e-01 8.91519910e-01 -4.09796847e-02 -1.78615404e+01] [-8.76958037e-02 1.41340024e-03 9.96146299e-01 -3.60711510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.528639999999996 meters 0.029906324759095642 Centerline is valid? [True, True] Translation: X:58.02, Y:-17.87, Z:-3.61 [[ 8.90551776e-01 4.48103660e-01 7.82345494e-02 5.80218235e+01] [-4.46199245e-01 8.93979624e-01 -4.13118185e-02 -1.78726580e+01] [-8.84520701e-02 1.88211648e-03 9.96078656e-01 -3.60826194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55864 meters 0.030434789049930442 Centerline is valid? [True, True] Translation: X:58.05, Y:-17.89, Z:-3.61 [[ 8.91812943e-01 4.45666932e-01 7.77859928e-02 5.80465595e+01] [-4.43777095e-01 8.95196410e-01 -4.10521277e-02 -1.78863864e+01] [-8.79293174e-02 2.09117695e-03 9.96124521e-01 -3.61026967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58864 meters 0.03191179315162724 Centerline is valid? [True, True] Translation: X:58.07, Y:-17.90, Z:-3.61 [[ 8.94394505e-01 4.40461589e-01 7.77949808e-02 5.80709363e+01] [-4.38554160e-01 8.97767755e-01 -4.10281094e-02 -1.79026491e+01] [-8.79131316e-02 2.57800314e-03 9.96124809e-01 -3.61452544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61864 meters 0.032410013911715795 Centerline is valid? [True, True] Translation: X:58.10, Y:-17.92, Z:-3.62 [[ 8.95890864e-01 4.37535603e-01 7.70853786e-02 5.80954211e+01] [-4.35653487e-01 8.99196652e-01 -4.06376685e-02 -1.79169653e+01] [-8.70953411e-02 2.82440190e-03 9.96195977e-01 -3.61625931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64864 meters 0.03331013837481256 Centerline is valid? [True, True] Translation: X:58.12, Y:-17.93, Z:-3.62 [[ 8.98058095e-01 4.33075070e-01 7.70560979e-02 5.81209366e+01] [-4.31180408e-01 9.01352064e-01 -4.05944794e-02 -1.79317124e+01] [-8.70351299e-02 3.23112110e-03 9.96200003e-01 -3.61724331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.678639999999994 meters 0.033919603782386794 Centerline is valid? [True, True] Translation: X:58.15, Y:-17.95, Z:-3.62 [[ 8.99152774e-01 4.30698250e-01 7.76099586e-02 5.81454345e+01] [-4.28768804e-01 9.02489316e-01 -4.08698840e-02 -1.79470335e+01] [-8.76447460e-02 3.47154043e-03 9.96145746e-01 -3.61942791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.708639999999995 meters 0.034546630681541714 Centerline is valid? [True, True] Translation: X:58.17, Y:-17.96, Z:-3.62 [[ 9.00081210e-01 4.28850220e-01 7.70798519e-02 5.81696659e+01] [-4.26943669e-01 9.03368467e-01 -4.05526466e-02 -1.79631893e+01] [-8.70225191e-02 3.59192044e-03 9.96199869e-01 -3.62153431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73864 meters 0.034906526220088635 Centerline is valid? [True, True] Translation: X:58.19, Y:-17.98, Z:-3.62 [[ 9.00970551e-01 4.26849387e-01 7.77924591e-02 5.81939516e+01] [-4.24903314e-01 9.04314807e-01 -4.08889040e-02 -1.79790068e+01] [-8.78022763e-02 3.78542467e-03 9.96130730e-01 -3.62337283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76864 meters 0.035712378318567876 Centerline is valid? [True, True] Translation: X:58.22, Y:-18.00, Z:-3.62 [[ 9.02138265e-01 4.24486318e-01 7.71875398e-02 5.82181001e+01] [-4.22565138e-01 9.05425737e-01 -4.05331801e-02 -1.79953572e+01] [-8.70933655e-02 3.94976935e-03 9.96192323e-01 -3.62390271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79864 meters 0.03550872083149253 Centerline is valid? [True, True] Translation: X:58.24, Y:-18.01, Z:-3.63 [[ 9.03024993e-01 4.22722688e-01 7.64943842e-02 5.82417711e+01] [-4.20832794e-01 9.06250038e-01 -4.01326306e-02 -1.80127618e+01] [-8.62880120e-02 4.04942301e-03 9.96262004e-01 -3.62615031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82864 meters 0.03669524821603876 Centerline is valid? [True, True] Translation: X:58.27, Y:-18.03, Z:-3.63 [[ 9.03712229e-01 4.21011806e-01 7.78027458e-02 5.82656124e+01] [-4.19053493e-01 9.07045192e-01 -4.07822194e-02 -1.80289088e+01] [-8.77404024e-02 4.25187803e-03 9.96134300e-01 -3.62962884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.858639999999994 meters 0.03712770507567297 Centerline is valid? [True, True] Translation: X:58.29, Y:-18.05, Z:-3.63 [[ 9.05075117e-01 4.18139921e-01 7.74470083e-02 5.82888308e+01] [-4.16191448e-01 9.08371562e-01 -4.05682569e-02 -1.80491570e+01] [-8.73138677e-02 4.48453734e-03 9.96170757e-01 -3.63025284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.888639999999995 meters 0.037637770722061786 Centerline is valid? [True, True] Translation: X:58.31, Y:-18.06, Z:-3.63 [[ 9.05505420e-01 4.17208222e-01 7.74418092e-02 5.83127874e+01] [-4.15258014e-01 9.08799488e-01 -4.05496265e-02 -1.80642596e+01] [-8.72967141e-02 4.55957469e-03 9.96171920e-01 -3.63198301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.918639999999996 meters 0.037772206248306975 Centerline is valid? [True, True] Translation: X:58.33, Y:-18.09, Z:-3.63 [[ 9.06679062e-01 4.14830181e-01 7.64787531e-02 5.83330045e+01] [-4.12923047e-01 9.09886739e-01 -4.00084936e-02 -1.80868526e+01] [-8.61837339e-02 4.69502367e-03 9.96268197e-01 -3.63306818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94864 meters 0.038016154604918646 Centerline is valid? [True, True] Translation: X:58.35, Y:-18.11, Z:-3.64 [[ 9.07058469e-01 4.14166372e-01 7.55721456e-02 5.83542972e+01] [-4.12305227e-01 9.10189232e-01 -3.94963519e-02 -1.81057614e+01] [-8.51430140e-02 4.66670984e-03 9.96357812e-01 -3.63504112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97864 meters 0.038099729951877215 Centerline is valid? [True, True] Translation: X:58.38, Y:-18.12, Z:-3.64 [[ 9.07593049e-01 4.13001057e-01 7.55313427e-02 5.83767409e+01] [-4.11141344e-01 9.10718228e-01 -3.94348194e-02 -1.81248823e+01] [-8.50743926e-02 4.73671023e-03 9.96363343e-01 -3.63598181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00864 meters 0.03701128799679561 Centerline is valid? [True, True] Translation: X:58.40, Y:-18.14, Z:-3.64 [[ 9.07205618e-01 4.13728873e-01 7.61996452e-02 5.83990707e+01] [-4.11841702e-01 9.10388129e-01 -3.97475459e-02 -1.81448413e+01] [-8.58159597e-02 4.67700539e-03 9.96300028e-01 -3.63729600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03864 meters 0.03645743905618129 Centerline is valid? [True, True] Translation: X:58.42, Y:-18.17, Z:-3.64 [[ 9.06254351e-01 4.15790703e-01 7.62964102e-02 5.84186541e+01] [-4.13908970e-01 9.09449414e-01 -3.97634092e-02 -1.81699032e+01] [-8.59209814e-02 4.45599404e-03 9.96291990e-01 -3.64047491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.068639999999995 meters 0.03547097107015439 Centerline is valid? [True, True] Translation: X:58.44, Y:-18.19, Z:-3.64 [[ 9.05005645e-01 4.18786547e-01 7.47168760e-02 5.84414913e+01] [-4.16994341e-01 9.08075619e-01 -3.89151715e-02 -1.81904372e+01] [-8.41457237e-02 4.06193537e-03 9.96445181e-01 -3.64120709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.098639999999996 meters 0.033273086487354345 Centerline is valid? [True, True] Translation: X:58.46, Y:-18.22, Z:-3.64 [[ 9.01983610e-01 4.25399369e-01 7.38981939e-02 5.84613070e+01] [-4.23668631e-01 9.04999329e-01 -3.84851364e-02 -1.82171737e+01] [-8.32493686e-02 3.40461559e-03 9.96522931e-01 -3.64158470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12864 meters 0.0323098406624474 Centerline is valid? [True, True] Translation: X:58.48, Y:-18.24, Z:-3.64 [[ 9.00379432e-01 4.28729415e-01 7.42156834e-02 5.84842521e+01] [-4.26995860e-01 9.03427624e-01 -3.86401812e-02 -1.82362125e+01] [-8.36146808e-02 3.10103490e-03 9.96493336e-01 -3.64366139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15864 meters 0.0323098406624474 Centerline is valid? [True, True] Translation: X:58.51, Y:-18.25, Z:-3.65 [[ 9.00575641e-01 4.28314454e-01 7.42310093e-02 5.85083332e+01] [-4.26581918e-01 9.03624413e-01 -3.86107207e-02 -1.82491282e+01] [-8.36144819e-02 3.10626822e-03 9.96493336e-01 -3.64528189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18864 meters 0.0314795019826141 Centerline is valid? [True, True] Translation: X:58.53, Y:-18.27, Z:-3.65 [[ 8.98464972e-01 4.32617105e-01 7.48540892e-02 5.85306712e+01] [-4.30873037e-01 9.01573713e-01 -3.89007300e-02 -1.82684538e+01] [-8.43156003e-02 2.69833458e-03 9.96435446e-01 -3.64770665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21864 meters 0.029926820528855282 Centerline is valid? [True, True] Translation: X:58.55, Y:-18.29, Z:-3.65 [[ 8.95399249e-01 4.38953854e-01 7.46973802e-02 5.85509118e+01] [-4.37239723e-01 8.98507175e-01 -3.88108367e-02 -1.82931265e+01] [-8.41522984e-02 2.09053218e-03 9.96450711e-01 -3.64947821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.248639999999995 meters 0.029257519144003517 Centerline is valid? [True, True] Translation: X:58.57, Y:-18.31, Z:-3.65 [[ 8.94162171e-01 4.41682837e-01 7.34185469e-02 5.85746681e+01] [-4.40037181e-01 8.97169473e-01 -3.81341969e-02 -1.83108855e+01] [-8.27120993e-02 1.79126591e-03 9.96571874e-01 -3.64978587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.278639999999996 meters 0.02874114534569192 Centerline is valid? [True, True] Translation: X:58.60, Y:-18.33, Z:-3.65 [[ 8.91730296e-01 4.46498701e-01 7.38646701e-02 5.85968820e+01] [-4.44852424e-01 8.94783306e-01 -3.83295574e-02 -1.83311432e+01] [-8.32069713e-02 1.32074998e-03 9.96531412e-01 -3.65143708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30864 meters 0.028524623700549603 Centerline is valid? [True, True] Translation: X:58.62, Y:-18.35, Z:-3.65 [[ 8.90626168e-01 4.48582673e-01 7.45561099e-02 5.86204532e+01] [-4.46915859e-01 8.93740661e-01 -3.86502931e-02 -1.83482311e+01] [-8.39716788e-02 1.10265450e-03 9.96467531e-01 -3.65321662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33864 meters 0.028530473667415675 Centerline is valid? [True, True] Translation: X:58.64, Y:-18.36, Z:-3.66 [[ 8.89675112e-01 4.50401300e-01 7.49457404e-02 5.86441857e+01] [-4.48726825e-01 8.92825772e-01 -3.88120786e-02 -1.83643731e+01] [-8.43944992e-02 8.99976254e-04 9.96432014e-01 -3.65504546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36864 meters 0.02825086380557854 Centerline is valid? [True, True] Translation: X:58.67, Y:-18.38, Z:-3.66 [[ 8.88995573e-01 4.51785877e-01 7.46752489e-02 5.86680414e+01] [-4.50131673e-01 8.92126105e-01 -3.86327569e-02 -1.83798862e+01] [-8.40734729e-02 7.30655135e-04 9.96459290e-01 -3.65604906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39864 meters 0.028561733459020116 Centerline is valid? [True, True] Translation: X:58.69, Y:-18.40, Z:-3.66 [[ 8.87072613e-01 4.55349277e-01 7.58894894e-02 5.86904510e+01] [-4.53657282e-01 8.90312813e-01 -3.92194636e-02 -1.83963760e+01] [-8.54239391e-02 3.62692549e-04 9.96344629e-01 -3.65867371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.428639999999994 meters 0.02847370113504183 Centerline is valid? [True, True] Translation: X:58.72, Y:-18.41, Z:-3.66 [[ 8.86219370e-01 4.57151267e-01 7.50196490e-02 5.87150931e+01] [-4.55508155e-01 8.89388946e-01 -3.87249665e-02 -1.84116080e+01] [-8.44248141e-02 1.46753568e-04 9.96429842e-01 -3.65943456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.458639999999995 meters 0.028496391780410683 Centerline is valid? [True, True] Translation: X:58.74, Y:-18.43, Z:-3.66 [[ 8.85168031e-01 4.59345186e-01 7.40240344e-02 5.87400918e+01] [-4.57756479e-01 8.88257840e-01 -3.81708643e-02 -1.84263353e+01] [-8.32860317e-02 -9.73525605e-05 9.96525678e-01 -3.66114033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48864 meters 0.028731281896396923 Centerline is valid? [True, True] Translation: X:58.76, Y:-18.44, Z:-3.66 [[ 8.82891744e-01 4.63824739e-01 7.32719572e-02 5.87647460e+01] [-4.62287009e-01 8.85926807e-01 -3.77414046e-02 -1.84400182e+01] [-8.24189882e-02 -5.51099370e-04 9.96597615e-01 -3.66145096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51864 meters 0.028806142755369014 Centerline is valid? [True, True] Translation: X:58.79, Y:-18.45, Z:-3.66 [[ 8.82322904e-01 4.64990356e-01 7.27341809e-02 5.87894953e+01] [-4.63482845e-01 8.85315472e-01 -3.74188175e-02 -1.84533007e+01] [-8.17920850e-02 -6.95565347e-04 9.96649171e-01 -3.66314946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54864 meters 0.029124899196467186 Centerline is valid? [True, True] Translation: X:58.82, Y:-18.47, Z:-3.66 [[ 8.80816158e-01 4.67826843e-01 7.28075600e-02 5.88153927e+01] [-4.66329585e-01 8.83819578e-01 -3.74121726e-02 -1.84662043e+01] [-8.18511655e-02 -9.99073127e-04 9.96644063e-01 -3.66473816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57864 meters 0.029345760731311926 Centerline is valid? [True, True] Translation: X:58.84, Y:-18.48, Z:-3.67 [[ 8.80283666e-01 4.68858108e-01 7.26136396e-02 5.88411309e+01] [-4.67375612e-01 8.83272779e-01 -3.72724394e-02 -1.84790102e+01] [-8.16131367e-02 -1.12752456e-03 9.96663446e-01 -3.66534899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.608639999999994 meters 0.029325104331501393 Centerline is valid? [True, True] Translation: X:58.87, Y:-18.49, Z:-3.67 [[ 8.80362862e-01 4.68764676e-01 7.22558602e-02 5.88660813e+01] [-4.67299842e-01 8.83322340e-01 -3.70472849e-02 -1.84903635e+01] [-8.11916740e-02 -1.15009829e-03 9.96697843e-01 -3.66694836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.638639999999995 meters 0.02935470683232653 Centerline is valid? [True, True] Translation: X:58.89, Y:-18.50, Z:-3.67 [[ 8.80122856e-01 4.69080498e-01 7.31248520e-02 5.88924832e+01] [-4.67584975e-01 8.83154553e-01 -3.74476561e-02 -1.85020167e+01] [-8.21465112e-02 -1.23354400e-03 9.96619501e-01 -3.66904698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.668639999999996 meters 0.029458535525317762 Centerline is valid? [True, True] Translation: X:58.92, Y:-18.51, Z:-3.67 [[ 8.80210683e-01 4.69046745e-01 7.22793534e-02 5.89192970e+01] [-4.67588906e-01 8.83172453e-01 -3.69734155e-02 -1.85109748e+01] [-8.11773941e-02 -1.25262840e-03 9.96698882e-01 -3.67058914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69864 meters 0.02943921236021096 Centerline is valid? [True, True] Translation: X:58.95, Y:-18.52, Z:-3.67 [[ 8.80018275e-01 4.69251289e-01 7.32875385e-02 5.89455746e+01] [-4.67756866e-01 8.83063679e-01 -3.74440053e-02 -1.85219041e+01] [-8.22882111e-02 -1.32934040e-03 9.96607688e-01 -3.67275955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72864 meters 0.029633877264114997 Centerline is valid? [True, True] Translation: X:58.97, Y:-18.53, Z:-3.67 [[ 8.79773045e-01 4.69490586e-01 7.46858674e-02 5.89720173e+01] [-4.67942881e-01 8.82936344e-01 -3.81165636e-02 -1.85325071e+01] [-8.38382345e-02 -1.41479475e-03 9.96478373e-01 -3.67483740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75864 meters 0.02984031694981978 Centerline is valid? [True, True] Translation: X:59.00, Y:-18.54, Z:-3.68 [[ 8.79402576e-01 4.70080009e-01 7.53385293e-02 5.90003381e+01] [-4.68510788e-01 8.82622497e-01 -3.84079308e-02 -1.85408470e+01] [-8.45502813e-02 -1.52088043e-03 9.96418053e-01 -3.67690243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78864 meters 0.029789790514919017 Centerline is valid? [True, True] Translation: X:59.03, Y:-18.55, Z:-3.68 [[ 8.79776830e-01 4.69207375e-01 7.64013716e-02 5.90268171e+01] [-4.67593858e-01 8.83086748e-01 -3.89073159e-02 -1.85509711e+01] [-8.57246383e-02 -1.49505705e-03 9.96317746e-01 -3.67880421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.818639999999995 meters 0.0297606307089556 Centerline is valid? [True, True] Translation: X:59.05, Y:-18.56, Z:-3.68 [[ 8.81526596e-01 4.65613583e-01 7.81975184e-02 5.90545180e+01] [-4.63913067e-01 8.84987299e-01 -3.97762050e-02 -1.85579533e+01] [-8.77241519e-02 -1.21306803e-03 9.96144067e-01 -3.68170776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.848639999999996 meters 0.029572937789235938 Centerline is valid? [True, True] Translation: X:59.08, Y:-18.57, Z:-3.68 [[ 8.83050750e-01 4.62645746e-01 7.86148045e-02 5.90807417e+01] [-4.60919474e-01 8.86542713e-01 -3.99406660e-02 -1.85685070e+01] [-8.81737613e-02 -9.65459306e-04 9.96104641e-01 -3.68427994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87864 meters 0.02925175202315254 Centerline is valid? [True, True] Translation: X:59.11, Y:-18.58, Z:-3.68 [[ 8.84571173e-01 4.59813660e-01 7.81360289e-02 5.91069750e+01] [-4.58101093e-01 8.88015138e-01 -3.96548085e-02 -1.85793849e+01] [-8.76197991e-02 -7.16699750e-04 9.96153732e-01 -3.68498168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90864 meters 0.029189773546309132 Centerline is valid? [True, True] Translation: X:59.13, Y:-18.59, Z:-3.69 [[ 8.86496378e-01 4.55957465e-01 7.89111067e-02 5.91339422e+01] [-4.54199439e-01 8.90001487e-01 -4.00027889e-02 -1.85883899e+01] [-8.84705725e-02 -3.79052969e-04 9.96078719e-01 -3.68767519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93864 meters 0.029091266196235165 Centerline is valid? [True, True] Translation: X:59.16, Y:-18.60, Z:-3.69 [[ 8.87181129e-01 4.54733390e-01 7.82763597e-02 5.91605417e+01] [-4.53002923e-01 8.90627563e-01 -3.96345196e-02 -1.86002285e+01] [-8.77382229e-02 -2.96421933e-04 9.96143522e-01 -3.68851910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96864 meters 0.029084598900225325 Centerline is valid? [True, True] Translation: X:59.19, Y:-18.61, Z:-3.69 [[ 8.87548170e-01 4.53941346e-01 7.87115022e-02 5.91856380e+01] [-4.52192405e-01 8.91031530e-01 -3.98100685e-02 -1.86116260e+01] [-8.82058663e-02 -2.59390036e-04 9.96102233e-01 -3.68996584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.998639999999995 meters 0.029338382787503402 Centerline is valid? [True, True] Translation: X:59.21, Y:-18.62, Z:-3.69 [[ 8.86923821e-01 4.55048104e-01 7.93558961e-02 5.92131953e+01] [-4.53279000e-01 8.90466760e-01 -4.00886203e-02 -1.86211331e+01] [-8.89060383e-02 -4.14808914e-04 9.96039931e-01 -3.69238774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.028639999999996 meters 0.029054596815287395 Centerline is valid? [True, True] Translation: X:59.24, Y:-18.63, Z:-3.69 [[ 8.86945411e-01 4.55268684e-01 7.78348502e-02 5.92398606e+01] [-4.53571373e-01 8.90353979e-01 -3.92785065e-02 -1.86327527e+01] [-8.71828426e-02 -4.65768752e-04 9.96192218e-01 -3.69316883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05864 meters 0.02921092987455362 Centerline is valid? [True, True] Translation: X:59.27, Y:-18.65, Z:-3.70 [[ 8.87077345e-01 4.54714777e-01 7.95503369e-02 5.92656848e+01] [-4.52943351e-01 8.90636997e-01 -4.01006310e-02 -1.86453058e+01] [-8.90848227e-02 -4.59434924e-04 9.96023937e-01 -3.69693339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08864 meters 0.02926536424691441 Centerline is valid? [True, True] Translation: X:59.29, Y:-18.66, Z:-3.70 [[ 8.87888229e-01 4.53199146e-01 7.91519190e-02 5.92909281e+01] [-4.51443219e-01 8.91409230e-01 -3.98573012e-02 -1.86580215e+01] [-8.86200461e-02 -3.43768455e-04 9.96065444e-01 -3.69863512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11864 meters 0.02906047644976133 Centerline is valid? [True, True] Translation: X:59.32, Y:-18.67, Z:-3.70 [[ 8.88235808e-01 4.52609745e-01 7.86229494e-02 5.93163351e+01] [-4.50878678e-01 8.91708650e-01 -3.95487253e-02 -1.86706696e+01] [-8.80089025e-02 -3.20817543e-04 9.96119636e-01 -3.70049450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14864 meters 0.0289347772553189 Centerline is valid? [True, True] Translation: X:59.34, Y:-18.68, Z:-3.70 [[ 8.89507462e-01 4.50520203e-01 7.62103801e-02 5.93422974e+01] [-4.48889720e-01 8.92766221e-01 -3.82948402e-02 -1.86821968e+01] [-8.52906522e-02 -1.46510033e-04 9.96356103e-01 -3.70125962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.178639999999994 meters 0.029023960334540112 Centerline is valid? [True, True] Translation: X:59.37, Y:-18.69, Z:-3.70 [[ 8.90193196e-01 4.49190090e-01 7.60548344e-02 5.93672802e+01] [-4.47565108e-01 8.93436209e-01 -3.81734719e-02 -1.86943199e+01] [-8.50972882e-02 -5.77252084e-05 9.96372645e-01 -3.70308650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.208639999999995 meters 0.029052165758129828 Centerline is valid? [True, True] Translation: X:59.39, Y:-18.71, Z:-3.70 [[ 8.90489551e-01 4.48763915e-01 7.50953266e-02 5.93926898e+01] [-4.47181971e-01 8.93650349e-01 -3.76475641e-02 -1.87069085e+01] [-8.40038330e-02 -5.65137218e-05 9.96465430e-01 -3.70456677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23864 meters 0.029231660696845824 Centerline is valid? [True, True] Translation: X:59.42, Y:-18.72, Z:-3.71 [[ 8.90116692e-01 4.49206027e-01 7.68519310e-02 5.94188688e+01] [-4.47554341e-01 8.93428188e-01 -3.84861780e-02 -1.87179787e+01] [-8.59499045e-02 -1.38225836e-04 9.96299450e-01 -3.70664882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26864 meters 0.029032642788481652 Centerline is valid? [True, True] Translation: X:59.44, Y:-18.73, Z:-3.71 [[ 8.90367076e-01 4.48997844e-01 7.51492283e-02 5.94446754e+01] [-4.47421274e-01 8.93532827e-01 -3.75937584e-02 -1.87300191e+01] [-8.40278189e-02 -1.51118702e-04 9.96463398e-01 -3.70742036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29864 meters 0.02923577865081115 Centerline is valid? [True, True] Translation: X:59.47, Y:-18.74, Z:-3.71 [[ 8.90166628e-01 4.49367510e-01 7.53141069e-02 5.94705380e+01] [-4.47788905e-01 8.93346960e-01 -3.76338437e-02 -1.87412464e+01] [-8.41930550e-02 -2.24429724e-04 9.96449436e-01 -3.71033261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32864 meters 0.029327234558528925 Centerline is valid? [True, True] Translation: X:59.50, Y:-18.75, Z:-3.71 [[ 8.89812895e-01 4.49907203e-01 7.62661200e-02 5.94964171e+01] [-4.48294239e-01 8.93075252e-01 -3.80640102e-02 -1.87527112e+01] [-8.52366567e-02 -3.19815220e-04 9.96360683e-01 -3.71323599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.358639999999994 meters 0.029488072749741006 Centerline is valid? [True, True] Translation: X:59.52, Y:-18.76, Z:-3.72 [[ 8.89692409e-01 4.50070289e-01 7.67082224e-02 5.95227113e+01] [-4.48442702e-01 8.92993054e-01 -3.82432751e-02 -1.87635938e+01] [-8.57120717e-02 -3.74491028e-04 9.96319879e-01 -3.71521873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.388639999999995 meters 0.029301079850339237 Centerline is valid? [True, True] Translation: X:59.55, Y:-18.77, Z:-3.72 [[ 8.90132583e-01 4.49182054e-01 7.68079941e-02 5.95486744e+01] [-4.47550640e-01 8.93440191e-01 -3.82498295e-02 -1.87735517e+01] [-8.58044858e-02 -3.28047419e-04 9.96311940e-01 -3.71601919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.418639999999996 meters 0.029366110211114037 Centerline is valid? [True, True] Translation: X:59.58, Y:-18.78, Z:-3.72 [[ 8.91959799e-01 4.45574097e-01 7.66253235e-02 5.95758592e+01] [-4.43941198e-01 8.95245063e-01 -3.81115317e-02 -1.87815889e+01] [-8.55799539e-02 -2.31837977e-05 9.96331306e-01 -3.71752553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44864 meters 0.029355278575077675 Centerline is valid? [True, True] Translation: X:59.60, Y:-18.79, Z:-3.72 [[ 8.93040084e-01 4.43361502e-01 7.68764358e-02 5.96018732e+01] [-4.41713788e-01 8.96342879e-01 -3.81886450e-02 -1.87926110e+01] [-8.58390209e-02 1.46609137e-04 9.96309009e-01 -3.71894848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47864 meters 0.029664606609325482 Centerline is valid? [True, True] Translation: X:59.63, Y:-18.80, Z:-3.72 [[ 8.95150581e-01 4.38608203e-01 7.95504901e-02 5.96283898e+01] [-4.36828522e-01 8.98678196e-01 -3.94758569e-02 -1.88023066e+01] [-8.88047256e-02 5.86913287e-04 9.96048882e-01 -3.72231169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50864 meters 0.02970863908260825 Centerline is valid? [True, True] Translation: X:59.65, Y:-18.81, Z:-3.72 [[ 8.96547941e-01 4.35904655e-01 7.86696970e-02 5.96536220e+01] [-4.34156531e-01 8.99992480e-01 -3.90082417e-02 -1.88141202e+01] [-8.78060098e-02 8.17795982e-04 9.96137258e-01 -3.72377110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53864 meters 0.02968634414140117 Centerline is valid? [True, True] Translation: X:59.68, Y:-18.83, Z:-3.72 [[ 8.98002896e-01 4.33084154e-01 7.76460778e-02 5.96788900e+01] [-4.31374809e-01 9.01352894e-01 -3.84543331e-02 -1.88262161e+01] [-8.66404792e-02 1.03754052e-03 9.96239103e-01 -3.72445360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.568639999999995 meters 0.030279466603669966 Centerline is valid? [True, True] Translation: X:59.70, Y:-18.84, Z:-3.73 [[ 9.00833747e-01 4.27269103e-01 7.70692758e-02 5.97046696e+01] [-4.25567586e-01 9.04123179e-01 -3.81248746e-02 -1.88384457e+01] [-8.59696996e-02 1.54598802e-03 9.96296553e-01 -3.72661576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.598639999999996 meters 0.030432677911028317 Centerline is valid? [True, True] Translation: X:59.73, Y:-18.85, Z:-3.73 [[ 9.02251723e-01 4.24571976e-01 7.53688672e-02 5.97289030e+01] [-4.22938811e-01 9.05392542e-01 -3.72438897e-02 -1.88513719e+01] [-8.40511221e-02 1.72694464e-03 9.96459947e-01 -3.72786468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62864 meters 0.030686939577508444 Centerline is valid? [True, True] Translation: X:59.75, Y:-18.87, Z:-3.73 [[ 9.03520633e-01 4.21845543e-01 7.54771737e-02 5.97538252e+01] [-4.20201748e-01 9.06665625e-01 -3.72550123e-02 -1.88664026e+01] [-8.41484197e-02 1.94503192e-03 9.96451334e-01 -3.72957035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65864 meters 0.030570288028261006 Centerline is valid? [True, True] Translation: X:59.78, Y:-18.89, Z:-3.73 [[ 9.05056060e-01 4.19069418e-01 7.24869066e-02 5.97758793e+01] [-4.17547588e-01 9.07951809e-01 -3.57424759e-02 -1.88855479e+01] [-8.07931965e-02 2.08221145e-03 9.96728711e-01 -3.72947170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68864 meters 0.030705378947407505 Centerline is valid? [True, True] Translation: X:59.80, Y:-18.90, Z:-3.73 [[ 9.05311950e-01 4.18549305e-01 7.22962851e-02 5.97996354e+01] [-4.17037091e-01 9.08191679e-01 -3.56081180e-02 -1.88996612e+01] [-8.05626376e-02 2.08622235e-03 9.96747365e-01 -3.73136547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71864 meters 0.030580502537990713 Centerline is valid? [True, True] Translation: X:59.82, Y:-18.91, Z:-3.73 [[ 9.05017330e-01 4.19175134e-01 7.23591028e-02 5.98245049e+01] [-4.17665618e-01 9.07903204e-01 -3.55978032e-02 -1.89149145e+01] [-8.06167752e-02 1.99471938e-03 9.96743175e-01 -3.73213327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.748639999999995 meters 0.029757170111798716 Centerline is valid? [True, True] Translation: X:59.85, Y:-18.93, Z:-3.73 [[ 9.03361129e-01 4.22882319e-01 7.14787740e-02 5.98472320e+01] [-4.21423814e-01 9.06183176e-01 -3.51286292e-02 -1.89340651e+01] [-7.96281386e-02 1.61098059e-03 9.96823337e-01 -3.73431404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.778639999999996 meters 0.029508102123330146 Centerline is valid? [True, True] Translation: X:59.87, Y:-18.95, Z:-3.74 [[ 9.02726886e-01 4.24148734e-01 7.19862512e-02 5.98710140e+01] [-4.22676415e-01 9.05591339e-01 -3.53408467e-02 -1.89507575e+01] [-8.01799010e-02 1.47624190e-03 9.96779316e-01 -3.73685288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80864 meters 0.028951088872161777 Centerline is valid? [True, True] Translation: X:59.89, Y:-18.97, Z:-3.74 [[ 9.01019199e-01 4.27826368e-01 7.16170461e-02 5.98934841e+01] [-4.26383607e-01 9.03860258e-01 -3.51234169e-02 -1.89709575e+01] [-7.97585256e-02 1.11053849e-03 9.96813596e-01 -3.73881604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83864 meters 0.02875546991222247 Centerline is valid? [True, True] Translation: X:59.92, Y:-18.99, Z:-3.74 [[ 9.00631025e-01 4.28577268e-01 7.20089115e-02 5.99168721e+01] [-4.27123942e-01 9.03504561e-01 -3.52795599e-02 -1.89854548e+01] [-8.01803973e-02 1.01713610e-03 9.96779850e-01 -3.74005969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86864 meters 0.028703182109039504 Centerline is valid? [True, True] Translation: X:59.94, Y:-19.00, Z:-3.74 [[ 9.00200557e-01 4.29668801e-01 7.08779093e-02 5.99419222e+01] [-4.28267270e-01 9.02986137e-01 -3.46869132e-02 -1.89998658e+01] [-7.89056539e-02 8.70489838e-04 9.96881708e-01 -3.74073580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89864 meters 0.028458105560295512 Centerline is valid? [True, True] Translation: X:59.97, Y:-19.02, Z:-3.74 [[ 8.99748883e-01 4.30328585e-01 7.25896457e-02 5.99654767e+01] [-4.28863724e-01 9.02671963e-01 -3.54856725e-02 -1.90157900e+01] [-8.07951373e-02 7.97128409e-04 9.96730410e-01 -3.74307055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.928639999999994 meters 0.028354849823275567 Centerline is valid? [True, True] Translation: X:59.99, Y:-19.03, Z:-3.74 [[ 8.99859519e-01 4.30264819e-01 7.15893259e-02 5.99906837e+01] [-4.28842901e-01 9.02702393e-01 -3.49593481e-02 -1.90305610e+01] [-7.96656334e-02 7.57928017e-04 9.96821354e-01 -3.74363984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.958639999999995 meters 0.028496679942892997 Centerline is valid? [True, True] Translation: X:60.02, Y:-19.04, Z:-3.75 [[ 8.99579742e-01 4.30642261e-01 7.28253484e-02 6.00154127e+01] [-4.29175145e-01 9.02522438e-01 -3.55238563e-02 -1.90445508e+01] [-8.10245848e-02 7.01711946e-04 9.96711856e-01 -3.74550859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98864 meters 0.02834386663894761 Centerline is valid? [True, True] Translation: X:60.04, Y:-19.06, Z:-3.75 [[ 8.98537885e-01 4.32796613e-01 7.29161234e-02 6.00403900e+01] [-4.31336048e-01 9.01491468e-01 -3.55295106e-02 -1.90586966e+01] [-8.11103150e-02 4.73258750e-04 9.96705018e-01 -3.74660713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01864 meters 0.02807278842444735 Centerline is valid? [True, True] Translation: X:60.07, Y:-19.07, Z:-3.75 [[ 8.97683741e-01 4.34790667e-01 7.15610024e-02 6.00654994e+01] [-4.33393281e-01 9.00531516e-01 -3.48317747e-02 -1.90722866e+01] [-7.95874685e-02 2.53860197e-04 9.96827854e-01 -3.74727651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04864 meters 0.02807278842444735 Centerline is valid? [True, True] Translation: X:60.09, Y:-19.08, Z:-3.75 [[ 8.97896443e-01 4.34348687e-01 7.15765059e-02 6.00898944e+01] [-4.32952440e-01 9.00744776e-01 -3.47998917e-02 -1.90845483e+01] [-7.95874511e-02 2.57476136e-04 9.96827854e-01 -3.74889631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07864 meters 0.02798616252513861 Centerline is valid? [True, True] Translation: X:60.11, Y:-19.10, Z:-3.75 [[ 8.96130428e-01 4.38024318e-01 7.13088501e-02 6.01141686e+01] [-4.36653486e-01 8.98963117e-01 -3.46272744e-02 -1.90984611e+01] [-7.92716144e-02 -1.06703711e-04 9.96853048e-01 -3.75112922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.108639999999994 meters 0.028246242411078138 Centerline is valid? [True, True] Translation: X:60.14, Y:-19.11, Z:-3.75 [[ 8.95366709e-01 4.39445863e-01 7.21511622e-02 6.01398813e+01] [-4.38050297e-01 8.98269035e-01 -3.49953926e-02 -1.91108394e+01] [-8.01897353e-02 -2.72128520e-04 9.96779581e-01 -3.75326338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.138639999999995 meters 0.027978475354255954 Centerline is valid? [True, True] Translation: X:60.16, Y:-19.12, Z:-3.75 [[ 8.94619416e-01 4.41086120e-01 7.14082229e-02 6.01648843e+01] [-4.39727549e-01 8.97464669e-01 -3.45955303e-02 -1.91222545e+01] [-7.93459654e-02 -4.50329673e-04 9.96847037e-01 -3.75391270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.168639999999996 meters 0.028112231597839512 Centerline is valid? [True, True] Translation: X:60.19, Y:-19.13, Z:-3.76 [[ 8.93929508e-01 4.42406821e-01 7.18765573e-02 6.01913749e+01] [-4.41038028e-01 8.96814269e-01 -3.47796672e-02 -1.91343768e+01] [-7.98466842e-02 -6.09724326e-04 9.96806970e-01 -3.75548904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19864 meters 0.028218202191160665 Centerline is valid? [True, True] Translation: X:60.22, Y:-19.15, Z:-3.76 [[ 8.93287640e-01 4.43621092e-01 7.23707007e-02 6.02176179e+01] [-4.42240507e-01 8.96214122e-01 -3.49797457e-02 -1.91454908e+01] [-8.03773970e-02 -7.58280844e-04 9.96764214e-01 -3.75730517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22864 meters 0.02827705564178469 Centerline is valid? [True, True] Translation: X:60.24, Y:-19.16, Z:-3.76 [[ 8.93106512e-01 4.43903198e-01 7.28746110e-02 6.02442677e+01] [-4.42507429e-01 8.96074367e-01 -3.51838592e-02 -1.91567262e+01] [-8.09192985e-02 -8.24623049e-04 9.96720315e-01 -3.75853778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25864 meters 0.028254585251795875 Centerline is valid? [True, True] Translation: X:60.27, Y:-19.16, Z:-3.76 [[ 8.93138708e-01 4.43873438e-01 7.26609878e-02 6.02716974e+01] [-4.42489023e-01 8.96089080e-01 -3.50403416e-02 -1.91642571e+01] [-8.06641945e-02 -8.55804094e-04 9.96740967e-01 -3.75960357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28864 meters 0.02819639293956153 Centerline is valid? [True, True] Translation: X:60.30, Y:-19.17, Z:-3.76 [[ 8.93690547e-01 4.42370987e-01 7.50007669e-02 6.02980593e+01] [-4.40893882e-01 8.96831814e-01 -3.61286936e-02 -1.91743700e+01] [-8.32453597e-02 -7.79507338e-04 9.96528777e-01 -3.76302367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.318639999999995 meters 0.028003431926133342 Centerline is valid? [True, True] Translation: X:60.33, Y:-19.19, Z:-3.76 [[ 8.94995071e-01 4.39976204e-01 7.35170911e-02 6.03252579e+01] [-4.38551016e-01 8.98009253e-01 -3.53891016e-02 -1.91853416e+01] [-8.15893906e-02 -5.67923519e-04 9.96665866e-01 -3.76326538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.348639999999996 meters 0.02794962935458726 Centerline is valid? [True, True] Translation: X:60.35, Y:-19.20, Z:-3.77 [[ 8.98451125e-01 4.32827242e-01 7.37980747e-02 6.03515911e+01] [-4.31370024e-01 9.01476886e-01 -3.54869840e-02 -1.91959033e+01] [-8.18869919e-02 4.90434211e-05 9.96641620e-01 -3.76643728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37864 meters 0.02790680363951477 Centerline is valid? [True, True] Translation: X:60.38, Y:-19.21, Z:-3.77 [[ 9.00174257e-01 4.29098560e-01 7.45703236e-02 6.03779272e+01] [-4.27601167e-01 9.03257604e-01 -3.58181989e-02 -1.92081326e+01] [-8.27257494e-02 3.56263177e-04 9.96572287e-01 -3.76768685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40864 meters 0.028428044299275257 Centerline is valid? [True, True] Translation: X:60.40, Y:-19.22, Z:-3.77 [[ 9.04317411e-01 4.20363629e-01 7.41919123e-02 6.04041405e+01] [-4.18855169e-01 9.07355044e-01 -3.55973680e-02 -1.92205954e+01] [-8.22822446e-02 1.11565375e-03 9.96608442e-01 -3.76893229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43864 meters 0.028931552688887918 Centerline is valid? [True, True] Translation: X:60.43, Y:-19.23, Z:-3.77 [[ 9.05941314e-01 4.16665816e-01 7.52325357e-02 6.04289498e+01] [-4.15105255e-01 9.09058599e-01 -3.60567815e-02 -1.92340659e+01] [-8.34144118e-02 1.43590713e-03 9.96513911e-01 -3.77193186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46864 meters 0.029035095896092787 Centerline is valid? [True, True] Translation: X:60.45, Y:-19.25, Z:-3.77 [[ 9.07615940e-01 4.13322034e-01 7.34724495e-02 6.04541234e+01] [-4.11825863e-01 9.10583391e-01 -3.51759278e-02 -1.92483195e+01] [-8.14417783e-02 1.66837789e-03 9.96676704e-01 -3.77335021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.498639999999995 meters 0.029731043991268278 Centerline is valid? [True, True] Translation: X:60.48, Y:-19.26, Z:-3.77 [[ 9.09296155e-01 4.09262315e-01 7.53980137e-02 6.04792412e+01] [-4.07675051e-01 9.12414444e-01 -3.60684806e-02 -1.92642865e+01] [-8.35557066e-02 2.05904164e-03 9.96500981e-01 -3.77469686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.528639999999996 meters 0.029465741894125964 Centerline is valid? [True, True] Translation: X:60.50, Y:-19.28, Z:-3.78 [[ 9.09385750e-01 4.08897856e-01 7.62895845e-02 6.05029773e+01] [-4.07272797e-01 9.12577734e-01 -3.64794320e-02 -1.92804985e+01] [-8.45365377e-02 2.10320320e-03 9.96418160e-01 -3.77556193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55864 meters 0.029232461826926123 Centerline is valid? [True, True] Translation: X:60.53, Y:-19.30, Z:-3.78 [[ 9.09149845e-01 4.09214501e-01 7.73954262e-02 6.05262330e+01] [-4.07546436e-01 9.12435870e-01 -3.69687195e-02 -1.92973244e+01] [-8.57464991e-02 2.06787551e-03 9.96314841e-01 -3.77804047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58864 meters 0.029058015084693856 Centerline is valid? [True, True] Translation: X:60.55, Y:-19.32, Z:-3.78 [[ 9.08095461e-01 4.11344732e-01 7.84738515e-02 6.05486658e+01] [-4.09641196e-01 9.11477957e-01 -3.74436221e-02 -1.93174904e+01] [-8.69294225e-02 1.85626088e-03 9.96212743e-01 -3.78168102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61864 meters 0.028845677582500593 Centerline is valid? [True, True] Translation: X:60.57, Y:-19.33, Z:-3.78 [[ 9.07647289e-01 4.12330470e-01 7.84855592e-02 6.05734429e+01] [-4.10633592e-01 9.11032714e-01 -3.74091797e-02 -1.93327927e+01] [-8.69278567e-02 1.72553342e-03 9.96213115e-01 -3.78351558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64864 meters 0.028351009404741365 Centerline is valid? [True, True] Translation: X:60.60, Y:-19.35, Z:-3.79 [[ 9.06622498e-01 4.14543955e-01 7.86699115e-02 6.05974199e+01] [-4.12850900e-01 9.10028086e-01 -3.74568619e-02 -1.93499923e+01] [-8.71193447e-02 1.48029000e-03 9.96196782e-01 -3.78534374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.678639999999994 meters 0.02828250912393049 Centerline is valid? [True, True] Translation: X:60.62, Y:-19.37, Z:-3.79 [[ 9.06503412e-01 4.15141625e-01 7.68699819e-02 6.06224404e+01] [-4.13530672e-01 9.09755788e-01 -3.65621376e-02 -1.93652328e+01] [-8.51113762e-02 1.35560723e-03 9.96370521e-01 -3.78592364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.708639999999995 meters 0.028175809355070355 Centerline is valid? [True, True] Translation: X:60.65, Y:-19.38, Z:-3.79 [[ 9.06313735e-01 4.15477025e-01 7.72933054e-02 6.06468418e+01] [-4.13852856e-01 9.09602750e-01 -3.67239697e-02 -1.93797106e+01] [-8.55641689e-02 1.29538293e-03 9.96331820e-01 -3.78800738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73864 meters 0.027931777805128333 Centerline is valid? [True, True] Translation: X:60.67, Y:-19.40, Z:-3.79 [[ 9.05572894e-01 4.16739698e-01 7.91565420e-02 6.06710140e+01] [-4.15044919e-01 9.09025121e-01 -3.75638736e-02 -1.93960898e+01] [-8.76096425e-02 1.16330519e-03 9.96154204e-01 -3.79002496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76864 meters 0.028141054274171694 Centerline is valid? [True, True] Translation: X:60.70, Y:-19.41, Z:-3.79 [[ 9.05470328e-01 4.16834510e-01 7.98277925e-02 6.06957835e+01] [-4.15114849e-01 9.08981696e-01 -3.78409700e-02 -1.94099373e+01] [-8.83354243e-02 1.12617349e-03 9.96090149e-01 -3.79295160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79864 meters 0.027986267237169352 Centerline is valid? [True, True] Translation: X:60.72, Y:-19.42, Z:-3.79 [[ 9.04823660e-01 4.18073695e-01 8.06754652e-02 6.07197304e+01] [-4.16326119e-01 9.08412590e-01 -3.81985409e-02 -1.94234332e+01] [-8.92564135e-02 9.75640231e-04 9.96008203e-01 -3.79413618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82864 meters 0.027913713081044778 Centerline is valid? [True, True] Translation: X:60.74, Y:-19.44, Z:-3.80 [[ 9.03750614e-01 4.20217970e-01 8.15578678e-02 6.07443244e+01] [-4.18444812e-01 9.07422903e-01 -3.85696057e-02 -1.94389632e+01] [-9.02151185e-02 7.29838159e-04 9.95922035e-01 -3.79596690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.858639999999994 meters 0.027800027403503434 Centerline is valid? [True, True] Translation: X:60.77, Y:-19.45, Z:-3.80 [[ 9.02958915e-01 4.21900522e-01 8.16403506e-02 6.07703240e+01] [-4.20133328e-01 9.06641971e-01 -3.85787983e-02 -1.94523793e+01] [-9.02949835e-02 5.35237714e-04 9.95914921e-01 -3.79756567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.888639999999995 meters 0.02764168049014694 Centerline is valid? [True, True] Translation: X:60.80, Y:-19.47, Z:-3.80 [[ 9.01114251e-01 4.26105114e-01 8.01719297e-02 6.07958747e+01] [-4.24418147e-01 9.04673654e-01 -3.78789734e-02 -1.94668588e+01] [-8.86698569e-02 1.06860907e-04 9.96061065e-01 -3.79984005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.918639999999996 meters 0.027484216031582877 Centerline is valid? [True, True] Translation: X:60.82, Y:-19.48, Z:-3.80 [[ 9.00758343e-01 4.26995773e-01 7.94293248e-02 6.08214140e+01] [-4.25345017e-01 9.04253620e-01 -3.75100861e-02 -1.94808715e+01] [-8.78409027e-02 2.65547045e-06 9.96134517e-01 -3.80194800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94864 meters 0.02766938490223532 Centerline is valid? [True, True] Translation: X:60.85, Y:-19.49, Z:-3.80 [[ 9.00127006e-01 4.28054523e-01 8.08745824e-02 6.08470826e+01] [-4.26351128e-01 9.03752901e-01 -3.81498396e-02 -1.94944748e+01] [-8.94208498e-02 -1.41268520e-04 9.95993922e-01 -3.80391474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97864 meters 0.027711675527513663 Centerline is valid? [True, True] Translation: X:60.87, Y:-19.51, Z:-3.81 [[ 9.00163956e-01 4.28083720e-01 8.03067988e-02 6.08725494e+01] [-4.26407946e-01 9.03739064e-01 -3.78413373e-02 -1.95065747e+01] [-8.87756516e-02 -1.80049292e-04 9.96051631e-01 -3.80594747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00864 meters 0.027679829505872753 Centerline is valid? [True, True] Translation: X:60.90, Y:-19.52, Z:-3.81 [[ 9.01028476e-01 4.26485216e-01 7.91078099e-02 6.08986089e+01] [-4.24856737e-01 9.04494531e-01 -3.72343517e-02 -1.95188490e+01] [-8.74324819e-02 -6.02747728e-05 9.96170446e-01 -3.80786469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03864 meters 0.02740659815186191 Centerline is valid? [True, True] Translation: X:60.92, Y:-19.53, Z:-3.81 [[ 9.01521602e-01 4.25725829e-01 7.75649439e-02 6.09241279e+01] [-4.24161055e-01 9.04852208e-01 -3.64675418e-02 -1.95325594e+01] [-8.57099852e-02 -2.37517049e-05 9.96320128e-01 -3.80883337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.068639999999995 meters 0.027505865165404774 Centerline is valid? [True, True] Translation: X:60.95, Y:-19.55, Z:-3.81 [[ 9.03116760e-01 4.22314726e-01 7.76555808e-02 6.09481431e+01] [-4.20737215e-01 9.06449228e-01 -3.64690753e-02 -1.95492423e+01] [-8.57922688e-02 2.63240401e-04 9.96313012e-01 -3.81221866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.098639999999996 meters 0.027793179877995847 Centerline is valid? [True, True] Translation: X:60.97, Y:-19.56, Z:-3.81 [[ 9.03582414e-01 4.21337731e-01 7.75457185e-02 6.09739385e+01] [-4.19763678e-01 9.06903749e-01 -3.63874343e-02 -1.95632780e+01] [-8.56579018e-02 3.28169659e-04 9.96324554e-01 -3.81408828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12864 meters 0.027819634935204767 Centerline is valid? [True, True] Translation: X:61.00, Y:-19.58, Z:-3.81 [[ 9.04196350e-01 4.20084148e-01 7.71898230e-02 6.10006089e+01] [-4.18520472e-01 9.07485050e-01 -3.62146341e-02 -1.95773422e+01] [-8.52618041e-02 4.39618835e-04 9.96358485e-01 -3.81485119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15864 meters 0.02780587156671322 Centerline is valid? [True, True] Translation: X:61.03, Y:-19.59, Z:-3.82 [[ 9.04445299e-01 4.19358242e-01 7.82135908e-02 6.10262297e+01] [-4.17750536e-01 9.07820690e-01 -3.66890170e-02 -1.95914692e+01] [-8.63897576e-02 5.09439431e-04 9.96261286e-01 -3.81753116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18864 meters 0.028086826200324325 Centerline is valid? [True, True] Translation: X:61.05, Y:-19.61, Z:-3.82 [[ 9.05280947e-01 4.17491684e-01 7.85308916e-02 6.10518889e+01] [-4.15864052e-01 9.08680483e-01 -3.68357237e-02 -1.96104865e+01] [-8.67380968e-02 6.88504060e-04 9.96230911e-01 -3.82013422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21864 meters 0.028456048030549505 Centerline is valid? [True, True] Translation: X:61.08, Y:-19.63, Z:-3.82 [[ 9.05896587e-01 4.16257281e-01 7.79823606e-02 6.10799985e+01] [-4.14647125e-01 9.09246514e-01 -3.65860491e-02 -1.96271708e+01] [-8.61343988e-02 8.08015410e-04 9.96283199e-01 -3.82229857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.248639999999995 meters 0.028397135221724108 Centerline is valid? [True, True] Translation: X:61.11, Y:-19.64, Z:-3.82 [[ 9.06338352e-01 4.15257188e-01 7.81809447e-02 6.11074911e+01] [-4.13634079e-01 9.09703594e-01 -3.66908693e-02 -1.96431272e+01] [-8.63576336e-02 9.16038998e-04 9.96263780e-01 -3.82425402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.278639999999996 meters 0.028883922361547035 Centerline is valid? [True, True] Translation: X:61.13, Y:-19.66, Z:-3.83 [[ 9.07612806e-01 4.12386723e-01 7.85887056e-02 6.11341069e+01] [-4.10734828e-01 9.11008088e-01 -3.68939725e-02 -1.96628102e+01] [-8.68095308e-02 1.20632344e-03 9.96224197e-01 -3.82714449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30864 meters 0.02892190351757995 Centerline is valid? [True, True] Translation: X:61.16, Y:-19.68, Z:-3.83 [[ 9.08021270e-01 4.11507662e-01 7.84781296e-02 6.11612464e+01] [-4.09856127e-01 9.11405374e-01 -3.68537487e-02 -1.96802582e+01] [-8.66909890e-02 1.29924544e-03 9.96234402e-01 -3.82903754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33864 meters 0.029299189547890514 Centerline is valid? [True, True] Translation: X:61.19, Y:-19.70, Z:-3.83 [[ 9.08643060e-01 4.10190419e-01 7.81767811e-02 6.11889761e+01] [-4.08545694e-01 9.11998780e-01 -3.67238438e-02 -1.96968884e+01] [-8.63608978e-02 1.43007848e-03 9.96262892e-01 -3.83049174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36864 meters 0.029480507642270965 Centerline is valid? [True, True] Translation: X:61.22, Y:-19.72, Z:-3.83 [[ 9.08646703e-01 4.10002166e-01 7.91163278e-02 6.12151792e+01] [-4.08315835e-01 9.12083354e-01 -3.71770729e-02 -1.97170996e+01] [-8.74033660e-02 1.47637533e-03 9.96171909e-01 -3.83251618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39864 meters 0.029673439380534697 Centerline is valid? [True, True] Translation: X:61.24, Y:-19.74, Z:-3.84 [[ 9.07834079e-01 4.11583667e-01 8.02257444e-02 6.12415011e+01] [-4.09854789e-01 9.11370975e-01 -3.77093779e-02 -1.97352583e+01] [-8.86359789e-02 1.35295275e-03 9.96063167e-01 -3.83601906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.428639999999994 meters 0.029305851034119253 Centerline is valid? [True, True] Translation: X:61.27, Y:-19.76, Z:-3.84 [[ 9.06419734e-01 4.14704381e-01 8.01469984e-02 6.12658944e+01] [-4.12990086e-01 9.09955581e-01 -3.76832788e-02 -1.97581197e+01] [-8.85576293e-02 1.05695179e-03 9.96070494e-01 -3.83870022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.458639999999995 meters 0.029187651702812446 Centerline is valid? [True, True] Translation: X:61.29, Y:-19.77, Z:-3.84 [[ 9.05332087e-01 4.17123339e-01 7.98870001e-02 6.12943184e+01] [-4.15427440e-01 9.08849501e-01 -3.75849286e-02 -1.97743566e+01] [-8.82828110e-02 8.39589847e-04 9.96095096e-01 -3.83974159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48864 meters 0.029029875821075194 Centerline is valid? [True, True] Translation: X:61.32, Y:-19.79, Z:-3.84 [[ 9.04289229e-01 4.19622430e-01 7.86002956e-02 6.13227847e+01] [-4.17986657e-01 9.07698533e-01 -3.70206305e-02 -1.97898051e+01] [-8.68800600e-02 6.23482642e-04 9.96218584e-01 -3.84064937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51864 meters 0.029081635539322827 Centerline is valid? [True, True] Translation: X:61.35, Y:-19.81, Z:-3.84 [[ 9.03351803e-01 4.21790456e-01 7.77710209e-02 6.13504645e+01] [-4.20193558e-01 9.06693229e-01 -3.66710126e-02 -1.98057041e+01] [-8.59819412e-02 4.47943406e-04 9.96296595e-01 -3.84300019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54864 meters 0.029276275565924093 Centerline is valid? [True, True] Translation: X:61.38, Y:-19.82, Z:-3.85 [[ 9.02647816e-01 4.23057495e-01 7.90523668e-02 6.13788579e+01] [-4.21408552e-01 9.06102764e-01 -3.73177471e-02 -1.98209448e+01] [-8.74171206e-02 3.71439508e-04 9.96171727e-01 -3.84606870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57864 meters 0.029241533519344293 Centerline is valid? [True, True] Translation: X:61.41, Y:-19.84, Z:-3.85 [[ 9.01955828e-01 4.24461662e-01 7.94228068e-02 6.14074991e+01] [-4.22798727e-01 9.05445868e-01 -3.75368614e-02 -1.98378634e+01] [-8.78460108e-02 2.76729289e-04 9.96134028e-01 -3.84808614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.608639999999994 meters 0.029141251906992436 Centerline is valid? [True, True] Translation: X:61.44, Y:-19.85, Z:-3.85 [[ 9.02134964e-01 4.24208448e-01 7.87381640e-02 6.14363684e+01] [-4.22569922e-01 9.05564510e-01 -3.72502232e-02 -1.98532087e+01] [-8.71043463e-02 3.32349031e-04 9.96199138e-01 -3.84998196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.638639999999995 meters 0.02913160978432903 Centerline is valid? [True, True] Translation: X:61.47, Y:-19.87, Z:-3.85 [[ 9.02239544e-01 4.23989319e-01 7.87201492e-02 6.14657653e+01] [-4.22348455e-01 9.05667110e-01 -3.72675107e-02 -1.98688065e+01] [-8.70952765e-02 3.76888471e-04 9.96199915e-01 -3.85176761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.668639999999996 meters 0.029309044193830507 Centerline is valid? [True, True] Translation: X:61.49, Y:-19.89, Z:-3.85 [[ 9.02664878e-01 4.23219759e-01 7.79817501e-02 6.14945497e+01] [-4.21602603e-01 9.06026929e-01 -3.69655231e-02 -1.98861346e+01] [-8.62981053e-02 4.90170571e-04 9.96269239e-01 -3.85370965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69864 meters 0.029207895302964502 Centerline is valid? [True, True] Translation: X:61.52, Y:-19.90, Z:-3.86 [[ 9.02583508e-01 4.23477688e-01 7.75219880e-02 6.15235146e+01] [-4.21876460e-01 9.05906392e-01 -3.67948466e-02 -1.99017396e+01] [-8.58094611e-02 5.05719876e-04 9.96311438e-01 -3.85513918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72864 meters 0.029148461765208116 Centerline is valid? [True, True] Translation: X:61.55, Y:-19.92, Z:-3.86 [[ 9.02662661e-01 4.23558503e-01 7.61466663e-02 6.15507713e+01] [-4.22010243e-01 9.05868597e-01 -3.61861894e-02 -1.99185025e+01] [-8.43058419e-02 5.29248813e-04 9.96439785e-01 -3.85689359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75864 meters 0.02907186077664961 Centerline is valid? [True, True] Translation: X:61.58, Y:-19.94, Z:-3.86 [[ 9.02138869e-01 4.24730745e-01 7.58238494e-02 6.15792742e+01] [-4.23196161e-01 9.05319604e-01 -3.60752411e-02 -1.99352119e+01] [-8.39670814e-02 4.56515167e-04 9.96468424e-01 -3.85862493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78864 meters 0.028953998613500627 Centerline is valid? [True, True] Translation: X:61.61, Y:-19.95, Z:-3.86 [[ 9.01690971e-01 4.25683077e-01 7.58110259e-02 6.16077739e+01] [-4.24148439e-01 9.04872228e-01 -3.61158139e-02 -1.99515580e+01] [-8.39731828e-02 4.10174996e-04 9.96467930e-01 -3.86080259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.818639999999995 meters 0.029022339702416834 Centerline is valid? [True, True] Translation: X:61.64, Y:-19.97, Z:-3.86 [[ 9.00489180e-01 4.28216623e-01 7.58271808e-02 6.16362239e+01] [-4.26686346e-01 9.03676091e-01 -3.61702184e-02 -1.99679519e+01] [-8.40118991e-02 2.16467595e-04 9.96464728e-01 -3.86112011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.848639999999996 meters 0.028863706418156953 Centerline is valid? [True, True] Translation: X:61.67, Y:-19.98, Z:-3.86 [[ 8.99402429e-01 4.30353014e-01 7.66260662e-02 6.16662716e+01] [-4.28793921e-01 9.02660667e-01 -3.65990905e-02 -1.99827088e+01] [-8.49178650e-02 6.05195259e-05 9.96387953e-01 -3.86248133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87864 meters 0.029034345742783647 Centerline is valid? [True, True] Translation: X:61.70, Y:-20.00, Z:-3.86 [[ 8.98990894e-01 4.31188244e-01 7.67598282e-02 6.16955793e+01] [-4.29622626e-01 9.02261989e-01 -3.67110560e-02 -1.99979457e+01] [-8.50868510e-02 2.51460962e-05 9.96373538e-01 -3.86461415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90864 meters 0.028999846688623168 Centerline is valid? [True, True] Translation: X:61.72, Y:-20.02, Z:-3.87 [[ 8.99657960e-01 4.29837946e-01 7.65172820e-02 6.17241938e+01] [-4.28273245e-01 9.02906031e-01 -3.66432292e-02 -2.00150539e+01] [-8.48385658e-02 1.96068143e-04 9.96394691e-01 -3.86714973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93864 meters 0.029164934478091577 Centerline is valid? [True, True] Translation: X:61.75, Y:-20.03, Z:-3.87 [[ 8.99828686e-01 4.29272242e-01 7.76767568e-02 6.17525580e+01] [-4.27653466e-01 9.03175096e-01 -3.72459183e-02 -2.00300644e+01] [-8.61443512e-02 2.96211474e-04 9.96282622e-01 -3.86968088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96864 meters 0.029151214358192633 Centerline is valid? [True, True] Translation: X:61.78, Y:-20.05, Z:-3.87 [[ 9.01062725e-01 4.26602503e-01 7.80786104e-02 6.17804453e+01] [-4.24953194e-01 9.04439027e-01 -3.74810641e-02 -2.00455459e+01] [-8.66068581e-02 5.93034911e-04 9.96242390e-01 -3.87243716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.998639999999995 meters 0.029151214358192633 Centerline is valid? [True, True] Translation: X:61.81, Y:-20.06, Z:-3.87 [[ 9.00848684e-01 4.27057469e-01 7.80612993e-02 6.18099363e+01] [-4.25406743e-01 9.04224292e-01 -3.75170899e-02 -2.00593300e+01] [-8.66068765e-02 5.89417965e-04 9.96242391e-01 -3.87435585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters 0.029248249939105447 Centerline is valid? [True, True] Translation: X:61.84, Y:-20.08, Z:-3.88 [[ 9.01145747e-01 4.26554597e-01 7.73790536e-02 6.18393903e+01] [-4.24926696e-01 9.04461563e-01 -3.72368516e-02 -2.00751488e+01] [-8.58699300e-02 6.75404858e-04 9.96306127e-01 -3.87626576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05864 meters 0.02910919128571111 Centerline is valid? [True, True] Translation: X:61.87, Y:-20.09, Z:-3.88 [[ 9.01897272e-01 4.25046990e-01 7.69179285e-02 6.18673053e+01] [-4.23428933e-01 9.05170880e-01 -3.70623415e-02 -2.00931331e+01] [-8.53771057e-02 8.57148287e-04 9.96348340e-01 -3.87750541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08864 meters 0.029178296871438397 Centerline is valid? [True, True] Translation: X:61.90, Y:-20.11, Z:-3.88 [[ 9.01930402e-01 4.25060563e-01 7.64530368e-02 6.18966945e+01] [-4.23458079e-01 9.05164471e-01 -3.68854422e-02 -2.01080264e+01] [-8.48811195e-02 8.93445588e-04 9.96390685e-01 -3.87799620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11864 meters 0.029181336706445345 Centerline is valid? [True, True] Translation: X:61.93, Y:-20.12, Z:-3.88 [[ 9.01560451e-01 4.25793643e-01 7.67367380e-02 6.19262487e+01] [-4.24177782e-01 9.04819880e-01 -3.70701357e-02 -2.01224906e+01] [-8.52171542e-02 8.70949014e-04 9.96362022e-01 -3.88015668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14864 meters 0.029466179307055293 Centerline is valid? [True, True] Translation: X:61.96, Y:-20.14, Z:-3.88 [[ 9.00700929e-01 4.27449084e-01 7.76216238e-02 6.19556160e+01] [-4.25797589e-01 9.04039099e-01 -3.75462439e-02 -2.01376689e+01] [-8.62220904e-02 7.66836477e-04 9.96275646e-01 -3.88376917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17864 meters 0.029126442787552376 Centerline is valid? [True, True] Translation: X:61.98, Y:-20.15, Z:-3.88 [[ 8.99682756e-01 4.29607305e-01 7.75145324e-02 6.19838147e+01] [-4.27965099e-01 9.03015621e-01 -3.75321599e-02 -2.01533419e+01] [-8.61209237e-02 5.93522495e-04 9.96284515e-01 -3.88469757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20864 meters 0.029131695750250673 Centerline is valid? [True, True] Translation: X:62.01, Y:-20.17, Z:-3.89 [[ 8.98639609e-01 4.31406289e-01 7.95956421e-02 6.20128428e+01] [-4.29679361e-01 9.02157640e-01 -3.85647511e-02 -2.01677650e+01] [-8.84448928e-02 4.55208255e-04 9.96080967e-01 -3.88630199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23864 meters 0.029118372174242728 Centerline is valid? [True, True] Translation: X:62.04, Y:-20.18, Z:-3.89 [[ 8.96875294e-01 4.35336237e-01 7.80837221e-02 6.20427733e+01] [-4.33685580e-01 9.00267932e-01 -3.78743773e-02 -2.01801498e+01] [-8.67843599e-02 1.04809001e-04 9.96227115e-01 -3.88638047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters 0.028972296628162458 Centerline is valid? [True, True] Translation: X:62.07, Y:-20.19, Z:-3.89 [[ 8.96481510e-01 4.36502140e-01 7.60709164e-02 6.20730169e+01] [-4.34936326e-01 8.99703218e-01 -3.69392843e-02 -2.01923287e+01] [-8.45653249e-02 2.93804316e-05 9.96417937e-01 -3.88843331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29863999999999 meters 0.028919267497970934 Centerline is valid? [True, True] Translation: X:62.10, Y:-20.20, Z:-3.89 [[ 8.96438661e-01 4.36657918e-01 7.56808433e-02 6.21039518e+01] [-4.35105021e-01 8.99627623e-01 -3.67934872e-02 -2.02041360e+01] [-8.41507447e-02 5.39894916e-05 9.96453034e-01 -3.89111812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters 0.029029389542997757 Centerline is valid? [True, True] Translation: X:62.13, Y:-20.22, Z:-3.89 [[ 8.96653697e-01 4.36363258e-01 7.48281759e-02 6.21335942e+01] [-4.34840402e-01 8.99770578e-01 -3.64243310e-02 -2.02161925e+01] [-8.32224308e-02 1.21696938e-04 9.96530989e-01 -3.89251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35864 meters 0.02900486640474185 Centerline is valid? [True, True] Translation: X:62.16, Y:-20.23, Z:-3.89 [[ 8.96529674e-01 4.36548381e-01 7.52333384e-02 6.21645677e+01] [-4.35005976e-01 8.99680771e-01 -3.66648432e-02 -2.02286372e+01] [-8.36919658e-02 1.44168166e-04 9.96491663e-01 -3.89415771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters 0.029030085221440998 Centerline is valid? [True, True] Translation: X:62.20, Y:-20.24, Z:-3.90 [[ 8.97349726e-01 4.35108317e-01 7.37849653e-02 6.21957270e+01] [-4.33616306e-01 9.00378062e-01 -3.60034071e-02 -2.02391936e+01] [-8.20997459e-02 3.13283469e-04 9.96624068e-01 -3.89521069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41864 meters 0.028940915708037106 Centerline is valid? [True, True] Translation: X:62.22, Y:-20.25, Z:-3.90 [[ 8.97718888e-01 4.34213597e-01 7.45610506e-02 6.22246448e+01] [-4.32683473e-01 9.00809837e-01 -3.64232089e-02 -2.02527149e+01] [-8.29807803e-02 4.36468289e-04 9.96551052e-01 -3.89793869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44864 meters 0.028941693748096107 Centerline is valid? [True, True] Translation: X:62.25, Y:-20.27, Z:-3.90 [[ 8.99216045e-01 4.31041836e-01 7.49228904e-02 6.22539545e+01] [-4.29482371e-01 9.02331615e-01 -3.66408212e-02 -2.02659216e+01] [-8.33990195e-02 7.69953735e-04 9.96515936e-01 -3.89917711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47864 meters 0.029062678816325672 Centerline is valid? [True, True] Translation: X:62.28, Y:-20.28, Z:-3.90 [[ 8.99637021e-01 4.30250798e-01 7.44142598e-02 6.22840722e+01] [-4.28706291e-01 9.02708970e-01 -3.64339387e-02 -2.02790336e+01] [-8.28501510e-02 8.75458791e-04 9.96561632e-01 -3.90086872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50864 meters 0.02941317236914142 Centerline is valid? [True, True] Translation: X:62.31, Y:-20.29, Z:-3.90 [[ 9.00220376e-01 4.28820944e-01 7.56033904e-02 6.23139412e+01] [-4.27217716e-01 9.03388878e-01 -3.70615526e-02 -2.02919372e+01] [-8.41920320e-02 1.06445706e-03 9.96448979e-01 -3.90370870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53864 meters 0.029588591044833454 Centerline is valid? [True, True] Translation: X:62.34, Y:-20.31, Z:-3.91 [[ 9.00816946e-01 4.27329058e-01 7.69331329e-02 6.23419862e+01] [-4.25659791e-01 9.04095283e-01 -3.77552861e-02 -2.03069663e+01] [-8.56888134e-02 1.26326027e-03 9.96321149e-01 -3.90600435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56864 meters 0.029541569950751072 Centerline is valid? [True, True] Translation: X:62.37, Y:-20.32, Z:-3.91 [[ 9.00917619e-01 4.27084664e-01 7.71111755e-02 6.23714308e+01] [-4.25403036e-01 9.04210664e-01 -3.78857808e-02 -2.03223620e+01] [-8.59051832e-02 1.32863931e-03 9.96302431e-01 -3.90674338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59864 meters 0.029726582633342605 Centerline is valid? [True, True] Translation: X:62.40, Y:-20.34, Z:-3.91 [[ 9.01527403e-01 4.25681648e-01 7.77397938e-02 6.24003017e+01] [-4.23963259e-01 9.04871724e-01 -3.82402710e-02 -2.03369668e+01] [-8.66227228e-02 1.51583584e-03 9.96240034e-01 -3.90796707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62864 meters 0.029861446298145446 Centerline is valid? [True, True] Translation: X:62.43, Y:-20.35, Z:-3.91 [[ 9.02110882e-01 4.24617505e-01 7.67849624e-02 6.24301426e+01] [-4.22933681e-01 9.05371358e-01 -3.78127535e-02 -2.03519298e+01] [-8.55748628e-02 1.63634961e-03 9.96330400e-01 -3.91004009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65863999999999 meters 0.03009927566850915 Centerline is valid? [True, True] Translation: X:62.46, Y:-20.37, Z:-3.91 [[ 9.02929896e-01 4.22913986e-01 7.65595439e-02 6.24576703e+01] [-4.21230124e-01 9.06167976e-01 -3.77462886e-02 -2.03687870e+01] [-8.53392403e-02 1.83306629e-03 9.96350267e-01 -3.91192393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters 0.030335365271639797 Centerline is valid? [True, True] Translation: X:62.49, Y:-20.38, Z:-3.91 [[ 9.03490780e-01 4.21726832e-01 7.64911077e-02 6.24858121e+01] [-4.20038357e-01 9.06720773e-01 -3.77520591e-02 -2.03833532e+01] [-8.52771326e-02 1.97943819e-03 9.96355304e-01 -3.91371726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71864 meters 0.030557832551316052 Centerline is valid? [True, True] Translation: X:62.51, Y:-20.40, Z:-3.92 [[ 9.03880471e-01 4.20886435e-01 7.65160345e-02 6.25144405e+01] [-4.19190579e-01 9.07110921e-01 -3.78025848e-02 -2.03984253e+01] [-8.53191257e-02 2.09421732e-03 9.96351475e-01 -3.91509618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters 0.030559007683501192 Centerline is valid? [True, True] Translation: X:62.54, Y:-20.42, Z:-3.92 [[ 9.04534588e-01 4.19752858e-01 7.49981159e-02 6.25415039e+01] [-4.18116455e-01 9.07635788e-01 -3.70932103e-02 -2.04172512e+01] [-8.36409551e-02 2.19414533e-03 9.96493541e-01 -3.91674228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77864 meters 0.03055745245311433 Centerline is valid? [True, True] Translation: X:62.57, Y:-20.44, Z:-3.92 [[ 9.04392972e-01 4.20088536e-01 7.48262957e-02 6.25693858e+01] [-4.18457008e-01 9.07480460e-01 -3.70533000e-02 -2.04353995e+01] [-8.34690678e-02 2.19915628e-03 9.96507942e-01 -3.91884954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters 0.030522409297372356 Centerline is valid? [True, True] Translation: X:62.60, Y:-20.46, Z:-3.92 [[ 9.04114173e-01 4.20861937e-01 7.38430286e-02 6.25955380e+01] [-4.19272134e-01 9.07122184e-01 -3.66090227e-02 -2.04556301e+01] [-8.23919936e-02 2.13841213e-03 9.96597705e-01 -3.92213270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83864 meters 0.030329580446403093 Centerline is valid? [True, True] Translation: X:62.62, Y:-20.47, Z:-3.92 [[ 9.03336224e-01 4.22541149e-01 7.37742763e-02 6.26227045e+01] [-4.20956686e-01 9.06341493e-01 -3.66137472e-02 -2.04726738e+01] [-8.23355025e-02 2.01874931e-03 9.96602624e-01 -3.92384532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86864 meters 0.029838245799465233 Centerline is valid? [True, True] Translation: X:62.65, Y:-20.49, Z:-3.93 [[ 9.02228031e-01 4.24814775e-01 7.42764156e-02 6.26497974e+01] [-4.23213582e-01 9.05278394e-01 -3.68956996e-02 -2.04914739e+01] [-8.29146726e-02 1.85354651e-03 9.96554926e-01 -3.92638709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89864 meters 0.029762280798193468 Centerline is valid? [True, True] Translation: X:62.68, Y:-20.51, Z:-3.93 [[ 9.00754616e-01 4.27528321e-01 7.65549262e-02 6.26768345e+01] [-4.25834630e-01 9.04000397e-01 -3.80545618e-02 -2.05106552e+01] [-8.54750866e-02 1.67808353e-03 9.96338895e-01 -3.92957614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92864 meters 0.029276795448252544 Centerline is valid? [True, True] Translation: X:62.70, Y:-20.53, Z:-3.93 [[ 8.98556903e-01 4.32083670e-01 7.68062113e-02 6.27017216e+01] [-4.30391860e-01 9.01832605e-01 -3.82204079e-02 -2.05341238e+01] [-8.57807597e-02 1.28644318e-03 9.96313207e-01 -3.93067947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95864 meters 0.02908851176091539 Centerline is valid? [True, True] Translation: X:62.73, Y:-20.55, Z:-3.93 [[ 8.97799941e-01 4.33928875e-01 7.52396002e-02 6.27292867e+01] [-4.32310100e-01 9.00946450e-01 -3.74629466e-02 -2.05518604e+01] [-8.40431049e-02 1.10739217e-03 9.96461505e-01 -3.93208980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98864 meters 0.028728861398870546 Centerline is valid? [True, True] Translation: X:62.75, Y:-20.57, Z:-3.93 [[ 8.96644521e-01 4.36559601e-01 7.37856218e-02 6.27542623e+01] [-4.35010596e-01 8.99674930e-01 -3.67532443e-02 -2.05735416e+01] [-8.24280558e-02 8.57067758e-04 9.96596649e-01 -3.93443476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01863999999999 meters 0.028777936244564702 Centerline is valid? [True, True] Translation: X:62.78, Y:-20.59, Z:-3.94 [[ 8.95288893e-01 4.39051486e-01 7.54426337e-02 6.27805698e+01] [-4.37438920e-01 8.98461660e-01 -3.76010297e-02 -2.05915711e+01] [-8.42911018e-02 6.62240065e-04 9.96440952e-01 -3.93729528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters 0.02861059485165162 Centerline is valid? [True, True] Translation: X:62.81, Y:-20.61, Z:-3.94 [[ 8.94362913e-01 4.40920392e-01 7.55260690e-02 6.28095549e+01] [-4.39307339e-01 8.97546062e-01 -3.76845984e-02 -2.06085619e+01] [-8.44040336e-02 5.24550810e-04 9.96431475e-01 -3.93783779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07864 meters 0.02850526393823424 Centerline is valid? [True, True] Translation: X:62.84, Y:-20.62, Z:-3.94 [[ 8.92001390e-01 4.45897631e-01 7.42214441e-02 6.28372109e+01] [-4.44353310e-01 8.95083959e-01 -3.70788609e-02 -2.06242284e+01] [-8.29678003e-02 9.38511820e-05 9.96552224e-01 -3.93968922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters 0.028468205308818995 Centerline is valid? [True, True] Translation: X:62.87, Y:-20.64, Z:-3.94 [[ 8.90201524e-01 4.49557766e-01 7.37499910e-02 6.28658911e+01] [-4.48041980e-01 8.93251237e-01 -3.68864722e-02 -2.06403462e+01] [-8.24598707e-02 -2.06698245e-04 9.96594364e-01 -3.94203172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13864 meters 0.028623752658849574 Centerline is valid? [True, True] Translation: X:62.89, Y:-20.66, Z:-3.94 [[ 8.88081130e-01 4.53468009e-01 7.53569542e-02 6.28931214e+01] [-4.51895318e-01 8.91272390e-01 -3.77378775e-02 -2.06567626e+01] [-8.42764928e-02 -5.39157898e-04 9.96442262e-01 -3.94471215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters 0.02890459156973302 Centerline is valid? [True, True] Translation: X:62.92, Y:-20.67, Z:-3.95 [[ 8.84152327e-01 4.61260723e-01 7.42509773e-02 6.29207248e+01] [-4.59757767e-01 8.87263798e-01 -3.72256523e-02 -2.06730714e+01] [-8.30509354e-02 -1.22431644e-03 9.96544552e-01 -3.94545897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19864 meters 0.02925153447146932 Centerline is valid? [True, True] Translation: X:62.95, Y:-20.69, Z:-3.95 [[ 8.82134214e-01 4.65030607e-01 7.47379619e-02 6.29506351e+01] [-4.63517738e-01 8.85293244e-01 -3.75123931e-02 -2.06858627e+01] [-8.36094237e-02 -1.55140565e-03 9.96497395e-01 -3.94731847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22864 meters 0.030129812975745122 Centerline is valid? [True, True] Translation: X:62.98, Y:-20.70, Z:-3.95 [[ 8.78262941e-01 4.72225808e-01 7.52129876e-02 6.29806629e+01] [-4.70716956e-01 8.81474822e-01 -3.77847272e-02 -2.06971176e+01] [-8.41412782e-02 -2.21910300e-03 9.96451364e-01 -3.95029586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25864 meters 0.03036490630512471 Centerline is valid? [True, True] Translation: X:63.01, Y:-20.71, Z:-3.95 [[ 8.76488140e-01 4.75387791e-01 7.59933407e-02 6.30103396e+01] [-4.73857374e-01 8.79772727e-01 -3.81986756e-02 -2.07104401e+01] [-8.50160525e-02 -2.52931872e-03 9.96376371e-01 -3.95181403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28864 meters 0.030736881451753403 Centerline is valid? [True, True] Translation: X:63.04, Y:-20.72, Z:-3.95 [[ 8.75204053e-01 4.77868883e-01 7.52276290e-02 6.30395228e+01] [-4.76374739e-01 8.78427012e-01 -3.78562120e-02 -2.07234416e+01] [-8.41722871e-02 -2.70463189e-03 9.96447546e-01 -3.95340629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31864 meters 0.031244436609643114 Centerline is valid? [True, True] Translation: X:63.07, Y:-20.73, Z:-3.96 [[ 8.73195164e-01 4.81572839e-01 7.49520267e-02 6.30722753e+01] [-4.80099632e-01 8.76400893e-01 -3.77600066e-02 -2.07305601e+01] [-8.38722167e-02 -3.01258532e-03 9.96471964e-01 -3.95519796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34864 meters 0.031667816634186406 Centerline is valid? [True, True] Translation: X:63.10, Y:-20.74, Z:-3.96 [[ 8.71962323e-01 4.83518685e-01 7.67553865e-02 6.31033238e+01] [-4.81977331e-01 8.75328049e-01 -3.87125112e-02 -2.07411413e+01] [-8.59043652e-02 -3.23850518e-03 9.96298124e-01 -3.95819630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37864 meters 0.031869988973187914 Centerline is valid? [True, True] Translation: X:63.13, Y:-20.75, Z:-3.96 [[ 8.71483317e-01 4.84332393e-01 7.70646561e-02 6.31340537e+01] [-4.82777987e-01 8.74877867e-01 -3.89118647e-02 -2.07520902e+01] [-8.62684385e-02 -3.29407861e-03 9.96266483e-01 -3.96063081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40863999999999 meters 0.03177969286462348 Centerline is valid? [True, True] Translation: X:63.17, Y:-20.76, Z:-3.96 [[ 8.71225919e-01 4.84734064e-01 7.74485983e-02 6.31673047e+01] [-4.83161727e-01 8.74655319e-01 -3.91512372e-02 -2.07602595e+01] [-8.67187668e-02 -3.31062592e-03 9.96227331e-01 -3.96227819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43863999999999 meters 0.03166288483374819 Centerline is valid? [True, True] Translation: X:63.20, Y:-20.77, Z:-3.96 [[ 8.71402412e-01 4.84338084e-01 7.79388068e-02 6.31984539e+01] [-4.82739967e-01 8.74874882e-01 -3.94469964e-02 -2.07704920e+01] [-8.72923870e-02 -3.24996922e-03 9.96177432e-01 -3.96389606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters 0.031040966332587554 Centerline is valid? [True, True] Translation: X:63.23, Y:-20.78, Z:-3.97 [[ 8.72502835e-01 4.82147159e-01 7.92017704e-02 6.32313844e+01] [-4.80483731e-01 8.76084968e-01 -4.01311865e-02 -2.07758545e+01] [-8.87366180e-02 -3.04058821e-03 9.96050484e-01 -3.96584686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49864 meters 0.031088866436486024 Centerline is valid? [True, True] Translation: X:63.26, Y:-20.79, Z:-3.97 [[ 8.72931735e-01 4.81641515e-01 7.75347443e-02 6.32616460e+01] [-4.80041732e-01 8.76363573e-01 -3.93296809e-02 -2.07878429e+01] [-8.68914326e-02 -2.88778635e-03 9.96213601e-01 -3.96809021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters 0.030778223984110505 Centerline is valid? [True, True] Translation: X:63.29, Y:-20.80, Z:-3.97 [[ 8.73915593e-01 4.79925114e-01 7.70935907e-02 6.32915841e+01] [-4.78333060e-01 8.77305416e-01 -3.91495907e-02 -2.07992566e+01] [-8.64234965e-02 -2.66297537e-03 9.96254931e-01 -3.96975157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55864 meters 0.03039659131594386 Centerline is valid? [True, True] Translation: X:63.32, Y:-20.81, Z:-3.97 [[ 8.75334223e-01 4.77398677e-01 7.66844191e-02 6.33227882e+01] [-4.75810074e-01 8.78683631e-01 -3.89852498e-02 -2.08085225e+01] [-8.59928505e-02 -2.36209584e-03 9.96292954e-01 -3.97110175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58864 meters 0.030366967702381866 Centerline is valid? [True, True] Translation: X:63.35, Y:-20.82, Z:-3.97 [[ 8.76201258e-01 4.75763251e-01 7.69459804e-02 6.33523755e+01] [-4.74153661e-01 8.79570702e-01 -3.91623021e-02 -2.08206836e+01] [-8.63114142e-02 -2.17016000e-03 9.96265843e-01 -3.97405005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61864 meters 0.03002757621309269 Centerline is valid? [True, True] Translation: X:63.38, Y:-20.83, Z:-3.98 [[ 8.77910531e-01 4.72476540e-01 7.77111212e-02 6.33822203e+01] [-4.70817940e-01 8.81341357e-01 -3.95964707e-02 -2.08323194e+01] [-8.71984284e-02 -1.82563142e-03 9.96189290e-01 -3.97716823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64864 meters 0.029754826882736587 Centerline is valid? [True, True] Translation: X:63.41, Y:-20.85, Z:-3.98 [[ 8.78765175e-01 4.70825988e-01 7.80682761e-02 6.34115336e+01] [-4.69141676e-01 8.82224593e-01 -3.98228054e-02 -2.08465899e+01] [-8.76233647e-02 -1.63018733e-03 9.96152342e-01 -3.97926157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67864 meters 0.029581197302844555 Centerline is valid? [True, True] Translation: X:63.44, Y:-20.86, Z:-3.98 [[ 8.80679955e-01 4.67375292e-01 7.72214523e-02 6.34406294e+01] [-4.65711136e-01 8.84058139e-01 -3.94251708e-02 -2.08612509e+01] [-8.66946042e-02 -1.24193263e-03 9.96234161e-01 -3.98209283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70864 meters 0.029359851465897785 Centerline is valid? [True, True] Translation: X:63.47, Y:-20.88, Z:-3.98 [[ 8.81973496e-01 4.65074052e-01 7.63470946e-02 6.34697194e+01] [-4.63436744e-01 8.85271235e-01 -3.90028761e-02 -2.08758156e+01] [-8.57271124e-02 -9.82545901e-04 9.96318170e-01 -3.98417571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73864 meters 0.029063491319894576 Centerline is valid? [True, True] Translation: X:63.50, Y:-20.89, Z:-3.99 [[ 8.84448015e-01 4.60355406e-01 7.63191223e-02 6.34982101e+01] [-4.58697989e-01 8.87734569e-01 -3.90319217e-02 -2.08913845e+01] [-8.57196793e-02 -4.85722201e-04 9.96319176e-01 -3.98524722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76863999999999 meters 0.029217493404656278 Centerline is valid? [True, True] Translation: X:63.53, Y:-20.91, Z:-3.99 [[ 8.85977555e-01 4.57389421e-01 7.64113231e-02 6.35260338e+01] [-4.55713015e-01 8.89266491e-01 -3.91248721e-02 -2.09097081e+01] [-8.58453318e-02 -1.57875919e-04 9.96308463e-01 -3.98826036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79863999999999 meters 0.02916313776958824 Centerline is valid? [True, True] Translation: X:63.55, Y:-20.93, Z:-3.99 [[ 8.85927890e-01 4.57651406e-01 7.54119678e-02 6.35537506e+01] [-4.56015607e-01 8.89131695e-01 -3.86599855e-02 -2.09262216e+01] [-8.47439675e-02 -1.39074862e-04 9.96402750e-01 -3.99063324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82864 meters 0.029134948943287994 Centerline is valid? [True, True] Translation: X:63.58, Y:-20.94, Z:-3.99 [[ 8.85798434e-01 4.57938876e-01 7.51872292e-02 6.35825457e+01] [-4.56310121e-01 8.88983672e-01 -3.85889124e-02 -2.09421979e+01] [-8.45115823e-02 -1.26695403e-04 9.96422489e-01 -3.99250838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85864 meters 0.029134948943287994 Centerline is valid? [True, True] Translation: X:63.61, Y:-20.96, Z:-3.99 [[ 8.85565404e-01 4.58392586e-01 7.51674910e-02 6.36116512e+01] [-4.56762201e-01 8.88749808e-01 -3.86273296e-02 -2.09567531e+01] [-8.45115747e-02 -1.26641898e-04 9.96422490e-01 -3.99442636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters 0.02894175987523059 Centerline is valid? [True, True] Translation: X:63.64, Y:-20.97, Z:-4.00 [[ 8.85421466e-01 4.58864162e-01 7.39764033e-02 6.36389008e+01] [-4.57282975e-01 8.88506424e-01 -3.80606917e-02 -2.09739648e+01] [-8.31931969e-02 -1.28396278e-04 9.96533429e-01 -3.99633726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91864 meters 0.028966294760066322 Centerline is valid? [True, True] Translation: X:63.67, Y:-20.99, Z:-4.00 [[ 8.85010986e-01 4.59641410e-01 7.40630059e-02 6.36677552e+01] [-4.58055580e-01 8.88104581e-01 -3.81488981e-02 -2.09906686e+01] [-8.33105081e-02 -1.62779179e-04 9.96523624e-01 -3.99772811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94864 meters 0.029086770737630434 Centerline is valid? [True, True] Translation: X:63.70, Y:-21.01, Z:-4.00 [[ 8.85700627e-01 4.58304664e-01 7.41028637e-02 6.36958569e+01] [-4.56708406e-01 8.88795159e-01 -3.82177531e-02 -2.10083942e+01] [-8.33776410e-02 6.08709310e-06 9.96518022e-01 -4.00003958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97864 meters 0.02896464700447316 Centerline is valid? [True, True] Translation: X:63.72, Y:-21.03, Z:-4.00 [[ 8.85936618e-01 4.57715751e-01 7.49172916e-02 6.37238013e+01] [-4.56078031e-01 8.89098578e-01 -3.86852557e-02 -2.10250132e+01] [-8.43157082e-02 1.04553770e-04 9.96439085e-01 -4.00198343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00864 meters 0.029011793651671242 Centerline is valid? [True, True] Translation: X:63.75, Y:-21.04, Z:-4.00 [[ 8.86401351e-01 4.56820572e-01 7.48839780e-02 6.37526384e+01] [-4.55177364e-01 8.89558830e-01 -3.87124689e-02 -2.10417858e+01] [-8.42983560e-02 2.29293007e-04 9.96440532e-01 -4.00297147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03864 meters 0.029125205970662413 Centerline is valid? [True, True] Translation: X:63.78, Y:-21.06, Z:-4.00 [[ 8.87229643e-01 4.55548038e-01 7.27979772e-02 6.37793707e+01] [-4.53987265e-01 8.90211121e-01 -3.76792110e-02 -2.10604234e+01] [-8.19702595e-02 3.80758282e-04 9.96634703e-01 -4.00482467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06864 meters 0.028935054342549504 Centerline is valid? [True, True] Translation: X:63.81, Y:-21.08, Z:-4.01 [[ 8.87185681e-01 4.55848445e-01 7.14406260e-02 6.38070427e+01] [-4.54343162e-01 8.90057329e-01 -3.70167824e-02 -2.10770317e+01] [-8.04602954e-02 3.82199417e-04 9.96757741e-01 -4.00642604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09864 meters 0.02896404610702966 Centerline is valid? [True, True] Translation: X:63.84, Y:-21.09, Z:-4.01 [[ 8.86675858e-01 4.56753216e-01 7.19890516e-02 6.38356193e+01] [-4.55224216e-01 8.89593381e-01 -3.73433967e-02 -2.10939802e+01] [-8.10977004e-02 3.40328738e-04 9.96706099e-01 -4.00827787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12864 meters 0.02888402212435704 Centerline is valid? [True, True] Translation: X:63.86, Y:-21.11, Z:-4.01 [[ 8.85583792e-01 4.58875392e-01 7.19355464e-02 6.38636980e+01] [-4.57351825e-01 8.88500613e-01 -3.73626623e-02 -2.11115922e+01] [-8.10595834e-02 1.87914660e-04 9.96709240e-01 -4.00918405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15863999999999 meters 0.029032420621476707 Centerline is valid? [True, True] Translation: X:63.89, Y:-21.13, Z:-4.01 [[ 8.84888653e-01 4.60006725e-01 7.32521963e-02 6.38922504e+01] [-4.58426758e-01 8.87915422e-01 -3.80934532e-02 -2.11268033e+01] [-8.25649995e-02 1.27697621e-04 9.96585673e-01 -4.01175781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18863999999999 meters 0.029128730157494405 Centerline is valid? [True, True] Translation: X:63.92, Y:-21.14, Z:-4.01 [[ 8.84157214e-01 4.61324797e-01 7.37933098e-02 6.39200811e+01] [-4.59722235e-01 8.87231328e-01 -3.84192274e-02 -2.11445460e+01] [-8.31954786e-02 4.42117389e-05 9.96533246e-01 -4.01489680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21864 meters 0.029005025008596336 Centerline is valid? [True, True] Translation: X:63.95, Y:-21.16, Z:-4.02 [[ 8.83918490e-01 4.62082157e-01 7.18900815e-02 6.39479483e+01] [-4.60560194e-01 8.86837122e-01 -3.74730214e-02 -2.11616723e+01] [-8.10704075e-02 1.33865732e-05 9.96708377e-01 -4.01620956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24864 meters 0.02904970701210174 Centerline is valid? [True, True] Translation: X:63.98, Y:-21.18, Z:-4.02 [[ 8.83592763e-01 4.62515614e-01 7.30967568e-02 6.39756893e+01] [-4.60939994e-01 8.86611136e-01 -3.81446628e-02 -2.11780854e+01] [-8.24509007e-02 1.11293735e-05 9.96595128e-01 -4.01807278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27864 meters 0.02911922740764958 Centerline is valid? [True, True] Translation: X:64.00, Y:-21.20, Z:-4.02 [[ 8.83524341e-01 4.62735477e-01 7.25301140e-02 6.40043488e+01] [-4.61181431e-01 8.86496406e-01 -3.78920824e-02 -2.11951878e+01] [-8.18316962e-02 2.90353839e-05 9.96646162e-01 -4.01941898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30864 meters 0.028873046227695473 Centerline is valid? [True, True] Translation: X:64.03, Y:-21.21, Z:-4.02 [[ 8.83689151e-01 4.62587806e-01 7.14563185e-02 6.40324632e+01] [-4.61075399e-01 8.86573469e-01 -3.73759474e-02 -2.12104067e+01] [-8.06409337e-02 8.19686778e-05 9.96743213e-01 -4.01978912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33864 meters 0.028928124167393307 Centerline is valid? [True, True] Translation: X:64.06, Y:-21.23, Z:-4.02 [[ 8.84310966e-01 4.61322048e-01 7.19449973e-02 6.40609067e+01] [-4.59781132e-01 8.87232727e-01 -3.76749064e-02 -2.12271364e+01] [-8.12122212e-02 2.37380531e-04 9.96696804e-01 -4.02300031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36864 meters 0.028822365157835438 Centerline is valid? [True, True] Translation: X:64.09, Y:-21.24, Z:-4.03 [[ 8.84136214e-01 4.61599877e-01 7.23098118e-02 6.40895808e+01] [-4.60040260e-01 8.87088208e-01 -3.79140007e-02 -2.12440409e+01] [-8.16462794e-02 2.55716391e-04 9.96661337e-01 -4.02521008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39864 meters 0.02861152948408784 Centerline is valid? [True, True] Translation: X:64.12, Y:-21.26, Z:-4.03 [[ 8.84015516e-01 4.61843808e-01 7.22278625e-02 6.41175238e+01] [-4.60284661e-01 8.86961229e-01 -3.79184696e-02 -2.12617489e+01] [-8.15757241e-02 2.75138347e-04 9.96667109e-01 -4.02652537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42864 meters 0.02869265099697053 Centerline is valid? [True, True] Translation: X:64.14, Y:-21.28, Z:-4.03 [[ 8.84001833e-01 4.61702990e-01 7.32878458e-02 6.41427667e+01] [-4.60093283e-01 8.87034519e-01 -3.85218665e-02 -2.12831047e+01] [-8.27945100e-02 3.34155008e-04 9.96566585e-01 -4.02903588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45864 meters 0.028661452209603235 Centerline is valid? [True, True] Translation: X:64.17, Y:-21.30, Z:-4.03 [[ 8.83923665e-01 4.61615815e-01 7.47649243e-02 6.41700264e+01] [-4.59936458e-01 8.87079866e-01 -3.93416609e-02 -2.13005278e+01] [-8.44831919e-02 3.87910608e-04 9.96424829e-01 -4.03166375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48864 meters 0.028638103367729494 Centerline is valid? [True, True] Translation: X:64.20, Y:-21.32, Z:-4.03 [[ 8.83614558e-01 4.62168979e-01 7.50009837e-02 6.41984928e+01] [-4.60477141e-01 8.86791798e-01 -3.95108787e-02 -2.13179033e+01] [-8.47709597e-02 3.76149095e-04 9.96400393e-01 -4.03278748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51863999999999 meters 0.028366573018579127 Centerline is valid? [True, True] Translation: X:64.23, Y:-21.34, Z:-4.03 [[ 8.82465391e-01 4.64443100e-01 7.44811348e-02 6.42250530e+01] [-4.62778805e-01 8.85602940e-01 -3.92837131e-02 -2.13367920e+01] [-8.42057615e-02 1.98226676e-04 9.96448368e-01 -4.03433220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54863999999999 meters 0.028043721031287796 Centerline is valid? [True, True] Translation: X:64.25, Y:-21.35, Z:-4.04 [[ 8.81505933e-01 4.66331139e-01 7.40442987e-02 6.42530322e+01] [-4.64689261e-01 8.84610234e-01 -3.90976366e-02 -2.13542513e+01] [-8.37327898e-02 5.72081691e-05 9.96488242e-01 -4.03563484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57864 meters 0.028226549235371715 Centerline is valid? [True, True] Translation: X:64.28, Y:-21.37, Z:-4.04 [[ 8.79558104e-01 4.69883842e-01 7.47443399e-02 6.42800278e+01] [-4.68219232e-01 8.82728224e-01 -3.95175053e-02 -2.13735506e+01] [-8.45475757e-02 -2.38795372e-04 9.96419415e-01 -4.03704303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60864 meters 0.028104680130555233 Centerline is valid? [True, True] Translation: X:64.31, Y:-21.39, Z:-4.04 [[ 8.78508347e-01 4.72003898e-01 7.37251931e-02 6.43076344e+01] [-4.70387939e-01 8.81596373e-01 -3.90259191e-02 -2.13898525e+01] [-8.34162487e-02 -3.94845993e-04 9.96514713e-01 -4.03826393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63864 meters 0.028187724640070744 Centerline is valid? [True, True] Translation: X:64.34, Y:-21.41, Z:-4.04 [[ 8.77599316e-01 4.73797804e-01 7.30416373e-02 6.43363838e+01] [-4.72214238e-01 8.80633505e-01 -3.87084437e-02 -2.14056596e+01] [-8.26628887e-02 -5.20797406e-04 9.96577431e-01 -4.04083766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66864 meters 0.028152337896799204 Centerline is valid? [True, True] Translation: X:64.37, Y:-21.42, Z:-4.04 [[ 8.76834886e-01 4.75159373e-01 7.33767846e-02 6.43654894e+01] [-4.73561833e-01 8.79899540e-01 -3.89357217e-02 -2.14215246e+01] [-8.30648721e-02 -6.08245504e-04 9.96543956e-01 -4.04412944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69864 meters 0.02793850425217108 Centerline is valid? [True, True] Translation: X:64.39, Y:-21.44, Z:-4.05 [[ 8.76716171e-01 4.75482090e-01 7.27017058e-02 6.43941831e+01] [-4.73911070e-01 8.79725203e-01 -3.86246760e-02 -2.14368972e+01] [-8.23228645e-02 -5.91265127e-04 9.96605537e-01 -4.04540369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72864 meters 0.02802120726616586 Centerline is valid? [True, True] Translation: X:64.42, Y:-21.45, Z:-4.05 [[ 8.76953317e-01 4.74943412e-01 7.33596256e-02 6.44231240e+01] [-4.73338139e-01 8.80016193e-01 -3.90193139e-02 -2.14522303e+01] [-8.30896245e-02 -5.05791882e-04 9.96541950e-01 -4.04797625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75864 meters 0.02799748431316642 Centerline is valid? [True, True] Translation: X:64.45, Y:-21.47, Z:-4.05 [[ 8.76355606e-01 4.75995047e-01 7.36855919e-02 6.44521246e+01] [-4.74374999e-01 8.79447779e-01 -3.92423664e-02 -2.14678265e+01] [-8.34818022e-02 -5.64334815e-04 9.96509142e-01 -4.04962880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78864 meters 0.028026686964980736 Centerline is valid? [True, True] Translation: X:64.48, Y:-21.48, Z:-4.05 [[ 8.75845102e-01 4.76990606e-01 7.33165721e-02 6.44816566e+01] [-4.75386139e-01 8.78908179e-01 -3.90951715e-02 -2.14825972e+01] [-8.30865644e-02 -6.12367627e-04 9.96542146e-01 -4.05086283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81864 meters 0.028233363415671803 Centerline is valid? [True, True] Translation: X:64.51, Y:-21.50, Z:-4.05 [[ 8.74325771e-01 4.79931230e-01 7.22527480e-02 6.45123601e+01] [-4.78379105e-01 8.77305714e-01 -3.85761104e-02 -2.14953788e+01] [-8.19016288e-02 -8.36117441e-04 9.96640067e-01 -4.05170165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84864 meters 0.027957625805449554 Centerline is valid? [True, True] Translation: X:64.54, Y:-21.51, Z:-4.05 [[ 8.74020849e-01 4.80455511e-01 7.24572800e-02 6.45424638e+01] [-4.78892367e-01 8.77018693e-01 -3.87338736e-02 -2.15087428e+01] [-8.21562921e-02 -8.45025256e-04 9.96619100e-01 -4.05455949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87864 meters 0.02813121127878823 Centerline is valid? [True, True] Translation: X:64.57, Y:-21.52, Z:-4.06 [[ 8.73293364e-01 4.81844588e-01 7.20034209e-02 6.45723149e+01] [-4.80301758e-01 8.76256203e-01 -3.85394384e-02 -2.15225005e+01] [-8.16634641e-02 -9.27133821e-04 9.96659530e-01 -4.05639530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters 0.028171851055600678 Centerline is valid? [True, True] Translation: X:64.60, Y:-21.54, Z:-4.06 [[ 8.72458180e-01 4.83267411e-01 7.25901753e-02 6.46009431e+01] [-4.81700275e-01 8.75472190e-01 -3.89010329e-02 -2.15362380e+01] [-8.23502812e-02 -1.02718306e-03 9.96602918e-01 -4.05780847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93863999999999 meters 0.028172587324528573 Centerline is valid? [True, True] Translation: X:64.63, Y:-21.55, Z:-4.06 [[ 8.72323552e-01 4.83623631e-01 7.18317745e-02 6.46299660e+01] [-4.82086901e-01 8.75275475e-01 -3.85365079e-02 -2.15495897e+01] [-8.15097565e-02 -1.01285413e-03 9.96672029e-01 -4.05918604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters 0.028067838124369467 Centerline is valid? [True, True] Translation: X:64.66, Y:-21.56, Z:-4.06 [[ 8.73207921e-01 4.82101905e-01 7.13139536e-02 6.46596610e+01] [-4.80578821e-01 8.76114757e-01 -3.83005071e-02 -2.15613114e+01] [-8.09439546e-02 -8.27669527e-04 9.96718311e-01 -4.06189522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99864 meters 0.02808039711770188 Centerline is valid? [True, True] Translation: X:64.69, Y:-21.58, Z:-4.06 [[ 8.73652669e-01 4.81261519e-01 7.15427458e-02 6.46889437e+01] [-4.79722229e-01 8.76576774e-01 -3.84674226e-02 -2.15758420e+01] [-8.12255996e-02 -7.13479030e-04 9.96695487e-01 -4.06491797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters 0.028112783203473192 Centerline is valid? [True, True] Translation: X:64.72, Y:-21.59, Z:-4.07 [[ 8.73939158e-01 4.80663659e-01 7.20610485e-02 6.47189005e+01] [-4.79095886e-01 8.76904820e-01 -3.87952105e-02 -2.15906584e+01] [-8.18381286e-02 -6.19498319e-04 9.96645442e-01 -4.06695670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05864 meters 0.028212249749658525 Centerline is valid? [True, True] Translation: X:64.75, Y:-21.60, Z:-4.07 [[ 8.74187071e-01 4.80023141e-01 7.33126820e-02 6.47484245e+01] [-4.78394056e-01 8.77255667e-01 -3.95173466e-02 -2.16038461e+01] [-8.32832067e-02 -5.26797847e-04 9.96525780e-01 -4.06863903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08864 meters 0.028015949122562576 Centerline is valid? [True, True] Translation: X:64.78, Y:-21.61, Z:-4.07 [[ 8.74443692e-01 4.79660060e-01 7.26254494e-02 6.47797701e+01] [-4.78056662e-01 8.77454286e-01 -3.91893233e-02 -2.16130109e+01] [-8.25230650e-02 -4.50223389e-04 9.96589053e-01 -4.06864285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11864 meters 0.02810316017665413 Centerline is valid? [True, True] Translation: X:64.81, Y:-21.63, Z:-4.07 [[ 8.74597198e-01 4.79266408e-01 7.33720129e-02 6.48096635e+01] [-4.77624653e-01 8.77669396e-01 -3.96373961e-02 -2.16261787e+01] [-8.33932427e-02 -3.77526613e-04 9.96516645e-01 -4.07049891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14864 meters 0.028062173137441037 Centerline is valid? [True, True] Translation: X:64.84, Y:-21.64, Z:-4.07 [[ 8.75495555e-01 4.77669762e-01 7.30693644e-02 6.48392693e+01] [-4.76031882e-01 8.78539450e-01 -3.95231857e-02 -2.16409089e+01] [-8.30733499e-02 -1.80973666e-04 9.96543419e-01 -4.07414945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17864 meters 0.028206156950747546 Centerline is valid? [True, True] Translation: X:64.87, Y:-21.66, Z:-4.08 [[ 8.76086737e-01 4.76375780e-01 7.44187233e-02 6.48683141e+01] [-4.74667896e-01 8.79241785e-01 -4.03022636e-02 -2.16554149e+01] [-8.46310734e-02 -1.59001483e-05 9.96412355e-01 -4.07662711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20864 meters 0.02822695684874235 Centerline is valid? [True, True] Translation: X:64.90, Y:-21.67, Z:-4.08 [[ 8.76217723e-01 4.76288796e-01 7.34267354e-02 6.48965800e+01] [-4.74622319e-01 8.79288907e-01 -3.98079437e-02 -2.16700401e+01] [-8.35233915e-02 3.04583843e-05 9.96505816e-01 -4.07828499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23864 meters 0.028310959205268268 Centerline is valid? [True, True] Translation: X:64.93, Y:-21.69, Z:-4.08 [[ 8.76924560e-01 4.74792941e-01 7.46657770e-02 6.49254254e+01] [-4.73060461e-01 8.80097504e-01 -4.05238673e-02 -2.16852739e+01] [-8.49536101e-02 2.14947674e-04 9.96384884e-01 -4.07962857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters 0.028279607850660353 Centerline is valid? [True, True] Translation: X:64.95, Y:-21.70, Z:-4.08 [[ 8.77390617e-01 4.73945481e-01 7.45747010e-02 6.49544262e+01] [-4.72210292e-01 8.80554125e-01 -4.05200242e-02 -2.17007790e+01] [-8.48713430e-02 3.36947648e-04 9.96391861e-01 -4.08046739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29863999999999 meters 0.028362401316246805 Centerline is valid? [True, True] Translation: X:64.98, Y:-21.72, Z:-4.08 [[ 8.77183331e-01 4.74457596e-01 7.37522390e-02 6.49826244e+01] [-4.72758374e-01 8.80278299e-01 -4.01202705e-02 -2.17156013e+01] [-8.39578625e-02 3.25843914e-04 9.96469252e-01 -4.08274788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters 0.02830006297665883 Centerline is valid? [True, True] Translation: X:65.01, Y:-21.73, Z:-4.08 [[ 8.77058226e-01 4.74774508e-01 7.31985974e-02 6.50115830e+01] [-4.73098117e-01 8.80107411e-01 -3.98637141e-02 -2.17323496e+01] [-8.33489034e-02 3.32679729e-04 9.96520371e-01 -4.08462934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35864 meters 0.028294275011048316 Centerline is valid? [True, True] Translation: X:65.04, Y:-21.75, Z:-4.09 [[ 8.76508434e-01 4.75580192e-01 7.45415665e-02 6.50385960e+01] [-4.73840347e-01 8.79672319e-01 -4.06440309e-02 -2.17502786e+01] [-8.49016487e-02 3.04034164e-04 9.96389290e-01 -4.08705164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters 0.02840636414368582 Centerline is valid? [True, True] Translation: X:65.06, Y:-21.77, Z:-4.09 [[ 8.76150188e-01 4.76367239e-01 7.37231415e-02 6.50638290e+01] [-4.74664632e-01 8.79246373e-01 -4.02405623e-02 -2.17718813e+01] [-8.39900904e-02 2.63008399e-04 9.96466555e-01 -4.08942205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41864 meters 0.02831499831687946 Centerline is valid? [True, True] Translation: X:65.09, Y:-21.79, Z:-4.09 [[ 8.75936286e-01 4.76683473e-01 7.42191961e-02 6.50919716e+01] [-4.74955096e-01 8.79074963e-01 -4.05569356e-02 -2.17895942e+01] [-8.45770580e-02 2.74506094e-04 9.96416904e-01 -4.09203178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44864 meters 0.02831747830533583 Centerline is valid? [True, True] Translation: X:65.12, Y:-21.81, Z:-4.09 [[ 8.75994570e-01 4.76654657e-01 7.37146595e-02 6.51204989e+01] [-4.74945493e-01 8.79090573e-01 -4.03304122e-02 -2.18063119e+01] [-8.40255410e-02 3.18776771e-04 9.96463550e-01 -4.09376801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47864 meters 0.0282208665508776 Centerline is valid? [True, True] Translation: X:65.15, Y:-21.83, Z:-4.10 [[ 8.76304494e-01 4.76393010e-01 7.16947244e-02 6.51466018e+01] [-4.74772210e-01 8.79232371e-01 -3.92655785e-02 -2.18266245e+01] [-8.17421697e-02 3.69940113e-04 9.96653441e-01 -4.09507329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50864 meters 0.027998280961311017 Centerline is valid? [True, True] Translation: X:65.17, Y:-21.85, Z:-4.10 [[ 8.75705690e-01 4.77446405e-01 7.20032958e-02 6.51738406e+01] [-4.75812635e-01 8.78660822e-01 -3.94651195e-02 -2.18452785e+01] [-8.21089545e-02 2.99751804e-04 9.96623314e-01 -4.09635060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53864 meters 0.027981192487606978 Centerline is valid? [True, True] Translation: X:65.20, Y:-21.87, Z:-4.10 [[ 8.74448369e-01 4.79907860e-01 7.09118948e-02 6.51987960e+01] [-4.78327652e-01 8.77318890e-01 -3.89130164e-02 -2.18658298e+01] [-8.08870072e-02 1.08303545e-04 9.96723272e-01 -4.09789436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56864 meters 0.02813277400962271 Centerline is valid? [True, True] Translation: X:65.22, Y:-21.88, Z:-4.10 [[ 8.73621755e-01 4.81187924e-01 7.24100151e-02 6.52249787e+01] [-4.79540864e-01 8.76617465e-01 -3.97791247e-02 -2.18841502e+01] [-8.26171183e-02 2.83475182e-05 9.96581362e-01 -4.10099193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59864 meters 0.028237357125062715 Centerline is valid? [True, True] Translation: X:65.25, Y:-21.90, Z:-4.10 [[ 8.72302873e-01 4.83385299e-01 7.36637607e-02 6.52513506e+01] [-4.81684666e-01 8.75407695e-01 -4.05123510e-02 -2.19034049e+01] [-8.40688979e-02 -1.43663858e-04 9.96459934e-01 -4.10320348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62864 meters 0.028438742143801942 Centerline is valid? [True, True] Translation: X:65.28, Y:-21.92, Z:-4.10 [[ 8.70155114e-01 4.87146228e-01 7.42874873e-02 6.52759865e+01] [-4.85426507e-01 8.73320291e-01 -4.08995837e-02 -2.19248538e+01] [-8.48008479e-02 -4.72133641e-04 9.96397809e-01 -4.10435249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65863999999999 meters 0.02881047039460046 Centerline is valid? [True, True] Translation: X:65.30, Y:-21.94, Z:-4.11 [[ 8.68903150e-01 4.89158166e-01 7.57073653e-02 6.53032505e+01] [-4.87375607e-01 8.72194862e-01 -4.17269681e-02 -2.19426213e+01] [-8.64426623e-02 -6.41229091e-04 9.96256621e-01 -4.10515772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters 0.028854591405724394 Centerline is valid? [True, True] Translation: X:65.33, Y:-21.96, Z:-4.11 [[ 8.67439006e-01 4.91918404e-01 7.46046593e-02 6.53307975e+01] [-4.90193724e-01 8.70640879e-01 -4.11651944e-02 -2.19605222e+01] [-8.52037828e-02 -8.62440506e-04 9.96363173e-01 -4.10703924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71864 meters 0.029003014453422387 Centerline is valid? [True, True] Translation: X:65.36, Y:-21.98, Z:-4.11 [[ 8.64363712e-01 4.97285161e-01 7.47184184e-02 6.53575839e+01] [-4.95570939e-01 8.67586103e-01 -4.12770803e-02 -2.19789785e+01] [-8.53511410e-02 -1.34986646e-03 9.96350019e-01 -4.10756209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters 0.02925960325634849 Centerline is valid? [True, True] Translation: X:65.39, Y:-22.00, Z:-4.11 [[ 8.62111640e-01 5.01164172e-01 7.48197392e-02 6.53858099e+01] [-4.99455997e-01 8.65350561e-01 -4.13777022e-02 -2.19951667e+01] [-8.54823251e-02 -1.69696879e-03 9.96338242e-01 -4.10926820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77864 meters 0.02925960325634849 Centerline is valid? [True, True] Translation: X:65.41, Y:-22.01, Z:-4.11 [[ 8.61848087e-01 5.01620236e-01 7.47998214e-02 6.54143965e+01] [-4.99910654e-01 8.65086265e-01 -4.14136834e-02 -2.20106223e+01] [-8.54822397e-02 -1.70092376e-03 9.96338243e-01 -4.11118669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80864 meters 0.03004001686613002 Centerline is valid? [True, True] Translation: X:65.44, Y:-22.03, Z:-4.11 [[ 8.57947241e-01 5.08035388e-01 7.63320194e-02 6.54418555e+01] [-5.06276361e-01 8.61332993e-01 -4.23051021e-02 -2.20262112e+01] [-8.72397757e-02 -2.34955139e-03 9.96184572e-01 -4.11308570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83864 meters 0.030312141318835733 Centerline is valid? [True, True] Translation: X:65.47, Y:-22.04, Z:-4.11 [[ 8.56150784e-01 5.10918769e-01 7.72518387e-02 6.54711696e+01] [-5.09126086e-01 8.59624913e-01 -4.28443546e-02 -2.20402764e+01] [-8.82975900e-02 -2.64969850e-03 9.96090616e-01 -4.11499721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86864 meters 0.03109682414193527 Centerline is valid? [True, True] Translation: X:65.50, Y:-22.05, Z:-4.12 [[ 8.53312648e-01 5.15336364e-01 7.92840222e-02 6.55023868e+01] [-5.13462698e-01 8.56982216e-01 -4.40174907e-02 -2.20494081e+01] [-9.06288106e-02 -3.14870640e-03 9.95879764e-01 -4.11745480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89864 meters 0.031061164377061776 Centerline is valid? [True, True] Translation: X:65.53, Y:-22.06, Z:-4.12 [[ 8.52959847e-01 5.16318847e-01 7.66442944e-02 6.55331139e+01] [-5.14569186e-01 8.56390762e-01 -4.25842043e-02 -2.20614252e+01] [-8.76244930e-02 -3.11617580e-03 9.96148703e-01 -4.11832344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92864 meters 0.03106045974957358 Centerline is valid? [True, True] Translation: X:65.56, Y:-22.07, Z:-4.12 [[ 8.52690022e-01 5.16766874e-01 7.66271773e-02 6.55639470e+01] [-5.15017383e-01 8.56120407e-01 -4.26021531e-02 -2.20737842e+01] [-8.76174717e-02 -3.13789747e-03 9.96149252e-01 -4.12076865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95864 meters 0.031080401796496356 Centerline is valid? [True, True] Translation: X:65.59, Y:-22.09, Z:-4.12 [[ 8.53168217e-01 5.16091594e-01 7.58515657e-02 6.55943267e+01] [-5.14370535e-01 8.56528162e-01 -4.22192012e-02 -2.20853927e+01] [-8.67579770e-02 -2.99572978e-03 9.96224914e-01 -4.12238650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98864 meters 0.030494400379891647 Centerline is valid? [True, True] Translation: X:65.63, Y:-22.09, Z:-4.12 [[ 8.55008569e-01 5.13295080e-01 7.40844649e-02 6.56278377e+01] [-5.11640102e-01 8.58208191e-01 -4.12687160e-02 -2.20908728e+01] [-8.47629235e-02 -2.61947736e-03 9.96397704e-01 -4.12347299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01863999999999 meters 0.029996903884762102 Centerline is valid? [True, True] Translation: X:65.66, Y:-22.10, Z:-4.12 [[ 8.56147093e-01 5.11461347e-01 7.36168850e-02 6.56585379e+01] [-5.09818622e-01 8.59302923e-01 -4.10299781e-02 -2.21015604e+01] [-8.42444523e-02 -2.40356240e-03 9.96442219e-01 -4.12448330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters 0.029771591355221328 Centerline is valid? [True, True] Translation: X:65.69, Y:-22.11, Z:-4.13 [[ 8.58593241e-01 5.07494585e-01 7.25733602e-02 6.56905965e+01] [-5.05880432e-01 8.61652744e-01 -4.04911873e-02 -2.21102044e+01] [-8.30820933e-02 -1.94798310e-03 9.96540803e-01 -4.12654228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07864 meters 0.029491585739005895 Centerline is valid? [True, True] Translation: X:65.72, Y:-22.12, Z:-4.13 [[ 8.59544435e-01 5.05780439e-01 7.32769517e-02 6.57210519e+01] [-5.04124838e-01 8.62660446e-01 -4.09280174e-02 -2.21216019e+01] [-8.39137184e-02 -1.76128183e-03 9.96471468e-01 -4.12792004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters 0.029428989403165493 Centerline is valid? [True, True] Translation: X:65.75, Y:-22.13, Z:-4.13 [[ 8.60536458e-01 5.04062077e-01 7.34739887e-02 6.57516616e+01] [-5.02387546e-01 8.63666018e-01 -4.10823874e-02 -2.21331885e+01] [-8.41650607e-02 -1.55952470e-03 9.96450606e-01 -4.13000829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13864 meters 0.029528988934814215 Centerline is valid? [True, True] Translation: X:65.78, Y:-22.14, Z:-4.13 [[ 8.61730916e-01 5.01783986e-01 7.50510461e-02 6.57827147e+01] [-5.00023905e-01 8.64991953e-01 -4.20120970e-02 -2.21447702e+01] [-8.59995484e-02 -1.32419432e-03 9.96294296e-01 -4.13294975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters 0.029287048218672035 Centerline is valid? [True, True] Translation: X:65.81, Y:-22.16, Z:-4.13 [[ 8.62689927e-01 5.00086742e-01 7.53614016e-02 6.58115994e+01] [-4.98301255e-01 8.65974598e-01 -4.22357150e-02 -2.21595019e+01] [-8.63825805e-02 -1.11635505e-03 9.96261413e-01 -4.13466504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19864 meters 0.029249537468416673 Centerline is valid? [True, True] Translation: X:65.84, Y:-22.17, Z:-4.14 [[ 8.64763724e-01 4.96694667e-01 7.40142470e-02 6.58409513e+01] [-4.94957142e-01 8.67925037e-01 -4.15157428e-02 -2.21738706e+01] [-8.48594662e-02 -7.32571871e-04 9.96392661e-01 -4.13679549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22864 meters 0.029100946790115986 Centerline is valid? [True, True] Translation: X:65.87, Y:-22.19, Z:-4.14 [[ 8.65565560e-01 4.95428782e-01 7.31203356e-02 6.58696873e+01] [-4.93726510e-01 8.68648367e-01 -4.10383668e-02 -2.21889507e+01] [-8.38474482e-02 -5.80051181e-04 9.96478434e-01 -4.13859544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25864 meters 0.02912122664969005 Centerline is valid? [True, True] Translation: X:65.90, Y:-22.21, Z:-4.14 [[ 8.66507802e-01 4.93784251e-01 7.30844830e-02 6.58979786e+01] [-4.92074833e-01 8.69584361e-01 -4.10535981e-02 -2.22050791e+01] [-8.38247437e-02 -3.89771645e-04 9.96480437e-01 -4.14149944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28864 meters 0.029209352222261568 Centerline is valid? [True, True] Translation: X:65.92, Y:-22.22, Z:-4.14 [[ 8.68408497e-01 4.90484394e-01 7.27443544e-02 6.59246488e+01] [-4.88777298e-01 8.71449974e-01 -4.08863763e-02 -2.22227228e+01] [-8.34471952e-02 -4.97124518e-05 9.96512199e-01 -4.14443963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31864 meters 0.02920119562055037 Centerline is valid? [True, True] Translation: X:65.95, Y:-22.24, Z:-4.15 [[ 8.68961683e-01 4.89458617e-01 7.30469376e-02 6.59528668e+01] [-4.87729788e-01 8.72026521e-01 -4.11023087e-02 -2.22391673e+01] [-8.38167461e-02 8.91639667e-05 9.96481182e-01 -4.14591969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34864 meters 0.029508060018586916 Centerline is valid? [True, True] Translation: X:65.98, Y:-22.26, Z:-4.15 [[ 8.70066374e-01 4.87448505e-01 7.33379806e-02 6.59802493e+01] [-4.85694480e-01 8.73151675e-01 -4.13161583e-02 -2.22571024e+01] [-8.41746802e-02 3.27947731e-04 9.96450960e-01 -4.14815996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37864 meters 0.029628018233021726 Centerline is valid? [True, True] Translation: X:66.01, Y:-22.27, Z:-4.15 [[ 8.70396511e-01 4.86772598e-01 7.39077230e-02 6.60075240e+01] [-4.84984592e-01 8.73528617e-01 -4.16857355e-02 -2.22746667e+01] [-8.48519848e-02 4.39011844e-04 9.96393470e-01 -4.15048314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters 0.02956827543964036 Centerline is valid? [True, True] Translation: X:66.03, Y:-22.29, Z:-4.15 [[ 8.70479507e-01 4.86872405e-01 7.22543338e-02 6.60339812e+01] [-4.85160486e-01 8.73472984e-01 -4.07952199e-02 -2.22926278e+01] [-8.29742753e-02 4.56455248e-04 9.96551585e-01 -4.15175364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43863999999999 meters 0.029559960098768514 Centerline is valid? [True, True] Translation: X:66.06, Y:-22.31, Z:-4.15 [[ 8.69677063e-01 4.88224856e-01 7.27894015e-02 6.60615667e+01] [-4.86488365e-01 8.72717797e-01 -4.11426451e-02 -2.23116291e+01] [-8.36114681e-02 3.69617856e-04 9.96498362e-01 -4.15351736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters 0.029585193757742302 Centerline is valid? [True, True] Translation: X:66.09, Y:-22.33, Z:-4.16 [[ 8.68888534e-01 4.89535355e-01 7.34019812e-02 6.60899480e+01] [-4.87769871e-01 8.71983401e-01 -4.15391431e-02 -2.23278721e+01] [-8.43401884e-02 2.89610183e-04 9.96436977e-01 -4.15590426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49864 meters 0.02961536588135901 Centerline is valid? [True, True] Translation: X:66.12, Y:-22.34, Z:-4.16 [[ 8.67868297e-01 4.91336166e-01 7.34397176e-02 6.61182547e+01] [-4.89571032e-01 8.70970004e-01 -4.16107831e-02 -2.23442089e+01] [-8.44086737e-02 1.58721128e-04 9.96431207e-01 -4.15767417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters 0.029376628126111252 Centerline is valid? [True, True] Translation: X:66.14, Y:-22.36, Z:-4.16 [[ 8.66737437e-01 4.93483722e-01 7.23880543e-02 6.61447603e+01] [-4.91772395e-01 8.69755032e-01 -4.10621029e-02 -2.23623795e+01] [-8.32233538e-02 -8.38497326e-06 9.96530919e-01 -4.15874205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55864 meters 0.02940011742677505 Centerline is valid? [True, True] Translation: X:66.17, Y:-22.38, Z:-4.16 [[ 8.65817837e-01 4.95161114e-01 7.19370923e-02 6.61734330e+01] [-4.93473130e-01 8.68801159e-01 -4.08511319e-02 -2.23795824e+01] [-8.27269212e-02 -1.29383487e-04 9.96572245e-01 -4.16100448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58864 meters 0.029387967118684778 Centerline is valid? [True, True] Translation: X:66.20, Y:-22.39, Z:-4.16 [[ 8.64508613e-01 4.97593258e-01 7.08929282e-02 6.62015259e+01] [-4.95958332e-01 8.67410427e-01 -4.03048785e-02 -2.23947101e+01] [-8.15487009e-02 -3.16023814e-04 9.96669308e-01 -4.16288580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61864 meters 0.02951743239312354 Centerline is valid? [True, True] Translation: X:66.23, Y:-22.41, Z:-4.16 [[ 8.63755509e-01 4.98714333e-01 7.21833434e-02 6.62296427e+01] [-4.97019483e-01 8.66766325e-01 -4.10825078e-02 -2.24095952e+01] [-8.30545267e-02 -3.91285578e-04 9.96544927e-01 -4.16495319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64864 meters 0.029556928702621603 Centerline is valid? [True, True] Translation: X:66.26, Y:-22.43, Z:-4.17 [[ 8.63269569e-01 4.99531706e-01 7.23444943e-02 6.62587967e+01] [-4.97828328e-01 8.66295497e-01 -4.12197466e-02 -2.24253748e+01] [-8.32622800e-02 -4.31385715e-04 9.96527574e-01 -4.16704041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67864 meters 0.029455982616668066 Centerline is valid? [True, True] Translation: X:66.29, Y:-22.44, Z:-4.17 [[ 8.64397748e-01 4.97534047e-01 7.26388674e-02 6.62888425e+01] [-4.95805463e-01 8.67444427e-01 -4.14380152e-02 -2.24398916e+01] [-8.36270041e-02 -1.95820318e-04 9.96497108e-01 -4.16934098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70864 meters 0.029480686236867948 Centerline is valid? [True, True] Translation: X:66.32, Y:-22.45, Z:-4.17 [[ 8.65154623e-01 4.96237743e-01 7.24953756e-02 6.63183208e+01] [-4.94507231e-01 8.68186674e-01 -4.14064869e-02 -2.24545503e+01] [-8.34869807e-02 -2.64738535e-05 9.96508868e-01 -4.17152565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73864 meters 0.029427819058995754 Centerline is valid? [True, True] Translation: X:66.35, Y:-22.47, Z:-4.17 [[ 8.65856674e-01 4.95225175e-01 7.10228552e-02 6.63466309e+01] [-4.93557134e-01 8.68764648e-01 -4.06120822e-02 -2.24696563e+01] [-8.18142714e-02 1.10405574e-04 9.96647587e-01 -4.17342882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters 0.029226942453678562 Centerline is valid? [True, True] Translation: X:66.38, Y:-22.49, Z:-4.17 [[ 8.66946671e-01 4.93300245e-01 7.11219996e-02 6.63751150e+01] [-4.91617375e-01 8.69859045e-01 -4.07136065e-02 -2.24865831e+01] [-8.19501467e-02 3.31714818e-04 9.96636375e-01 -4.17486595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79863999999999 meters 0.02909296611712688 Centerline is valid? [True, True] Translation: X:66.40, Y:-22.50, Z:-4.18 [[ 8.67493064e-01 4.92394598e-01 7.07343209e-02 6.64036354e+01] [-4.90723409e-01 8.70371963e-01 -4.05361761e-02 -2.25024309e+01] [-8.15249639e-02 4.53864501e-04 9.96671197e-01 -4.17679131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82864 meters 0.02922328518976749 Centerline is valid? [True, True] Translation: X:66.43, Y:-22.52, Z:-4.18 [[ 8.68452842e-01 4.90568478e-01 7.16395789e-02 6.64334980e+01] [-4.88844893e-01 8.71402390e-01 -4.10919111e-02 -2.25156770e+01] [-8.25852965e-02 6.65744703e-04 9.96583778e-01 -4.17909868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85864 meters 0.0291196508294276 Centerline is valid? [True, True] Translation: X:66.46, Y:-22.53, Z:-4.18 [[ 8.68320415e-01 4.90793772e-01 7.17016816e-02 6.64627500e+01] [-4.89064233e-01 8.71275505e-01 -4.11724441e-02 -2.25319438e+01] [-8.26790980e-02 6.84145803e-04 9.96575987e-01 -4.18059398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters 0.029149176317928446 Centerline is valid? [True, True] Translation: X:66.49, Y:-22.55, Z:-4.18 [[ 8.68252882e-01 4.90846645e-01 7.21561056e-02 6.64909584e+01] [-4.89091128e-01 8.71245685e-01 -4.14828282e-02 -2.25490988e+01] [-8.32274026e-02 7.26674088e-04 9.96530316e-01 -4.18307920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91864 meters 0.029197787812309615 Centerline is valid? [True, True] Translation: X:66.52, Y:-22.57, Z:-4.18 [[ 8.67926788e-01 4.91404436e-01 7.22825725e-02 6.65186842e+01] [-4.89640535e-01 8.70931206e-01 -4.16050610e-02 -2.25667104e+01] [-8.33980595e-02 7.17669454e-04 9.96516055e-01 -4.18496824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94864 meters 0.029087557417910952 Centerline is valid? [True, True] Translation: X:66.55, Y:-22.58, Z:-4.19 [[ 8.67840044e-01 4.91521401e-01 7.25284126e-02 6.65464423e+01] [-4.89741704e-01 8.70865171e-01 -4.17961447e-02 -2.25844596e+01] [-8.37061681e-02 7.52179729e-04 9.96490196e-01 -4.18662305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97864 meters 0.029122358428039338 Centerline is valid? [True, True] Translation: X:66.57, Y:-22.60, Z:-4.19 [[ 8.67431316e-01 4.92233989e-01 7.25852107e-02 6.65747775e+01] [-4.90449827e-01 8.70462619e-01 -4.18783375e-02 -2.26009922e+01] [-8.37966537e-02 7.27177318e-04 9.96482610e-01 -4.18841920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00864 meters 0.02915651329194314 Centerline is valid? [True, True] Translation: X:66.60, Y:-22.62, Z:-4.19 [[ 8.67287210e-01 4.92508083e-01 7.24477991e-02 6.66035306e+01] [-4.90727511e-01 8.70307553e-01 -4.18482077e-02 -2.26181960e+01] [-8.36624473e-02 7.42287200e-04 9.96493876e-01 -4.19010970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03864 meters 0.029033644392291565 Centerline is valid? [True, True] Translation: X:66.63, Y:-22.64, Z:-4.19 [[ 8.66528788e-01 4.93818098e-01 7.26054155e-02 6.66316279e+01] [-4.92030170e-01 8.69564978e-01 -4.19888240e-02 -2.26359866e+01] [-8.38699676e-02 6.60469778e-04 9.96476489e-01 -4.19197821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06864 meters 0.028848385783466837 Centerline is valid? [True, True] Translation: X:66.66, Y:-22.65, Z:-4.19 [[ 8.65111792e-01 4.96270016e-01 7.27850192e-02 6.66595352e+01] [-4.94477643e-01 8.68168102e-01 -4.21427148e-02 -2.26543352e+01] [-8.41037976e-02 4.67594790e-04 9.96456889e-01 -4.19295732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09864 meters 0.029022532208295235 Centerline is valid? [True, True] Translation: X:66.69, Y:-22.67, Z:-4.20 [[ 8.64002073e-01 4.98236792e-01 7.25294165e-02 6.66883303e+01] [-4.96459731e-01 8.67040943e-01 -4.20444834e-02 -2.26712922e+01] [-8.38340823e-02 3.18586270e-04 9.96479676e-01 -4.19523753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12864 meters 0.028850434180284077 Centerline is valid? [True, True] Translation: X:66.72, Y:-22.69, Z:-4.20 [[ 8.62594637e-01 5.00689787e-01 7.23894263e-02 6.67163758e+01] [-4.98923987e-01 8.65626780e-01 -4.20134862e-02 -2.26881743e+01] [-8.36979494e-02 1.23786695e-04 9.96491163e-01 -4.19770195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15863999999999 meters 0.028881949428319335 Centerline is valid? [True, True] Translation: X:66.74, Y:-22.70, Z:-4.20 [[ 8.61479590e-01 5.02713123e-01 7.16409991e-02 6.67445275e+01] [-5.00986746e-01 8.64453304e-01 -4.16264990e-02 -2.27042661e+01] [-8.28564857e-02 -3.08116764e-05 9.96561489e-01 -4.19942802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters 0.02903334236779634 Centerline is valid? [True, True] Translation: X:66.77, Y:-22.72, Z:-4.20 [[ 8.58696877e-01 5.07402358e-01 7.19897227e-02 6.67741469e+01] [-5.05671680e-01 8.61709144e-01 -4.18748541e-02 -2.27187376e+01] [-8.32816021e-02 -4.45357602e-04 9.96525954e-01 -4.20157204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21864 meters 0.029084811449371882 Centerline is valid? [True, True] Translation: X:66.80, Y:-22.73, Z:-4.20 [[ 8.56840524e-01 5.10358196e-01 7.32040224e-02 6.68027487e+01] [-5.08575073e-01 8.59961638e-01 -4.26306893e-02 -2.27341991e+01] [-8.47095727e-02 -7.02038898e-04 9.96405437e-01 -4.20284842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters 0.029438324084285844 Centerline is valid? [True, True] Translation: X:66.83, Y:-22.75, Z:-4.21 [[ 8.54781955e-01 5.13610265e-01 7.45137915e-02 6.68308643e+01] [-5.11771069e-01 8.58023011e-01 -4.34382871e-02 -2.27489168e+01] [-8.62448979e-02 -1.00373875e-03 9.96273462e-01 -4.20520526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27864 meters 0.02932520804211216 Centerline is valid? [True, True] Translation: X:66.86, Y:-22.76, Z:-4.21 [[ 8.53709348e-01 5.15462547e-01 7.40183198e-02 6.68608700e+01] [-5.13650874e-01 8.56911345e-01 -4.31940571e-02 -2.27638435e+01] [-8.56920567e-02 -1.14440429e-03 9.96321013e-01 -4.20725035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30864 meters 0.029748234524656827 Centerline is valid? [True, True] Translation: X:66.89, Y:-22.78, Z:-4.21 [[ 8.52337220e-01 5.17701209e-01 7.42072944e-02 6.68896756e+01] [-5.15884405e-01 8.55560454e-01 -4.33542527e-02 -2.27781912e+01] [-8.59333755e-02 -1.32994264e-03 9.96299998e-01 -4.21006889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33864 meters 0.02968899253039887 Centerline is valid? [True, True] Translation: X:66.92, Y:-22.79, Z:-4.21 [[ 8.50258703e-01 5.21616529e-01 7.05431365e-02 6.69210009e+01] [-5.19985610e-01 8.53178530e-01 -4.12475682e-02 -2.27890744e+01] [-8.17013028e-02 -1.61031194e-03 9.96655559e-01 -4.21081648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36864 meters 0.029955166123723932 Centerline is valid? [True, True] Translation: X:66.95, Y:-22.80, Z:-4.21 [[ 8.48437427e-01 5.24427457e-01 7.16224455e-02 6.69509954e+01] [-5.22754140e-01 8.51453037e-01 -4.19026897e-02 -2.28024461e+01] [-8.29580697e-02 -1.88911965e-03 9.96551248e-01 -4.21184617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39864 meters 0.03085563758851033 Centerline is valid? [True, True] Translation: X:66.98, Y:-22.81, Z:-4.21 [[ 8.44492515e-01 5.30540462e-01 7.32066298e-02 6.69820736e+01] [-5.28812087e-01 8.47655882e-01 -4.28635192e-02 -2.28118784e+01] [-8.47948617e-02 -2.51462959e-03 9.96395257e-01 -4.21308506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42864 meters 0.031160281244444487 Centerline is valid? [True, True] Translation: X:67.01, Y:-22.82, Z:-4.21 [[ 8.42601765e-01 5.33665350e-01 7.22741927e-02 6.70118052e+01] [-5.31990767e-01 8.45691184e-01 -4.23349218e-02 -2.28241145e+01] [-8.37143284e-02 -2.77772338e-03 9.96485923e-01 -4.21471817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45864 meters 0.03138383603294478 Centerline is valid? [True, True] Translation: X:67.04, Y:-22.84, Z:-4.22 [[ 8.41080726e-01 5.36106691e-01 7.19223704e-02 6.70419534e+01] [-5.34453646e-01 8.44145012e-01 -4.21722499e-02 -2.28362725e+01] [-8.33217356e-02 -2.96890657e-03 9.96518276e-01 -4.21688483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48864 meters 0.03156420638032985 Centerline is valid? [True, True] Translation: X:67.07, Y:-22.84, Z:-4.22 [[ 8.39037221e-01 5.39507590e-01 7.03427477e-02 6.70744170e+01] [-5.37934910e-01 8.41974664e-01 -4.12879809e-02 -2.28440074e+01] [-8.15019904e-02 -3.19766685e-03 9.96668049e-01 -4.21939987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51863999999999 meters 0.031816847562142224 Centerline is valid? [True, True] Translation: X:67.11, Y:-22.86, Z:-4.22 [[ 8.37803929e-01 5.41345093e-01 7.09229650e-02 6.71053028e+01] [-5.39749321e-01 8.40793760e-01 -4.16716215e-02 -2.28556268e+01] [-8.21903142e-02 -3.36797399e-03 9.96610962e-01 -4.22115326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters 0.03201776591811731 Centerline is valid? [True, True] Translation: X:67.14, Y:-22.87, Z:-4.22 [[ 8.36780695e-01 5.42882883e-01 7.12477643e-02 6.71358099e+01] [-5.41274411e-01 8.39801127e-01 -4.19055871e-02 -2.28664990e+01] [-8.25837787e-02 -3.49880540e-03 9.96577984e-01 -4.22290125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57864 meters 0.03162208972865632 Centerline is valid? [True, True] Translation: X:67.17, Y:-22.87, Z:-4.22 [[ 8.37935765e-01 5.41158087e-01 7.07925069e-02 6.71700215e+01] [-5.39560514e-01 8.40914515e-01 -4.16801003e-02 -2.28725066e+01] [-8.20859699e-02 -3.27159468e-03 9.96619883e-01 -4.22373026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters 0.031156333820578093 Centerline is valid? [True, True] Translation: X:67.20, Y:-22.88, Z:-4.23 [[ 8.39022513e-01 5.39348244e-01 7.17265287e-02 6.72003488e+01] [-5.37697936e-01 8.42077117e-01 -4.22736316e-02 -2.28837190e+01] [-8.31994775e-02 -3.09867781e-03 9.96528096e-01 -4.22589404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63864 meters 0.03041011317171794 Centerline is valid? [True, True] Translation: X:67.23, Y:-22.89, Z:-4.23 [[ 8.41700533e-01 5.35335356e-01 7.04007805e-02 6.72330272e+01] [-5.33728926e-01 8.44635526e-01 -4.15242322e-02 -2.28904061e+01] [-8.16923899e-02 -2.62396461e-03 9.96654137e-01 -4.22628277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66864 meters 0.03041011317171794 Centerline is valid? [True, True] Translation: X:67.26, Y:-22.91, Z:-4.23 [[ 8.41423185e-01 5.35772225e-01 7.03928032e-02 6.72612211e+01] [-5.34166189e-01 8.44358394e-01 -4.15377495e-02 -2.29067046e+01] [-8.16915268e-02 -2.65062996e-03 9.96654137e-01 -4.22820552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69864 meters 0.03031437697654321 Centerline is valid? [True, True] Translation: X:67.29, Y:-22.92, Z:-4.23 [[ 8.42170527e-01 5.34526011e-01 7.09277562e-02 6.72910381e+01] [-5.32887049e-01 8.45148302e-01 -4.19015654e-02 -2.29186749e+01] [-8.23419493e-02 -2.50821930e-03 9.96600979e-01 -4.23031789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72864 meters 0.029848775317685424 Centerline is valid? [True, True] Translation: X:67.32, Y:-22.93, Z:-4.23 [[ 8.43149733e-01 5.32864382e-01 7.17919056e-02 6.73216517e+01] [-5.31176227e-01 8.46197407e-01 -4.24471905e-02 -2.29309583e+01] [-8.33687203e-02 -2.34481619e-03 9.96516010e-01 -4.23168713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75864 meters 0.02989332190545255 Centerline is valid? [True, True] Translation: X:67.35, Y:-22.94, Z:-4.23 [[ 8.44835921e-01 5.29987231e-01 7.32516345e-02 6.73529264e+01] [-5.28217700e-01 8.48003042e-01 -4.33232357e-02 -2.29414756e+01] [-8.50783706e-02 -2.09178411e-03 9.96372067e-01 -4.23458332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78864 meters 0.029844195087633994 Centerline is valid? [True, True] Translation: X:67.38, Y:-22.95, Z:-4.24 [[ 8.45225800e-01 5.29193645e-01 7.44810961e-02 6.73828433e+01] [-5.27359891e-01 8.48498643e-01 -4.40635792e-02 -2.29545400e+01] [-8.65152750e-02 -2.03466869e-03 9.96248447e-01 -4.23600588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81864 meters 0.029582320140196513 Centerline is valid? [True, True] Translation: X:67.41, Y:-22.97, Z:-4.24 [[ 8.45946432e-01 5.28062449e-01 7.43282169e-02 6.74129826e+01] [-5.26230760e-01 8.49203406e-01 -4.39859332e-02 -2.29665395e+01] [-8.63470946e-02 -1.90405083e-03 9.96263295e-01 -4.23744645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84864 meters 0.029458682711783472 Centerline is valid? [True, True] Translation: X:67.44, Y:-22.98, Z:-4.24 [[ 8.46791235e-01 5.26984715e-01 7.23305933e-02 6.74443976e+01] [-5.25245360e-01 8.49872990e-01 -4.28160324e-02 -2.29757563e+01] [-8.40352123e-02 -1.73506760e-03 9.96461275e-01 -4.23952332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87863999999999 meters 0.029312272816038876 Centerline is valid? [True, True] Translation: X:67.47, Y:-22.99, Z:-4.24 [[ 8.47242914e-01 5.26270385e-01 7.22421395e-02 6.74730357e+01] [-5.24531643e-01 8.50315680e-01 -4.27761666e-02 -2.29899862e+01] [-8.39404536e-02 -1.65148413e-03 9.96469404e-01 -4.24208656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters 0.02885819512008892 Centerline is valid? [True, True] Translation: X:67.50, Y:-23.00, Z:-4.24 [[ 8.50178393e-01 5.21769739e-01 7.03778279e-02 6.75046148e+01] [-5.20103297e-01 8.53085566e-01 -4.16842585e-02 -2.29997023e+01] [-8.17878938e-02 -1.16468448e-03 9.96649078e-01 -4.24322287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93863999999999 meters 0.028743002406791753 Centerline is valid? [True, True] Translation: X:67.53, Y:-23.01, Z:-4.24 [[ 8.51482140e-01 5.19609554e-01 7.05979909e-02 6.75346318e+01] [-5.17924226e-01 8.54403306e-01 -4.18268636e-02 -2.30114792e+01] [-8.20527948e-02 -9.49582390e-04 9.96627532e-01 -4.24454552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters 0.028482347401826407 Centerline is valid? [True, True] Translation: X:67.56, Y:-23.02, Z:-4.25 [[ 8.53147384e-01 5.17081915e-01 6.90350270e-02 6.75638691e+01] [-5.15461407e-01 8.55935645e-01 -4.09109892e-02 -2.30236625e+01] [-8.02438730e-02 -6.81788748e-04 9.96775028e-01 -4.24577297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99864 meters 0.028488129303478153 Centerline is valid? [True, True] Translation: X:67.59, Y:-23.04, Z:-4.25 [[ 8.54754278e-01 5.14443443e-01 6.88699335e-02 6.75913064e+01] [-5.12821650e-01 8.57524204e-01 -4.08190411e-02 -2.30380534e+01] [-8.00567230e-02 -4.27742970e-04 9.96790218e-01 -4.24814030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters 0.028768766168920608 Centerline is valid? [True, True] Translation: X:67.62, Y:-23.05, Z:-4.25 [[ 8.58300827e-01 5.08485445e-01 6.90089962e-02 6.76191652e+01] [-5.06837303e-01 8.61070574e-01 -4.09073956e-02 -2.30527353e+01] [-8.02224312e-02 1.34517989e-04 9.96776978e-01 -4.25045412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05864 meters 0.02876028806350114 Centerline is valid? [True, True] Translation: X:67.65, Y:-23.07, Z:-4.25 [[ 8.59153310e-01 5.07091900e-01 6.86541615e-02 6.76467655e+01] [-5.05455773e-01 8.61891950e-01 -4.07029295e-02 -2.30683059e+01] [-7.98125950e-02 2.68414290e-04 9.96809850e-01 -4.25167254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08864 meters 0.02884870683211074 Centerline is valid? [True, True] Translation: X:67.67, Y:-23.08, Z:-4.25 [[ 8.61150487e-01 5.04005625e-01 6.63186954e-02 6.76741909e+01] [-5.02469489e-01 8.63700201e-01 -3.93239773e-02 -2.30843300e+01] [-7.70989763e-02 5.40741200e-04 9.97023297e-01 -4.25360857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11864 meters 0.02895046253450295 Centerline is valid? [True, True] Translation: X:67.70, Y:-23.10, Z:-4.26 [[ 8.61284125e-01 5.04011017e-01 6.45178329e-02 6.76997296e+01] [-5.02556945e-01 8.63697061e-01 -3.82609841e-02 -2.31007684e+01] [-7.50078202e-02 5.29693177e-04 9.97182805e-01 -4.25554802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14864 meters 0.028708182268388806 Centerline is valid? [True, True] Translation: X:67.73, Y:-23.12, Z:-4.26 [[ 8.61623648e-01 5.03648453e-01 6.27927171e-02 6.77255303e+01] [-5.02270244e-01 8.63908524e-01 -3.72379394e-02 -2.31175798e+01] [-7.30019941e-02 5.46175801e-04 9.97331645e-01 -4.25663637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17864 meters 0.028569941947182428 Centerline is valid? [True, True] Translation: X:67.75, Y:-23.14, Z:-4.26 [[ 8.59950339e-01 5.06354838e-01 6.39546093e-02 6.77499343e+01] [-5.04932541e-01 8.62325155e-01 -3.79269758e-02 -2.31371323e+01] [-7.43541761e-02 3.22552321e-04 9.97231845e-01 -4.25789678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20864 meters 0.028494277337935137 Centerline is valid? [True, True] Translation: X:67.77, Y:-23.16, Z:-4.26 [[ 8.58349575e-01 5.08742899e-01 6.64580311e-02 6.77748095e+01] [-5.07213933e-01 8.60918491e-01 -3.94129181e-02 -2.31561989e+01] [-7.72659900e-02 1.21622177e-04 9.97010507e-01 -4.26054257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23864 meters 0.028554345381154544 Centerline is valid? [True, True] Translation: X:67.80, Y:-23.18, Z:-4.26 [[ 8.55721478e-01 5.13169377e-01 6.63169849e-02 6.77994321e+01] [-5.11659595e-01 8.58287316e-01 -3.93362657e-02 -2.31773945e+01] [-7.71051940e-02 -2.70834196e-04 9.97022926e-01 -4.26340875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters 0.02854463446543249 Centerline is valid? [True, True] Translation: X:67.83, Y:-23.19, Z:-4.27 [[ 8.54305935e-01 5.15546874e-01 6.61270756e-02 6.78266590e+01] [-5.14051959e-01 8.56861247e-01 -3.92350303e-02 -2.31948399e+01] [-7.68892257e-02 -4.74033527e-04 9.97039529e-01 -4.26514483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29863999999999 meters 0.02854308608305674 Centerline is valid? [True, True] Translation: X:67.85, Y:-23.21, Z:-4.27 [[ 8.52768086e-01 5.18041328e-01 6.64813837e-02 6.78541556e+01] [-5.16536982e-01 8.55355308e-01 -3.94568552e-02 -2.32121568e+01] [-7.73054861e-02 -6.92546383e-04 9.97007213e-01 -4.26687798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters 0.028737362161526222 Centerline is valid? [True, True] Translation: X:67.88, Y:-23.23, Z:-4.27 [[ 8.50789407e-01 5.21146298e-01 6.75567949e-02 6.78815305e+01] [-5.19601636e-01 8.53466798e-01 -4.01069163e-02 -2.32295636e+01] [-7.85590524e-02 -9.80081595e-04 9.96908980e-01 -4.26875682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35864 meters 0.02889187734638237 Centerline is valid? [True, True] Translation: X:67.91, Y:-23.25, Z:-4.27 [[ 8.47683985e-01 5.26088933e-01 6.82810111e-02 6.79086510e+01] [-5.24525873e-01 8.50428336e-01 -4.05494033e-02 -2.32467443e+01] [-7.94006989e-02 -1.44207715e-03 9.96841737e-01 -4.27102624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38864 meters 0.029046111461789904 Centerline is valid? [True, True] Translation: X:67.94, Y:-23.26, Z:-4.27 [[ 8.46276990e-01 5.28385921e-01 6.79968697e-02 6.79364531e+01] [-5.26842158e-01 8.49002729e-01 -4.03943945e-02 -2.32622261e+01] [-7.90733572e-02 -1.63877101e-03 9.96867453e-01 -4.27229469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41864 meters 0.029365474116705263 Centerline is valid? [True, True] Translation: X:67.97, Y:-23.27, Z:-4.27 [[ 8.44127082e-01 5.31628132e-01 6.94334127e-02 6.79665653e+01] [-5.30028281e-01 8.46975582e-01 -4.12599703e-02 -2.32745466e+01] [-8.07433661e-02 -1.97301398e-03 9.96732971e-01 -4.27328980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44864 meters 0.029459101135572496 Centerline is valid? [True, True] Translation: X:68.00, Y:-23.29, Z:-4.27 [[ 8.42553812e-01 5.34011319e-01 7.02494433e-02 6.79954881e+01] [-5.32380829e-01 8.45474421e-01 -4.17571086e-02 -2.32887338e+01] [-8.16928760e-02 -2.21684585e-03 9.96655086e-01 -4.27471541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47864 meters 0.029646445687123248 Centerline is valid? [True, True] Translation: X:68.02, Y:-23.30, Z:-4.28 [[ 8.41493718e-01 5.35566473e-01 7.11117089e-02 6.80237914e+01] [-5.33900293e-01 8.44489698e-01 -4.22803314e-02 -2.33027520e+01] [-8.26970336e-02 -2.38792897e-03 9.96571873e-01 -4.27700613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50864 meters 0.02986225723534103 Centerline is valid? [True, True] Translation: X:68.05, Y:-23.32, Z:-4.28 [[ 8.40931506e-01 5.36455306e-01 7.10627008e-02 6.80529802e+01] [-5.34794074e-01 8.43925122e-01 -4.22573869e-02 -2.33154622e+01] [-8.26407979e-02 -2.46834330e-03 9.96576342e-01 -4.27894823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53864 meters 0.030026222186753895 Centerline is valid? [True, True] Translation: X:68.08, Y:-23.32, Z:-4.28 [[ 8.41624140e-01 5.35424430e-01 7.06363021e-02 6.80825949e+01] [-5.33780123e-01 8.44579844e-01 -4.19960389e-02 -2.33221851e+01] [-8.21437022e-02 -2.35937384e-03 9.96617703e-01 -4.28000926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56864 meters 0.03002789289269889 Centerline is valid? [True, True] Translation: X:68.11, Y:-23.33, Z:-4.28 [[ 8.42460492e-01 5.33920287e-01 7.20378153e-02 6.81092121e+01] [-5.32208215e-01 8.45531704e-01 -4.27849584e-02 -2.33338662e+01] [-8.37540141e-02 -2.29448001e-03 9.96483818e-01 -4.28192055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59864 meters 0.030067835743370318 Centerline is valid? [True, True] Translation: X:68.14, Y:-23.35, Z:-4.28 [[ 8.44010865e-01 5.31283811e-01 7.33700948e-02 6.81356030e+01] [-5.29501589e-01 8.47191281e-01 -4.35316060e-02 -2.33454052e+01] [-8.52861421e-02 -2.10843336e-03 9.96354269e-01 -4.28428349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters 0.029877886222400323 Centerline is valid? [True, True] Translation: X:68.16, Y:-23.35, Z:-4.29 [[ 8.47872759e-01 5.25019778e-01 7.39325131e-02 6.81641553e+01] [-5.23189474e-01 8.51088668e-01 -4.38275472e-02 -2.33545195e+01] [-8.59334532e-02 -1.52052927e-03 9.96299719e-01 -4.28618951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65863999999999 meters 0.029531253254045136 Centerline is valid? [True, True] Translation: X:68.19, Y:-23.37, Z:-4.29 [[ 8.50748051e-01 5.20376216e-01 7.37315849e-02 6.81908995e+01] [-5.18540922e-01 8.53936439e-01 -4.36791685e-02 -2.33658741e+01] [-8.56916875e-02 -1.07287658e-03 9.96321125e-01 -4.28742031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters 0.029177915536452468 Centerline is valid? [True, True] Translation: X:68.22, Y:-23.38, Z:-4.29 [[ 8.53789201e-01 5.15690415e-01 7.14660450e-02 6.82173824e+01] [-5.13953381e-01 8.56774774e-01 -4.22955050e-02 -2.33779897e+01] [-8.30416911e-02 -6.18769951e-04 9.96545882e-01 -4.28839665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71864 meters 0.029490405440691134 Centerline is valid? [True, True] Translation: X:68.24, Y:-23.39, Z:-4.29 [[ 8.58939270e-01 5.07053170e-01 7.15570659e-02 6.82441285e+01] [-5.05285189e-01 8.61914758e-01 -4.23063584e-02 -2.33882944e+01] [-8.31276643e-02 1.81867058e-04 9.96538890e-01 -4.29111320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters 0.02960844217707592 Centerline is valid? [True, True] Translation: X:68.27, Y:-23.40, Z:-4.29 [[ 8.61509847e-01 5.02738720e-01 7.10954528e-02 6.82691575e+01] [-5.00982460e-01 8.64438239e-01 -4.19893488e-02 -2.34012543e+01] [-8.25672995e-02 5.56662652e-04 9.96585336e-01 -4.29222121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77864 meters 0.02993991376786073 Centerline is valid? [True, True] Translation: X:68.29, Y:-23.42, Z:-4.29 [[ 8.63739625e-01 4.99180356e-01 6.90856944e-02 6.82935496e+01] [-4.97514307e-01 8.66497708e-01 -4.07582785e-02 -2.34168601e+01] [-8.02083278e-02 8.33418848e-04 9.96777773e-01 -4.29212253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80864 meters 0.02979093135835602 Centerline is valid? [True, True] Translation: X:68.32, Y:-23.43, Z:-4.29 [[ 8.63984125e-01 4.98678246e-01 6.96522671e-02 6.83178643e+01] [-4.96986389e-01 8.66786756e-01 -4.10517735e-02 -2.34328408e+01] [-8.08452891e-02 8.51851934e-04 9.96726298e-01 -4.29380686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83864 meters 0.029884258600997037 Centerline is valid? [True, True] Translation: X:68.34, Y:-23.45, Z:-4.30 [[ 8.64431906e-01 4.97909021e-01 6.95994770e-02 6.83412408e+01] [-4.96220635e-01 8.67228817e-01 -4.09787780e-02 -2.34488662e+01] [-8.07623754e-02 8.86666500e-04 9.96732990e-01 -4.29586944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86864 meters 0.029676516896393182 Centerline is valid? [True, True] Translation: X:68.36, Y:-23.47, Z:-4.30 [[ 8.64301897e-01 4.98232150e-01 6.88981527e-02 6.83648564e+01] [-4.96582223e-01 8.67043291e-01 -4.05219290e-02 -2.34659776e+01] [-7.99270089e-02 8.09582280e-04 9.96800390e-01 -4.29764332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89864 meters 0.029669176090060655 Centerline is valid? [True, True] Translation: X:68.39, Y:-23.48, Z:-4.30 [[ 8.63770943e-01 4.99035111e-01 6.97403404e-02 6.83877396e+01] [-4.97350595e-01 8.66581478e-01 -4.09747295e-02 -2.34821761e+01] [-8.08835159e-02 7.07380989e-04 9.96723310e-01 -4.29945518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92864 meters 0.029537757631103143 Centerline is valid? [True, True] Translation: X:68.41, Y:-23.50, Z:-4.30 [[ 8.63433423e-01 4.99732588e-01 6.89207129e-02 6.84113117e+01] [-4.98093232e-01 8.66179534e-01 -4.04493108e-02 -2.34984092e+01] [-7.99115497e-02 5.96346230e-04 9.96801780e-01 -4.30157434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95864 meters 0.029525698965574 Centerline is valid? [True, True] Translation: X:68.43, Y:-23.52, Z:-4.30 [[ 8.61924304e-01 5.02082388e-01 7.07090502e-02 6.84331495e+01] [-5.00368034e-01 8.64819722e-01 -4.14569460e-02 -2.35170252e+01] [-8.19653836e-02 3.52200909e-04 9.96635115e-01 -4.30328515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98864 meters 0.029565068704878145 Centerline is valid? [True, True] Translation: X:68.46, Y:-23.53, Z:-4.30 [[ 8.61448799e-01 5.02665783e-01 7.23400087e-02 6.84562057e+01] [-5.00876936e-01 8.64480792e-01 -4.23704645e-02 -2.35345792e+01] [-8.38347307e-02 2.66543911e-04 9.96479637e-01 -4.30473646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01863999999999 meters 0.02956437016508951 Centerline is valid? [True, True] Translation: X:68.48, Y:-23.55, Z:-4.31 [[ 8.61458367e-01 5.02666078e-01 7.22239318e-02 6.84802438e+01] [-5.00885461e-01 8.64480628e-01 -4.22729133e-02 -2.35545928e+01] [-8.36853494e-02 2.40437545e-04 9.96492200e-01 -4.30563151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters 0.02939941149962113 Centerline is valid? [True, True] Translation: X:68.51, Y:-23.57, Z:-4.31 [[ 8.61356920e-01 5.02753814e-01 7.28207235e-02 6.85063725e+01] [-5.00943752e-01 8.64429608e-01 -4.26240561e-02 -2.35721999e+01] [-8.43777962e-02 2.35439195e-04 9.96433807e-01 -4.30726753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07864 meters 0.02945845760498447 Centerline is valid? [True, True] Translation: X:68.53, Y:-23.59, Z:-4.31 [[ 8.60986079e-01 5.03617086e-01 7.12236043e-02 6.85326162e+01] [-5.01888147e-01 8.63926969e-01 -4.16950865e-02 -2.35900884e+01] [-8.25303505e-02 1.52606285e-04 9.96588540e-01 -4.30969161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters 0.029366108696514955 Centerline is valid? [True, True] Translation: X:68.56, Y:-23.61, Z:-4.31 [[ 8.60363921e-01 5.04613560e-01 7.16873702e-02 6.85583260e+01] [-5.02864941e-01 8.63345325e-01 -4.19726133e-02 -2.36078390e+01] [-8.30709058e-02 6.26569773e-05 9.96543637e-01 -4.31179790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13864 meters 0.029388489153613338 Centerline is valid? [True, True] Translation: X:68.58, Y:-23.63, Z:-4.31 [[ 8.58298807e-01 5.08035625e-01 7.22700543e-02 6.85839256e+01] [-5.06269830e-01 8.61336017e-01 -4.23216908e-02 -2.36284697e+01] [-8.37497273e-02 -2.63491351e-04 9.96486786e-01 -4.31365405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16864 meters 0.02928781187431577 Centerline is valid? [True, True] Translation: X:68.61, Y:-23.65, Z:-4.31 [[ 8.57197140e-01 5.10117493e-01 7.06626263e-02 6.86108041e+01] [-5.08435588e-01 8.60104612e-01 -4.13921298e-02 -2.36461677e+01] [-8.18921003e-02 -4.46178728e-04 9.96641101e-01 -4.31469009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19864 meters 0.02909350546402511 Centerline is valid? [True, True] Translation: X:68.64, Y:-23.66, Z:-4.32 [[ 8.55860910e-01 5.12373430e-01 7.05377225e-02 6.86382416e+01] [-5.10704036e-01 8.58762509e-01 -4.13320842e-02 -2.36632749e+01] [-8.17526133e-02 -6.49384377e-04 9.96652441e-01 -4.31531941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22864 meters 0.029475605199461373 Centerline is valid? [True, True] Translation: X:68.66, Y:-23.68, Z:-4.32 [[ 8.54049881e-01 5.15300011e-01 7.11667053e-02 6.86647803e+01] [-5.13609523e-01 8.57009361e-01 -4.17158638e-02 -2.36807949e+01] [-8.24867176e-02 -9.24469045e-04 9.96591735e-01 -4.31764447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25864 meters 0.02960829252997541 Centerline is valid? [True, True] Translation: X:68.69, Y:-23.70, Z:-4.32 [[ 8.52778188e-01 5.17347393e-01 7.15614220e-02 6.86919911e+01] [-5.15644228e-01 8.55774751e-01 -4.19595674e-02 -2.36978024e+01] [-8.29481309e-02 -1.11803030e-03 9.96553239e-01 -4.31891407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28864 meters 0.029956108477975564 Centerline is valid? [True, True] Translation: X:68.72, Y:-23.71, Z:-4.32 [[ 8.51516218e-01 5.19384910e-01 7.18292884e-02 6.87195615e+01] [-5.17675144e-01 8.54539406e-01 -4.21289423e-02 -2.37142240e+01] [-8.32620944e-02 -1.31075967e-03 9.96526821e-01 -4.32135663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31864 meters 0.030030114758554396 Centerline is valid? [True, True] Translation: X:68.75, Y:-23.73, Z:-4.32 [[ 8.51306820e-01 5.19708669e-01 7.19694211e-02 6.87472419e+01] [-5.17992338e-01 8.54342506e-01 -4.22234501e-02 -2.37305039e+01] [-8.34304287e-02 -1.33449765e-03 9.96512711e-01 -4.32284766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34864 meters 0.03037714645087698 Centerline is valid? [True, True] Translation: X:68.77, Y:-23.75, Z:-4.33 [[ 8.51103220e-01 5.20053975e-01 7.18830431e-02 6.87742851e+01] [-5.18341971e-01 8.54132322e-01 -4.21850354e-02 -2.37477214e+01] [-8.33361259e-02 -1.35617874e-03 9.96520572e-01 -4.32587425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37863999999999 meters 0.030027875581168328 Centerline is valid? [True, True] Translation: X:68.80, Y:-23.76, Z:-4.33 [[ 8.52736979e-01 5.17441867e-01 7.13691729e-02 6.88019403e+01] [-5.15744139e-01 8.55717677e-01 -4.18955881e-02 -2.37641310e+01] [-8.27503942e-02 -1.08231547e-03 9.96569717e-01 -4.32796810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40863999999999 meters 0.030198397441545555 Centerline is valid? [True, True] Translation: X:68.83, Y:-23.78, Z:-4.33 [[ 8.53645622e-01 5.15953775e-01 7.12801060e-02 6.88292511e+01] [-5.14254096e-01 8.56615925e-01 -4.18554847e-02 -2.37802289e+01] [-8.26551693e-02 -9.26335183e-04 9.96577777e-01 -4.32931846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43863999999999 meters 0.030254614173237448 Centerline is valid? [True, True] Translation: X:68.86, Y:-23.80, Z:-4.33 [[ 8.53875566e-01 5.15355112e-01 7.28397259e-02 6.88568598e+01] [-5.13576860e-01 8.56976277e-01 -4.27839835e-02 -2.37970492e+01] [-8.44708618e-02 -8.76599574e-04 9.96425564e-01 -4.33179066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters 0.030449121272323805 Centerline is valid? [True, True] Translation: X:68.88, Y:-23.82, Z:-4.33 [[ 8.56126975e-01 5.11595297e-01 7.29167682e-02 6.88835047e+01] [-5.09798561e-01 8.59226401e-01 -4.28417957e-02 -2.38158935e+01] [-8.45696735e-02 -4.94846535e-04 9.96417445e-01 -4.33450969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49864 meters 0.03065076092163044 Centerline is valid? [True, True] Translation: X:68.91, Y:-23.83, Z:-4.34 [[ 8.57097529e-01 5.09829180e-01 7.38784959e-02 6.89099649e+01] [-5.07977071e-01 8.60275600e-01 -4.34187441e-02 -2.38332057e+01] [-8.56920101e-02 -3.14483699e-04 9.96321625e-01 -4.33745079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters 0.03068571231389357 Centerline is valid? [True, True] Translation: X:68.94, Y:-23.85, Z:-4.34 [[ 8.58136435e-01 5.08147366e-01 7.34037723e-02 6.89364565e+01] [-5.06311991e-01 8.61270129e-01 -4.31501146e-02 -2.38509479e+01] [-8.51470936e-02 -1.36524579e-04 9.96368383e-01 -4.33955208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55864 meters 0.030955399646901464 Centerline is valid? [True, True] Translation: X:68.96, Y:-23.87, Z:-4.34 [[ 8.59464929e-01 5.05968089e-01 7.29131602e-02 6.89616888e+01] [-5.04148318e-01 8.62552193e-01 -4.28740932e-02 -2.38707798e+01] [-8.45843292e-02 8.97323535e-05 9.96416320e-01 -4.34159714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58864 meters 0.030955399646901464 Centerline is valid? [True, True] Translation: X:68.99, Y:-23.89, Z:-4.34 [[ 8.59367933e-01 5.06133723e-01 7.29068584e-02 6.89897347e+01] [-5.04313639e-01 8.62455011e-01 -4.28848072e-02 -2.38871958e+01] [-8.45843325e-02 8.59050081e-05 9.96416320e-01 -4.34351507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61864 meters 0.031118847904371052 Centerline is valid? [True, True] Translation: X:69.02, Y:-23.91, Z:-4.35 [[ 8.59337192e-01 5.06158392e-01 7.30976939e-02 6.90166404e+01] [-5.04327225e-01 8.62440533e-01 -4.30160184e-02 -2.39062744e+01] [-8.48153328e-02 1.00107399e-04 9.96396683e-01 -4.34506823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64864 meters 0.031240855657648187 Centerline is valid? [True, True] Translation: X:69.04, Y:-23.93, Z:-4.35 [[ 8.59533393e-01 5.05824671e-01 7.31009448e-02 6.90437992e+01] [-5.03990526e-01 8.62636296e-01 -4.30368435e-02 -2.39250511e+01] [-8.48286255e-02 1.49420483e-04 9.96395545e-01 -4.34758758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67864 meters 0.03111122566801984 Centerline is valid? [True, True] Translation: X:69.07, Y:-23.95, Z:-4.35 [[ 8.59738677e-01 5.05351434e-01 7.39549558e-02 6.90680315e+01] [-5.03470873e-01 8.62913601e-01 -4.35568274e-02 -2.39465708e+01] [-8.58282424e-02 2.13322940e-04 9.96309925e-01 -4.34934040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70864 meters 0.03108965079006746 Centerline is valid? [True, True] Translation: X:69.09, Y:-23.97, Z:-4.35 [[ 8.59256448e-01 5.06140736e-01 7.41614002e-02 6.90946847e+01] [-5.04251304e-01 8.62450888e-01 -4.36931201e-02 -2.39654942e+01] [-8.60754334e-02 1.47612467e-04 9.96288612e-01 -4.35158175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73864 meters 0.03107218147009788 Centerline is valid? [True, True] Translation: X:69.12, Y:-23.98, Z:-4.35 [[ 8.58536544e-01 5.07141296e-01 7.56485880e-02 6.91206357e+01] [-5.05177497e-01 8.61862925e-01 -4.45869325e-02 -2.39849914e+01] [-8.78105881e-02 6.35465901e-05 9.96137188e-01 -4.35421233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters 0.031103772350443183 Centerline is valid? [True, True] Translation: X:69.15, Y:-24.01, Z:-4.36 [[ 8.56962929e-01 5.09520185e-01 7.74836754e-02 6.91450867e+01] [-5.07467198e-01 8.60458689e-01 -4.56934129e-02 -2.40068899e+01] [-8.99532179e-02 -1.62862699e-04 9.95945978e-01 -4.35779189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79863999999999 meters 0.031103968517294373 Centerline is valid? [True, True] Translation: X:69.17, Y:-24.03, Z:-4.36 [[ 8.55943187e-01 5.11272184e-01 7.72140827e-02 6.91727820e+01] [-5.09236247e-01 8.59418793e-01 -4.55827109e-02 -2.40257614e+01] [-8.96644059e-02 -3.03998922e-04 9.95971989e-01 -4.35893713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters 0.031209912314117003 Centerline is valid? [True, True] Translation: X:69.20, Y:-24.04, Z:-4.36 [[ 8.54117396e-01 5.14298789e-01 7.73319427e-02 6.92002306e+01] [-5.12264193e-01 8.57610881e-01 -4.57052950e-02 -2.40436719e+01] [-8.98268934e-02 -5.76697722e-04 9.95957226e-01 -4.36096804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85864 meters 0.031143696090867017 Centerline is valid? [True, True] Translation: X:69.23, Y:-24.06, Z:-4.36 [[ 8.52577188e-01 5.16905177e-01 7.69491857e-02 6.92283571e+01] [-5.14896573e-01 8.56042286e-01 -4.55315664e-02 -2.40606095e+01] [-8.94072592e-02 -8.01697186e-04 9.95994829e-01 -4.36195114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters 0.03133641754404481 Centerline is valid? [True, True] Translation: X:69.26, Y:-24.08, Z:-4.36 [[ 8.49066953e-01 5.22742401e-01 7.63262169e-02 6.92554256e+01] [-5.20785275e-01 8.52489607e-01 -4.52124825e-02 -2.40775413e+01] [-8.87017883e-02 -1.36114511e-03 9.96057298e-01 -4.36410743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91864 meters 0.031740218404862 Centerline is valid? [True, True] Translation: X:69.28, Y:-24.09, Z:-4.37 [[ 8.46921336e-01 5.26099744e-01 7.70928615e-02 6.92830078e+01] [-5.24112688e-01 8.50421192e-01 -4.57130916e-02 -2.40935192e+01] [-8.96110490e-02 -1.68995427e-03 9.95975403e-01 -4.36629194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94864 meters 0.0318098892393474 Centerline is valid? [True, True] Translation: X:69.31, Y:-24.11, Z:-4.37 [[ 8.43995111e-01 5.30796204e-01 7.69911783e-02 6.93109521e+01] [-5.28829663e-01 8.47496777e-01 -4.56990229e-02 -2.41093623e+01] [-8.95066433e-02 -2.14546696e-03 9.95983914e-01 -4.36798270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97864 meters 0.03182573275045758 Centerline is valid? [True, True] Translation: X:69.34, Y:-24.12, Z:-4.37 [[ 8.42923570e-01 5.32564992e-01 7.65139459e-02 6.93395953e+01] [-5.30625957e-01 8.46386042e-01 -4.54616480e-02 -2.41248270e+01] [-8.89716181e-02 -2.27959117e-03 9.96031553e-01 -4.36932149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00864 meters 0.031918482375583306 Centerline is valid? [True, True] Translation: X:69.37, Y:-24.14, Z:-4.37 [[ 8.41646997e-01 5.34598804e-01 7.63835769e-02 6.93687266e+01] [-5.32670593e-01 8.45102427e-01 -4.54304660e-02 -2.41381062e+01] [-8.88390191e-02 -2.45086991e-03 9.96042982e-01 -4.37067728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03864 meters 0.03194735872407021 Centerline is valid? [True, True] Translation: X:69.40, Y:-24.15, Z:-4.37 [[ 8.41323956e-01 5.35176061e-01 7.58985179e-02 6.93976175e+01] [-5.33270369e-01 8.44736976e-01 -4.51902121e-02 -2.41532862e+01] [-8.82990041e-02 -2.45482269e-03 9.96090990e-01 -4.37300323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06864 meters 0.03217574507800789 Centerline is valid? [True, True] Translation: X:69.43, Y:-24.17, Z:-4.38 [[ 8.40784728e-01 5.35977929e-01 7.62148299e-02 6.94262646e+01] [-5.34055025e-01 8.44228273e-01 -4.54296483e-02 -2.41686758e+01] [-8.86920031e-02 -2.50635839e-03 9.96055946e-01 -4.37538562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09864 meters 0.03215634740911635 Centerline is valid? [True, True] Translation: X:69.46, Y:-24.18, Z:-4.38 [[ 8.40105672e-01 5.37209355e-01 7.50237947e-02 6.94565151e+01] [-5.35347862e-01 8.43445041e-01 -4.47563454e-02 -2.41823780e+01] [-8.73219750e-02 -2.56376843e-03 9.96176842e-01 -4.37642835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12863999999999 meters 0.03223806111332349 Centerline is valid? [True, True] Translation: X:69.49, Y:-24.20, Z:-4.38 [[ 8.39636236e-01 5.38007105e-01 7.45610206e-02 6.94862388e+01] [-5.36169982e-01 8.42936251e-01 -4.44997467e-02 -2.41964589e+01] [-8.67913671e-02 -2.61378132e-03 9.96223081e-01 -4.37843710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15863999999999 meters 0.03218483270577174 Centerline is valid? [True, True] Translation: X:69.52, Y:-24.21, Z:-4.38 [[ 8.39841899e-01 5.37787423e-01 7.38259609e-02 6.95158239e+01] [-5.35984070e-01 8.43076617e-01 -4.40782763e-02 -2.42097816e+01] [-8.59456839e-02 -2.55075574e-03 9.96296559e-01 -4.38044155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18863999999999 meters 0.032172294631286916 Centerline is valid? [True, True] Translation: X:69.54, Y:-24.22, Z:-4.38 [[ 8.39919746e-01 5.37712133e-01 7.34879786e-02 6.95447299e+01] [-5.35923893e-01 8.43124730e-01 -4.38893049e-02 -2.42248677e+01] [-8.55593439e-02 -2.52046975e-03 9.96329888e-01 -4.38299410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21864 meters 0.032203915277856335 Centerline is valid? [True, True] Translation: X:69.57, Y:-24.24, Z:-4.39 [[ 8.40766634e-01 5.36381342e-01 7.35290634e-02 6.95733802e+01] [-5.34584910e-01 8.43972401e-01 -4.39267574e-02 -2.42400811e+01] [-8.56179932e-02 -2.37537579e-03 9.96325206e-01 -4.38511588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24864 meters 0.03192473242045137 Centerline is valid? [True, True] Translation: X:69.60, Y:-24.25, Z:-4.39 [[ 8.43903570e-01 5.31387091e-01 7.38547438e-02 6.96025800e+01] [-5.29554418e-01 8.47127075e-01 -4.41343074e-02 -2.42535598e+01] [-8.60167544e-02 -1.86500634e-03 9.96291945e-01 -4.38556283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27864 meters 0.03207283738146047 Centerline is valid? [True, True] Translation: X:69.63, Y:-24.27, Z:-4.39 [[ 8.45125088e-01 5.29295912e-01 7.48960783e-02 6.96310914e+01] [-5.27401736e-01 8.48435659e-01 -4.47698646e-02 -2.42685660e+01] [-8.72410099e-02 -1.66418602e-03 9.96185844e-01 -4.38858263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30864 meters 0.031543501606565945 Centerline is valid? [True, True] Translation: X:69.66, Y:-24.28, Z:-4.39 [[ 8.49156014e-01 5.23140969e-01 7.25092362e-02 6.96592411e+01] [-5.21342414e-01 8.52245592e-01 -4.33536301e-02 -2.42825862e+01] [-8.44757371e-02 -9.88144516e-04 9.96425047e-01 -4.38978642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33864 meters 0.03148063457110796 Centerline is valid? [True, True] Translation: X:69.69, Y:-24.30, Z:-4.39 [[ 8.50633046e-01 5.20761969e-01 7.23214556e-02 6.96869629e+01] [-5.18963440e-01 8.53701599e-01 -4.32495994e-02 -2.42995110e+01] [-8.42636888e-02 -7.42652925e-04 9.96443214e-01 -4.39249296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36864 meters 0.031516887831192386 Centerline is valid? [True, True] Translation: X:69.71, Y:-24.32, Z:-4.39 [[ 8.52608671e-01 5.17564308e-01 7.20114050e-02 6.97147708e+01] [-5.15768720e-01 8.55644211e-01 -4.30768039e-02 -2.43160875e+01] [-8.39111580e-02 -4.13573638e-04 9.96473154e-01 -4.39445629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39864 meters 0.03177548787062312 Centerline is valid? [True, True] Translation: X:69.74, Y:-24.33, Z:-4.40 [[ 8.56577361e-01 5.10824275e-01 7.30327577e-02 6.97420202e+01] [-5.08951630e-01 8.59685111e-01 -4.37006612e-02 -2.43324078e+01] [-8.51085330e-02 2.62856059e-04 9.96371652e-01 -4.39548067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42864 meters 0.03212962907224752 Centerline is valid? [True, True] Translation: X:69.77, Y:-24.35, Z:-4.40 [[ 8.58537947e-01 5.07650322e-01 7.21369855e-02 6.97682152e+01] [-5.05811159e-01 8.61563006e-01 -4.31770597e-02 -2.43508445e+01] [-8.40694063e-02 5.81451888e-04 9.96459732e-01 -4.39817128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45864 meters 0.03237100877781047 Centerline is valid? [True, True] Translation: X:69.79, Y:-24.37, Z:-4.40 [[ 8.60063768e-01 5.05112009e-01 7.17786387e-02 6.97939757e+01] [-5.03281227e-01 8.63053393e-01 -4.29749655e-02 -2.43709973e+01] [-8.36559688e-02 8.36369432e-04 9.96494345e-01 -4.40017026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48864 meters 0.032648638752584745 Centerline is valid? [True, True] Translation: X:69.82, Y:-24.39, Z:-4.40 [[ 8.63056505e-01 5.00369194e-01 6.90227361e-02 6.98189820e+01] [-4.98660297e-01 8.65811230e-01 -4.13378985e-02 -2.43933875e+01] [-8.04448711e-02 1.25804412e-03 9.96758266e-01 -4.40083658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51863999999999 meters 0.032812839062705317 Centerline is valid? [True, True] Translation: X:69.85, Y:-24.41, Z:-4.40 [[ 8.63572361e-01 4.99556245e-01 6.84568164e-02 6.98456105e+01] [-4.97871375e-01 8.66280422e-01 -4.10161635e-02 -2.44124289e+01] [-7.97926804e-02 1.33773583e-03 9.96810583e-01 -4.40259399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters 0.03273253675567799 Centerline is valid? [True, True] Translation: X:69.87, Y:-24.43, Z:-4.41 [[ 8.63492899e-01 4.99553543e-01 6.94713633e-02 6.98710176e+01] [-4.97816961e-01 8.66281926e-01 -4.16401061e-02 -2.44327063e+01] [-8.09832489e-02 1.37191302e-03 9.96714518e-01 -4.40542549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57864 meters 0.0325609666232683 Centerline is valid? [True, True] Translation: X:69.89, Y:-24.46, Z:-4.41 [[ 8.62380456e-01 5.01311299e-01 7.06182062e-02 6.98938907e+01] [-4.99520863e-01 8.65266103e-01 -4.23494838e-02 -2.44593218e+01] [-8.23338148e-02 1.24609984e-03 9.96604029e-01 -4.40853088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters 0.03223968781492226 Centerline is valid? [True, True] Translation: X:69.92, Y:-24.48, Z:-4.41 [[ 8.61281484e-01 5.03165163e-01 7.08450636e-02 6.99186757e+01] [-5.01366273e-01 8.64189560e-01 -4.25236933e-02 -2.44810256e+01] [-8.26200054e-02 1.10554419e-03 9.96580510e-01 -4.41007242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63864 meters 0.032204843534368595 Centerline is valid? [True, True] Translation: X:69.94, Y:-24.50, Z:-4.41 [[ 8.59756559e-01 5.05574786e-01 7.21996882e-02 6.99448302e+01] [-5.03712625e-01 8.62782303e-01 -4.33623061e-02 -2.45019385e+01] [-8.42155019e-02 9.13132652e-04 9.96447146e-01 -4.41290743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66864 meters 0.03172630054039666 Centerline is valid? [True, True] Translation: X:69.97, Y:-24.52, Z:-4.41 [[ 8.58468709e-01 5.07954002e-01 7.08110658e-02 6.99697660e+01] [-5.06167820e-01 8.61383911e-01 -4.25663659e-02 -2.45228385e+01] [-8.26172687e-02 6.99610407e-04 9.96581104e-01 -4.41360226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69864 meters 0.03144868678989237 Centerline is valid? [True, True] Translation: X:69.99, Y:-24.55, Z:-4.42 [[ 8.55722361e-01 5.12404369e-01 7.19791829e-02 6.99935718e+01] [-5.10572137e-01 8.58744242e-01 -4.32945628e-02 -2.45472579e+01] [-8.39960320e-02 2.97560263e-04 9.96466045e-01 -4.41690796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72864 meters 0.031176993105872467 Centerline is valid? [True, True] Translation: X:70.02, Y:-24.57, Z:-4.42 [[ 8.54334303e-01 5.14792161e-01 7.14277939e-02 7.00191393e+01] [-5.12992266e-01 8.57315006e-01 -4.30106368e-02 -2.45665589e+01] [-8.33776583e-02 1.03556584e-04 9.96518016e-01 -4.41835710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75864 meters 0.03116735161333807 Centerline is valid? [True, True] Translation: X:70.04, Y:-24.59, Z:-4.42 [[ 8.50723598e-01 5.20456441e-01 7.34469346e-02 7.00441552e+01] [-5.18570225e-01 8.53888115e-01 -4.42719850e-02 -2.45876089e+01] [-8.57571043e-02 -4.24171046e-04 9.96315984e-01 -4.42054783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78864 meters 0.031178083195709298 Centerline is valid? [True, True] Translation: X:70.07, Y:-24.61, Z:-4.42 [[ 8.48658633e-01 5.23614167e-01 7.48780948e-02 7.00703037e+01] [-5.21661751e-01 8.51955216e-01 -4.51810647e-02 -2.46060001e+01] [-8.74502289e-02 -7.17737397e-04 9.96168631e-01 -4.42275976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81864 meters 0.031428325319601005 Centerline is valid? [True, True] Translation: X:70.10, Y:-24.62, Z:-4.43 [[ 8.47048981e-01 5.26104339e-01 7.56455430e-02 7.00963397e+01] [-5.24117377e-01 8.50419503e-01 -4.56907329e-02 -2.46243002e+01] [-8.83685379e-02 -9.44854846e-04 9.96087400e-01 -4.42538799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84864 meters 0.03148072596561065 Centerline is valid? [True, True] Translation: X:70.12, Y:-24.64, Z:-4.43 [[ 8.44109224e-01 5.30773000e-01 7.58922920e-02 7.01216728e+01] [-5.28787645e-01 8.47512872e-01 -4.58863575e-02 -2.46441834e+01] [-8.86749340e-02 -1.39780875e-03 9.96059638e-01 -4.42709300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87863999999999 meters 0.03171090204179727 Centerline is valid? [True, True] Translation: X:70.15, Y:-24.66, Z:-4.43 [[ 8.42406241e-01 5.33390682e-01 7.64598306e-02 7.01489242e+01] [-5.31381982e-01 8.45867408e-01 -4.62765321e-02 -2.46617712e+01] [-8.93583497e-02 -1.64573681e-03 9.95998181e-01 -4.42893036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters 0.03162400212021328 Centerline is valid? [True, True] Translation: X:70.18, Y:-24.68, Z:-4.43 [[ 8.40412006e-01 5.36428794e-01 7.71479688e-02 7.01756653e+01] [-5.34393082e-01 8.43943320e-01 -4.67301477e-02 -2.46793851e+01] [-9.01759097e-02 -1.95476366e-03 9.95923935e-01 -4.42992301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93863999999999 meters 0.032171013298841325 Centerline is valid? [True, True] Translation: X:70.20, Y:-24.70, Z:-4.43 [[ 8.37297034e-01 5.41205934e-01 7.76518752e-02 7.02010284e+01] [-5.39162126e-01 8.40886464e-01 -4.70548251e-02 -2.46985861e+01] [-9.07627613e-02 -2.46808460e-03 9.95869484e-01 -4.43195857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters 0.032248183998870895 Centerline is valid? [True, True] Translation: X:70.23, Y:-24.72, Z:-4.43 [[ 8.35796350e-01 5.43507494e-01 7.77435872e-02 7.02285603e+01] [-5.41465813e-01 8.39399992e-01 -4.71426209e-02 -2.47150763e+01] [-9.08803343e-02 -2.69386415e-03 9.95858177e-01 -4.43303578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99864 meters 0.032375398924876404 Centerline is valid? [True, True] Translation: X:70.26, Y:-24.73, Z:-4.44 [[ 8.33910411e-01 5.46433514e-01 7.74844565e-02 7.02561666e+01] [-5.44413657e-01 8.37497248e-01 -4.70332716e-02 -2.47312967e+01] [-9.05935750e-02 -2.96206149e-03 9.95883543e-01 -4.43500621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02864 meters 0.03261319881576535 Centerline is valid? [True, True] Translation: X:70.28, Y:-24.75, Z:-4.44 [[ 8.31796009e-01 5.49838743e-01 7.61101507e-02 7.02835857e+01] [-5.47900137e-01 8.35264564e-01 -4.62444331e-02 -2.47472812e+01] [-8.89990928e-02 -3.23482706e-03 9.96026454e-01 -4.43626076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05864 meters 0.032774999240561466 Centerline is valid? [True, True] Translation: X:70.31, Y:-24.76, Z:-4.44 [[ 8.30432129e-01 5.51751639e-01 7.71531422e-02 7.03114354e+01] [-5.49763523e-01 8.34001339e-01 -4.69237301e-02 -2.47627196e+01] [-9.02360688e-02 -3.44901017e-03 9.95914432e-01 -4.43955493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08864 meters 0.03314779251685172 Centerline is valid? [True, True] Translation: X:70.34, Y:-24.78, Z:-4.44 [[ 8.29753775e-01 5.52527049e-01 7.88830357e-02 7.03396491e+01] [-5.50447558e-01 8.33487312e-01 -4.80248527e-02 -2.47781402e+01] [-9.22830395e-02 -3.57217155e-03 9.95726408e-01 -4.44185976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11864 meters 0.03335025556524532 Centerline is valid? [True, True] Translation: X:70.37, Y:-24.79, Z:-4.44 [[ 8.28616506e-01 5.54274722e-01 7.85761991e-02 7.03696973e+01] [-5.52214808e-01 8.32325510e-01 -4.78858187e-02 -2.47901249e+01] [-9.19428739e-02 -3.71196091e-03 9.95757365e-01 -4.44265339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14864 meters 0.03315391698995882 Centerline is valid? [True, True] Translation: X:70.40, Y:-24.80, Z:-4.44 [[ 8.28893689e-01 5.53895862e-01 7.83238534e-02 7.03986472e+01] [-5.51843140e-01 8.32578093e-01 -4.77793634e-02 -2.48048526e+01] [-9.16755162e-02 -3.61846841e-03 9.95782359e-01 -4.44434219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17864 meters 0.03267948816818189 Centerline is valid? [True, True] Translation: X:70.43, Y:-24.82, Z:-4.45 [[ 8.30009183e-01 5.52362080e-01 7.73362072e-02 7.04277970e+01] [-5.50350957e-01 8.33597471e-01 -4.72131297e-02 -2.48196580e+01] [-9.05460093e-02 -3.37472444e-03 9.95886556e-01 -4.44528637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20864 meters 0.03206040869530105 Centerline is valid? [True, True] Translation: X:70.46, Y:-24.83, Z:-4.45 [[ 8.32174841e-01 5.49221487e-01 7.64250721e-02 7.04569126e+01] [-5.47243136e-01 8.35671494e-01 -4.66701637e-02 -2.48319599e+01] [-8.94985109e-02 -2.98536011e-03 9.95982482e-01 -4.44737685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23864 meters 0.03201744342169149 Centerline is valid? [True, True] Translation: X:70.49, Y:-24.85, Z:-4.45 [[ 8.33135968e-01 5.47767894e-01 7.63858139e-02 7.04852930e+01] [-5.45783620e-01 8.36625625e-01 -4.66669394e-02 -2.48464753e+01] [-8.94689804e-02 -2.81022022e-03 9.95985645e-01 -4.44907360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26863999999999 meters 0.031847177217611634 Centerline is valid? [True, True] Translation: X:70.51, Y:-24.86, Z:-4.45 [[ 8.34065840e-01 5.46282501e-01 7.68739452e-02 7.05135326e+01] [-5.44262094e-01 8.37596875e-01 -4.70132675e-02 -2.48616296e+01] [-9.00719016e-02 -2.62741395e-03 9.95931799e-01 -4.45112924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29863999999999 meters 0.031463435899212 Centerline is valid? [True, True] Translation: X:70.54, Y:-24.87, Z:-4.45 [[ 8.36058546e-01 5.43173809e-01 7.72549108e-02 7.05435446e+01] [-5.41115643e-01 8.39617230e-01 -4.72944859e-02 -2.48744942e+01] [-9.05536802e-02 -2.26288164e-03 9.95889005e-01 -4.45210314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters 0.03140633967671141 Centerline is valid? [True, True] Translation: X:70.57, Y:-24.89, Z:-4.45 [[ 8.36543153e-01 5.42453569e-01 7.70693048e-02 7.05721539e+01] [-5.40397916e-01 8.40083061e-01 -4.72286341e-02 -2.48891694e+01] [-9.03639586e-02 -2.13930118e-03 9.95906511e-01 -4.45395979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35864 meters 0.031468340206242895 Centerline is valid? [True, True] Translation: X:70.60, Y:-24.90, Z:-4.46 [[ 8.36780990e-01 5.42265500e-01 7.58004067e-02 7.06004504e+01] [-5.40272182e-01 8.40204705e-01 -4.64975501e-02 -2.49043176e+01] [-8.89018756e-02 -2.04458516e-03 9.96038291e-01 -4.45563186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters 0.031109956867186685 Centerline is valid? [True, True] Translation: X:70.63, Y:-24.92, Z:-4.46 [[ 8.38251411e-01 5.40027779e-01 7.55286022e-02 7.06283324e+01] [-5.38035534e-01 8.41645351e-01 -4.63774538e-02 -2.49203569e+01] [-8.86134103e-02 -1.76110572e-03 9.96064537e-01 -4.45793347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41864 meters 0.031140095292436314 Centerline is valid? [True, True] Translation: X:70.66, Y:-24.94, Z:-4.46 [[ 8.39206135e-01 5.38367130e-01 7.67717190e-02 7.06555719e+01] [-5.36297757e-01 8.42708937e-01 -4.71843539e-02 -2.49378638e+01] [-9.00987189e-02 -1.57510152e-03 9.95931594e-01 -4.46204011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44864 meters 0.03094735116408571 Centerline is valid? [True, True] Translation: X:70.68, Y:-24.95, Z:-4.46 [[ 8.41882869e-01 5.34268178e-01 7.60969745e-02 7.06839892e+01] [-5.32215540e-01 8.45314324e-01 -4.68007856e-02 -2.49539334e+01] [-8.93300329e-02 -1.09921276e-03 9.96001474e-01 -4.46329752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47864 meters 0.03094735116408571 Centerline is valid? [True, True] Translation: X:70.71, Y:-24.97, Z:-4.47 [[ 8.41609284e-01 5.34701289e-01 7.60811714e-02 7.07118802e+01] [-5.32648095e-01 8.45040407e-01 -4.68264640e-02 -2.49707132e+01] [-8.93298347e-02 -1.11490423e-03 9.96001475e-01 -4.46521793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50864 meters 0.030832875052899725 Centerline is valid? [True, True] Translation: X:70.74, Y:-24.99, Z:-4.47 [[ 8.42651589e-01 5.33195652e-01 7.51045670e-02 7.07399251e+01] [-5.31184479e-01 8.45991482e-01 -4.62759425e-02 -2.49866520e+01] [-8.82119552e-02 -8.99883722e-04 9.96101321e-01 -4.46667193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53864 meters 0.030769753631062647 Centerline is valid? [True, True] Translation: X:70.77, Y:-25.00, Z:-4.47 [[ 8.43652696e-01 5.31824105e-01 7.35747954e-02 7.07667776e+01] [-5.29885039e-01 8.46854550e-01 -4.53785922e-02 -2.50035007e+01] [-8.64405794e-02 -7.02411730e-04 9.96256761e-01 -4.46940517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56864 meters 0.030758193477808456 Centerline is valid? [True, True] Translation: X:70.79, Y:-25.02, Z:-4.47 [[ 8.44529288e-01 5.30374086e-01 7.39838543e-02 7.07948630e+01] [-5.28403555e-01 8.47763566e-01 -4.56795397e-02 -2.50217740e+01] [-8.69480603e-02 -5.15622482e-04 9.96212713e-01 -4.47167846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59864 meters 0.03074149168883684 Centerline is valid? [True, True] Translation: X:70.82, Y:-25.04, Z:-4.47 [[ 8.46713996e-01 5.27043018e-01 7.28084230e-02 7.08220101e+01] [-5.25118151e-01 8.49838597e-01 -4.50031866e-02 -2.50392312e+01] [-8.55940234e-02 -1.28196518e-04 9.96330089e-01 -4.47387815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62863999999999 meters 0.030733875276463894 Centerline is valid? [True, True] Translation: X:70.85, Y:-25.06, Z:-4.48 [[ 8.47337979e-01 5.26079273e-01 7.25186113e-02 7.08498295e+01] [-5.24162164e-01 8.50435535e-01 -4.48712306e-02 -2.50572800e+01] [-8.52782283e-02 9.58566513e-06 9.96357177e-01 -4.47529158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65863999999999 meters 0.030781496776664703 Centerline is valid? [True, True] Translation: X:70.87, Y:-25.08, Z:-4.48 [[ 8.49293267e-01 5.22872258e-01 7.28391878e-02 7.08749461e+01] [-5.20921865e-01 8.52410968e-01 -4.51215300e-02 -2.50791707e+01] [-8.56817189e-02 3.77886113e-04 9.96322488e-01 -4.47773729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters 0.030842218806302727 Centerline is valid? [True, True] Translation: X:70.90, Y:-25.10, Z:-4.48 [[ 8.49583196e-01 5.22494952e-01 7.21624469e-02 7.09016273e+01] [-5.20574998e-01 8.52642257e-01 -4.47532524e-02 -2.50981923e+01] [-8.49121000e-02 4.55645578e-04 9.96388342e-01 -4.47955816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71864 meters 0.03089312676603537 Centerline is valid? [True, True] Translation: X:70.93, Y:-25.12, Z:-4.48 [[ 8.49843694e-01 5.22154394e-01 7.15575567e-02 7.09293505e+01] [-5.20261097e-01 8.52850813e-01 -4.44283847e-02 -2.51167965e+01] [-8.42263967e-02 5.28569613e-04 9.96446504e-01 -4.48136949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters 0.030796091894819612 Centerline is valid? [True, True] Translation: X:70.96, Y:-25.14, Z:-4.48 [[ 8.49865435e-01 5.22197834e-01 7.09800298e-02 7.09565391e+01] [-5.20330992e-01 8.52824194e-01 -4.41197604e-02 -2.51355973e+01] [-8.35727299e-02 5.62750071e-04 9.96501521e-01 -4.48242543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77864 meters 0.03069163947747841 Centerline is valid? [True, True] Translation: X:70.98, Y:-25.16, Z:-4.49 [[ 8.48808475e-01 5.23849480e-01 7.14555392e-02 7.09804310e+01] [-5.21959041e-01 8.51810732e-01 -4.44661354e-02 -2.51592900e+01] [-8.41601570e-02 4.46367914e-04 9.96452141e-01 -4.48587806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80864 meters 0.03071895726686833 Centerline is valid? [True, True] Translation: X:71.01, Y:-25.18, Z:-4.49 [[ 8.48472740e-01 5.24455401e-01 7.09967750e-02 7.10072433e+01] [-5.22587100e-01 8.51437813e-01 -4.42308977e-02 -2.51794212e+01] [-8.36464721e-02 4.26712122e-04 9.96495402e-01 -4.48755891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83864 meters 0.03056191473734326 Centerline is valid? [True, True] Translation: X:71.03, Y:-25.20, Z:-4.49 [[ 8.47505595e-01 5.26112140e-01 7.02871371e-02 7.10311669e+01] [-5.24282776e-01 8.50415149e-01 -4.38365809e-02 -2.52012827e+01] [-8.28362036e-02 3.01412233e-04 9.96563130e-01 -4.48914216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86864 meters 0.03049409549275788 Centerline is valid? [True, True] Translation: X:71.06, Y:-25.22, Z:-4.49 [[ 8.46210123e-01 5.28066114e-01 7.12362694e-02 7.10566014e+01] [-5.26189881e-01 8.49203248e-01 -4.44753074e-02 -2.52220786e+01] [-8.39799741e-02 1.51651188e-04 9.96467431e-01 -4.49182748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89864 meters 0.030606862927936032 Centerline is valid? [True, True] Translation: X:71.08, Y:-25.24, Z:-4.49 [[ 8.45666114e-01 5.28920555e-01 7.13573426e-02 7.10829304e+01] [-5.27036637e-01 8.48671334e-01 -4.46021216e-02 -2.52428512e+01] [-8.41499101e-02 1.10568971e-04 9.96453100e-01 -4.49328457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92864 meters 0.03049339426213848 Centerline is valid? [True, True] Translation: X:71.11, Y:-25.27, Z:-4.50 [[ 8.43755529e-01 5.31885103e-01 7.19363915e-02 7.11080998e+01] [-5.29976714e-01 8.46816519e-01 -4.50162851e-02 -2.52653408e+01] [-8.48604161e-02 -1.41872910e-04 9.96392839e-01 -4.49539386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95864 meters 0.030315716223824705 Centerline is valid? [True, True] Translation: X:71.14, Y:-25.28, Z:-4.50 [[ 8.42790182e-01 5.33380593e-01 7.21793042e-02 7.11356644e+01] [-5.31460242e-01 8.45875335e-01 -4.52208974e-02 -2.52842271e+01] [-8.51746422e-02 -2.48702094e-04 9.96366006e-01 -4.49662147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98864 meters 0.03033981278940111 Centerline is valid? [True, True] Translation: X:71.16, Y:-25.30, Z:-4.50 [[ 8.41474960e-01 5.35468698e-01 7.20636145e-02 7.11620490e+01] [-5.33557681e-01 8.44554972e-01 -4.52006547e-02 -2.53033445e+01] [-8.50652197e-02 -4.14875932e-04 9.96375299e-01 -4.49869273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01863999999999 meters 0.030238532453365906 Centerline is valid? [True, True] Translation: X:71.19, Y:-25.32, Z:-4.50 [[ 8.40609091e-01 5.36941143e-01 7.12078949e-02 7.11880741e+01] [-5.35076418e-01 8.43619549e-01 -4.47133426e-02 -2.53221823e+01] [-8.40808054e-02 -5.15223087e-04 9.96458806e-01 -4.49973078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters 0.030016419296826566 Centerline is valid? [True, True] Translation: X:71.21, Y:-25.34, Z:-4.50 [[ 8.39445881e-01 5.38886095e-01 7.02309757e-02 7.12144631e+01] [-5.37075237e-01 8.42378382e-01 -4.41457957e-02 -2.53419840e+01] [-8.29506112e-02 -6.61311572e-04 9.96553440e-01 -4.50083985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07864 meters 0.03010534584904602 Centerline is valid? [True, True] Translation: X:71.24, Y:-25.36, Z:-4.50 [[ 8.38597749e-01 5.40200141e-01 7.02682221e-02 7.12420355e+01] [-5.38387707e-01 8.41536243e-01 -4.42202350e-02 -2.53596635e+01] [-8.30210328e-02 -7.48557446e-04 9.96547514e-01 -4.50327373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10864 meters 0.030107604558789944 Centerline is valid? [True, True] Translation: X:71.27, Y:-25.38, Z:-4.51 [[ 8.36379766e-01 5.43607966e-01 7.04220626e-02 7.12678192e+01] [-5.41795474e-01 8.39338598e-01 -4.43664445e-02 -2.53782648e+01] [-8.32259080e-02 -1.04715834e-03 9.96530156e-01 -4.50508973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13864 meters 0.03028255225618508 Centerline is valid? [True, True] Translation: X:71.29, Y:-25.40, Z:-4.51 [[ 8.35215073e-01 5.45072936e-01 7.28785033e-02 7.12945911e+01] [-5.43133035e-01 8.38387778e-01 -4.59612920e-02 -2.53953336e+01] [-8.61527028e-02 -1.19515882e-03 9.96281227e-01 -4.50786802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16864 meters 0.030295645830363375 Centerline is valid? [True, True] Translation: X:71.32, Y:-25.41, Z:-4.51 [[ 8.34200344e-01 5.46721640e-01 7.21473119e-02 7.13234975e+01] [-5.44823374e-01 8.37313387e-01 -4.55387982e-02 -2.54114895e+01] [-8.53069566e-02 -1.31906075e-03 9.96353844e-01 -4.50796963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19864 meters 0.03046402528576011 Centerline is valid? [True, True] Translation: X:71.35, Y:-25.42, Z:-4.51 [[ 8.31967894e-01 5.50047122e-01 7.26470002e-02 7.13532527e+01] [-5.48132400e-01 8.35131999e-01 -4.58848129e-02 -2.54241404e+01] [-8.59086437e-02 -1.64548346e-03 9.96301660e-01 -4.50996799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22864 meters 0.030496129954548718 Centerline is valid? [True, True] Translation: X:71.38, Y:-25.44, Z:-4.51 [[ 8.31113952e-01 5.51236731e-01 7.34007142e-02 7.13815045e+01] [-5.49282511e-01 8.34347058e-01 -4.64080733e-02 -2.54392633e+01] [-8.68235045e-02 -1.74733141e-03 9.96222177e-01 -4.51222644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25864 meters 0.03072331937525574 Centerline is valid? [True, True] Translation: X:71.41, Y:-25.46, Z:-4.51 [[ 8.29679593e-01 5.53283709e-01 7.42220323e-02 7.14097326e+01] [-5.51289394e-01 8.32990612e-01 -4.69749398e-02 -2.54555466e+01] [-8.78167250e-02 -1.94367030e-03 9.96134752e-01 -4.51418789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28864 meters 0.030721249093082312 Centerline is valid? [True, True] Translation: X:71.44, Y:-25.47, Z:-4.52 [[ 8.28279035e-01 5.55504593e-01 7.32699609e-02 7.14397396e+01] [-5.53565624e-01 8.31510790e-01 -4.64209599e-02 -2.54693388e+01] [-8.67118195e-02 -2.11022370e-03 9.96231202e-01 -4.51576801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31864 meters 0.030708955099966895 Centerline is valid? [True, True] Translation: X:71.47, Y:-25.48, Z:-4.52 [[ 8.27805647e-01 5.56245270e-01 7.30000708e-02 7.14690611e+01] [-5.54318833e-01 8.31015427e-01 -4.63032437e-02 -2.54839877e+01] [-8.64201453e-02 -2.13522743e-03 9.96256493e-01 -4.51704945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34864 meters 0.030847007484464145 Centerline is valid? [True, True] Translation: X:71.50, Y:-25.50, Z:-4.52 [[ 8.27516729e-01 5.56562114e-01 7.38557879e-02 7.14971951e+01] [-5.54586918e-01 8.30803218e-01 -4.68973802e-02 -2.54985643e+01] [-8.74609313e-02 -2.15108710e-03 9.96165628e-01 -4.52054665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37863999999999 meters 0.03072212418071185 Centerline is valid? [True, True] Translation: X:71.53, Y:-25.51, Z:-4.52 [[ 8.28541947e-01 5.55038123e-01 7.38303728e-02 7.15273865e+01] [-5.53055158e-01 8.31822601e-01 -4.69164447e-02 -2.55118947e+01] [-8.74541882e-02 -1.96002601e-03 9.96166614e-01 -4.52159828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters 0.030707440087945695 Centerline is valid? [True, True] Translation: X:71.56, Y:-25.53, Z:-4.52 [[ 8.29599671e-01 5.53264348e-01 7.52525571e-02 7.15572621e+01] [-5.51194125e-01 8.33003833e-01 -4.78503044e-02 -2.55265555e+01] [-8.91595359e-02 -1.78217064e-03 9.96015763e-01 -4.52380247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43863999999999 meters 0.03034871486736601 Centerline is valid? [True, True] Translation: X:71.59, Y:-25.54, Z:-4.53 [[ 8.30331588e-01 5.52260814e-01 7.45482909e-02 7.15861696e+01] [-5.50220621e-01 8.33669829e-01 -4.74540262e-02 -2.55406086e+01] [-8.83556601e-02 -1.61543001e-03 9.96087681e-01 -4.52518118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters 0.030269878291184747 Centerline is valid? [True, True] Translation: X:71.62, Y:-25.55, Z:-4.53 [[ 8.32294315e-01 5.49489237e-01 7.31283150e-02 7.16172244e+01] [-5.47512317e-01 8.35499837e-01 -4.65863174e-02 -2.55523112e+01] [-8.66973752e-02 -1.26512606e-03 9.96233891e-01 -4.52667411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49864 meters 0.03034005456203957 Centerline is valid? [True, True] Translation: X:71.65, Y:-25.57, Z:-4.53 [[ 8.33524883e-01 5.47638493e-01 7.29955558e-02 7.16454479e+01] [-5.45659366e-01 8.36714397e-01 -4.65282007e-02 -2.55671672e+01] [-8.65570661e-02 -1.04829571e-03 9.96246343e-01 -4.52923217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52864 meters 0.030201778963605607 Centerline is valid? [True, True] Translation: X:71.68, Y:-25.58, Z:-4.53 [[ 8.35099732e-01 5.45392150e-01 7.18041798e-02 7.16751347e+01] [-5.43464988e-01 8.38180661e-01 -4.58146968e-02 -2.55811437e+01] [-8.51718509e-02 -7.63216668e-04 9.96365984e-01 -4.53067378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55864 meters 0.03015493352147326 Centerline is valid? [True, True] Translation: X:71.70, Y:-25.60, Z:-4.53 [[ 8.36057085e-01 5.43910481e-01 7.19022958e-02 7.17042071e+01] [-5.41968447e-01 8.39143052e-01 -4.59253871e-02 -2.55967761e+01] [-8.53156113e-02 -5.72530376e-04 9.96353812e-01 -4.53113497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58864 meters 0.030196583075394693 Centerline is valid? [True, True] Translation: X:71.73, Y:-25.61, Z:-4.53 [[ 8.36457347e-01 5.43184812e-01 7.27280346e-02 7.17329888e+01] [-5.41190449e-01 8.39613035e-01 -4.65064385e-02 -2.56128581e+01] [-8.63249970e-02 -4.59065511e-04 9.96266924e-01 -4.53456296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61864 meters 0.030226002579892886 Centerline is valid? [True, True] Translation: X:71.76, Y:-25.63, Z:-4.54 [[ 8.36976290e-01 5.42353312e-01 7.29628392e-02 7.17616199e+01] [-5.40338210e-01 8.40150449e-01 -4.67101943e-02 -2.56300631e+01] [-8.66331907e-02 -3.29284828e-04 9.96240223e-01 -4.53691782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64864 meters 0.030191779529877727 Centerline is valid? [True, True] Translation: X:71.79, Y:-25.65, Z:-4.54 [[ 8.37591598e-01 5.41496890e-01 7.22594837e-02 7.17887751e+01] [-5.39513002e-01 8.40702730e-01 -4.63102589e-02 -2.56474406e+01] [-8.58256064e-02 -1.95847227e-04 9.96310156e-01 -4.53881047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67864 meters 0.030051678219035406 Centerline is valid? [True, True] Translation: X:71.82, Y:-25.66, Z:-4.54 [[ 8.38916827e-01 5.39719546e-01 7.01524780e-02 7.18155758e+01] [-5.37839982e-01 8.41844886e-01 -4.50038035e-02 -2.56645704e+01] [-8.33469372e-02 2.36405514e-05 9.96520591e-01 -4.53985266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70864 meters 0.030192445124222887 Centerline is valid? [True, True] Translation: X:71.84, Y:-25.68, Z:-4.54 [[ 8.38895554e-01 5.39653261e-01 7.09126780e-02 7.18434691e+01] [-5.37728595e-01 8.41887376e-01 -4.55368478e-02 -2.56807815e+01] [-8.42745968e-02 6.88843988e-05 9.96442566e-01 -4.54295411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73864 meters 0.030163349282282072 Centerline is valid? [True, True] Translation: X:71.87, Y:-25.70, Z:-4.54 [[ 8.37896605e-01 5.41084473e-01 7.18113715e-02 7.18706956e+01] [-5.39111914e-01 8.40968247e-01 -4.61600749e-02 -2.56985753e+01] [-8.53675830e-02 -3.69959567e-05 9.96349524e-01 -4.54482474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters 0.030058831204079622 Centerline is valid? [True, True] Translation: X:71.90, Y:-25.72, Z:-4.55 [[ 8.37026615e-01 5.42388725e-01 7.21173834e-02 7.18976508e+01] [-5.40399987e-01 8.40127641e-01 -4.64047492e-02 -2.57172833e+01] [-8.57572199e-02 -1.30222932e-04 9.96316055e-01 -4.54688523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79863999999999 meters 0.030034648268304567 Centerline is valid? [True, True] Translation: X:71.92, Y:-25.74, Z:-4.55 [[ 8.36386502e-01 5.43343842e-01 7.23539089e-02 7.19246593e+01] [-5.41341014e-01 8.39510236e-01 -4.66097777e-02 -2.57356370e+01] [-8.60669828e-02 -1.84349458e-04 9.96289336e-01 -4.54871418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters 0.029926056001011416 Centerline is valid? [True, True] Translation: X:71.95, Y:-25.75, Z:-4.55 [[ 8.35611272e-01 5.44576443e-01 7.20437413e-02 7.19523282e+01] [-5.42590836e-01 8.38711171e-01 -4.64624285e-02 -2.57540423e+01] [-8.57262347e-02 -2.65744828e-04 9.96318695e-01 -4.55002196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85864 meters 0.029896459913873064 Centerline is valid? [True, True] Translation: X:71.98, Y:-25.77, Z:-4.55 [[ 8.35165044e-01 5.45257827e-01 7.20642188e-02 7.19800497e+01] [-5.43269080e-01 8.38268345e-01 -4.65283748e-02 -2.57720871e+01] [-8.57791139e-02 -2.91389571e-04 9.96314137e-01 -4.55140123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters 0.03001600168429155 Centerline is valid? [True, True] Translation: X:72.01, Y:-25.79, Z:-4.55 [[ 8.35668624e-01 5.44277715e-01 7.36187425e-02 7.20065207e+01] [-5.42193676e-01 8.38905088e-01 -4.75843639e-02 -2.57903666e+01] [-8.76582465e-02 -1.50856709e-04 9.96150596e-01 -4.55473651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91864 meters 0.02997905735600356 Centerline is valid? [True, True] Translation: X:72.03, Y:-25.81, Z:-4.56 [[ 8.35447704e-01 5.44634019e-01 7.34909450e-02 7.20342982e+01] [-5.42554278e-01 8.38673812e-01 -4.75509426e-02 -2.58078791e+01] [-8.75327920e-02 -1.46500770e-04 9.96161628e-01 -4.55765996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94864 meters 0.030105771350036656 Centerline is valid? [True, True] Translation: X:72.06, Y:-25.83, Z:-4.56 [[ 8.34874077e-01 5.45430735e-01 7.40985114e-02 7.20622462e+01] [-5.43314695e-01 8.38155880e-01 -4.79985737e-02 -2.58252975e+01] [-8.82860003e-02 -1.86045185e-04 9.96095150e-01 -4.55871477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97864 meters 0.029916472492699145 Centerline is valid? [True, True] Translation: X:72.09, Y:-25.84, Z:-4.56 [[ 8.33951336e-01 5.46849918e-01 7.40292889e-02 7.20907933e+01] [-5.44738602e-01 8.37230603e-01 -4.80080502e-02 -2.58426097e+01] [-8.82327845e-02 -2.90233711e-04 9.96099840e-01 -4.56123590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00864 meters 0.029850926593089307 Centerline is valid? [True, True] Translation: X:72.12, Y:-25.86, Z:-4.56 [[ 8.32017659e-01 5.49859515e-01 7.34923723e-02 7.21178349e+01] [-5.47785725e-01 8.35256967e-01 -4.77137096e-02 -2.58609168e+01] [-8.76208532e-02 -5.59423434e-04 9.96153740e-01 -4.56333969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03864 meters 0.03004882039446482 Centerline is valid? [True, True] Translation: X:72.14, Y:-25.88, Z:-4.57 [[ 8.30814498e-01 5.51667323e-01 7.35556559e-02 7.21449778e+01] [-5.49592273e-01 8.34063946e-01 -4.78086504e-02 -2.58790590e+01] [-8.77245908e-02 -7.05500293e-04 9.96144517e-01 -4.56600765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06864 meters 0.030213692978695417 Centerline is valid? [True, True] Translation: X:72.17, Y:-25.90, Z:-4.57 [[ 8.29582281e-01 5.53263014e-01 7.54538009e-02 7.21718962e+01] [-5.51080971e-01 8.33006190e-01 -4.90963537e-02 -2.58964005e+01] [-9.00166799e-02 -8.51688732e-04 9.95939894e-01 -4.56904974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09864 meters 0.03023426014840921 Centerline is valid? [True, True] Translation: X:72.20, Y:-25.91, Z:-4.57 [[ 8.29523949e-01 5.53208881e-01 7.64849816e-02 7.21988152e+01] [-5.50961917e-01 8.33042176e-01 -4.98166497e-02 -2.59133133e+01] [-9.12742286e-02 -8.16208127e-04 9.95825461e-01 -4.57138381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters 0.030020411606720827 Centerline is valid? [True, True] Translation: X:72.23, Y:-25.93, Z:-4.57 [[ 8.29420261e-01 5.53469399e-01 7.57209073e-02 7.22263174e+01] [-5.51263903e-01 8.32869132e-01 -4.93671779e-02 -2.59305992e+01] [-9.03888286e-02 -7.96065329e-04 9.95906234e-01 -4.57310187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15863999999999 meters 0.03003679785611527 Centerline is valid? [True, True] Translation: X:72.25, Y:-25.95, Z:-4.57 [[ 8.29824425e-01 5.53115392e-01 7.38565309e-02 7.22540306e+01] [-5.51012737e-01 8.33104352e-01 -4.81881952e-02 -2.59477444e+01] [-8.81838298e-02 -7.08147855e-04 9.96103966e-01 -4.57478900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters 0.029942563313957168 Centerline is valid? [True, True] Translation: X:72.28, Y:-25.96, Z:-4.58 [[ 8.29394739e-01 5.53781428e-01 7.36919032e-02 7.22821878e+01] [-5.51688183e-01 8.32661734e-01 -4.81101449e-02 -2.59648985e+01] [-8.80029326e-02 -7.52651112e-04 9.96119931e-01 -4.57651525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21864 meters 0.030049273411282492 Centerline is valid? [True, True] Translation: X:72.31, Y:-25.98, Z:-4.58 [[ 8.28877317e-01 5.54438284e-01 7.45693203e-02 7.23095780e+01] [-5.52292662e-01 8.32224471e-01 -4.87364953e-02 -2.59821927e+01] [-8.90797919e-02 -7.87513039e-04 9.96024182e-01 -4.57903672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters 0.030106584796050332 Centerline is valid? [True, True] Translation: X:72.34, Y:-26.00, Z:-4.58 [[ 8.28199890e-01 5.55441228e-01 7.46323265e-02 7.23374293e+01] [-5.53291480e-01 8.31555358e-01 -4.88285240e-02 -2.60002299e+01] [-8.91822863e-02 -8.53652138e-04 9.96014955e-01 -4.58047565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27864 meters 0.030059413035776337 Centerline is valid? [True, True] Translation: X:72.37, Y:-26.02, Z:-4.58 [[ 8.26962930e-01 5.57216898e-01 7.51108528e-02 7.23653057e+01] [-5.55041953e-01 8.30366373e-01 -4.91946861e-02 -2.60158101e+01] [-8.97816369e-02 -1.00749264e-03 9.95960964e-01 -4.58198062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30864 meters 0.029998408412412945 Centerline is valid? [True, True] Translation: X:72.39, Y:-26.03, Z:-4.58 [[ 8.26062628e-01 5.58727945e-01 7.37808756e-02 7.23941712e+01] [-5.56631965e-01 8.29350248e-01 -4.83634269e-02 -2.60313182e+01] [-8.82121856e-02 -1.11757417e-03 9.96101080e-01 -4.58380100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33864 meters 0.030207522983153295 Centerline is valid? [True, True] Translation: X:72.42, Y:-26.05, Z:-4.59 [[ 8.24160666e-01 5.61604860e-01 7.32064079e-02 7.24241082e+01] [-5.59549671e-01 8.27404413e-01 -4.80218906e-02 -2.60460686e+01] [-8.75406322e-02 -1.38486811e-03 9.96159987e-01 -4.58726384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36864 meters 0.030197035699511772 Centerline is valid? [True, True] Translation: X:72.45, Y:-26.06, Z:-4.59 [[ 8.23480629e-01 5.62593942e-01 7.32646517e-02 7.24521619e+01] [-5.60534594e-01 8.26732100e-01 -4.81144832e-02 -2.60627067e+01] [-8.76391562e-02 -1.44602688e-03 9.96151237e-01 -4.58910311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39864 meters 0.030197035699511772 Centerline is valid? [True, True] Translation: X:72.48, Y:-26.08, Z:-4.59 [[ 8.23189048e-01 5.63023742e-01 7.32397223e-02 7.24795401e+01] [-5.60962718e-01 8.26439456e-01 -4.81524080e-02 -2.60803066e+01] [-8.76391451e-02 -1.44621877e-03 9.96151238e-01 -4.59102145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42864 meters 0.030324974342317366 Centerline is valid? [True, True] Translation: X:72.51, Y:-26.10, Z:-4.59 [[ 8.21690758e-01 5.65174538e-01 7.34985702e-02 7.25086128e+01] [-5.63102819e-01 8.24969732e-01 -4.83751511e-02 -2.60954649e+01] [-8.79744995e-02 -1.63783752e-03 9.96121381e-01 -4.59219943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45864 meters 0.03036784293208051 Centerline is valid? [True, True] Translation: X:72.54, Y:-26.11, Z:-4.59 [[ 8.21194060e-01 5.65780360e-01 7.43834623e-02 7.25374414e+01] [-5.63656504e-01 8.24554274e-01 -4.90060712e-02 -2.61107002e+01] [-8.90598743e-02 -1.68322774e-03 9.96024852e-01 -4.59383194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48864 meters 0.03009541334891424 Centerline is valid? [True, True] Translation: X:72.57, Y:-26.13, Z:-4.60 [[ 8.21270473e-01 5.65685182e-01 7.42636212e-02 7.25668091e+01] [-5.63563321e-01 8.24619683e-01 -4.89771500e-02 -2.61263172e+01] [-8.89448918e-02 -1.62876579e-03 9.96035217e-01 -4.59650137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51863999999999 meters 0.030070132745227154 Centerline is valid? [True, True] Translation: X:72.59, Y:-26.14, Z:-4.60 [[ 8.21203503e-01 5.65921838e-01 7.31934442e-02 7.25943817e+01] [-5.63857229e-01 8.24457368e-01 -4.83225981e-02 -2.61426403e+01] [-8.76916879e-02 -1.58796578e-03 9.96146398e-01 -4.59770813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54863999999999 meters 0.02984156617977306 Centerline is valid? [True, True] Translation: X:72.62, Y:-26.16, Z:-4.60 [[ 8.22787532e-01 5.63720564e-01 7.23864808e-02 7.26233179e+01] [-5.61689591e-01 8.25964537e-01 -4.78266433e-02 -2.61573424e+01] [-8.67495284e-02 -1.30756704e-03 9.96229296e-01 -4.59946730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57864 meters 0.02980503890676051 Centerline is valid? [True, True] Translation: X:72.65, Y:-26.17, Z:-4.60 [[ 8.23242812e-01 5.63090484e-01 7.21136565e-02 7.26509661e+01] [-5.61070112e-01 8.26394356e-01 -4.76728279e-02 -2.61731795e+01] [-8.64384344e-02 -1.21450445e-03 9.96256454e-01 -4.60075602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters 0.029722679523122998 Centerline is valid? [True, True] Translation: X:72.68, Y:-26.19, Z:-4.60 [[ 8.24988410e-01 5.60677610e-01 7.09559124e-02 7.26791095e+01] [-5.58709628e-01 8.28033683e-01 -4.69443526e-02 -2.61898345e+01] [-8.50745329e-02 -9.15204636e-04 9.96374170e-01 -4.60263005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63864 meters 0.029620973706544106 Centerline is valid? [True, True] Translation: X:72.71, Y:-26.21, Z:-4.60 [[ 8.25427747e-01 5.60059521e-01 7.07274192e-02 7.27063985e+01] [-5.58099781e-01 8.28451959e-01 -4.68186529e-02 -2.62076703e+01] [-8.48155013e-02 -8.27542006e-04 9.96396330e-01 -4.60400420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66864 meters 0.0296627720110193 Centerline is valid? [True, True] Translation: X:72.73, Y:-26.22, Z:-4.61 [[ 8.26090524e-01 5.59079308e-01 7.07444214e-02 7.27340854e+01] [-5.57110948e-01 8.29113898e-01 -4.68778842e-02 -2.62248511e+01] [-8.48636381e-02 -6.87115738e-04 9.96392338e-01 -4.60663087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69864 meters 0.02974574653666184 Centerline is valid? [True, True] Translation: X:72.76, Y:-26.24, Z:-4.61 [[ 8.26830818e-01 5.57980843e-01 7.07684785e-02 7.27630832e+01] [-5.56002656e-01 8.29853660e-01 -4.69462435e-02 -2.62416098e+01] [-8.49225854e-02 -5.30861119e-04 9.96387411e-01 -4.60818341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72864 meters 0.029412212932561844 Centerline is valid? [True, True] Translation: X:72.79, Y:-26.26, Z:-4.61 [[ 8.26982646e-01 5.58031793e-01 6.85581578e-02 7.27903914e+01] [-5.56171689e-01 8.29819431e-01 -4.55276167e-02 -2.62596090e+01] [-8.22967491e-02 -4.79557551e-04 9.96607754e-01 -4.60841633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75864 meters 0.029299849199504825 Centerline is valid? [True, True] Translation: X:72.82, Y:-26.28, Z:-4.61 [[ 8.26593789e-01 5.58664828e-01 6.80905098e-02 7.28175614e+01] [-5.56828472e-01 8.29393368e-01 -4.52624981e-02 -2.62790683e+01] [-8.17603830e-02 -5.01034716e-04 9.96651889e-01 -4.60998982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78864 meters 0.029584518998410178 Centerline is valid? [True, True] Translation: X:72.84, Y:-26.30, Z:-4.61 [[ 8.26160535e-01 5.59102042e-01 6.97400673e-02 7.28448374e+01] [-5.57172765e-01 8.29098692e-01 -4.64097900e-02 -2.62958273e+01] [-8.37692069e-02 -5.15329165e-04 9.96485050e-01 -4.61227458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81864 meters 0.02947806960589701 Centerline is valid? [True, True] Translation: X:72.87, Y:-26.31, Z:-4.61 [[ 8.25636537e-01 5.60048200e-01 6.83397632e-02 7.28725872e+01] [-5.58195377e-01 8.28459834e-01 -4.55216867e-02 -2.63127330e+01] [-8.21110876e-02 -5.62572127e-04 9.96623024e-01 -4.61318346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84864 meters 0.02956162487763279 Centerline is valid? [True, True] Translation: X:72.90, Y:-26.33, Z:-4.62 [[ 8.25367863e-01 5.60438122e-01 6.83886119e-02 7.29003206e+01] [-5.58580171e-01 8.28196108e-01 -4.56004284e-02 -2.63298444e+01] [-8.21954007e-02 -5.63394335e-04 9.96616074e-01 -4.61569159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87863999999999 meters 0.0295256386736257 Centerline is valid? [True, True] Translation: X:72.93, Y:-26.35, Z:-4.62 [[ 8.24403186e-01 5.61880229e-01 6.81908681e-02 7.29284023e+01] [-5.60033769e-01 8.27218332e-01 -4.55193300e-02 -2.63474935e+01] [-8.19851477e-02 -6.62908187e-04 9.96633331e-01 -4.61720943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters 0.02949212778638566 Centerline is valid? [True, True] Translation: X:72.96, Y:-26.36, Z:-4.62 [[ 8.23284912e-01 5.63574652e-01 6.77167991e-02 7.29569886e+01] [-5.61755439e-01 8.26064765e-01 -4.52529601e-02 -2.63648919e+01] [-8.14418830e-02 -7.84200892e-04 9.96677784e-01 -4.61747713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93863999999999 meters 0.029659563833762698 Centerline is valid? [True, True] Translation: X:72.99, Y:-26.38, Z:-4.62 [[ 8.22434618e-01 5.64820055e-01 6.76727705e-02 7.29859217e+01] [-5.63003259e-01 8.25213643e-01 -4.52744178e-02 -2.63812963e+01] [-8.14163927e-02 -8.64741824e-04 9.96679800e-01 -4.62024316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters 0.029792104889151644 Centerline is valid? [True, True] Translation: X:73.01, Y:-26.40, Z:-4.62 [[ 8.21412470e-01 5.66320002e-01 6.75515299e-02 7.30144994e+01] [-5.64511463e-01 8.24184870e-01 -4.52339345e-02 -2.63958079e+01] [-8.12918308e-02 -9.77895097e-04 9.96689862e-01 -4.62163166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99864 meters 0.02987796739988871 Centerline is valid? [True, True] Translation: X:73.04, Y:-26.41, Z:-4.62 [[ 8.20853867e-01 5.66998122e-01 6.86444464e-02 7.30421888e+01] [-5.65131767e-01 8.23718414e-01 -4.59789176e-02 -2.64121866e+01] [-8.26136544e-02 -1.05118498e-03 9.96581095e-01 -4.62453804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02864 meters 0.0295726676789241 Centerline is valid? [True, True] Translation: X:73.07, Y:-26.43, Z:-4.62 [[ 8.21062329e-01 5.66793701e-01 6.78347432e-02 7.30704511e+01] [-5.64969449e-01 8.23859141e-01 -4.54492785e-02 -2.64276092e+01] [-8.16466381e-02 -1.00786700e-03 9.96660830e-01 -4.62495466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05864 meters 0.029862667745963276 Centerline is valid? [True, True] Translation: X:73.10, Y:-26.44, Z:-4.63 [[ 8.22063140e-01 5.65390082e-01 6.74258755e-02 7.31000692e+01] [-5.63582039e-01 8.24823210e-01 -4.51880242e-02 -2.64406508e+01] [-8.11632877e-02 -8.52603345e-04 9.96700453e-01 -4.62785103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08864 meters 0.02979763806826243 Centerline is valid? [True, True] Translation: X:73.13, Y:-26.46, Z:-4.63 [[ 8.22908206e-01 5.64128646e-01 6.76827539e-02 7.31280020e+01] [-5.62301470e-01 8.25686594e-01 -4.53729585e-02 -2.64575105e+01] [-8.14809282e-02 -7.20332160e-04 9.96674641e-01 -4.62926687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11864 meters 0.029709038276239465 Centerline is valid? [True, True] Translation: X:73.16, Y:-26.47, Z:-4.63 [[ 8.24125834e-01 5.62452645e-01 6.68104233e-02 7.31551280e+01] [-5.60665844e-01 8.26829326e-01 -4.48004127e-02 -2.64745356e+01] [-8.04389278e-02 -5.37144853e-04 9.96759394e-01 -4.63093658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14864 meters 0.029917168822820195 Centerline is valid? [True, True] Translation: X:73.18, Y:-26.49, Z:-4.63 [[ 8.26760378e-01 5.58468283e-01 6.76790601e-02 7.31837053e+01] [-5.56620086e-01 8.29525863e-01 -4.53973708e-02 -2.64918248e+01] [-8.14945225e-02 -1.38776825e-04 9.96673780e-01 -4.63392185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17864 meters 0.029855192202422134 Centerline is valid? [True, True] Translation: X:73.21, Y:-26.51, Z:-4.64 [[ 8.27718037e-01 5.57101089e-01 6.72400702e-02 7.32109429e+01] [-5.55270931e-01 8.30444686e-01 -4.51200367e-02 -2.65091526e+01] [-8.09755806e-02 1.02118770e-05 9.96716086e-01 -4.63645560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20864 meters 0.02990030928643878 Centerline is valid? [True, True] Translation: X:73.24, Y:-26.53, Z:-4.64 [[ 8.28056149e-01 5.56568125e-01 6.74902738e-02 7.32390010e+01] [-5.54721363e-01 8.30801972e-01 -4.53022325e-02 -2.65271342e+01] [-8.12848311e-02 7.44954599e-05 9.96690910e-01 -4.63874662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23864 meters 0.030244035732146034 Centerline is valid? [True, True] Translation: X:73.27, Y:-26.55, Z:-4.64 [[ 8.28420661e-01 5.55919995e-01 6.83532595e-02 7.32650535e+01] [-5.54021981e-01 8.31235788e-01 -4.58988956e-02 -2.65459777e+01] [-8.23337893e-02 1.54385137e-04 9.96604798e-01 -4.64101780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters 0.03037740082872966 Centerline is valid? [True, True] Translation: X:73.29, Y:-26.56, Z:-4.64 [[ 8.28051722e-01 5.56301560e-01 6.97059532e-02 7.32914910e+01] [-5.54327794e-01 8.30980479e-01 -4.68202889e-02 -2.65649162e+01] [-8.39704862e-02 1.29673620e-04 9.96468234e-01 -4.64247143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29863999999999 meters 0.03042128689377955 Centerline is valid? [True, True] Translation: X:73.32, Y:-26.58, Z:-4.65 [[ 8.27326166e-01 5.57194326e-01 7.11751207e-02 7.33171869e+01] [-5.55137686e-01 8.30382129e-01 -4.78295915e-02 -2.65833359e+01] [-8.57529252e-02 5.86807377e-05 9.96316432e-01 -4.64544556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters 0.030491397290209676 Centerline is valid? [True, True] Translation: X:73.34, Y:-26.60, Z:-4.65 [[ 8.27111110e-01 5.57592389e-01 7.05545212e-02 7.33433024e+01] [-5.55569320e-01 8.30114887e-01 -4.74552974e-02 -2.66018284e+01] [-8.50290710e-02 5.28762703e-05 9.96378469e-01 -4.64765876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35864 meters 0.030484045360447378 Centerline is valid? [True, True] Translation: X:73.37, Y:-26.62, Z:-4.65 [[ 8.26773229e-01 5.58013676e-01 7.11812139e-02 7.33685563e+01] [-5.55952835e-01 8.29831752e-01 -4.79135577e-02 -2.66220385e+01] [-8.58048519e-02 4.02490968e-05 9.96311962e-01 -4.65047947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38864 meters 0.03054309095835851 Centerline is valid? [True, True] Translation: X:73.39, Y:-26.64, Z:-4.65 [[ 8.28851344e-01 5.55043805e-01 7.02269501e-02 7.33937341e+01] [-5.53025153e-01 8.31821040e-01 -4.72962754e-02 -2.66431407e+01] [-8.46677593e-02 3.64311541e-04 9.96409172e-01 -4.65210328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41864 meters 0.030621387382801266 Centerline is valid? [True, True] Translation: X:73.42, Y:-26.66, Z:-4.65 [[ 8.29562667e-01 5.54073426e-01 6.94868309e-02 7.34207254e+01] [-5.52089839e-01 8.32467652e-01 -4.68446236e-02 -2.66625497e+01] [-8.38009000e-02 4.97577614e-04 9.96482394e-01 -4.65378600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44864 meters 0.03059432253186517 Centerline is valid? [True, True] Translation: X:73.45, Y:-26.68, Z:-4.65 [[ 8.30328669e-01 5.53079794e-01 6.82425265e-02 7.34463430e+01] [-5.51159420e-01 8.33128050e-01 -4.60537364e-02 -2.66820549e+01] [-8.23261541e-02 6.27226335e-04 9.96605243e-01 -4.65483827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47864 meters 0.030661175784071334 Centerline is valid? [True, True] Translation: X:73.47, Y:-26.70, Z:-4.66 [[ 8.30640099e-01 5.52645777e-01 6.79681603e-02 7.34725001e+01] [-5.50735676e-01 8.33415951e-01 -4.59137034e-02 -2.67032029e+01] [-8.20197633e-02 7.05272450e-04 9.96630454e-01 -4.65688597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50864 meters 0.030696685869590734 Centerline is valid? [True, True] Translation: X:73.50, Y:-26.73, Z:-4.66 [[ 8.30398447e-01 5.52973326e-01 6.82562761e-02 7.34954252e+01] [-5.51043923e-01 8.33198647e-01 -4.61585332e-02 -2.67289794e+01] [-8.23954746e-02 7.17768171e-04 9.96599453e-01 -4.65861567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53864 meters 0.030575993267409902 Centerline is valid? [True, True] Translation: X:73.52, Y:-26.75, Z:-4.66 [[ 8.30308796e-01 5.53284547e-01 6.68095399e-02 7.35206854e+01] [-5.51433436e-01 8.32992020e-01 -4.52267726e-02 -2.67497946e+01] [-8.06750879e-02 7.11172914e-04 9.96740199e-01 -4.65985264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56864 meters 0.030369446807048193 Centerline is valid? [True, True] Translation: X:73.54, Y:-26.77, Z:-4.66 [[ 8.27809380e-01 5.56926678e-01 6.75596520e-02 7.35439659e+01] [-5.55042045e-01 8.30561567e-01 -4.57800285e-02 -2.67737948e+01] [-8.16085696e-02 3.98689574e-04 9.96664378e-01 -4.66189164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59864 meters 0.030071005129477107 Centerline is valid? [True, True] Translation: X:73.57, Y:-26.79, Z:-4.66 [[ 8.26103946e-01 5.59541117e-01 6.68281979e-02 7.35686203e+01] [-5.57701823e-01 8.28802574e-01 -4.53317791e-02 -2.67941137e+01] [-8.07523768e-02 1.78553811e-04 9.96734178e-01 -4.66217032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters 0.030118290955127334 Centerline is valid? [True, True] Translation: X:73.59, Y:-26.81, Z:-4.66 [[ 8.24556454e-01 5.61714741e-01 6.76993679e-02 7.35944618e+01] [-5.59830601e-01 8.27330979e-01 -4.59689937e-02 -2.68141676e+01] [-8.18312457e-02 3.85264266e-06 9.96646200e-01 -4.66455682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65863999999999 meters 0.029877908872889773 Centerline is valid? [True, True] Translation: X:73.62, Y:-26.84, Z:-4.66 [[ 8.21799241e-01 5.65850075e-01 6.67809791e-02 7.36183411e+01] [-5.64027130e-01 8.24508069e-01 -4.53854659e-02 -2.68368884e+01] [-8.07428254e-02 -3.68542545e-04 9.96734900e-01 -4.66483381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters 0.02997367482299883 Centerline is valid? [True, True] Translation: X:73.65, Y:-26.86, Z:-4.67 [[ 8.20807403e-01 5.67323176e-01 6.64802282e-02 7.36453863e+01] [-5.65519460e-01 8.23495096e-01 -4.52058238e-02 -2.68566283e+01] [-8.03924534e-02 -4.90587924e-04 9.96763168e-01 -4.66614759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71864 meters 0.029814957715292974 Centerline is valid? [True, True] Translation: X:73.67, Y:-26.88, Z:-4.67 [[ 8.19306967e-01 5.69522241e-01 6.61854274e-02 7.36725389e+01] [-5.67737659e-01 8.21975656e-01 -4.50552112e-02 -2.68756821e+01] [-8.00627549e-02 -6.61911201e-04 9.96789605e-01 -4.66676625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters 0.029988407584488876 Centerline is valid? [True, True] Translation: X:73.70, Y:-26.89, Z:-4.67 [[ 8.16870681e-01 5.73005502e-01 6.62343270e-02 7.36994271e+01] [-5.71225792e-01 8.19550954e-01 -4.51367734e-02 -2.68934251e+01] [-8.01460253e-02 -9.63849100e-04 9.96782667e-01 -4.66847663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77864 meters 0.029850595968417538 Centerline is valid? [True, True] Translation: X:73.73, Y:-26.91, Z:-4.67 [[ 8.16168717e-01 5.74100312e-01 6.54022780e-02 7.37274273e+01] [-5.72365101e-01 8.18784336e-01 -4.46139237e-02 -2.69117123e+01] [-7.91632282e-02 -1.02149259e-03 9.96861144e-01 -4.67009578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80864 meters 0.029867182085371115 Centerline is valid? [True, True] Translation: X:73.75, Y:-26.93, Z:-4.67 [[ 8.14241439e-01 5.76774928e-01 6.58905302e-02 7.37546871e+01] [-5.75018540e-01 8.16902146e-01 -4.49951343e-02 -2.69284341e+01] [-7.97781809e-02 -1.25137358e-03 9.96811856e-01 -4.67141378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83864 meters 0.02986503136361668 Centerline is valid? [True, True] Translation: X:73.78, Y:-26.95, Z:-4.67 [[ 8.13474247e-01 5.77871408e-01 6.57593031e-02 7.37831076e+01] [-5.76121992e-01 8.16126764e-01 -4.49505816e-02 -2.69454633e+01] [-7.96435831e-02 -1.31924022e-03 9.96822531e-01 -4.67326074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86864 meters 0.02978825144194873 Centerline is valid? [True, True] Translation: X:73.81, Y:-26.96, Z:-4.68 [[ 8.13022886e-01 5.78453613e-01 6.62208767e-02 7.38114921e+01] [-5.76677352e-01 8.15714172e-01 -4.53169005e-02 -2.69629513e+01] [-8.02310324e-02 -1.34440255e-03 9.96775388e-01 -4.67510691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89864 meters 0.029719091846120257 Centerline is valid? [True, True] Translation: X:73.84, Y:-26.98, Z:-4.68 [[ 8.12377854e-01 5.79554762e-01 6.44864358e-02 7.38401284e+01] [-5.77870254e-01 8.14932134e-01 -4.41767639e-02 -2.69786371e+01] [-7.81549226e-02 -1.37656837e-03 9.96940276e-01 -4.67623238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92864 meters 0.02949185423554495 Centerline is valid? [True, True] Translation: X:73.87, Y:-26.99, Z:-4.68 [[ 8.12328626e-01 5.79725891e-01 6.35617385e-02 7.38681097e+01] [-5.78086692e-01 8.14810468e-01 -4.35852868e-02 -2.69949116e+01] [-7.70582891e-02 -1.33861897e-03 9.97025691e-01 -4.67710926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95864 meters 0.029545082598602928 Centerline is valid? [True, True] Translation: X:73.90, Y:-27.01, Z:-4.68 [[ 8.12142312e-01 5.80008721e-01 6.33620379e-02 7.38973557e+01] [-5.78377326e-01 8.14609186e-01 -4.34918703e-02 -2.70113956e+01] [-7.68409622e-02 -1.32557791e-03 9.97042481e-01 -4.67883870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98864 meters 0.029489746731737727 Centerline is valid? [True, True] Translation: X:73.93, Y:-27.03, Z:-4.68 [[ 8.12410675e-01 5.79703154e-01 6.27148137e-02 7.39268073e+01] [-5.78100530e-01 8.14826793e-01 -4.30937989e-02 -2.70258848e+01] [-7.60833216e-02 -1.24560481e-03 9.97100685e-01 -4.68120786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01863999999999 meters 0.029386566200813664 Centerline is valid? [True, True] Translation: X:73.96, Y:-27.04, Z:-4.68 [[ 8.12468972e-01 5.79637367e-01 6.25675068e-02 7.39556382e+01] [-5.78038804e-01 8.14873659e-01 -4.30355787e-02 -2.70430662e+01] [-7.59296427e-02 -1.20137438e-03 9.97112454e-01 -4.68300084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters 0.02945144263041774 Centerline is valid? [True, True] Translation: X:73.99, Y:-27.06, Z:-4.68 [[ 8.12246004e-01 5.79872063e-01 6.32836401e-02 7.39860808e+01] [-5.78233579e-01 8.14706669e-01 -4.35771885e-02 -2.70579023e+01] [-7.68267978e-02 -1.19732848e-03 9.97043735e-01 -4.68442999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07864 meters 0.029315728751646092 Centerline is valid? [True, True] Translation: X:74.01, Y:-27.07, Z:-4.69 [[ 8.12197163e-01 5.80023702e-01 6.25161942e-02 7.40139851e+01] [-5.78421681e-01 8.14598774e-01 -4.30952017e-02 -2.70737637e+01] [-7.59218536e-02 -1.15892161e-03 9.97113097e-01 -4.68543489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters 0.02920529667452542 Centerline is valid? [True, True] Translation: X:74.04, Y:-27.09, Z:-4.69 [[ 8.12531500e-01 5.79571511e-01 6.23652625e-02 7.40419800e+01] [-5.77973258e-01 8.14920662e-01 -4.30258997e-02 -2.70902960e+01] [-7.57593267e-02 -1.08555517e-03 9.97125542e-01 -4.68733232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13864 meters 0.028848579571265985 Centerline is valid? [True, True] Translation: X:74.07, Y:-27.11, Z:-4.69 [[ 8.13882737e-01 5.77725437e-01 6.18725302e-02 7.40706500e+01] [-5.76146095e-01 8.16230676e-01 -4.26984935e-02 -2.71062103e+01] [-7.51702630e-02 -8.96049884e-04 9.97170311e-01 -4.68942365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16864 meters 0.028818237020257622 Centerline is valid? [True, True] Translation: X:74.10, Y:-27.12, Z:-4.69 [[ 8.14751047e-01 5.76527609e-01 6.16169440e-02 7.40976959e+01] [-5.74956812e-01 8.17077305e-01 -4.25363534e-02 -2.71227226e+01] [-7.48691887e-02 -7.70543198e-04 9.97193066e-01 -4.69165870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19864 meters 0.028578647555744973 Centerline is valid? [True, True] Translation: X:74.13, Y:-27.14, Z:-4.69 [[ 8.16987012e-01 5.73455040e-01 6.06756969e-02 7.41258586e+01] [-5.71922591e-01 8.19236898e-01 -4.18981513e-02 -2.71380495e+01] [-7.37344757e-02 -4.71556361e-04 9.97277797e-01 -4.69250755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22864 meters 0.02840443142631437 Centerline is valid? [True, True] Translation: X:74.15, Y:-27.16, Z:-4.69 [[ 8.17874540e-01 5.72191753e-01 6.06451543e-02 7.41530941e+01] [-5.70656509e-01 8.20119795e-01 -4.18887947e-02 -2.71556293e+01] [-7.37047144e-02 -3.47773378e-04 9.97280048e-01 -4.69392763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25864 meters 0.028347644700075048 Centerline is valid? [True, True] Translation: X:74.18, Y:-27.17, Z:-4.70 [[ 8.18163860e-01 5.71776998e-01 6.06544517e-02 7.41810209e+01] [-5.70239188e-01 8.20409029e-01 -4.19081574e-02 -2.71733713e+01] [-7.37235803e-02 -2.99805514e-04 9.97278669e-01 -4.69555753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28864 meters 0.028347644700075048 Centerline is valid? [True, True] Translation: X:74.21, Y:-27.19, Z:-4.70 [[ 8.18052216e-01 5.71937594e-01 6.06461914e-02 7.42077829e+01] [-5.70399339e-01 8.20297080e-01 -4.19201082e-02 -2.71917849e+01] [-7.37235795e-02 -2.99710076e-04 9.97278669e-01 -4.69747429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31864 meters 0.027903186775139543 Centerline is valid? [True, True] Translation: X:74.24, Y:-27.21, Z:-4.70 [[ 8.19508574e-01 5.69760613e-01 6.14698458e-02 7.42380486e+01] [-5.68172758e-01 8.21810706e-01 -4.25074193e-02 -2.72060808e+01] [-7.47356307e-02 -9.02972618e-05 9.97203378e-01 -4.69958141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34864 meters 0.02763425708919358 Centerline is valid? [True, True] Translation: X:74.27, Y:-27.22, Z:-4.70 [[ 8.20031807e-01 5.69001079e-01 6.15272907e-02 7.42668105e+01] [-5.67406781e-01 8.22336775e-01 -4.25649205e-02 -2.72227017e+01] [-7.48156395e-02 -6.41330359e-06 9.97197383e-01 -4.70200708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37863999999999 meters 0.02758657287943788 Centerline is valid? [True, True] Translation: X:74.29, Y:-27.24, Z:-4.70 [[ 8.20474293e-01 5.68293144e-01 6.21678190e-02 7.42934915e+01] [-5.66662194e-01 8.22826165e-01 -4.30239555e-02 -2.72397383e+01] [-7.56035270e-02 7.18967685e-05 9.97137955e-01 -4.70383608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters 0.027373462254099017 Centerline is valid? [True, True] Translation: X:74.32, Y:-27.26, Z:-4.71 [[ 8.20548393e-01 5.68055012e-01 6.33548537e-02 7.43205302e+01] [-5.66359621e-01 8.22990579e-01 -4.38552958e-02 -2.72567492e+01] [-7.70526683e-02 1.03761595e-04 9.97027018e-01 -4.70582401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43863999999999 meters 0.027313174116378656 Centerline is valid? [True, True] Translation: X:74.35, Y:-27.27, Z:-4.71 [[ 8.20626015e-01 5.67995222e-01 6.28837842e-02 7.43481431e+01] [-5.66323911e-01 8.23031842e-01 -4.35409457e-02 -2.72739734e+01] [-7.64864059e-02 1.18242091e-04 9.97070617e-01 -4.70730308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters 0.027128849262778296 Centerline is valid? [True, True] Translation: X:74.38, Y:-27.29, Z:-4.71 [[ 8.20700212e-01 5.67945394e-01 6.23633906e-02 7.43766588e+01] [-5.66300643e-01 8.23066226e-01 -4.31922362e-02 -2.72889131e+01] [-7.58600322e-02 1.31449183e-04 9.97118468e-01 -4.70964452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49864 meters 0.02710993274608583 Centerline is valid? [True, True] Translation: X:74.40, Y:-27.31, Z:-4.71 [[ 8.20954392e-01 5.67579029e-01 6.23532870e-02 7.44049288e+01] [-5.65932764e-01 8.23318902e-01 -4.31982879e-02 -2.73061988e+01] [-7.58550821e-02 1.76056111e-04 9.97118837e-01 -4.71202639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52864 meters 0.0270513637413236 Centerline is valid? [True, True] Translation: X:74.43, Y:-27.32, Z:-4.71 [[ 8.21983028e-01 5.66151633e-01 6.17756410e-02 7.44325248e+01] [-5.64530523e-01 8.24301053e-01 -4.28142728e-02 -2.73233625e+01] [-7.51610965e-02 3.18370685e-04 9.97171353e-01 -4.71264409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55864 meters 0.02687570885543608 Centerline is valid? [True, True] Translation: X:74.46, Y:-27.34, Z:-4.71 [[ 8.23286076e-01 5.64327105e-01 6.11142897e-02 7.44593585e+01] [-5.62734689e-01 8.25551137e-01 -4.23673232e-02 -2.73403795e+01] [-7.43620002e-02 4.89296376e-04 9.97231194e-01 -4.71411284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58864 meters 0.027169237866034573 Centerline is valid? [True, True] Translation: X:74.49, Y:-27.36, Z:-4.72 [[ 8.25894065e-01 5.60416063e-01 6.19098584e-02 7.44856297e+01] [-5.58770008e-01 8.28210778e-01 -4.29300044e-02 -2.73580907e+01] [-7.53330761e-02 8.62263690e-04 9.97158054e-01 -4.71561930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61864 meters 0.0271999371413222 Centerline is valid? [True, True] Translation: X:74.51, Y:-27.38, Z:-4.72 [[ 8.27141524e-01 5.58645543e-01 6.12540341e-02 7.45117072e+01] [-5.57028696e-01 8.29405881e-01 -4.24843046e-02 -2.73772145e+01] [-7.45381236e-02 1.02027773e-03 9.97217643e-01 -4.71703345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64864 meters 0.027241913908348188 Centerline is valid? [True, True] Translation: X:74.54, Y:-27.40, Z:-4.72 [[ 8.28145353e-01 5.57005049e-01 6.26151012e-02 7.45374337e+01] [-5.55309852e-01 8.30508234e-01 -4.34400982e-02 -2.73966970e+01] [-7.61987111e-02 1.20393290e-03 9.97091925e-01 -4.71997001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67864 meters 0.027881304626235896 Centerline is valid? [True, True] Translation: X:74.56, Y:-27.42, Z:-4.72 [[ 8.30463238e-01 5.53376589e-01 6.40715252e-02 7.45627703e+01] [-5.51589733e-01 8.32929675e-01 -4.44626068e-02 -2.74170319e+01] [-7.79716404e-02 1.58336497e-03 9.96954320e-01 -4.72286623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70864 meters 0.028209258655064455 Centerline is valid? [True, True] Translation: X:74.59, Y:-27.44, Z:-4.73 [[ 8.31302872e-01 5.52037963e-01 6.47272984e-02 7.45876776e+01] [-5.50209071e-01 8.33817165e-01 -4.49323285e-02 -2.74365856e+01] [-7.87750835e-02 1.73882701e-03 9.96890898e-01 -4.72584774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73864 meters 0.028468338548537614 Centerline is valid? [True, True] Translation: X:74.61, Y:-27.46, Z:-4.73 [[ 8.32845285e-01 5.49857197e-01 6.34491474e-02 7.46098099e+01] [-5.48092145e-01 8.35256468e-01 -4.40639747e-02 -2.74603916e+01] [-7.72252044e-02 1.92249427e-03 9.97011821e-01 -4.72841299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters 0.02856872113318789 Centerline is valid? [True, True] Translation: X:74.63, Y:-27.48, Z:-4.73 [[ 8.32896339e-01 5.49702153e-01 6.41188889e-02 7.46335810e+01] [-5.47898214e-01 8.35358410e-01 -4.45407052e-02 -2.74823397e+01] [-7.80463746e-02 1.96716556e-03 9.96947789e-01 -4.73078920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79863999999999 meters 0.028667868722958314 Centerline is valid? [True, True] Translation: X:74.66, Y:-27.50, Z:-4.73 [[ 8.33455708e-01 5.48858016e-01 6.40816758e-02 7.46576738e+01] [-5.47052778e-01 8.35913067e-01 -4.45264193e-02 -2.75045944e+01] [-7.80053923e-02 2.05473955e-03 9.96950820e-01 -4.73302045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters 0.028589717993332216 Centerline is valid? [True, True] Translation: X:74.68, Y:-27.53, Z:-4.74 [[ 8.33521386e-01 5.48685871e-01 6.46986397e-02 7.46796693e+01] [-5.46843635e-01 8.36025943e-01 -4.49740200e-02 -2.75294861e+01] [-7.87663506e-02 2.10676820e-03 9.96890878e-01 -4.73513249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85864 meters 0.028440855382560897 Centerline is valid? [True, True] Translation: X:74.70, Y:-27.55, Z:-4.74 [[ 8.32556104e-01 5.50180994e-01 6.44298672e-02 7.47037204e+01] [-5.48355362e-01 8.35043059e-01 -4.48273033e-02 -2.75508855e+01] [-7.84648437e-02 1.99078180e-03 9.96914894e-01 -4.73714397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88864 meters 0.028200452975290682 Centerline is valid? [True, True] Translation: X:74.73, Y:-27.57, Z:-4.74 [[ 8.31638511e-01 5.51539262e-01 6.46670575e-02 7.47281914e+01] [-5.49701030e-01 8.34146761e-01 -4.50328619e-02 -2.75721853e+01] [-7.87792080e-02 1.90351409e-03 9.96890271e-01 -4.74008668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91864 meters 0.027579411247545874 Centerline is valid? [True, True] Translation: X:74.75, Y:-27.60, Z:-4.74 [[ 8.29292543e-01 5.55018959e-01 6.50217928e-02 7.47512485e+01] [-5.53167844e-01 8.31836127e-01 -4.53210061e-02 -2.75956575e+01] [-7.92414939e-02 1.61640741e-03 9.96854138e-01 -4.74255921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94864 meters 0.027294450171303882 Centerline is valid? [True, True] Translation: X:74.78, Y:-27.62, Z:-4.74 [[ 8.28101127e-01 5.56680743e-01 6.59929873e-02 7.47762083e+01] [-5.54775537e-01 8.30725136e-01 -4.60418484e-02 -2.76168646e+01] [-8.04526437e-02 1.51601155e-03 9.96757279e-01 -4.74489945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97864 meters 0.026949415628915903 Centerline is valid? [True, True] Translation: X:74.80, Y:-27.64, Z:-4.75 [[ 8.26310241e-01 5.59152313e-01 6.75283366e-02 7.47989928e+01] [-5.57161349e-01 8.29063855e-01 -4.71630692e-02 -2.76409816e+01] [-8.23566423e-02 1.34714799e-03 9.96602011e-01 -4.74747088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00864 meters 0.02676786821607897 Centerline is valid? [True, True] Translation: X:74.82, Y:-27.66, Z:-4.75 [[ 8.24714874e-01 5.61368193e-01 6.86376600e-02 7.48241839e+01] [-5.59314498e-01 8.27565310e-01 -4.79890653e-02 -2.76617773e+01] [-8.37416813e-02 1.18725766e-03 9.96486789e-01 -4.74922184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03864 meters 0.026557325661653444 Centerline is valid? [True, True] Translation: X:74.85, Y:-27.68, Z:-4.75 [[ 8.23366936e-01 5.63263402e-01 6.92909063e-02 7.48499659e+01] [-5.61172632e-01 8.26276736e-01 -4.84977667e-02 -2.76827883e+01] [-8.45704809e-02 1.04729726e-03 9.96416949e-01 -4.75188491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06864 meters 0.026389711219275136 Centerline is valid? [True, True] Translation: X:74.87, Y:-27.71, Z:-4.76 [[ 8.19648851e-01 5.68545209e-01 7.02289528e-02 7.48733205e+01] [-5.66412192e-01 8.22651834e-01 -4.92055791e-02 -2.77060542e+01] [-8.57495731e-02 5.52761210e-04 9.96316569e-01 -4.75638048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09864 meters 0.026084866659688802 Centerline is valid? [True, True] Translation: X:74.90, Y:-27.73, Z:-4.76 [[ 8.17114228e-01 5.72223247e-01 6.98920215e-02 7.48982748e+01] [-5.70120119e-01 8.20097869e-01 -4.90156687e-02 -2.77271314e+01] [-8.53662030e-02 2.04552677e-04 9.96349622e-01 -4.75805972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters 0.025942014113769788 Centerline is valid? [True, True] Translation: X:74.92, Y:-27.75, Z:-4.76 [[ 8.12046800e-01 5.79311520e-01 7.05560655e-02 7.49234592e+01] [-5.77191444e-01 8.15106067e-01 -4.95190560e-02 -2.77477570e+01] [-8.61976366e-02 -5.12566340e-04 9.96277925e-01 -4.76093668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15863999999999 meters 0.0259884636905145 Centerline is valid? [True, True] Translation: X:74.95, Y:-27.77, Z:-4.76 [[ 8.09391875e-01 5.82924366e-01 7.13020010e-02 7.49495368e+01] [-5.80770694e-01 8.12525939e-01 -5.00699387e-02 -2.77660075e+01] [-8.71217126e-02 -8.83911038e-04 9.96197283e-01 -4.76384978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters 0.02605607863498714 Centerline is valid? [True, True] Translation: X:74.98, Y:-27.78, Z:-4.76 [[ 8.06708778e-01 5.86656921e-01 7.10957425e-02 7.49756145e+01] [-5.84526040e-01 8.09834618e-01 -4.99720032e-02 -2.77840663e+01] [-8.68922150e-02 -1.24445914e-03 9.96216941e-01 -4.76464335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21864 meters 0.026457135420821724 Centerline is valid? [True, True] Translation: X:75.00, Y:-27.80, Z:-4.77 [[ 8.02871673e-01 5.91571542e-01 7.37576258e-02 7.50021043e+01] [-5.89295105e-01 8.06250473e-01 -5.18792228e-02 -2.78022965e+01] [-9.01573925e-02 -1.81264942e-03 9.95925880e-01 -4.76651205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters 0.026639544174255732 Centerline is valid? [True, True] Translation: X:75.03, Y:-27.82, Z:-4.77 [[ 8.01546488e-01 5.93382711e-01 7.36219144e-02 7.50295275e+01] [-5.91119868e-01 8.04918005e-01 -5.18103014e-02 -2.78192677e+01] [-9.00029415e-02 -1.99101117e-03 9.95939509e-01 -4.76782624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27864 meters 0.026689555285864912 Centerline is valid? [True, True] Translation: X:75.06, Y:-27.84, Z:-4.77 [[ 8.00523854e-01 5.94774827e-01 7.35150603e-02 7.50570110e+01] [-5.92519901e-01 8.03889594e-01 -5.17850198e-02 -2.78359830e+01] [-8.98984182e-02 -2.10399258e-03 9.95948717e-01 -4.76980358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30864 meters 0.027046877165812166 Centerline is valid? [True, True] Translation: X:75.09, Y:-27.85, Z:-4.77 [[ 7.98433052e-01 5.97561617e-01 7.36530732e-02 7.50859674e+01] [-5.95305464e-01 8.01819457e-01 -5.19322943e-02 -2.78505557e+01] [-9.00892130e-02 -2.38161666e-03 9.95930852e-01 -4.77318732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33864 meters 0.02719837348625686 Centerline is valid? [True, True] Translation: X:75.11, Y:-27.87, Z:-4.77 [[ 7.97953818e-01 5.98097314e-01 7.44936784e-02 7.51140150e+01] [-5.95786974e-01 8.01419803e-01 -5.25754773e-02 -2.78671675e+01] [-9.11459608e-02 -2.42956042e-03 9.95834580e-01 -4.77499011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36864 meters 0.027011241888880315 Centerline is valid? [True, True] Translation: X:75.14, Y:-27.88, Z:-4.78 [[ 7.98115773e-01 5.97760888e-01 7.54528618e-02 7.51444534e+01] [-5.95384036e-01 8.01670919e-01 -5.33065320e-02 -2.78817974e+01] [-9.23529250e-02 -2.37864541e-03 9.95723495e-01 -4.77636997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39864 meters 0.026947265827255387 Centerline is valid? [True, True] Translation: X:75.17, Y:-27.90, Z:-4.78 [[ 7.98276884e-01 5.97680140e-01 7.43805562e-02 7.51720845e+01] [-5.95365134e-01 8.01731377e-01 -5.26037706e-02 -2.78989110e+01] [-9.10734547e-02 -2.29121578e-03 9.95841542e-01 -4.77858134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42864 meters 0.026831803139937303 Centerline is valid? [True, True] Translation: X:75.20, Y:-27.92, Z:-4.78 [[ 7.98910091e-01 5.97051337e-01 7.26110661e-02 7.51988275e+01] [-5.94838417e-01 8.02200210e-01 -5.14011777e-02 -2.79162152e+01] [-8.89377543e-02 -2.12693205e-03 9.96034915e-01 -4.78057194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45864 meters 0.026580751411119097 Centerline is valid? [True, True] Translation: X:75.23, Y:-27.93, Z:-4.78 [[ 8.00838602e-01 5.94739255e-01 7.03047121e-02 7.52265232e+01] [-5.92652566e-01 8.03916698e-01 -4.98084135e-02 -2.79332956e+01] [-8.61421508e-02 -1.77776781e-03 9.96281270e-01 -4.78258247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48864 meters 0.026427342233044823 Centerline is valid? [True, True] Translation: X:75.25, Y:-27.95, Z:-4.78 [[ 8.01969821e-01 5.93232883e-01 7.01366678e-02 7.52543011e+01] [-5.91148406e-01 8.05029321e-01 -4.97127173e-02 -2.79504413e+01] [-8.59532927e-02 -1.59308033e-03 9.96297894e-01 -4.78485032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51863999999999 meters 0.026233438774033065 Centerline is valid? [True, True] Translation: X:75.28, Y:-27.97, Z:-4.79 [[ 8.03258606e-01 5.91485663e-01 7.01450123e-02 7.52829335e+01] [-5.89391727e-01 8.06314327e-01 -4.97453288e-02 -2.79662053e+01] [-8.59825772e-02 -1.38452648e-03 9.96295679e-01 -4.78762462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters 0.026352643992002045 Centerline is valid? [True, True] Translation: X:75.31, Y:-27.98, Z:-4.79 [[ 8.03495096e-01 5.91135932e-01 7.03842422e-02 7.53104714e+01] [-5.89021969e-01 8.06570884e-01 -4.99652780e-02 -2.79848895e+01] [-8.63061516e-02 -1.31100908e-03 9.96267800e-01 -4.79103984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57864 meters 0.026335006528363313 Centerline is valid? [True, True] Translation: X:75.34, Y:-28.00, Z:-4.79 [[ 8.03987276e-01 5.90435477e-01 7.06428230e-02 7.53380918e+01] [-5.88298407e-01 8.07083960e-01 -5.02042428e-02 -2.80036741e+01] [-8.66570554e-02 -1.19548783e-03 9.96237485e-01 -4.79248808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters 0.02603067143246172 Centerline is valid? [True, True] Translation: X:75.37, Y:-28.02, Z:-4.79 [[ 8.05475256e-01 5.88635386e-01 6.86876545e-02 7.53651278e+01] [-5.86604367e-01 8.08398115e-01 -4.88651663e-02 -2.80205420e+01] [-8.42907365e-02 -9.32795766e-04 9.96440767e-01 -4.79463651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63864 meters 0.02571165007207127 Centerline is valid? [True, True] Translation: X:75.39, Y:-28.04, Z:-4.80 [[ 8.06362990e-01 5.87624204e-01 6.69068272e-02 7.53917661e+01] [-5.85690821e-01 8.09133606e-01 -4.76347448e-02 -2.80394595e+01] [-8.21278914e-02 -7.75819340e-04 9.96621497e-01 -4.79631885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66864 meters 0.025759597971362423 Centerline is valid? [True, True] Translation: X:75.42, Y:-28.06, Z:-4.80 [[ 8.08269676e-01 5.85048420e-01 6.64716257e-02 7.54159871e+01] [-5.83129452e-01 8.10998215e-01 -4.73490958e-02 -2.80602296e+01] [-8.16098835e-02 -4.90724369e-04 9.96664229e-01 -4.80009647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69864 meters 0.025974930569050255 Centerline is valid? [True, True] Translation: X:75.44, Y:-28.08, Z:-4.80 [[ 8.08620858e-01 5.84599031e-01 6.61534663e-02 7.54427094e+01] [-5.82693098e-01 8.11322260e-01 -4.71693218e-02 -2.80796429e+01] [-8.12469196e-02 -4.05070751e-04 9.96693922e-01 -4.80152184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72864 meters 0.025859910428011997 Centerline is valid? [True, True] Translation: X:75.47, Y:-28.10, Z:-4.80 [[ 8.08685401e-01 5.84428353e-01 6.68686872e-02 7.54698983e+01] [-5.82475990e-01 8.11445240e-01 -4.77319934e-02 -2.80977092e+01] [-8.21562082e-02 -3.49238526e-04 9.96619404e-01 -4.80290160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75864 meters 0.025784433839931776 Centerline is valid? [True, True] Translation: X:75.50, Y:-28.12, Z:-4.80 [[ 8.07769969e-01 5.85830915e-01 6.56491869e-02 7.54970213e+01] [-5.83949898e-01 8.10433182e-01 -4.69102781e-02 -2.81159759e+01] [-8.06857706e-02 -4.43122077e-04 9.96739490e-01 -4.80323636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78864 meters 0.025735737831546025 Centerline is valid? [True, True] Translation: X:75.52, Y:-28.14, Z:-4.81 [[ 8.06582331e-01 5.87445779e-01 6.58209701e-02 7.55237355e+01] [-5.85556472e-01 8.09263328e-01 -4.70795612e-02 -2.81358655e+01] [-8.09231868e-02 -5.68352794e-04 9.96720179e-01 -4.80560014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81864 meters 0.02591910174618262 Centerline is valid? [True, True] Translation: X:75.55, Y:-28.15, Z:-4.81 [[ 8.04917414e-01 5.89617579e-01 6.67762573e-02 7.55504516e+01] [-5.87676209e-01 8.07682201e-01 -4.78135499e-02 -2.81540506e+01] [-8.21257040e-02 -7.56858828e-04 9.96621691e-01 -4.80775221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84864 meters 0.025906458619454856 Centerline is valid? [True, True] Translation: X:75.58, Y:-28.17, Z:-4.81 [[ 8.04145289e-01 5.90694749e-01 6.65587491e-02 7.55780240e+01] [-5.88765821e-01 8.06894684e-01 -4.77051001e-02 -2.81720347e+01] [-8.18850530e-02 -8.25685060e-04 9.96641438e-01 -4.80974405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87863999999999 meters 0.025952011650037618 Centerline is valid? [True, True] Translation: X:75.60, Y:-28.19, Z:-4.81 [[ 8.03383528e-01 5.91709122e-01 6.67474521e-02 7.56047199e+01] [-5.89768463e-01 8.06151055e-01 -4.78919308e-02 -2.81906656e+01] [-8.21466212e-02 -8.89953902e-04 9.96619858e-01 -4.81132000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters 0.025817988938696013 Centerline is valid? [True, True] Translation: X:75.63, Y:-28.21, Z:-4.81 [[ 8.04317575e-01 5.90450926e-01 6.66403904e-02 7.56306786e+01] [-5.88508209e-01 8.07073221e-01 -4.78633856e-02 -2.82099495e+01] [-8.20446549e-02 -7.21054581e-04 9.96628393e-01 -4.81314258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93863999999999 meters 0.02582350683542633 Centerline is valid? [True, True] Translation: X:75.66, Y:-28.23, Z:-4.81 [[ 8.05058289e-01 5.89467860e-01 6.63987385e-02 7.56579752e+01] [-5.87532137e-01 8.07791621e-01 -4.77355706e-02 -2.82274197e+01] [-8.17749293e-02 -5.81475907e-04 9.96650652e-01 -4.81445115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters 0.025728819787030257 Centerline is valid? [True, True] Translation: X:75.69, Y:-28.24, Z:-4.82 [[ 8.05898427e-01 5.88356255e-01 6.60654435e-02 7.56868082e+01] [-5.86432543e-01 8.08601714e-01 -4.75409338e-02 -2.82421416e+01] [-8.13916366e-02 -4.29762256e-04 9.96682104e-01 -4.81580830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99864 meters 0.025796506928022548 Centerline is valid? [True, True] Translation: X:75.71, Y:-28.26, Z:-4.82 [[ 8.06014553e-01 5.88112388e-01 6.68158600e-02 7.57143634e+01] [-5.86139836e-01 8.08779130e-01 -4.81291136e-02 -2.82603908e+01] [-8.23446011e-02 -3.70671230e-04 9.96603848e-01 -4.81924318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02864 meters 0.02562138272005277 Centerline is valid? [True, True] Translation: X:75.74, Y:-28.28, Z:-4.82 [[ 8.05938571e-01 5.88215924e-01 6.68210042e-02 7.57413618e+01] [-5.86239067e-01 8.08703847e-01 -4.81855162e-02 -2.82793061e+01] [-8.23818911e-02 -3.38517056e-04 9.96600777e-01 -4.82026607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05864 meters 0.025423244397811226 Centerline is valid? [True, True] Translation: X:75.77, Y:-28.30, Z:-4.82 [[ 8.06349324e-01 5.87622475e-01 6.70864637e-02 7.57695968e+01] [-5.85623441e-01 8.09135199e-01 -4.84294754e-02 -2.82966823e+01] [-8.27402674e-02 -2.36330936e-04 9.96571118e-01 -4.82086177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08864 meters 0.025510412061509818 Centerline is valid? [True, True] Translation: X:75.80, Y:-28.31, Z:-4.82 [[ 8.06579572e-01 5.87345706e-01 6.67414081e-02 7.57975099e+01] [-5.85361973e-01 8.09336144e-01 -4.82324150e-02 -2.83146850e+01] [-8.23453357e-02 -1.64601632e-04 9.96603842e-01 -4.82280948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11864 meters 0.025368794033747186 Centerline is valid? [True, True] Translation: X:75.82, Y:-28.33, Z:-4.82 [[ 8.06863465e-01 5.87082712e-01 6.56143198e-02 7.58242824e+01] [-5.85160660e-01 8.09526949e-01 -4.74670547e-02 -2.83331876e+01] [-8.09836473e-02 -9.54864828e-05 9.96715426e-01 -4.82488061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14864 meters 0.02540151588442501 Centerline is valid? [True, True] Translation: X:75.85, Y:-28.35, Z:-4.83 [[ 8.07926166e-01 5.85717365e-01 6.47339119e-02 7.58502282e+01] [-5.83838707e-01 8.10515369e-01 -4.68743100e-02 -2.83521652e+01] [-7.99229278e-02 7.68180614e-05 9.96801043e-01 -4.82656344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17864 meters 0.025112295721905924 Centerline is valid? [True, True] Translation: X:75.88, Y:-28.37, Z:-4.83 [[ 8.08488176e-01 5.85020325e-01 6.40163145e-02 7.58773437e+01] [-5.83177358e-01 8.11018610e-01 -4.64002480e-02 -2.83711491e+01] [-7.90635106e-02 1.81186674e-04 9.96869564e-01 -4.82831208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20864 meters 0.025112295721905924 Centerline is valid? [True, True] Translation: X:75.90, Y:-28.39, Z:-4.83 [[ 8.08187804e-01 5.85437821e-01 6.39924333e-02 7.59038883e+01] [-5.83593554e-01 8.10717291e-01 -4.64331648e-02 -2.83899755e+01] [-7.90635029e-02 1.81145968e-04 9.96869565e-01 -4.83022974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23864 meters 0.025352919075738254 Centerline is valid? [True, True] Translation: X:75.93, Y:-28.41, Z:-4.83 [[ 8.09378664e-01 5.83750094e-01 6.43584113e-02 7.59314032e+01] [-5.81875250e-01 8.11933295e-01 -4.67495190e-02 -2.84089324e+01] [-7.95447731e-02 3.89496539e-04 9.96831218e-01 -4.83292230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters 0.02542523353988967 Centerline is valid? [True, True] Translation: X:75.96, Y:-28.43, Z:-4.83 [[ 8.09164227e-01 5.84002474e-01 6.47639065e-02 7.59585058e+01] [-5.82100604e-01 8.11751775e-01 -4.70950489e-02 -2.84285178e+01] [-8.00758411e-02 4.08519804e-04 9.96788690e-01 -4.83449881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29863999999999 meters 0.02531596227037202 Centerline is valid? [True, True] Translation: X:75.99, Y:-28.45, Z:-4.84 [[ 8.08832222e-01 5.84422722e-01 6.51192709e-02 7.59852606e+01] [-5.82497125e-01 8.11449268e-01 -4.74044914e-02 -2.84479552e+01] [-8.05452466e-02 4.10492050e-04 9.96750869e-01 -4.83689437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters 0.025148009351673148 Centerline is valid? [True, True] Translation: X:76.01, Y:-28.47, Z:-4.84 [[ 8.08322568e-01 5.85324778e-01 6.33208534e-02 7.60094975e+01] [-5.83503847e-01 8.10798856e-01 -4.61354003e-02 -2.84701394e+01] [-7.83446685e-02 3.44323646e-04 9.96926273e-01 -4.83894867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35864 meters 0.024991605710583436 Centerline is valid? [True, True] Translation: X:76.03, Y:-28.49, Z:-4.84 [[ 8.08282985e-01 5.85430363e-01 6.28482741e-02 7.60349998e+01] [-5.83635040e-01 8.10722620e-01 -4.58145480e-02 -2.84911637e+01] [-7.77737449e-02 3.50664630e-04 9.96970973e-01 -4.84002542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38864 meters 0.025066394545809292 Centerline is valid? [True, True] Translation: X:76.06, Y:-28.51, Z:-4.84 [[ 8.07429784e-01 5.86483616e-01 6.39852413e-02 7.60600705e+01] [-5.84622014e-01 8.09961037e-01 -4.66928250e-02 -2.85112061e+01] [-7.92101292e-02 2.93997009e-04 9.96857898e-01 -4.84233981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41864 meters 0.025034370657453182 Centerline is valid? [True, True] Translation: X:76.09, Y:-28.53, Z:-4.84 [[ 8.06718487e-01 5.87347145e-01 6.50277958e-02 7.60853947e+01] [-5.85423425e-01 8.09335078e-01 -4.74988860e-02 -2.85304283e+01] [-8.05276113e-02 2.49434537e-04 9.96752347e-01 -4.84478696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44864 meters 0.025007118231561775 Centerline is valid? [True, True] Translation: X:76.11, Y:-28.55, Z:-4.85 [[ 8.06314767e-01 5.87934487e-01 6.47266188e-02 7.61116266e+01] [-5.86026745e-01 8.08908516e-01 -4.73251206e-02 -2.85508462e+01] [-8.01819836e-02 2.27413914e-04 9.96780215e-01 -4.84660477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47864 meters 0.02502982540519692 Centerline is valid? [True, True] Translation: X:76.14, Y:-28.57, Z:-4.85 [[ 8.05822776e-01 5.88507531e-01 6.56394767e-02 7.61369176e+01] [-5.86543271e-01 8.08491707e-01 -4.80432149e-02 -2.85711563e+01] [-8.13427664e-02 2.13923441e-04 9.96686164e-01 -4.84818035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50864 meters 0.025037147428744914 Centerline is valid? [True, True] Translation: X:76.16, Y:-28.59, Z:-4.85 [[ 8.05326806e-01 5.89220351e-01 6.53307955e-02 7.61638190e+01] [-5.87273104e-01 8.07972367e-01 -4.78639234e-02 -2.85898686e+01] [-8.09878752e-02 1.79081536e-04 9.96715071e-01 -4.85013615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53864 meters 0.02494588212083755 Centerline is valid? [True, True] Translation: X:76.19, Y:-28.61, Z:-4.85 [[ 8.03315697e-01 5.91929331e-01 6.56015119e-02 7.61901245e+01] [-5.89970627e-01 8.05989866e-01 -4.81144040e-02 -2.86094648e+01] [-8.13544808e-02 -5.19090783e-05 9.96685229e-01 -4.85218848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56864 meters 0.024992618309667803 Centerline is valid? [True, True] Translation: X:76.22, Y:-28.63, Z:-4.85 [[ 8.02237182e-01 5.93356197e-01 6.59084687e-02 7.62165479e+01] [-5.91379590e-01 8.04939997e-01 -4.83919547e-02 -2.86299622e+01] [-8.17660289e-02 -1.55097829e-04 9.96651540e-01 -4.85477638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59864 meters 0.02496214613721068 Centerline is valid? [True, True] Translation: X:76.24, Y:-28.65, Z:-4.86 [[ 8.01338247e-01 5.94496338e-01 6.65666389e-02 7.62419358e+01] [-5.92480357e-01 8.04098282e-01 -4.89180954e-02 -2.86492915e+01] [-8.26077486e-02 -2.39485214e-04 9.96582110e-01 -4.85665652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters 0.024855449166548308 Centerline is valid? [True, True] Translation: X:76.27, Y:-28.67, Z:-4.86 [[ 8.00417246e-01 5.95894508e-01 6.51303859e-02 7.62696486e+01] [-5.93967401e-01 8.03062643e-01 -4.78865084e-02 -2.86663489e+01] [-8.08390872e-02 -3.56138813e-04 9.96727102e-01 -4.85785312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65863999999999 meters 0.024934757925286034 Centerline is valid? [True, True] Translation: X:76.30, Y:-28.68, Z:-4.86 [[ 7.99771675e-01 5.96732473e-01 6.53882466e-02 7.62975752e+01] [-5.94788952e-01 8.02440149e-01 -4.81239147e-02 -2.86844478e+01] [-8.11872569e-02 -4.04062774e-04 9.96698784e-01 -4.86000290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters 0.024807885791842794 Centerline is valid? [True, True] Translation: X:76.32, Y:-28.70, Z:-4.86 [[ 7.99480468e-01 5.97212203e-01 6.45644353e-02 7.63237717e+01] [-5.95314997e-01 8.02083175e-01 -4.75671631e-02 -2.87023419e+01] [-8.01937374e-02 -4.07158805e-04 9.96779213e-01 -4.86260965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71864 meters 0.024816920187041888 Centerline is valid? [True, True] Translation: X:76.35, Y:-28.72, Z:-4.86 [[ 7.99040757e-01 5.97773074e-01 6.48168160e-02 7.63513810e+01] [-5.95859008e-01 8.01665248e-01 -4.78003499e-02 -2.87211747e+01] [-8.05351510e-02 -4.27255860e-04 9.96751678e-01 -4.86378816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters 0.02483937708990165 Centerline is valid? [True, True] Translation: X:76.38, Y:-28.74, Z:-4.87 [[ 7.98517464e-01 5.98399963e-01 6.54778132e-02 7.63805073e+01] [-5.96444378e-01 8.01197403e-01 -4.83407120e-02 -2.87375420e+01] [-8.13877342e-02 -4.52970882e-04 9.96682413e-01 -4.86584066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77864 meters 0.02496941178276251 Centerline is valid? [True, True] Translation: X:76.41, Y:-28.76, Z:-4.87 [[ 7.98518612e-01 5.98405139e-01 6.54164831e-02 7.64077784e+01] [-5.96448956e-01 8.01193560e-01 -4.83479241e-02 -2.87553585e+01] [-8.13429112e-02 -4.10875765e-04 9.96686090e-01 -4.86835294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80864 meters 0.025031491507543538 Centerline is valid? [True, True] Translation: X:76.44, Y:-28.77, Z:-4.87 [[ 7.97398920e-01 5.99850707e-01 6.58338187e-02 7.64351387e+01] [-5.97870001e-01 8.00111780e-01 -4.87093548e-02 -2.87745369e+01] [-8.18927547e-02 -5.19278317e-04 9.96641012e-01 -4.87094567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83864 meters 0.02525330577349392 Centerline is valid? [True, True] Translation: X:76.46, Y:-28.79, Z:-4.87 [[ 7.97202121e-01 6.00030927e-01 6.65707454e-02 7.64629999e+01] [-5.98001727e-01 7.99976647e-01 -4.93082061e-02 -2.87918575e+01] [-8.28414903e-02 -5.00814251e-04 9.96562611e-01 -4.87346019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86864 meters 0.025257234023101083 Centerline is valid? [True, True] Translation: X:76.49, Y:-28.81, Z:-4.88 [[ 7.96721878e-01 6.00755176e-01 6.57834953e-02 7.64899503e+01] [-5.98772084e-01 7.99432886e-01 -4.87755234e-02 -2.88093684e+01] [-8.18916377e-02 -5.28793974e-04 9.96641099e-01 -4.87506278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89864 meters 0.025083193612517825 Centerline is valid? [True, True] Translation: X:76.52, Y:-28.83, Z:-4.88 [[ 7.96921476e-01 6.00565876e-01 6.50906241e-02 7.65167407e+01] [-5.98620124e-01 7.99575143e-01 -4.83067011e-02 -2.88267770e+01] [-8.10562014e-02 -4.67909914e-04 9.96709423e-01 -4.87616471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92864 meters 0.024992977208413793 Centerline is valid? [True, True] Translation: X:76.54, Y:-28.85, Z:-4.88 [[ 7.97301298e-01 6.00075094e-01 6.49655379e-02 7.65440519e+01] [-5.98131736e-01 7.99943582e-01 -4.82565130e-02 -2.88462091e+01] [-8.09262967e-02 -3.82969536e-04 9.96720015e-01 -4.87791421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95864 meters 0.024936073761910645 Centerline is valid? [True, True] Translation: X:76.57, Y:-28.87, Z:-4.88 [[ 7.97692590e-01 5.99640315e-01 6.41718372e-02 7.65706671e+01] [-5.97740392e-01 8.00269577e-01 -4.76972532e-02 -2.88651069e+01] [-7.99559650e-02 -3.10353622e-04 9.96798348e-01 -4.87995023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98864 meters 0.024936885329410585 Centerline is valid? [True, True] Translation: X:76.60, Y:-28.88, Z:-4.88 [[ 7.98880694e-01 5.98026345e-01 6.44525263e-02 7.65999755e+01] [-5.96102419e-01 8.01476434e-01 -4.79315348e-02 -2.88818996e+01] [-8.03215015e-02 -1.28729113e-04 9.96769000e-01 -4.88181571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01863999999999 meters 0.025088495891479823 Centerline is valid? [True, True] Translation: X:76.63, Y:-28.90, Z:-4.88 [[ 7.98837400e-01 5.98021324e-01 6.50330994e-02 7.66267247e+01] [-5.96058225e-01 8.01480186e-01 -4.84159461e-02 -2.89008282e+01] [-8.10765088e-02 -8.70452810e-05 9.96707877e-01 -4.88439752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04863999999999 meters 0.025109214547440934 Centerline is valid? [True, True] Translation: X:76.65, Y:-28.92, Z:-4.89 [[ 7.99346756e-01 5.97394068e-01 6.45375173e-02 7.66538156e+01] [-5.95454597e-01 8.01947833e-01 -4.80988237e-02 -2.89202942e+01] [-8.04896741e-02 1.84773489e-05 9.96755442e-01 -4.88605368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07864 meters 0.02509674485120532 Centerline is valid? [True, True] Translation: X:76.68, Y:-28.94, Z:-4.89 [[ 8.00475817e-01 5.95983160e-01 6.35809619e-02 7.66798047e+01] [-5.94092537e-01 8.02996908e-01 -4.74344180e-02 -2.89399290e+01] [-7.93254301e-02 1.97129614e-04 9.96848753e-01 -4.88714562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters 0.025110957146742722 Centerline is valid? [True, True] Translation: X:76.71, Y:-28.96, Z:-4.89 [[ 8.01197582e-01 5.94946036e-01 6.42000715e-02 7.67055746e+01] [-5.93011422e-01 8.03765575e-01 -4.79411480e-02 -2.89587276e+01] [-8.01242034e-02 3.38956111e-04 9.96784830e-01 -4.88973268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13864 meters 0.025290533297318334 Centerline is valid? [True, True] Translation: X:76.73, Y:-28.98, Z:-4.89 [[ 8.02862048e-01 5.92779026e-01 6.34472858e-02 7.67321050e+01] [-5.90879225e-01 8.05364938e-01 -4.74242355e-02 -2.89789224e+01] [-7.92103115e-02 5.85435740e-04 9.96857755e-01 -4.89141320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16864 meters 0.02542120978656538 Centerline is valid? [True, True] Translation: X:76.76, Y:-29.00, Z:-4.89 [[ 8.03195139e-01 5.92296247e-01 6.37394956e-02 7.67574732e+01] [-5.90373316e-01 8.05719987e-01 -4.76933002e-02 -2.89994656e+01] [-7.96047483e-02 6.76929512e-04 9.96826277e-01 -4.89335829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19864 meters 0.025469674108619514 Centerline is valid? [True, True] Translation: X:76.78, Y:-29.02, Z:-4.90 [[ 8.03799153e-01 5.91513797e-01 6.33904597e-02 7.67837274e+01] [-5.89605526e-01 8.06294489e-01 -4.74817884e-02 -2.90200311e+01] [-7.91975113e-02 7.90455977e-04 9.96858631e-01 -4.89514539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22864 meters 0.025804316757297687 Centerline is valid? [True, True] Translation: X:76.81, Y:-29.04, Z:-4.90 [[ 8.04676225e-01 5.90203124e-01 6.44704926e-02 7.68083663e+01] [-5.88221023e-01 8.07254187e-01 -4.83394881e-02 -2.90399911e+01] [-8.05741920e-02 9.74737700e-04 9.96748137e-01 -4.89682966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25864 meters 0.025965984450714217 Centerline is valid? [True, True] Translation: X:76.83, Y:-29.06, Z:-4.90 [[ 8.05042350e-01 5.89729477e-01 6.42336171e-02 7.68345462e+01] [-5.87756931e-01 8.07600169e-01 -4.82053549e-02 -2.90598487e+01] [-8.03031988e-02 1.05359852e-03 9.96769926e-01 -4.89903212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28864 meters 0.02611329612159179 Centerline is valid? [True, True] Translation: X:76.86, Y:-29.08, Z:-4.90 [[ 8.06179164e-01 5.88218162e-01 6.38322006e-02 7.68577566e+01] [-5.86261665e-01 8.08701346e-01 -4.79519761e-02 -2.90817527e+01] [-7.98274098e-02 1.23551178e-03 9.96807934e-01 -4.90141625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31864 meters 0.02615371459381736 Centerline is valid? [True, True] Translation: X:76.88, Y:-29.10, Z:-4.90 [[ 8.06355599e-01 5.87886738e-01 6.46516173e-02 7.68823650e+01] [-5.85874962e-01 8.08942173e-01 -4.86116072e-02 -2.91023395e+01] [-8.08775390e-02 1.32047776e-03 9.96723171e-01 -4.90259194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34864 meters 0.02635475161342366 Centerline is valid? [True, True] Translation: X:76.91, Y:-29.12, Z:-4.90 [[ 8.06181822e-01 5.88018854e-01 6.56101939e-02 7.69075575e+01] [-5.85943611e-01 8.08846072e-01 -4.93772858e-02 -2.91227458e+01] [-8.21033227e-02 1.36319627e-03 9.96622891e-01 -4.90462749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37863999999999 meters 0.026225977866893246 Centerline is valid? [True, True] Translation: X:76.93, Y:-29.14, Z:-4.91 [[ 8.06411783e-01 5.87830178e-01 6.44648670e-02 7.69312118e+01] [-5.85823393e-01 8.08983163e-01 -4.85509389e-02 -2.91445057e+01] [-8.06906990e-02 1.38702206e-03 9.96738224e-01 -4.90580385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters 0.026131898534272387 Centerline is valid? [True, True] Translation: X:76.96, Y:-29.17, Z:-4.91 [[ 8.05543929e-01 5.88955601e-01 6.50405948e-02 7.69563553e+01] [-5.86914313e-01 8.08164336e-01 -4.90101638e-02 -2.91653339e+01] [-8.14282995e-02 1.30658395e-03 9.96678346e-01 -4.90787601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43863999999999 meters 0.026125231451119224 Centerline is valid? [True, True] Translation: X:76.98, Y:-29.19, Z:-4.91 [[ 8.04317697e-01 5.90595289e-01 6.53471275e-02 7.69804495e+01] [-5.88535841e-01 8.06967034e-01 -4.92926998e-02 -2.91875970e+01] [-8.18450139e-02 1.18786415e-03 9.96644361e-01 -4.91008194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46864 meters 0.025935708555102303 Centerline is valid? [True, True] Translation: X:77.01, Y:-29.21, Z:-4.91 [[ 8.03160176e-01 5.92200429e-01 6.50567684e-02 7.70055676e+01] [-5.90160507e-01 8.05790003e-01 -4.91227691e-02 -2.92083939e+01] [-8.15126186e-02 1.05951649e-03 9.96671747e-01 -4.91133635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49864 meters 0.02579140586632434 Centerline is valid? [True, True] Translation: X:77.03, Y:-29.23, Z:-4.91 [[ 8.01503456e-01 5.94405022e-01 6.53825675e-02 7.70288720e+01] [-5.92348188e-01 8.04165345e-01 -4.94137893e-02 -2.92313257e+01] [-8.19501995e-02 8.76077513e-04 9.96636041e-01 -4.91431713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52864 meters 0.025474701364394173 Centerline is valid? [True, True] Translation: X:77.05, Y:-29.25, Z:-4.92 [[ 8.01040452e-01 5.95136926e-01 6.43912520e-02 7.70525616e+01] [-5.93140880e-01 8.03623892e-01 -4.87087028e-02 -2.92528286e+01] [-8.07346962e-02 8.24557463e-04 9.96735285e-01 -4.91614213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55864 meters 0.02550467941353325 Centerline is valid? [True, True] Translation: X:77.08, Y:-29.27, Z:-4.92 [[ 8.01081256e-01 5.95244726e-01 6.28692035e-02 7.70774135e+01] [-5.93339563e-01 8.03544049e-01 -4.75933197e-02 -2.92741446e+01] [-7.88478469e-02 8.23330604e-04 9.96886322e-01 -4.91725348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58864 meters 0.02559092139036074 Centerline is valid? [True, True] Translation: X:77.10, Y:-29.30, Z:-4.92 [[ 8.00608509e-01 5.95712424e-01 6.44416211e-02 7.71000171e+01] [-5.93710225e-01 8.03197387e-01 -4.88070275e-02 -2.92967422e+01] [-8.08342943e-02 8.15672178e-04 9.96727220e-01 -4.91942532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61864 meters 0.02572075680999623 Centerline is valid? [True, True] Translation: X:77.12, Y:-29.32, Z:-4.92 [[ 8.00233552e-01 5.96120489e-01 6.53194042e-02 7.71242051e+01] [-5.94061027e-01 8.02894569e-01 -4.95157255e-02 -2.93183161e+01] [-8.19619334e-02 8.20432494e-04 9.96635123e-01 -4.92177319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64864 meters 0.02580952427566834 Centerline is valid? [True, True] Translation: X:77.15, Y:-29.34, Z:-4.92 [[ 8.00850449e-01 5.95330345e-01 6.49641360e-02 7.71471101e+01] [-5.93286821e-01 8.03480496e-01 -4.92934143e-02 -2.93424839e+01] [-8.15432815e-02 9.34287205e-04 9.96669364e-01 -4.92315421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67864 meters 0.02567290155462182 Centerline is valid? [True, True] Translation: X:77.17, Y:-29.36, Z:-4.93 [[ 8.00462881e-01 5.95783087e-01 6.55872663e-02 7.71724528e+01] [-5.93697277e-01 8.03144838e-01 -4.98188013e-02 -2.93639581e+01] [-8.23572736e-02 9.39119816e-04 9.96602427e-01 -4.92589269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70864 meters 0.025895932467501007 Centerline is valid? [True, True] Translation: X:77.20, Y:-29.38, Z:-4.93 [[ 7.99884177e-01 5.96578589e-01 6.54162774e-02 7.71980251e+01] [-5.94501995e-01 8.02554161e-01 -4.97412900e-02 -2.93845358e+01] [-8.21746942e-02 8.97163423e-04 9.96617537e-01 -4.92901338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73864 meters 0.025415745552914683 Centerline is valid? [True, True] Translation: X:77.22, Y:-29.41, Z:-4.93 [[ 7.98025326e-01 5.99161134e-01 6.45098082e-02 7.72217609e+01] [-5.97146167e-01 8.00628189e-01 -4.91015063e-02 -2.94071528e+01] [-8.10680851e-02 6.62460906e-04 9.96708346e-01 -4.92934590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters 0.025541290927739303 Centerline is valid? [True, True] Translation: X:77.25, Y:-29.43, Z:-4.93 [[ 7.97136655e-01 6.00247674e-01 6.53902374e-02 7.72474899e+01] [-5.98176930e-01 7.99813961e-01 -4.98195512e-02 -2.94279351e+01] [-8.22040945e-02 5.98058917e-04 9.96615337e-01 -4.93194535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79863999999999 meters 0.025384172109252135 Centerline is valid? [True, True] Translation: X:77.27, Y:-29.45, Z:-4.93 [[ 7.95477660e-01 6.02396225e-01 6.58337304e-02 7.72732462e+01] [-6.00300158e-01 7.98197100e-01 -5.02106574e-02 -2.94491714e+01] [-8.27950031e-02 4.21457512e-04 9.96566510e-01 -4.93416028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters 0.02523384439584988 Centerline is valid? [True, True] Translation: X:77.30, Y:-29.47, Z:-4.94 [[ 7.95011679e-01 6.02986360e-01 6.60596722e-02 7.72996642e+01] [-6.00873422e-01 7.97751394e-01 -5.04365384e-02 -2.94689211e+01] [-8.31117403e-02 4.04135751e-04 9.96540152e-01 -4.93531125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85864 meters 0.02509687636221822 Centerline is valid? [True, True] Translation: X:77.33, Y:-29.49, Z:-4.94 [[ 7.93756277e-01 6.04552411e-01 6.68382783e-02 7.73253819e+01] [-6.02390187e-01 7.96565314e-01 -5.10858429e-02 -2.94891178e+01] [-8.41251237e-02 2.86985459e-04 9.96455158e-01 -4.93798175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88864 meters 0.02514073958866685 Centerline is valid? [True, True] Translation: X:77.35, Y:-29.51, Z:-4.94 [[ 7.93560411e-01 6.04758906e-01 6.72944257e-02 7.73509652e+01] [-6.02563061e-01 7.96408544e-01 -5.14896911e-02 -2.95093043e+01] [-8.47327049e-02 3.11045341e-04 9.96403669e-01 -4.94061885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91864 meters 0.025099006744043025 Centerline is valid? [True, True] Translation: X:77.38, Y:-29.53, Z:-4.94 [[ 7.93825820e-01 6.04485037e-01 6.66213688e-02 7.73756676e+01] [-6.02327659e-01 7.96616405e-01 -5.10264037e-02 -2.95293106e+01] [-8.39163728e-02 3.78183609e-04 9.96472729e-01 -4.94245027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94864 meters 0.025161082032453742 Centerline is valid? [True, True] Translation: X:77.40, Y:-29.55, Z:-4.94 [[ 7.94446810e-01 6.03770760e-01 6.56896910e-02 7.74010009e+01] [-6.01667105e-01 7.97157848e-01 -5.03593127e-02 -2.95483850e+01] [-8.27705332e-02 4.84469116e-04 9.96568515e-01 -4.94454856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97864 meters 0.025144343690284527 Centerline is valid? [True, True] Translation: X:77.43, Y:-29.57, Z:-4.95 [[ 7.94867961e-01 6.03149153e-01 6.63025124e-02 7.74265210e+01] [-6.00999844e-01 7.97628202e-01 -5.08767127e-02 -2.95684767e+01] [-8.35709999e-02 5.92469302e-04 9.96501649e-01 -4.94689401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00864 meters 0.025341588320128977 Centerline is valid? [True, True] Translation: X:77.45, Y:-29.59, Z:-4.95 [[ 7.96048222e-01 6.01692890e-01 6.53673856e-02 7.74495623e+01] [-5.99595038e-01 7.98727155e-01 -5.02067929e-02 -2.95926401e+01] [-8.24197762e-02 7.73068194e-04 9.96597403e-01 -4.94875698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03864 meters 0.025614055095320835 Centerline is valid? [True, True] Translation: X:77.47, Y:-29.61, Z:-4.95 [[ 7.97038283e-01 6.00342667e-01 6.57164947e-02 7.74733782e+01] [-5.98213452e-01 7.99742310e-01 -5.05262641e-02 -2.96140717e+01] [-8.28893335e-02 9.58875685e-04 9.96558297e-01 -4.95174427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06864 meters 0.025439697822399916 Centerline is valid? [True, True] Translation: X:77.50, Y:-29.64, Z:-4.95 [[ 7.97723497e-01 5.99530035e-01 6.48148115e-02 7.74987127e+01] [-5.97452391e-01 8.00351547e-01 -4.98802747e-02 -2.96357512e+01] [-8.17793575e-02 1.06690301e-03 9.96649888e-01 -4.95269556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09864 meters 0.025542180639983758 Centerline is valid? [True, True] Translation: X:77.52, Y:-29.66, Z:-4.95 [[ 7.96972866e-01 6.00458562e-01 6.54504821e-02 7.75218509e+01] [-5.98338587e-01 7.99655217e-01 -5.04229062e-02 -2.96592003e+01] [-8.26146853e-02 1.02413911e-03 9.96581038e-01 -4.95458778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters 0.025542180639983758 Centerline is valid? [True, True] Translation: X:77.55, Y:-29.68, Z:-4.96 [[ 7.96665855e-01 6.00868643e-01 6.54246776e-02 7.75478063e+01] [-5.98747301e-01 7.99347124e-01 -5.04563710e-02 -2.96787827e+01] [-8.26146791e-02 1.02401885e-03 9.96581038e-01 -4.95650576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15863999999999 meters 0.025704015516656922 Centerline is valid? [True, True] Translation: X:77.57, Y:-29.70, Z:-4.96 [[ 7.95792594e-01 6.02010741e-01 6.55531412e-02 7.75721751e+01] [-5.99880442e-01 7.98487423e-01 -5.06091918e-02 -2.97017719e+01] [-8.28106358e-02 9.50372746e-04 9.96564848e-01 -4.95954231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters 0.025503347159234923 Centerline is valid? [True, True] Translation: X:77.60, Y:-29.72, Z:-4.96 [[ 7.94565260e-01 6.03628812e-01 6.55614615e-02 7.75956323e+01] [-6.01499003e-01 7.97265061e-01 -5.06692399e-02 -2.97245876e+01] [-8.28552756e-02 8.24864007e-04 9.96561249e-01 -4.96151166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21864 meters 0.02512335452436447 Centerline is valid? [True, True] Translation: X:77.62, Y:-29.75, Z:-4.96 [[ 7.92065470e-01 6.07000148e-01 6.46769776e-02 7.76182570e+01] [-6.04934572e-01 7.94701556e-01 -5.00359946e-02 -2.97486081e+01] [-8.17707509e-02 5.06443845e-04 9.96651036e-01 -4.96324138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24864 meters 0.02506012085632255 Centerline is valid? [True, True] Translation: X:77.64, Y:-29.77, Z:-4.97 [[ 7.89413251e-01 6.10401441e-01 6.50907042e-02 7.76418379e+01] [-6.08316775e-01 7.92092193e-01 -5.04049446e-02 -2.97714039e+01] [-8.23250895e-02 1.94563932e-04 9.96605510e-01 -4.96607017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27864 meters 0.02496185797921909 Centerline is valid? [True, True] Translation: X:77.67, Y:-29.79, Z:-4.97 [[ 7.87735481e-01 6.12706444e-01 6.37465683e-02 7.76664046e+01] [-6.10710572e-01 7.90310580e-01 -4.94144069e-02 -2.97926259e+01] [-8.06561129e-02 -5.22159804e-06 9.96741988e-01 -4.96769429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30864 meters 0.024745035961372407 Centerline is valid? [True, True] Translation: X:77.69, Y:-29.81, Z:-4.97 [[ 7.86452312e-01 6.14408032e-01 6.32102160e-02 7.76921727e+01] [-6.12447290e-01 7.88988435e-01 -4.90465743e-02 -2.98136924e+01] [-8.00067386e-02 -1.40133700e-04 9.96794313e-01 -4.96919636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33864 meters 0.024800419320638645 Centerline is valid? [True, True] Translation: X:77.72, Y:-29.83, Z:-4.97 [[ 7.85429903e-01 6.15742552e-01 6.29362880e-02 7.77180534e+01] [-6.13798839e-01 7.87947368e-01 -4.88869082e-02 -2.98342303e+01] [-7.96922321e-02 -2.32980986e-04 9.96819489e-01 -4.97051046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36864 meters 0.024831930214302966 Centerline is valid? [True, True] Translation: X:77.74, Y:-29.85, Z:-4.97 [[ 7.83547051e-01 6.18051916e-01 6.37640055e-02 7.77429219e+01] [-6.16060052e-01 7.86137165e-01 -4.95819573e-02 -2.98538405e+01] [-8.07714782e-02 -4.32660110e-04 9.96732552e-01 -4.97226921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39864 meters 0.024888872525855903 Centerline is valid? [True, True] Translation: X:77.77, Y:-29.87, Z:-4.97 [[ 7.82737596e-01 6.19060708e-01 6.39194452e-02 7.77694397e+01] [-6.17058480e-01 7.85342977e-01 -4.97518002e-02 -2.98736188e+01] [-8.09980720e-02 -4.99431216e-04 9.96714133e-01 -4.97437304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42864 meters 0.02492734435001081 Centerline is valid? [True, True] Translation: X:77.80, Y:-29.89, Z:-4.98 [[ 7.82354045e-01 6.19385435e-01 6.54509825e-02 7.77960191e+01] [-6.17282542e-01 7.85086893e-01 -5.09983687e-02 -2.98920181e+01] [-8.29723553e-02 -5.02968869e-04 9.96551722e-01 -4.97718053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45864 meters 0.024972465953096847 Centerline is valid? [True, True] Translation: X:77.82, Y:-29.91, Z:-4.98 [[ 7.81735044e-01 6.20259867e-01 6.45601855e-02 7.78223446e+01] [-6.18213047e-01 7.84396197e-01 -5.03511212e-02 -2.99106600e+01] [-8.18715437e-02 -5.50713059e-04 9.96642738e-01 -4.97789370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48864 meters 0.02497753379440508 Centerline is valid? [True, True] Translation: X:77.85, Y:-29.93, Z:-4.98 [[ 7.81881718e-01 6.19827971e-01 6.68899464e-02 7.78493737e+01] [-6.17624648e-01 7.84737569e-01 -5.22182242e-02 -2.99278304e+01] [-8.48573699e-02 -4.84404662e-04 9.96392991e-01 -4.97979812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51863999999999 meters 0.025000135869618235 Centerline is valid? [True, True] Translation: X:77.88, Y:-29.95, Z:-4.98 [[ 7.81776083e-01 6.20063249e-01 6.59372706e-02 7.78755304e+01] [-6.17919166e-01 7.84551688e-01 -5.15223536e-02 -2.99465299e+01] [-8.36783149e-02 -4.64959463e-04 9.96492711e-01 -4.98113900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters 0.024862900949624216 Centerline is valid? [True, True] Translation: X:77.90, Y:-29.96, Z:-4.98 [[ 7.83026698e-01 6.18553324e-01 6.52761463e-02 7.79045047e+01] [-6.16442886e-01 7.85742780e-01 -5.10534217e-02 -2.99622854e+01] [-8.28695244e-02 -2.62823825e-04 9.96560371e-01 -4.98191466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57864 meters 0.024846782603323677 Centerline is valid? [True, True] Translation: X:77.93, Y:-29.98, Z:-4.98 [[ 7.83601031e-01 6.17867079e-01 6.48821758e-02 7.79327609e+01] [-6.15775618e-01 7.86282551e-01 -5.07950586e-02 -2.99803996e+01] [-8.24003172e-02 -1.49801676e-04 9.96599300e-01 -4.98347912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters 0.02473186035477407 Centerline is valid? [True, True] Translation: X:77.96, Y:-30.00, Z:-4.99 [[ 7.84844093e-01 6.16348049e-01 6.43026646e-02 7.79604539e+01] [-6.14284283e-01 7.87473860e-01 -5.03958298e-02 -2.99987896e+01] [-8.16980389e-02 5.27530748e-05 9.96657126e-01 -4.98578893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63864 meters 0.024919695794537983 Centerline is valid? [True, True] Translation: X:77.99, Y:-30.02, Z:-4.99 [[ 7.87996697e-01 6.12406190e-01 6.34023909e-02 7.79891711e+01] [-6.10382817e-01 7.90543111e-01 -4.97434046e-02 -3.00151021e+01] [-8.05854922e-02 4.97908525e-04 9.96747576e-01 -4.98709146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66864 meters 0.02493189170379553 Centerline is valid? [True, True] Translation: X:78.02, Y:-30.03, Z:-4.99 [[ 7.89538876e-01 6.10497871e-01 6.26155977e-02 7.80165873e+01] [-6.08514347e-01 7.92017565e-01 -4.91778988e-02 -3.00336866e+01] [-7.96156557e-02 7.25373350e-04 9.96825371e-01 -4.98884765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69864 meters 0.025433724948780302 Centerline is valid? [True, True] Translation: X:78.04, Y:-30.05, Z:-4.99 [[ 7.92098506e-01 6.07180995e-01 6.25395656e-02 7.80442479e+01] [-6.05187945e-01 7.94562795e-01 -4.91682484e-02 -3.00511994e+01] [-7.95456380e-02 1.09790488e-03 9.96830621e-01 -4.99120619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72864 meters 0.02575920149731947 Centerline is valid? [True, True] Translation: X:78.07, Y:-30.07, Z:-4.99 [[ 7.93384254e-01 6.05557169e-01 6.19833922e-02 7.80705109e+01] [-6.03591011e-01 7.95800769e-01 -4.87752839e-02 -3.00702164e+01] [-7.88626540e-02 1.28492386e-03 9.96884663e-01 -4.99355343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75864 meters 0.02601598310383878 Centerline is valid? [True, True] Translation: X:78.10, Y:-30.09, Z:-5.00 [[ 7.94587565e-01 6.03895670e-01 6.27743707e-02 7.80955683e+01] [-6.01870192e-01 7.97061954e-01 -4.94420283e-02 -3.00895434e+01] [-7.98928893e-02 1.50399840e-03 9.96802320e-01 -4.99553521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78864 meters 0.02654617491540404 Centerline is valid? [True, True] Translation: X:78.12, Y:-30.11, Z:-5.00 [[ 7.97015886e-01 6.00509272e-01 6.44537941e-02 7.81197627e+01] [-5.98359599e-01 7.99615479e-01 -5.08023215e-02 -3.01100660e+01] [-8.20455165e-02 1.92371084e-03 9.96626727e-01 -4.99782191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81864 meters 0.027048244880682408 Centerline is valid? [True, True] Translation: X:78.14, Y:-30.13, Z:-5.00 [[ 7.98247336e-01 5.98948412e-01 6.37337523e-02 7.81447250e+01] [-5.96839330e-01 8.00784902e-01 -5.02628570e-02 -3.01300519e+01] [-8.11418849e-02 2.08338167e-03 9.96700383e-01 -5.00004427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84864 meters 0.02744093236180862 Centerline is valid? [True, True] Translation: X:78.17, Y:-30.15, Z:-5.00 [[ 8.00092045e-01 5.96698047e-01 6.16778721e-02 7.81679810e+01] [-5.94713045e-01 8.02462637e-01 -4.86837843e-02 -3.01532316e+01] [-7.85437069e-02 2.27087343e-03 9.96908085e-01 -5.00161080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87863999999999 meters 0.027364959669412745 Centerline is valid? [True, True] Translation: X:78.19, Y:-30.18, Z:-5.00 [[ 8.00220824e-01 5.96591135e-01 6.10381067e-02 7.81919787e+01] [-5.94643458e-01 8.02542062e-01 -4.82223584e-02 -3.01759983e+01] [-7.77546795e-02 2.29262452e-03 9.96969886e-01 -5.00280936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters 0.02745533358170055 Centerline is valid? [True, True] Translation: X:78.21, Y:-30.20, Z:-5.00 [[ 8.00277994e-01 5.96456417e-01 6.16025536e-02 7.82129697e+01] [-5.94468401e-01 8.02641981e-01 -4.87151998e-02 -3.02005804e+01] [-7.85012892e-02 2.36493077e-03 9.96911207e-01 -5.00431390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93863999999999 meters 0.027335815475964465 Centerline is valid? [True, True] Translation: X:78.24, Y:-30.22, Z:-5.01 [[ 7.99437657e-01 5.97581146e-01 6.16133581e-02 7.82367673e+01] [-5.95592570e-01 8.01805177e-01 -4.87642144e-02 -3.02230233e+01] [-7.85424846e-02 2.28749099e-03 9.96908143e-01 -5.00570440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters 0.027091825400233624 Centerline is valid? [True, True] Translation: X:78.26, Y:-30.25, Z:-5.01 [[ 7.98313556e-01 5.99041869e-01 6.20024637e-02 7.82573817e+01] [-5.97029007e-01 8.00714702e-01 -4.91154866e-02 -3.02481613e+01] [-7.90685171e-02 2.19228944e-03 9.96866773e-01 -5.00797332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99864 meters 0.027104675907922704 Centerline is valid? [True, True] Translation: X:78.28, Y:-30.27, Z:-5.01 [[ 7.97082157e-01 6.00552517e-01 6.32195228e-02 7.82802770e+01] [-5.98460696e-01 7.99582503e-01 -5.01260021e-02 -3.02719569e+01] [-8.06525210e-02 2.12014226e-03 9.96740024e-01 -5.01069872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02864 meters 0.026928089637145727 Centerline is valid? [True, True] Translation: X:78.30, Y:-30.30, Z:-5.01 [[ 7.96241302e-01 6.01484342e-01 6.49336192e-02 7.83031328e+01] [-5.99276166e-01 7.98881770e-01 -5.15363450e-02 -3.02950016e+01] [-8.28725892e-02 2.12219613e-03 9.96557891e-01 -5.01291911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05864 meters 0.026578954085864692 Centerline is valid? [True, True] Translation: X:78.33, Y:-30.32, Z:-5.02 [[ 7.94788069e-01 6.03302291e-01 6.58655523e-02 7.83250160e+01] [-6.01032250e-01 7.97510092e-01 -5.23248274e-02 -3.03211676e+01] [-8.40961309e-02 1.99982735e-03 9.96455639e-01 -5.01508015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08864 meters 0.026712003353187356 Centerline is valid? [True, True] Translation: X:78.35, Y:-30.34, Z:-5.02 [[ 7.94534068e-01 6.03720716e-01 6.50915630e-02 7.83485765e+01] [-6.01501021e-01 7.97193456e-01 -5.17601848e-02 -3.03424933e+01] [-8.31392639e-02 1.97258861e-03 9.96535986e-01 -5.01671198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11864 meters 0.026322136382182476 Centerline is valid? [True, True] Translation: X:78.37, Y:-30.37, Z:-5.02 [[ 7.93836104e-01 6.04772576e-01 6.38308009e-02 7.83694987e+01] [-6.02637913e-01 7.96396048e-01 -5.08023765e-02 -3.03672146e+01] [-8.15584817e-02 1.86189999e-03 9.96666819e-01 -5.01756199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14864 meters 0.025978696124679724 Centerline is valid? [True, True] Translation: X:78.39, Y:-30.39, Z:-5.02 [[ 7.92812834e-01 6.06027486e-01 6.46412979e-02 7.83930410e+01] [-6.03838311e-01 7.95441682e-01 -5.14958772e-02 -3.03907232e+01] [-8.26262997e-02 1.79370021e-03 9.96578987e-01 -5.01850548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17864 meters 0.02580640832958825 Centerline is valid? [True, True] Translation: X:78.42, Y:-30.42, Z:-5.02 [[ 7.90663995e-01 6.08639439e-01 6.63963884e-02 7.84161184e+01] [-6.06333956e-01 7.93445304e-01 -5.29498171e-02 -3.04151662e+01] [-8.49092496e-02 1.60712906e-03 9.96387393e-01 -5.02154081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20864 meters 0.025716031213495263 Centerline is valid? [True, True] Translation: X:78.44, Y:-30.44, Z:-5.02 [[ 7.89504618e-01 6.10067142e-01 6.70860727e-02 7.84406131e+01] [-6.07713718e-01 7.92348277e-01 -5.35560035e-02 -3.04366397e+01] [-8.58282921e-02 1.51358544e-03 9.96308794e-01 -5.02415486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23864 meters 0.02527761228819391 Centerline is valid? [True, True] Translation: X:78.47, Y:-30.46, Z:-5.03 [[ 7.88027748e-01 6.12084699e-01 6.60650407e-02 7.84650251e+01] [-6.09805912e-01 7.90791129e-01 -5.27839087e-02 -3.04582502e+01] [-8.45518710e-02 1.30833229e-03 9.96418220e-01 -5.02592645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters 0.024827282654881874 Centerline is valid? [True, True] Translation: X:78.49, Y:-30.48, Z:-5.03 [[ 7.85226442e-01 6.15695266e-01 6.58693776e-02 7.84880005e+01] [-6.13440928e-01 7.87983800e-01 -5.26474998e-02 -3.04812614e+01] [-8.43188189e-02 9.33236805e-04 9.96438390e-01 -5.02744340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29863999999999 meters 0.024723231730358165 Centerline is valid? [True, True] Translation: X:78.51, Y:-30.50, Z:-5.03 [[ 7.83499831e-01 6.17861389e-01 6.61461990e-02 7.85134463e+01] [-6.15592697e-01 7.86286697e-01 -5.29042690e-02 -3.05019415e+01] [-8.46973815e-02 7.31368780e-04 9.96406453e-01 -5.02988558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters 0.02453051329064745 Centerline is valid? [True, True] Translation: X:78.54, Y:-30.52, Z:-5.03 [[ 7.80681065e-01 6.21374579e-01 6.65635608e-02 7.85392390e+01] [-6.19084943e-01 7.83513545e-01 -5.32950158e-02 -3.05217334e+01] [-8.52696195e-02 3.97911509e-04 9.96357834e-01 -5.03325176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35864 meters 0.02446634696525198 Centerline is valid? [True, True] Translation: X:78.56, Y:-30.54, Z:-5.04 [[ 7.79598764e-01 6.22736986e-01 6.65162642e-02 7.85647796e+01] [-6.20450696e-01 7.82431186e-01 -5.33139094e-02 -3.05418214e+01] [-8.52449427e-02 2.93395426e-04 9.96359982e-01 -5.03549412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38864 meters 0.02435673313279614 Centerline is valid? [True, True] Translation: X:78.59, Y:-30.56, Z:-5.04 [[ 7.78792072e-01 6.23827699e-01 6.57412468e-02 7.85898847e+01] [-6.21593808e-01 7.81561870e-01 -5.27463933e-02 -3.05613357e+01] [-8.42855129e-02 2.14120928e-04 9.96441622e-01 -5.03724061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41864 meters 0.024419535380984785 Centerline is valid? [True, True] Translation: X:78.62, Y:-30.58, Z:-5.04 [[ 7.77519431e-01 6.25599126e-01 6.39473813e-02 7.86164693e+01] [-6.23487789e-01 7.80144685e-01 -5.13541281e-02 -3.05794340e+01] [-8.20153073e-02 5.84211339e-05 9.96631068e-01 -5.03784783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44864 meters 0.02438795155588191 Centerline is valid? [True, True] Translation: X:78.64, Y:-30.60, Z:-5.04 [[ 7.77004823e-01 6.26229209e-01 6.40350101e-02 7.86436352e+01] [-6.24110039e-01 7.79639004e-01 -5.14750645e-02 -3.05982877e+01] [-8.21593804e-02 3.14806580e-05 9.96619203e-01 -5.04029780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47864 meters 0.024442913306266138 Centerline is valid? [True, True] Translation: X:78.67, Y:-30.62, Z:-5.04 [[ 7.77236058e-01 6.25924482e-01 6.42078830e-02 7.86714639e+01] [-6.23788187e-01 7.79883665e-01 -5.16697869e-02 -3.06160694e+01] [-8.24160637e-02 1.07502593e-04 9.96598004e-01 -5.04281640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50864 meters 0.02447088784158311 Centerline is valid? [True, True] Translation: X:78.70, Y:-30.64, Z:-5.04 [[ 7.77628958e-01 6.25465519e-01 6.39225113e-02 7.86975933e+01] [-6.23342103e-01 7.80251783e-01 -5.14954158e-02 -3.06361771e+01] [-8.20842604e-02 1.98733920e-04 9.96625373e-01 -5.04414677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53864 meters 0.02446904068144709 Centerline is valid? [True, True] Translation: X:78.72, Y:-30.65, Z:-5.05 [[ 7.78660318e-01 6.24088092e-01 6.48240914e-02 7.87236005e+01] [-6.21894946e-01 7.81353889e-01 -5.22759538e-02 -3.06547415e+01] [-8.32753561e-02 3.91435953e-04 9.96526498e-01 -5.04672199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56864 meters 0.02450620595632717 Centerline is valid? [True, True] Translation: X:78.75, Y:-30.67, Z:-5.05 [[ 7.79320264e-01 6.23404842e-01 6.34533655e-02 7.87486232e+01] [-6.21297536e-01 7.81899074e-01 -5.12172834e-02 -3.06747260e+01] [-8.15432302e-02 4.91247214e-04 9.96669685e-01 -5.04841782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59864 meters 0.02450887309634438 Centerline is valid? [True, True] Translation: X:78.77, Y:-30.70, Z:-5.05 [[ 7.79827298e-01 6.22787673e-01 6.32842722e-02 7.87737493e+01] [-6.20685557e-01 7.82390671e-01 -5.11299981e-02 -3.06966055e+01] [-8.13561567e-02 5.92934548e-04 9.96684917e-01 -5.04950845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters 0.02458922511233268 Centerline is valid? [True, True] Translation: X:78.80, Y:-30.72, Z:-5.05 [[ 7.78815049e-01 6.23872004e-01 6.50449211e-02 7.87983267e+01] [-6.21650229e-01 7.81526349e-01 -5.26075846e-02 -3.07165645e+01] [-8.36547190e-02 5.36388502e-04 9.96494656e-01 -5.05244326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65863999999999 meters 0.02464167422441403 Centerline is valid? [True, True] Translation: X:78.82, Y:-30.74, Z:-5.05 [[ 7.78465016e-01 6.24366341e-01 6.44894631e-02 7.88236013e+01] [-6.22180102e-01 7.81131490e-01 -5.22064705e-02 -3.07357625e+01] [-8.29707134e-02 5.16850080e-04 9.96551852e-01 -5.05383654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters 0.024452522621226738 Centerline is valid? [True, True] Translation: X:78.85, Y:-30.76, Z:-5.06 [[ 7.76838321e-01 6.26503518e-01 6.33684834e-02 7.88484296e+01] [-6.24395972e-01 7.79418526e-01 -5.13461877e-02 -3.07564367e+01] [-8.15591372e-02 3.20660384e-04 9.96668453e-01 -5.05590134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71864 meters 0.0245236279450852 Centerline is valid? [True, True] Translation: X:78.87, Y:-30.78, Z:-5.06 [[ 7.75919073e-01 6.27679278e-01 6.29945757e-02 7.88738600e+01] [-6.25596405e-01 7.78472009e-01 -5.10927402e-02 -3.07776973e+01] [-8.11093682e-02 2.34651473e-04 9.96705180e-01 -5.05827134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74864 meters 0.02432374930036234 Centerline is valid? [True, True] Translation: X:78.90, Y:-30.80, Z:-5.06 [[ 7.74187331e-01 6.29870194e-01 6.24300810e-02 7.88982716e+01] [-6.27827417e-01 7.76700416e-01 -5.06872590e-02 -3.07991615e+01] [-8.04158636e-02 4.61173127e-05 9.96761399e-01 -5.06007598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77864 meters 0.024417385283168964 Centerline is valid? [True, True] Translation: X:78.92, Y:-30.82, Z:-5.06 [[ 7.73408906e-01 6.30779868e-01 6.28921482e-02 7.89240866e+01] [-6.28705609e-01 7.75961828e-01 -5.11126123e-02 -3.08199293e+01] [-8.10427131e-02 -9.69679693e-06 9.96710629e-01 -5.06258055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80864 meters 0.024566515717654013 Centerline is valid? [True, True] Translation: X:78.95, Y:-30.84, Z:-5.06 [[ 7.73211936e-01 6.30933119e-01 6.37706921e-02 7.89494631e+01] [-6.28796433e-01 7.75837225e-01 -5.18810843e-02 -3.08403345e+01] [-8.22091711e-02 1.62899493e-05 9.96615097e-01 -5.06393397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83864 meters 0.024562320665751824 Centerline is valid? [True, True] Translation: X:78.97, Y:-30.86, Z:-5.07 [[ 7.72915870e-01 6.31276696e-01 6.39592832e-02 7.89747471e+01] [-6.29124281e-01 7.75557691e-01 -5.20855705e-02 -3.08616588e+01] [-8.24845209e-02 1.94259982e-05 9.96592346e-01 -5.06734123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86864 meters 0.024724480451558024 Centerline is valid? [True, True] Translation: X:79.00, Y:-30.88, Z:-5.07 [[ 7.73596310e-01 6.30439329e-01 6.39921969e-02 7.90008574e+01] [-6.28277160e-01 7.76238513e-01 -5.21687801e-02 -3.08825192e+01] [-8.25624585e-02 1.52740057e-04 9.96585880e-01 -5.06979435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89864 meters 0.02490446156574196 Centerline is valid? [True, True] Translation: X:79.03, Y:-30.90, Z:-5.07 [[ 7.74183611e-01 6.29615990e-01 6.49880127e-02 7.90254378e+01] [-6.27378331e-01 7.76906444e-01 -5.30359137e-02 -3.09028975e+01] [-8.38818651e-02 2.87464225e-04 9.96475665e-01 -5.07205595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92864 meters 0.024802612251671567 Centerline is valid? [True, True] Translation: X:79.05, Y:-30.92, Z:-5.07 [[ 7.74730272e-01 6.28990332e-01 6.45303654e-02 7.90507789e+01] [-6.26777707e-01 7.77413023e-01 -5.27133471e-02 -3.09241575e+01] [-8.33229322e-02 3.92431213e-04 9.96522521e-01 -5.07382523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95864 meters 0.024828789472717522 Centerline is valid? [True, True] Translation: X:79.08, Y:-30.94, Z:-5.08 [[ 7.74898836e-01 6.28804905e-01 6.43131811e-02 7.90769278e+01] [-6.26601867e-01 7.77562978e-01 -5.25919716e-02 -3.09446631e+01] [-8.30776383e-02 4.54698288e-04 9.96542974e-01 -5.07506746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98864 meters 0.024723799155120057 Centerline is valid? [True, True] Translation: X:79.10, Y:-30.97, Z:-5.08 [[ 7.73918075e-01 6.30035848e-01 6.40752963e-02 7.91022736e+01] [-6.27848681e-01 7.76565964e-01 -5.24531896e-02 -3.09652212e+01] [-8.28060841e-02 3.64881193e-04 9.96565612e-01 -5.07704393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01863999999999 meters 0.024723799155120057 Centerline is valid? [True, True] Translation: X:79.13, Y:-30.99, Z:-5.08 [[ 7.73588899e-01 6.30442759e-01 6.40479706e-02 7.91276135e+01] [-6.28254223e-01 7.76235657e-01 -5.24865396e-02 -3.09855406e+01] [-8.28060774e-02 3.64596346e-04 9.96565613e-01 -5.07896172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters 0.024567865294031477 Centerline is valid? [True, True] Translation: X:79.15, Y:-31.01, Z:-5.08 [[ 7.72552072e-01 6.31733721e-01 6.38420046e-02 7.91516975e+01] [-6.29559030e-01 7.75185418e-01 -5.23736075e-02 -3.10081424e+01] [-8.25755651e-02 2.69028495e-04 9.96584770e-01 -5.08139718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07864 meters 0.02476108004688172 Centerline is valid? [True, True] Translation: X:79.18, Y:-31.03, Z:-5.08 [[ 7.71588199e-01 6.32794690e-01 6.49810070e-02 7.91761755e+01] [-6.30540628e-01 7.74319598e-01 -5.33636264e-02 -3.10286586e+01] [-8.40842866e-02 2.01579486e-04 9.96458625e-01 -5.08417372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters 0.024745716051155414 Centerline is valid? [True, True] Translation: X:79.20, Y:-31.05, Z:-5.09 [[ 7.70922325e-01 6.33526196e-01 6.57520247e-02 7.92011491e+01] [-6.31216543e-01 7.73721224e-01 -5.40475957e-02 -3.10488914e+01] [-8.51143048e-02 1.62732339e-04 9.96371180e-01 -5.08569841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13864 meters 0.024654787123062183 Centerline is valid? [True, True] Translation: X:79.23, Y:-31.07, Z:-5.09 [[ 7.69125369e-01 6.35635266e-01 6.64377471e-02 7.92253536e+01] [-6.33281410e-01 7.71989512e-01 -5.46520739e-02 -3.10694568e+01] [-8.60280295e-02 -3.94936035e-05 9.96292716e-01 -5.08819965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16864 meters 0.024890835746311818 Centerline is valid? [True, True] Translation: X:79.25, Y:-31.09, Z:-5.09 [[ 7.68442015e-01 6.36400081e-01 6.70209364e-02 7.92501720e+01] [-6.34004768e-01 7.71359142e-01 -5.51636468e-02 -3.10905463e+01] [-8.68033613e-02 -1.01529335e-04 9.96225460e-01 -5.09071251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19864 meters 0.024658317444027317 Centerline is valid? [True, True] Translation: X:79.28, Y:-31.11, Z:-5.09 [[ 7.67436138e-01 6.37685829e-01 6.63216196e-02 7.92750283e+01] [-6.35341154e-01 7.70296527e-01 -5.46340383e-02 -3.11113514e+01] [-8.59266653e-02 -2.08719001e-04 9.96301443e-01 -5.09137911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22864 meters 0.024719429006168574 Centerline is valid? [True, True] Translation: X:79.30, Y:-31.13, Z:-5.09 [[ 7.66366515e-01 6.38946829e-01 6.65530984e-02 7.93009698e+01] [-6.36587740e-01 7.69250832e-01 -5.48562288e-02 -3.11314478e+01] [-8.62462397e-02 -3.26909640e-04 9.96273797e-01 -5.09415613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25864 meters 0.02474916237550209 Centerline is valid? [True, True] Translation: X:79.33, Y:-31.15, Z:-5.10 [[ 7.65574802e-01 6.39952921e-01 6.59960774e-02 7.93268893e+01] [-6.37631915e-01 7.68414020e-01 -5.44558104e-02 -3.11510450e+01] [-8.55614660e-02 -3.91208962e-04 9.96332817e-01 -5.09654921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28864 meters 0.02480243610659671 Centerline is valid? [True, True] Translation: X:79.35, Y:-31.17, Z:-5.10 [[ 7.63565131e-01 6.42318432e-01 6.62972282e-02 7.93530494e+01] [-6.39980139e-01 7.66437638e-01 -5.47610138e-02 -3.11695911e+01] [-8.59866995e-02 -6.15308605e-04 9.96296095e-01 -5.09776807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31864 meters 0.02502818922452296 Centerline is valid? [True, True] Translation: X:79.38, Y:-31.19, Z:-5.10 [[ 7.61949476e-01 6.44205496e-01 6.65753267e-02 7.93785047e+01] [-6.41850211e-01 7.64852045e-01 -5.50423032e-02 -3.11886577e+01] [-8.63788290e-02 -7.91933401e-04 9.96262049e-01 -5.09978492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34864 meters 0.02494217903703414 Centerline is valid? [True, True] Translation: X:79.41, Y:-31.20, Z:-5.10 [[ 7.60147955e-01 6.46563247e-01 6.42732779e-02 7.94065747e+01] [-6.44372628e-01 7.62859749e-01 -5.31875911e-02 -3.12047625e+01] [-8.34206383e-02 -9.85502371e-04 9.96513937e-01 -5.10108777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37863999999999 meters 0.025015726078430604 Centerline is valid? [True, True] Translation: X:79.43, Y:-31.22, Z:-5.10 [[ 7.59676552e-01 6.47091143e-01 6.45336268e-02 7.94335580e+01] [-6.44880215e-01 7.62411987e-01 -5.34553121e-02 -3.12235125e+01] [-8.37916696e-02 -1.00771194e-03 9.96482785e-01 -5.10323816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters 0.02486180783101804 Centerline is valid? [True, True] Translation: X:79.46, Y:-31.24, Z:-5.11 [[ 7.61127566e-01 6.45401626e-01 6.43550252e-02 7.94605171e+01] [-6.43192268e-01 7.63843005e-01 -5.33626213e-02 -3.12415952e+01] [-8.35974585e-02 -7.76892596e-04 9.96499303e-01 -5.10549380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43863999999999 meters 0.024933810865785735 Centerline is valid? [True, True] Translation: X:79.49, Y:-31.26, Z:-5.11 [[ 7.61871473e-01 6.44503245e-01 6.45556114e-02 7.94870016e+01] [-6.42272381e-01 7.64601307e-01 -5.35819976e-02 -3.12607260e+01] [-8.38930762e-02 -6.39690801e-04 9.96474557e-01 -5.10772578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters 0.024901294010476777 Centerline is valid? [True, True] Translation: X:79.51, Y:-31.28, Z:-5.11 [[ 7.62804414e-01 6.43414518e-01 6.43986286e-02 7.95146271e+01] [-6.41185774e-01 7.65517820e-01 -5.35095335e-02 -3.12789214e+01] [-8.37271085e-02 -4.74176160e-04 9.96488608e-01 -5.10961126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49864 meters 0.024860589698550553 Centerline is valid? [True, True] Translation: X:79.54, Y:-31.30, Z:-5.11 [[ 7.63515025e-01 6.42657440e-01 6.35312625e-02 7.95433610e+01] [-6.40481307e-01 7.66153572e-01 -5.28431570e-02 -3.12952602e+01] [-8.26347517e-02 -3.44041709e-04 9.96579841e-01 -5.11217700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52864 meters 0.024997818084858247 Centerline is valid? [True, True] Translation: X:79.57, Y:-31.31, Z:-5.11 [[ 7.63386348e-01 6.42782506e-01 6.38117060e-02 7.95710950e+01] [-6.40583175e-01 7.66048659e-01 -5.31286010e-02 -3.13137408e+01] [-8.30330072e-02 -3.19056521e-04 9.96546746e-01 -5.11452902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55864 meters 0.025058647811036075 Centerline is valid? [True, True] Translation: X:79.60, Y:-31.33, Z:-5.12 [[ 7.62292349e-01 6.44033747e-01 6.42721377e-02 7.95979019e+01] [-6.41802111e-01 7.64996968e-01 -5.35694803e-02 -3.13331915e+01] [-8.36685436e-02 -4.14388738e-04 9.96493554e-01 -5.11636648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58864 meters 0.02536271076775854 Centerline is valid? [True, True] Translation: X:79.63, Y:-31.35, Z:-5.12 [[ 7.61535526e-01 6.44858888e-01 6.49665872e-02 7.96251875e+01] [-6.42576904e-01 7.64301509e-01 -5.42044814e-02 -3.13502619e+01] [-8.46083022e-02 -4.67390248e-04 9.96414179e-01 -5.11893661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61864 meters 0.02528147541968487 Centerline is valid? [True, True] Translation: X:79.65, Y:-31.37, Z:-5.12 [[ 7.60729825e-01 6.45808142e-01 6.49767496e-02 7.96511066e+01] [-6.43524416e-01 7.63499548e-01 -5.42656914e-02 -3.13706001e+01] [-8.46549443e-02 -5.32594995e-04 9.96410185e-01 -5.12060594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64864 meters 0.025656629265853454 Centerline is valid? [True, True] Translation: X:79.68, Y:-31.39, Z:-5.12 [[ 7.59547254e-01 6.47164141e-01 6.53187909e-02 7.96776955e+01] [-6.44856252e-01 7.62350420e-01 -5.46099999e-02 -3.13907726e+01] [-8.51374413e-02 -6.42355197e-04 9.96369010e-01 -5.12348485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67864 meters 0.025685823431267116 Centerline is valid? [True, True] Translation: X:79.70, Y:-31.41, Z:-5.12 [[ 7.58310804e-01 6.48579972e-01 6.56410346e-02 7.97044125e+01] [-6.46249413e-01 7.61146138e-01 -5.49386341e-02 -3.14097372e+01] [-8.55945177e-02 -7.59920278e-04 9.96329765e-01 -5.12485123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70864 meters 0.025852216562406778 Centerline is valid? [True, True] Translation: X:79.73, Y:-31.43, Z:-5.13 [[ 7.56720126e-01 6.50355335e-01 6.64273244e-02 7.97311216e+01] [-6.47970321e-01 7.59629566e-01 -5.56541682e-02 -3.14286068e+01] [-8.66551448e-02 -9.28305500e-04 9.96237936e-01 -5.12650256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73864 meters 0.026448912979026275 Centerline is valid? [True, True] Translation: X:79.76, Y:-31.45, Z:-5.13 [[ 7.54294062e-01 6.53165828e-01 6.64444870e-02 7.97596780e+01] [-6.50785915e-01 7.57213928e-01 -5.57203692e-02 -3.14451478e+01] [-8.67073321e-02 -1.21159264e-03 9.96233091e-01 -5.12821845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters 0.02647717422173812 Centerline is valid? [True, True] Translation: X:79.79, Y:-31.46, Z:-5.13 [[ 7.52973023e-01 6.54746696e-01 6.58664539e-02 7.97865938e+01] [-6.52409516e-01 7.55847184e-01 -5.52888544e-02 -3.14644340e+01] [-8.59851685e-02 -1.34088550e-03 9.96295515e-01 -5.13008687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79863999999999 meters 0.0270225067332425 Centerline is valid? [True, True] Translation: X:79.81, Y:-31.48, Z:-5.13 [[ 7.51507899e-01 6.56153941e-01 6.85411116e-02 7.98143287e+01] [-6.53623264e-01 7.54625536e-01 -5.75927894e-02 -3.14805407e+01] [-8.95126088e-02 -1.51862895e-03 9.95984531e-01 -5.13257163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters 0.02736564885169502 Centerline is valid? [True, True] Translation: X:79.84, Y:-31.50, Z:-5.13 [[ 7.50983055e-01 6.56694746e-01 6.91119526e-02 7.98429508e+01] [-6.54119263e-01 7.54154881e-01 -5.81240499e-02 -3.14958171e+01] [-9.02908746e-02 -1.55728298e-03 9.95914220e-01 -5.13368869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85864 meters 0.02757061632723673 Centerline is valid? [True, True] Translation: X:79.87, Y:-31.51, Z:-5.14 [[ 7.50489762e-01 6.57252200e-01 6.91712595e-02 7.98701149e+01] [-6.54669506e-01 7.53669052e-01 -5.82305571e-02 -3.15144288e+01] [-9.04043994e-02 -1.58287737e-03 9.95903880e-01 -5.13632002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88864 meters 0.027501554220530758 Centerline is valid? [True, True] Translation: X:79.90, Y:-31.53, Z:-5.14 [[ 7.50550251e-01 6.57307809e-01 6.79762119e-02 7.98970242e+01] [-6.54808842e-01 7.53620686e-01 -5.72821256e-02 -3.15320840e+01] [-8.88802679e-02 -1.51831091e-03 9.96041160e-01 -5.13700127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91864 meters 0.027588825224244648 Centerline is valid? [True, True] Translation: X:79.93, Y:-31.55, Z:-5.14 [[ 7.50879609e-01 6.56974208e-01 6.75625840e-02 7.99279772e+01] [-6.54499610e-01 7.53911696e-01 -5.69860977e-02 -3.15454931e+01] [-8.83746186e-02 -1.42998614e-03 9.96086282e-01 -5.13782600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94864 meters 0.027807906215166354 Centerline is valid? [True, True] Translation: X:79.96, Y:-31.56, Z:-5.14 [[ 7.50728694e-01 6.57113087e-01 6.78882749e-02 7.99566805e+01] [-6.54610127e-01 7.53790686e-01 -5.73165111e-02 -3.15633018e+01] [-8.88369789e-02 -1.41120274e-03 9.96045180e-01 -5.13979905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97864 meters 0.027670264447007945 Centerline is valid? [True, True] Translation: X:79.99, Y:-31.58, Z:-5.14 [[ 7.52183388e-01 6.55463044e-01 6.77373568e-02 7.99858262e+01] [-6.52959374e-01 7.55226344e-01 -5.72470554e-02 -3.15790714e+01] [-8.86803655e-02 -1.16945801e-03 9.96059449e-01 -5.14212373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00864 meters 0.027594318570522348 Centerline is valid? [True, True] Translation: X:80.01, Y:-31.60, Z:-5.14 [[ 7.53101479e-01 6.54498690e-01 6.68552675e-02 8.00121379e+01] [-6.52051565e-01 7.56062471e-01 -5.65534891e-02 -3.15970815e+01] [-8.75609432e-02 -1.00256550e-03 9.96158660e-01 -5.14417992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03864 meters 0.027501552500213224 Centerline is valid? [True, True] Translation: X:80.04, Y:-31.61, Z:-5.15 [[ 7.57090787e-01 6.50012005e-01 6.55586347e-02 8.00419942e+01] [-6.47638717e-01 7.59923811e-01 -5.54967936e-02 -3.16123777e+01] [-8.58931495e-02 -4.42198939e-04 9.96304256e-01 -5.14631070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06864 meters 0.027381236460730544 Centerline is valid? [True, True] Translation: X:80.07, Y:-31.63, Z:-5.15 [[ 7.58717473e-01 6.48213645e-01 6.45512679e-02 8.00685453e+01] [-6.45904009e-01 7.61458485e-01 -5.46716200e-02 -3.16302758e+01] [-8.45920008e-02 -2.13609357e-04 9.96415650e-01 -5.14811830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09864 meters 0.027311102224179762 Centerline is valid? [True, True] Translation: X:80.10, Y:-31.65, Z:-5.15 [[ 7.62192386e-01 6.44295747e-01 6.28152680e-02 8.00968134e+01] [-6.42091583e-01 7.64776390e-01 -5.32491556e-02 -3.16472764e+01] [-8.23478384e-02 2.52946063e-04 9.96603617e-01 -5.14909512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters 0.02737802117465405 Centerline is valid? [True, True] Translation: X:80.12, Y:-31.67, Z:-5.15 [[ 7.63583201e-01 6.42619990e-01 6.30891723e-02 8.01239272e+01] [-6.40386585e-01 7.66184915e-01 -5.35322137e-02 -3.16667166e+01] [-8.27388427e-02 4.74839498e-04 9.96571151e-01 -5.15084369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15863999999999 meters 0.027661574292028913 Centerline is valid? [True, True] Translation: X:80.15, Y:-31.68, Z:-5.15 [[ 7.65978310e-01 6.39937663e-01 6.12945095e-02 8.01524569e+01] [-6.37816986e-01 7.68426428e-01 -5.20607128e-02 -3.16836229e+01] [-8.04159319e-02 7.82697508e-04 9.96761087e-01 -5.15168373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters 0.02769173324724803 Centerline is valid? [True, True] Translation: X:80.18, Y:-31.70, Z:-5.15 [[ 7.66537735e-01 6.39260284e-01 6.13692991e-02 8.01789003e+01] [-6.37128294e-01 7.68989917e-01 -5.21732152e-02 -3.17036713e+01] [-8.05446366e-02 8.92621404e-04 9.96750603e-01 -5.15366391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21864 meters 0.027993778597101504 Centerline is valid? [True, True] Translation: X:80.20, Y:-31.72, Z:-5.16 [[ 7.67250689e-01 6.38468224e-01 6.07017837e-02 8.02048046e+01] [-6.36375741e-01 7.69647527e-01 -5.16585028e-02 -3.17239138e+01] [-7.97012902e-02 1.00587930e-03 9.96818285e-01 -5.15577755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24864 meters 0.02815978662178452 Centerline is valid? [True, True] Translation: X:80.23, Y:-31.74, Z:-5.16 [[ 7.68336912e-01 6.37085265e-01 6.14878385e-02 8.02301013e+01] [-6.34929485e-01 7.70792393e-01 -5.23797249e-02 -3.17443197e+01] [-8.07647091e-02 1.20483439e-03 9.96732467e-01 -5.15829399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27864 meters 0.02886268412886429 Centerline is valid? [True, True] Translation: X:80.26, Y:-31.76, Z:-5.16 [[ 7.70672428e-01 6.34115578e-01 6.29399865e-02 8.02557461e+01] [-6.31842734e-01 7.73236644e-01 -5.36642501e-02 -3.17632101e+01] [-8.26968409e-02 1.58938482e-03 9.96573483e-01 -5.16046758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30864 meters 0.02930346149001117 Centerline is valid? [True, True] Translation: X:80.28, Y:-31.78, Z:-5.16 [[ 7.72903048e-01 6.31472995e-01 6.21509056e-02 8.02801592e+01] [-6.29244732e-01 7.75395583e-01 -5.30354333e-02 -3.17841710e+01] [-8.16819816e-02 1.88311809e-03 9.96656665e-01 -5.16211550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33864 meters 0.02922445532320258 Centerline is valid? [True, True] Translation: X:80.30, Y:-31.81, Z:-5.16 [[ 7.73713515e-01 6.30695534e-01 5.99211115e-02 8.03043189e+01] [-6.28618801e-01 7.76027980e-01 -5.11759467e-02 -3.18054565e+01] [-7.87769002e-02 1.92798438e-03 9.96890407e-01 -5.16273771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36864 meters 0.029366688471572564 Centerline is valid? [True, True] Translation: X:80.33, Y:-31.83, Z:-5.17 [[ 7.73448278e-01 6.30983229e-01 6.03152263e-02 8.03285041e+01] [-6.28876193e-01 7.75794027e-01 -5.15593115e-02 -3.18272159e+01] [-7.93252531e-02 1.94765083e-03 9.96846884e-01 -5.16539696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39864 meters 0.0292784145181428 Centerline is valid? [True, True] Translation: X:80.35, Y:-31.85, Z:-5.17 [[ 7.72834773e-01 6.31724451e-01 6.04204661e-02 8.03525527e+01] [-6.29608196e-01 7.75190655e-01 -5.17007482e-02 -3.18493260e+01] [-7.94980074e-02 1.91491528e-03 9.96833186e-01 -5.16761184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42864 meters 0.028845397586972344 Centerline is valid? [True, True] Translation: X:80.38, Y:-31.87, Z:-5.17 [[ 7.71273914e-01 6.33613334e-01 6.05862457e-02 8.03757544e+01] [-6.31487848e-01 7.73647886e-01 -5.18849307e-02 -3.18723276e+01] [-7.97474049e-02 1.75801565e-03 9.96813554e-01 -5.16990972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45864 meters 0.028505907666065096 Centerline is valid? [True, True] Translation: X:80.40, Y:-31.90, Z:-5.17 [[ 7.69199504e-01 6.36256300e-01 5.92456186e-02 8.03972739e+01] [-6.34230023e-01 7.71476353e-01 -5.07593745e-02 -3.18968220e+01] [-7.80025656e-02 1.46873564e-03 9.96952076e-01 -5.17074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters 0.028293553075445354 Centerline is valid? [True, True] Translation: X:80.42, Y:-31.92, Z:-5.17 [[ 7.67419066e-01 6.38354605e-01 5.97609891e-02 8.04205852e+01] [-6.36295630e-01 7.69741323e-01 -5.12461394e-02 -3.19186818e+01] [-7.87137119e-02 1.30160823e-03 9.96896413e-01 -5.17328506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51863999999999 meters 0.028160260214594866 Centerline is valid? [True, True] Translation: X:80.45, Y:-31.94, Z:-5.17 [[ 7.66310449e-01 6.39696133e-01 5.96418747e-02 8.04455142e+01] [-6.37645882e-01 7.68626975e-01 -5.11888932e-02 -3.19396841e+01] [-7.85876907e-02 1.19618793e-03 9.96906487e-01 -5.17425230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters 0.027806085382020524 Centerline is valid? [True, True] Translation: X:80.47, Y:-31.96, Z:-5.18 [[ 7.64067893e-01 6.42390564e-01 5.94526583e-02 8.04688973e+01] [-6.40358301e-01 7.66376843e-01 -5.10664279e-02 -3.19625154e+01] [-7.83677320e-02 9.47214627e-04 9.96924070e-01 -5.17665012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57864 meters 0.02776332831288733 Centerline is valid? [True, True] Translation: X:80.49, Y:-31.99, Z:-5.18 [[ 7.63272396e-01 6.43338631e-01 5.94193122e-02 8.04925079e+01] [-6.41309037e-01 7.65581245e-01 -5.10693395e-02 -3.19857225e+01] [-7.83451900e-02 8.73675190e-04 9.96925909e-01 -5.17911805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60864 meters 0.027602547581590822 Centerline is valid? [True, True] Translation: X:80.51, Y:-32.01, Z:-5.18 [[ 7.62447765e-01 6.44434006e-01 5.81224330e-02 8.05139021e+01] [-6.42491578e-01 7.64659532e-01 -5.00037231e-02 -3.20097058e+01] [-7.66679720e-02 7.82053202e-04 9.97056373e-01 -5.17969215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63864 meters 0.02763848458671954 Centerline is valid? [True, True] Translation: X:80.54, Y:-32.03, Z:-5.18 [[ 7.61849848e-01 6.45142676e-01 5.81010899e-02 8.05381778e+01] [-6.43200165e-01 7.64061759e-01 -5.00317581e-02 -3.20313997e+01] [-7.66704432e-02 7.46056654e-04 9.97056210e-01 -5.18216463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66864 meters 0.027482379032488662 Centerline is valid? [True, True] Translation: X:80.56, Y:-32.06, Z:-5.18 [[ 7.60829968e-01 6.46350210e-01 5.80445082e-02 8.05610839e+01] [-6.44411029e-01 7.63040605e-01 -5.00345944e-02 -3.20558718e+01] [-7.66301872e-02 6.63297652e-04 9.97059364e-01 -5.18350736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69864 meters 0.02748386252894314 Centerline is valid? [True, True] Translation: X:80.58, Y:-32.08, Z:-5.18 [[ 7.59394930e-01 6.48000366e-01 5.84368540e-02 8.05840741e+01] [-6.46035652e-01 7.61639832e-01 -5.04252194e-02 -3.20792560e+01] [-7.71833963e-02 5.40364945e-04 9.97016766e-01 -5.18486966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72864 meters 0.027481769918270647 Centerline is valid? [True, True] Translation: X:80.61, Y:-32.10, Z:-5.19 [[ 7.58668236e-01 6.48742336e-01 5.96312682e-02 8.06070028e+01] [-6.46694573e-01 7.61007961e-01 -5.15073967e-02 -3.21012296e+01] [-7.87948987e-02 5.13808293e-04 9.96890716e-01 -5.18638173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75864 meters 0.027037984287191154 Centerline is valid? [True, True] Translation: X:80.63, Y:-32.13, Z:-5.19 [[ 7.55923100e-01 6.51991501e-01 5.90537809e-02 8.06293878e+01] [-6.49989709e-01 7.58226246e-01 -5.10523134e-02 -3.21252708e+01] [-7.80618011e-02 2.07273147e-04 9.96948500e-01 -5.18742114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78864 meters 0.027012045820688186 Centerline is valid? [True, True] Translation: X:80.65, Y:-32.15, Z:-5.19 [[ 7.53827916e-01 6.54483108e-01 5.82694968e-02 8.06518381e+01] [-6.52538105e-01 7.56076624e-01 -5.04198409e-02 -3.21485907e+01] [-7.70551386e-02 -1.51834109e-05 9.97026833e-01 -5.18909653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81864 meters 0.02677252401191322 Centerline is valid? [True, True] Translation: X:80.67, Y:-32.17, Z:-5.19 [[ 7.49871389e-01 6.58947977e-01 5.89954509e-02 8.06731948e+01] [-6.56964151e-01 7.52188385e-01 -5.10953699e-02 -3.21737263e+01] [-7.80448836e-02 -4.42940356e-04 9.96949748e-01 -5.18963225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84864 meters 0.026810676410217327 Centerline is valid? [True, True] Translation: X:80.70, Y:-32.20, Z:-5.19 [[ 7.47107530e-01 6.61953019e-01 6.04031376e-02 8.06970199e+01] [-6.59879068e-01 7.49544966e-01 -5.23637225e-02 -3.21950603e+01] [-7.99371919e-02 -7.37434735e-04 9.96799630e-01 -5.19106033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87863999999999 meters 0.026837429769113894 Centerline is valid? [True, True] Translation: X:80.72, Y:-32.22, Z:-5.19 [[ 7.44937744e-01 6.64389320e-01 6.04531963e-02 8.07220544e+01] [-6.62316022e-01 7.47386047e-01 -5.24555381e-02 -3.22157447e+01] [-8.00327747e-02 -9.63010295e-04 9.96791767e-01 -5.19256804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters 0.026837429769113894 Centerline is valid? [True, True] Translation: X:80.75, Y:-32.24, Z:-5.19 [[ 7.44591955e-01 6.64779087e-01 6.04283493e-02 8.07468226e+01] [-6.62704748e-01 7.47039377e-01 -5.24841496e-02 -3.22368136e+01] [-8.00327215e-02 -9.66878455e-04 9.96791768e-01 -5.19448617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93863999999999 meters 0.02703663544500083 Centerline is valid? [True, True] Translation: X:80.77, Y:-32.26, Z:-5.20 [[ 7.39856234e-01 6.70004342e-01 6.08846044e-02 8.07715180e+01] [-6.67912354e-01 7.42355648e-01 -5.29261674e-02 -3.22572185e+01] [-8.06587919e-02 -1.50782453e-03 9.96740631e-01 -5.19642677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters 0.027361446794982744 Centerline is valid? [True, True] Translation: X:80.80, Y:-32.28, Z:-5.20 [[ 7.34784735e-01 6.75640571e-01 6.00101007e-02 8.07974130e+01] [-6.73625673e-01 7.37228245e-01 -5.21820619e-02 -3.22763251e+01] [-7.94974593e-02 -2.08176190e-03 9.96832895e-01 -5.19695359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99864 meters 0.027834035729051635 Centerline is valid? [True, True] Translation: X:80.82, Y:-32.30, Z:-5.20 [[ 7.31879881e-01 6.78713679e-01 6.08241928e-02 8.08235039e+01] [-6.76652297e-01 7.34398961e-01 -5.29134612e-02 -3.22950403e+01] [-8.05823140e-02 -2.43053213e-03 9.96744994e-01 -5.19910525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02864 meters 0.02788904986664186 Centerline is valid? [True, True] Translation: X:80.85, Y:-32.31, Z:-5.20 [[ 7.29562680e-01 6.81221128e-01 6.06306092e-02 8.08499328e+01] [-6.79177636e-01 7.32072866e-01 -5.27925948e-02 -3.23128530e+01] [-8.03494548e-02 -2.66344681e-03 9.96763197e-01 -5.20037007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05864 meters 0.028256991963508386 Centerline is valid? [True, True] Translation: X:80.88, Y:-32.33, Z:-5.20 [[ 7.26891081e-01 6.84028702e-01 6.11072165e-02 8.08788675e+01] [-6.81958991e-01 7.29449078e-01 -5.32539010e-02 -3.23280533e+01] [-8.10017995e-02 -2.96282998e-03 9.96709552e-01 -5.20291074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08864 meters 0.028323011240378327 Centerline is valid? [True, True] Translation: X:80.91, Y:-32.35, Z:-5.20 [[ 7.25935674e-01 6.85048807e-01 6.10371161e-02 8.09058371e+01] [-6.82983508e-01 7.28490841e-01 -5.32411721e-02 -3.23467428e+01] [-8.09377814e-02 -3.03767755e-03 9.96714527e-01 -5.20448702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11864 meters 0.028368749569328475 Centerline is valid? [True, True] Translation: X:80.94, Y:-32.36, Z:-5.21 [[ 7.25121608e-01 6.85824179e-01 6.19987840e-02 8.09355237e+01] [-6.83692426e-01 7.27760485e-01 -5.41234022e-02 -3.23608726e+01] [-8.22394030e-02 -3.14205056e-03 9.96607650e-01 -5.20740451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14864 meters 0.02836298010189764 Centerline is valid? [True, True] Translation: X:80.96, Y:-32.38, Z:-5.21 [[ 7.24341557e-01 6.86548301e-01 6.30930975e-02 8.09638754e+01] [-6.84340363e-01 7.27076905e-01 -5.51129927e-02 -3.23779711e+01] [-8.37112655e-02 -3.25652228e-03 9.96484731e-01 -5.20875749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17864 meters 0.028401152555464586 Centerline is valid? [True, True] Translation: X:80.99, Y:-32.39, Z:-5.21 [[ 7.23467309e-01 6.87453762e-01 6.32643517e-02 8.09918392e+01] [-6.85233025e-01 7.26220497e-01 -5.53126654e-02 -3.23945714e+01] [-8.39687689e-02 -3.33391797e-03 9.96462810e-01 -5.21044265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20864 meters 0.028529942032333954 Centerline is valid? [True, True] Translation: X:81.02, Y:-32.41, Z:-5.21 [[ 7.22315813e-01 6.88814824e-01 6.15954991e-02 8.10236807e+01] [-6.86710728e-01 7.24929533e-01 -5.39031417e-02 -3.24079125e+01] [-8.17816794e-02 -3.36319840e-03 9.96644594e-01 -5.21286655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23863999999999 meters 0.02835519422450776 Centerline is valid? [True, True] Translation: X:81.05, Y:-32.42, Z:-5.22 [[ 7.21432367e-01 6.89624406e-01 6.28770155e-02 8.10522742e+01] [-6.87430107e-01 7.24158836e-01 -5.50801894e-02 -3.24247425e+01] [-8.35175892e-02 -3.48692213e-03 9.96500203e-01 -5.21518773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters 0.028128710562991103 Centerline is valid? [True, True] Translation: X:81.08, Y:-32.44, Z:-5.22 [[ 7.21856884e-01 6.89154664e-01 6.31544814e-02 8.10838574e+01] [-6.86934913e-01 7.24606246e-01 -5.53733981e-02 -3.24375682e+01] [-8.39229672e-02 -3.41134956e-03 9.96466406e-01 -5.21618670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29863999999999 meters 0.02807113345818225 Centerline is valid? [True, True] Translation: X:81.11, Y:-32.46, Z:-5.22 [[ 7.22058396e-01 6.88977668e-01 6.27809311e-02 8.11107000e+01] [-6.86779302e-01 7.24774899e-01 -5.50956968e-02 -3.24554714e+01] [-8.34617477e-02 -3.33433359e-03 9.96505403e-01 -5.21783735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters 0.027804197129537845 Centerline is valid? [True, True] Translation: X:81.14, Y:-32.47, Z:-5.22 [[ 7.24137040e-01 6.86717881e-01 6.35932402e-02 8.11400456e+01] [-6.84449110e-01 7.26917526e-01 -5.58598789e-02 -3.24712865e+01] [-8.45870185e-02 -3.07612926e-03 9.96411348e-01 -5.21940831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35864 meters 0.027604073145857305 Centerline is valid? [True, True] Translation: X:81.17, Y:-32.49, Z:-5.22 [[ 7.25331930e-01 6.85523612e-01 6.28567291e-02 8.11668097e+01] [-6.83299390e-01 7.28044724e-01 -5.52523665e-02 -3.24890769e+01] [-8.36393119e-02 -2.87365900e-03 9.96491951e-01 -5.22144584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38864 meters 0.027604415216242562 Centerline is valid? [True, True] Translation: X:81.19, Y:-32.51, Z:-5.22 [[ 7.25860584e-01 6.84953597e-01 6.29681165e-02 8.11939059e+01] [-6.82718119e-01 7.28581304e-01 -5.53647266e-02 -3.25072164e+01] [-8.37996611e-02 -2.80240124e-03 9.96478682e-01 -5.22361690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41864 meters 0.027222179160908983 Centerline is valid? [True, True] Translation: X:81.22, Y:-32.52, Z:-5.23 [[ 7.27763712e-01 6.82899620e-01 6.33094656e-02 8.12235316e+01] [-6.80630805e-01 7.30507707e-01 -5.56794118e-02 -3.25224068e+01] [-8.42715017e-02 -2.56891710e-03 9.96439519e-01 -5.22601055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44864 meters 0.02704978190813059 Centerline is valid? [True, True] Translation: X:81.25, Y:-32.54, Z:-5.23 [[ 7.29097794e-01 6.81568229e-01 6.22989191e-02 8.12496252e+01] [-6.79365356e-01 7.31750745e-01 -5.48047508e-02 -3.25410103e+01] [-8.29404574e-02 -2.36570445e-03 9.96551697e-01 -5.22789532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47864 meters 0.026773573664433427 Centerline is valid? [True, True] Translation: X:81.28, Y:-32.56, Z:-5.23 [[ 7.31522016e-01 6.79000004e-01 6.19236239e-02 8.12788912e+01] [-6.76813266e-01 7.34135402e-01 -5.44886738e-02 -3.25569511e+01] [-8.24581342e-02 -2.05106560e-03 9.96592419e-01 -5.22810804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50864 meters 0.026367918860716242 Centerline is valid? [True, True] Translation: X:81.31, Y:-32.58, Z:-5.23 [[ 7.33254793e-01 6.77259444e-01 6.04735823e-02 8.13059257e+01] [-6.75166987e-01 7.35742077e-01 -5.32272147e-02 -3.25756732e+01] [-8.05415928e-02 -1.80065607e-03 9.96749622e-01 -5.22995010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53864 meters 0.026246501016699925 Centerline is valid? [True, True] Translation: X:81.33, Y:-32.59, Z:-5.23 [[ 7.34032820e-01 6.76376805e-01 6.09117180e-02 8.13308932e+01] [-6.74249653e-01 7.36553806e-01 -5.36273785e-02 -3.25943066e+01] [-8.11370727e-02 -1.70544882e-03 9.96701493e-01 -5.23267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56864 meters 0.026158673207012588 Centerline is valid? [True, True] Translation: X:81.36, Y:-32.61, Z:-5.24 [[ 7.35967798e-01 6.74464897e-01 5.87239596e-02 8.13564965e+01] [-6.72481429e-01 7.38305521e-01 -5.17076925e-02 -3.26125162e+01] [-7.82312471e-02 -1.43557570e-03 9.96934206e-01 -5.23516543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59864 meters 0.02605410690988749 Centerline is valid? [True, True] Translation: X:81.38, Y:-32.63, Z:-5.24 [[ 7.37338228e-01 6.73012706e-01 5.81913749e-02 8.13800772e+01] [-6.71060321e-01 7.39629835e-01 -5.12420983e-02 -3.26301506e+01] [-7.75266602e-02 -1.26716486e-03 9.96989474e-01 -5.23666367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters 0.025802410241131776 Centerline is valid? [True, True] Translation: X:81.41, Y:-32.64, Z:-5.24 [[ 7.39743402e-01 6.70407918e-01 5.77314712e-02 8.14056821e+01] [-6.68479584e-01 7.41992067e-01 -5.08214287e-02 -3.26441419e+01] [-7.69073819e-02 -9.97493354e-04 9.97037742e-01 -5.23755987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65863999999999 meters 0.025786738255319165 Centerline is valid? [True, True] Translation: X:81.43, Y:-32.66, Z:-5.24 [[ 7.41124765e-01 6.68912464e-01 5.73602487e-02 8.14281651e+01] [-6.67007877e-01 7.43340674e-01 -5.04493250e-02 -3.26618991e+01] [-7.63843882e-02 -8.70493643e-04 9.97078065e-01 -5.23937717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters 0.02555664001154509 Centerline is valid? [True, True] Translation: X:81.45, Y:-32.68, Z:-5.24 [[ 7.43792736e-01 6.65995403e-01 5.67669739e-02 8.14504492e+01] [-6.64124929e-01 7.45955606e-01 -4.98829872e-02 -3.26803214e+01] [-7.55674826e-02 -5.97758945e-04 9.97140511e-01 -5.24024138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71864 meters 0.0255655244373536 Centerline is valid? [True, True] Translation: X:81.47, Y:-32.70, Z:-5.24 [[ 7.46384004e-01 6.63059059e-01 5.71279561e-02 8.14717290e+01] [-6.61159633e-01 7.48567012e-01 -5.01534574e-02 -3.26976805e+01] [-7.60188077e-02 -3.36960178e-04 9.97106327e-01 -5.24156573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74864 meters 0.02560449495353896 Centerline is valid? [True, True] Translation: X:81.49, Y:-32.71, Z:-5.24 [[ 7.50167075e-01 6.58770404e-01 5.71919010e-02 8.14942460e+01] [-6.56858160e-01 7.52344038e-01 -5.01578226e-02 -3.27149217e+01] [-7.60704748e-02 5.97802307e-05 9.97102442e-01 -5.24324050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77864 meters 0.025635726762497316 Centerline is valid? [True, True] Translation: X:81.51, Y:-32.73, Z:-5.24 [[ 7.52034413e-01 6.56670897e-01 5.68117486e-02 8.15144259e+01] [-6.54781880e-01 7.54177220e-01 -4.97735929e-02 -3.27336731e+01] [-7.55309966e-02 2.32151148e-04 9.97143427e-01 -5.24464185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80864 meters 0.0257361217125053 Centerline is valid? [True, True] Translation: X:81.53, Y:-32.75, Z:-5.25 [[ 7.53302295e-01 6.55190533e-01 5.71053216e-02 8.15341335e+01] [-6.53281545e-01 7.55463598e-01 -4.99797542e-02 -3.27527549e+01] [-7.58872535e-02 3.44010880e-04 9.97116345e-01 -5.24553979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83864 meters 0.025692488205423997 Centerline is valid? [True, True] Translation: X:81.55, Y:-32.77, Z:-5.25 [[ 7.55265339e-01 6.52895861e-01 5.74566095e-02 8.15539165e+01] [-6.50960446e-01 7.57447491e-01 -5.02373891e-02 -3.27733317e+01] [-7.63201481e-02 5.40578529e-04 9.97083218e-01 -5.24716418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86864 meters 0.025494079539331787 Centerline is valid? [True, True] Translation: X:81.57, Y:-32.79, Z:-5.25 [[ 7.54699946e-01 6.53588462e-01 5.70097604e-02 8.15738418e+01] [-6.51688397e-01 7.56850008e-01 -4.98026042e-02 -3.27943611e+01] [-7.56982451e-02 4.33423311e-04 9.97130677e-01 -5.24890938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89864 meters 0.025589714752140252 Centerline is valid? [True, True] Translation: X:81.59, Y:-32.81, Z:-5.25 [[ 7.53549324e-01 6.54910258e-01 5.70611120e-02 8.15942377e+01] [-6.53013898e-01 7.55706611e-01 -4.98032773e-02 -3.28149075e+01] [-7.57381368e-02 2.67526723e-04 9.97127707e-01 -5.25086244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92864 meters 0.025413256173932922 Centerline is valid? [True, True] Translation: X:81.62, Y:-32.84, Z:-5.25 [[ 7.51818407e-01 6.56966363e-01 5.62519455e-02 8.16151931e+01] [-6.55131835e-01 7.53919888e-01 -4.90620266e-02 -3.28353077e+01] [-7.46415616e-02 3.32944351e-05 9.97210427e-01 -5.25170869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95864 meters 0.025639896380129295 Centerline is valid? [True, True] Translation: X:81.64, Y:-32.86, Z:-5.25 [[ 7.47992074e-01 6.61362160e-01 5.57489950e-02 8.16352109e+01] [-6.59572919e-01 7.50066616e-01 -4.86172383e-02 -3.28578589e+01] [-7.39690618e-02 -4.05218492e-04 9.97260454e-01 -5.25484830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters 0.025612594039793476 Centerline is valid? [True, True] Translation: X:81.66, Y:-32.88, Z:-5.26 [[ 7.46651040e-01 6.62792809e-01 5.67266855e-02 8.16562780e+01] [-6.60944771e-01 7.48802629e-01 -4.94634536e-02 -3.28789021e+01] [-7.52611126e-02 -5.61267081e-04 9.97163703e-01 -5.25680325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01863999999999 meters 0.025954417448516138 Centerline is valid? [True, True] Translation: X:81.68, Y:-32.90, Z:-5.26 [[ 7.44433268e-01 6.65125694e-01 5.85399110e-02 8.16775721e+01] [-6.63165024e-01 7.46730962e-01 -5.10394166e-02 -3.29007419e+01] [-7.76611914e-02 -8.26181801e-04 9.96979467e-01 -5.25925569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters 0.02610816591759639 Centerline is valid? [True, True] Translation: X:81.70, Y:-32.92, Z:-5.26 [[ 7.43904169e-01 6.65732774e-01 5.83648950e-02 8.17010383e+01] [-6.63785569e-01 7.46189714e-01 -5.08883884e-02 -3.29217988e+01] [-7.74293522e-02 -8.85690771e-04 9.96997448e-01 -5.26008113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07864 meters 0.02608389088726325 Centerline is valid? [True, True] Translation: X:81.72, Y:-32.94, Z:-5.26 [[ 7.43421090e-01 6.66362600e-01 5.73233673e-02 8.17247385e+01] [-6.64485754e-01 7.45627267e-01 -4.99866099e-02 -3.29421927e+01] [-7.60510731e-02 -9.29461000e-04 9.97103490e-01 -5.26084092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10864 meters 0.026038728264626037 Centerline is valid? [True, True] Translation: X:81.75, Y:-32.96, Z:-5.26 [[ 7.43095943e-01 6.66762494e-01 5.68875729e-02 8.17477813e+01] [-6.64914809e-01 7.45269655e-01 -4.96128938e-02 -3.29636311e+01] [-7.54765987e-02 -9.58249567e-04 9.97147113e-01 -5.26282393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13864 meters 0.026119953719228445 Centerline is valid? [True, True] Translation: X:81.77, Y:-32.98, Z:-5.27 [[ 7.42782527e-01 6.67013981e-01 5.80212667e-02 8.17706890e+01] [-6.65092182e-01 7.45044529e-01 -5.06067066e-02 -3.29843128e+01] [-7.69838082e-02 -9.99713544e-04 9.97031842e-01 -5.26546231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16864 meters 0.026322097603420573 Centerline is valid? [True, True] Translation: X:81.80, Y:-33.00, Z:-5.27 [[ 7.42646120e-01 6.67106410e-01 5.87007546e-02 8.17951014e+01] [-6.65139432e-01 7.44961742e-01 -5.12009625e-02 -3.30044297e+01] [-7.78863067e-02 -1.01999043e-03 9.96961726e-01 -5.26718527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19864 meters 0.02648357951992435 Centerline is valid? [True, True] Translation: X:81.82, Y:-33.02, Z:-5.27 [[ 7.42631138e-01 6.67009954e-01 5.99726134e-02 8.18197272e+01] [-6.64955825e-01 7.45048097e-01 -5.23171441e-02 -3.30242608e+01] [-7.95785374e-02 -1.02679834e-03 9.96828070e-01 -5.26967002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22864 meters 0.026243936756706 Centerline is valid? [True, True] Translation: X:81.84, Y:-33.04, Z:-5.27 [[ 7.43053336e-01 6.66678263e-01 5.84109077e-02 8.18440206e+01] [-6.64728356e-01 7.45345002e-01 -5.09611699e-02 -3.30442326e+01] [-7.75109823e-02 -9.60519395e-04 9.96991036e-01 -5.27129568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25864 meters 0.026280464227216152 Centerline is valid? [True, True] Translation: X:81.87, Y:-33.06, Z:-5.27 [[ 7.42923008e-01 6.66846658e-01 5.81458338e-02 8.18674237e+01] [-6.64914568e-01 7.45194333e-01 -5.07348323e-02 -3.30642567e+01] [-7.71622992e-02 -9.69937768e-04 9.97018073e-01 -5.27272037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28864 meters 0.02627215930378723 Centerline is valid? [True, True] Translation: X:81.89, Y:-33.08, Z:-5.27 [[ 7.43620982e-01 6.66131626e-01 5.74150829e-02 8.18915704e+01] [-6.64246467e-01 7.45833669e-01 -5.00876063e-02 -3.30809490e+01] [-7.61870406e-02 -8.91570983e-04 9.97093145e-01 -5.27473989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31864 meters 0.026128846741300327 Centerline is valid? [True, True] Translation: X:81.91, Y:-33.10, Z:-5.28 [[ 7.44781426e-01 6.64847968e-01 5.72521391e-02 8.19147692e+01] [-6.62972975e-01 7.46978283e-01 -4.99027026e-02 -3.30980775e+01] [-7.59438150e-02 -7.90014958e-04 9.97111786e-01 -5.27651910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34864 meters 0.026197923442169407 Centerline is valid? [True, True] Translation: X:81.94, Y:-33.12, Z:-5.28 [[ 7.45884095e-01 6.63466931e-01 5.88943847e-02 8.19374890e+01] [-6.61482050e-01 7.48205277e-01 -5.12870465e-02 -3.31155786e+01] [-7.80923488e-02 -7.03386072e-04 9.96945881e-01 -5.27911733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37863999999999 meters 0.02613701335954254 Centerline is valid? [True, True] Translation: X:81.96, Y:-33.13, Z:-5.28 [[ 7.47493638e-01 6.61648782e-01 5.89419231e-02 8.19590657e+01] [-6.59658813e-01 7.49813701e-01 -5.12802390e-02 -3.31328422e+01] [-7.81249692e-02 -5.49906643e-04 9.96943422e-01 -5.28002289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters 0.026238648331585696 Centerline is valid? [True, True] Translation: X:81.98, Y:-33.15, Z:-5.28 [[ 7.48596893e-01 6.60453134e-01 5.83468005e-02 8.19823961e+01] [-6.58503489e-01 7.50867130e-01 -5.07120079e-02 -3.31502712e+01] [-7.73035992e-02 -4.58720053e-04 9.97007494e-01 -5.28102832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43863999999999 meters 0.02624209672921037 Centerline is valid? [True, True] Translation: X:82.01, Y:-33.16, Z:-5.28 [[ 7.49508416e-01 6.59308680e-01 5.95751532e-02 8.20080121e+01] [-6.57276106e-01 7.51872275e-01 -5.17320256e-02 -3.31641715e+01] [-7.89002794e-02 -3.83736168e-04 9.96882440e-01 -5.28330958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters 0.026230330272287702 Centerline is valid? [True, True] Translation: X:82.03, Y:-33.18, Z:-5.29 [[ 7.49582885e-01 6.59269360e-01 5.90712143e-02 8.20307086e+01] [-6.57274598e-01 7.51906737e-01 -5.12480372e-02 -3.31805000e+01] [-7.82023047e-02 -4.11357063e-04 9.96937425e-01 -5.28521526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49864 meters 0.0264242178503419 Centerline is valid? [True, True] Translation: X:82.06, Y:-33.20, Z:-5.29 [[ 7.49327169e-01 6.59421135e-01 6.06016537e-02 8.20550854e+01] [-6.57325604e-01 7.51773599e-01 -5.25310102e-02 -3.31954476e+01] [-8.01987817e-02 -4.72105485e-04 9.96778778e-01 -5.28728182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52864 meters 0.026396752513906396 Centerline is valid? [True, True] Translation: X:82.08, Y:-33.21, Z:-5.29 [[ 7.49011607e-01 6.59660742e-01 6.18814890e-02 8.20787618e+01] [-6.57479027e-01 7.51563319e-01 -5.36088340e-02 -3.32123033e+01] [-8.18715004e-02 -5.32142256e-04 9.96642752e-01 -5.28913429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55864 meters 0.026477284427338824 Centerline is valid? [True, True] Translation: X:82.10, Y:-33.23, Z:-5.29 [[ 7.49747393e-01 6.58876448e-01 6.13243191e-02 8.21048018e+01] [-6.56734932e-01 7.52251021e-01 -5.30813531e-02 -3.32255283e+01] [-8.11053351e-02 -4.76216443e-04 9.96705422e-01 -5.28992318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58864 meters 0.026439483537590885 Centerline is valid? [True, True] Translation: X:82.13, Y:-33.24, Z:-5.29 [[ 7.51441275e-01 6.57009565e-01 6.06171716e-02 8.21290546e+01] [-6.54914928e-01 7.53882177e-01 -5.24223263e-02 -3.32418000e+01] [-8.01401751e-02 -3.06790862e-04 9.96783556e-01 -5.29154540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61864 meters 0.026434890766987115 Centerline is valid? [True, True] Translation: X:82.15, Y:-33.26, Z:-5.29 [[ 7.54202109e-01 6.53864246e-01 6.03384328e-02 8.21524868e+01] [-6.51782628e-01 7.56611887e-01 -5.21330805e-02 -3.32574466e+01] [-7.97407328e-02 -8.66300054e-06 9.96815638e-01 -5.29306441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64864 meters 0.02669718244898642 Centerline is valid? [True, True] Translation: X:82.18, Y:-33.27, Z:-5.29 [[ 7.60105153e-01 6.47191131e-01 5.81704019e-02 8.21780466e+01] [-6.45240677e-01 7.62327515e-01 -5.02118389e-02 -3.32717864e+01] [-7.68415548e-02 6.32367964e-04 9.97043116e-01 -5.29438016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67864 meters 0.026987541651191868 Centerline is valid? [True, True] Translation: X:82.20, Y:-33.29, Z:-5.30 [[ 7.63334830e-01 6.43467165e-01 5.71834335e-02 8.22009994e+01] [-6.41575184e-01 7.65473115e-01 -4.93172727e-02 -3.32885928e+01] [-7.55064266e-02 9.58120061e-04 9.97144855e-01 -5.29550992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70864 meters 0.02801844415915229 Centerline is valid? [True, True] Translation: X:82.23, Y:-33.30, Z:-5.30 [[ 7.69648236e-01 6.36002059e-01 5.60622304e-02 8.22254942e+01] [-6.34166792e-01 7.71685642e-01 -4.83088887e-02 -3.33036786e+01] [-7.39869710e-02 1.62804616e-03 9.97257879e-01 -5.29647011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73863999999999 meters 0.028687086707381633 Centerline is valid? [True, True] Translation: X:82.25, Y:-33.32, Z:-5.30 [[ 7.72754974e-01 6.32227687e-01 5.60169728e-02 8.22483081e+01] [-6.30388508e-01 7.74780178e-01 -4.82286842e-02 -3.33215512e+01] [-7.38923496e-02 1.95649976e-03 9.97264304e-01 -5.29806916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters 0.030164004955814408 Centerline is valid? [True, True] Translation: X:82.27, Y:-33.34, Z:-5.30 [[ 7.76931970e-01 6.27110682e-01 5.57575694e-02 8.22713125e+01] [-6.25277795e-01 7.78926441e-01 -4.79716498e-02 -3.33399405e+01] [-7.35145791e-02 2.40673840e-03 9.97291238e-01 -5.29963304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79863999999999 meters 0.030376197892635456 Centerline is valid? [True, True] Translation: X:82.29, Y:-33.36, Z:-5.30 [[ 7.78154301e-01 6.25551009e-01 5.62300548e-02 8.22915279e+01] [-6.23683771e-01 7.80179051e-01 -4.83652910e-02 -3.33598357e+01] [-7.41244674e-02 2.56588655e-03 9.97245697e-01 -5.30177016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters 0.030376197892635456 Centerline is valid? [True, True] Translation: X:82.31, Y:-33.38, Z:-5.30 [[ 7.78446352e-01 6.25185709e-01 5.62503851e-02 8.23120362e+01] [-6.23319227e-01 7.80471798e-01 -4.83416367e-02 -3.33779127e+01] [-7.41243396e-02 2.56942422e-03 9.97245697e-01 -5.30339078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85864 meters 0.03063433610972198 Centerline is valid? [True, True] Translation: X:82.33, Y:-33.40, Z:-5.30 [[ 7.80387207e-01 6.22831406e-01 5.54693306e-02 8.23327308e+01] [-6.21013482e-01 7.82351344e-01 -4.76301297e-02 -3.33984286e+01] [-7.30620461e-02 2.72274172e-03 9.97323681e-01 -5.30487498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88864 meters 0.03170973835981975 Centerline is valid? [True, True] Translation: X:82.35, Y:-33.42, Z:-5.31 [[ 7.82169219e-01 6.20580099e-01 5.56026399e-02 8.23522895e+01] [-6.18749653e-01 7.84137625e-01 -4.77184550e-02 -3.34192826e+01] [-7.32132456e-02 2.91979249e-03 9.97312035e-01 -5.30673364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91864 meters 0.03166881467941648 Centerline is valid? [True, True] Translation: X:82.37, Y:-33.44, Z:-5.31 [[ 7.83017636e-01 6.19571951e-01 5.48997171e-02 8.23713816e+01] [-6.17787920e-01 7.84934344e-01 -4.70761269e-02 -3.34406601e+01] [-7.22597212e-02 2.94505557e-03 9.97381501e-01 -5.30787114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94864 meters 0.03195362695502686 Centerline is valid? [True, True] Translation: X:82.39, Y:-33.47, Z:-5.31 [[ 7.83729464e-01 6.18578479e-01 5.59356069e-02 8.23871079e+01] [-6.16726812e-01 7.85717051e-01 -4.79244798e-02 -3.34662025e+01] [-7.35946119e-02 3.06283832e-03 9.97283536e-01 -5.30976255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97864 meters 0.03206676365203392 Centerline is valid? [True, True] Translation: X:82.41, Y:-33.49, Z:-5.31 [[ 7.83786309e-01 6.18415822e-01 5.69288317e-02 8.24055369e+01] [-6.16500444e-01 7.85844935e-01 -4.87333712e-02 -3.34870507e+01] [-7.48747218e-02 3.09989911e-03 9.97188130e-01 -5.31233760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00864 meters 0.03158520503559689 Centerline is valid? [True, True] Translation: X:82.42, Y:-33.51, Z:-5.31 [[ 7.82561096e-01 6.20015372e-01 5.63832396e-02 8.24229646e+01] [-6.18143688e-01 7.84584351e-01 -4.82263215e-02 -3.35116415e+01] [-7.41384681e-02 2.88709939e-03 9.97243778e-01 -5.31298515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03864 meters 0.03110285770512539 Centerline is valid? [True, True] Translation: X:82.44, Y:-33.53, Z:-5.32 [[ 7.81671167e-01 6.21049934e-01 5.73338026e-02 8.24413654e+01] [-6.19119185e-01 7.83765938e-01 -4.90141643e-02 -3.35345064e+01] [-7.53765251e-02 2.81650189e-03 9.97151165e-01 -5.31569421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06864 meters 0.030542288845688596 Centerline is valid? [True, True] Translation: X:82.46, Y:-33.56, Z:-5.32 [[ 7.80501096e-01 6.22612951e-01 5.63129769e-02 8.24595390e+01] [-6.20757403e-01 7.82525667e-01 -4.81022570e-02 -3.35574109e+01] [-7.40154380e-02 2.58716706e-03 9.97253740e-01 -5.31727801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09864 meters 0.02940907209918313 Centerline is valid? [True, True] Translation: X:82.48, Y:-33.58, Z:-5.32 [[ 7.77429489e-01 6.26338156e-01 5.74795919e-02 8.24754198e+01] [-6.24418028e-01 7.79548242e-01 -4.90577570e-02 -3.35837210e+01] [-7.55348599e-02 2.24765356e-03 9.97140629e-01 -5.31976221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters 0.028866490438293715 Centerline is valid? [True, True] Translation: X:82.49, Y:-33.61, Z:-5.32 [[ 7.76000471e-01 6.28114426e-01 5.74067623e-02 8.24945825e+01] [-6.26206610e-01 7.78118297e-01 -4.89611893e-02 -3.36062533e+01] [-7.54224815e-02 2.04541200e-03 9.97149570e-01 -5.32061764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15863999999999 meters 0.028243879936025347 Centerline is valid? [True, True] Translation: X:82.51, Y:-33.63, Z:-5.32 [[ 7.72494123e-01 6.32390336e-01 5.77519907e-02 8.25137469e+01] [-6.30472578e-01 7.74648190e-01 -4.92393035e-02 -3.36308453e+01] [-7.58759348e-02 1.62602612e-03 9.97115940e-01 -5.32241365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters 0.02782689859071343 Centerline is valid? [True, True] Translation: X:82.54, Y:-33.65, Z:-5.33 [[ 7.69915045e-01 6.35408811e-01 5.90463006e-02 8.25361622e+01] [-6.33412589e-01 7.72174714e-01 -5.03458303e-02 -3.36543654e+01] [-7.75842445e-02 1.36134209e-03 9.96984870e-01 -5.32539727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21864 meters 0.027112192279024623 Centerline is valid? [True, True] Translation: X:82.56, Y:-33.68, Z:-5.33 [[ 7.65608629e-01 6.40562245e-01 5.93585542e-02 8.25577294e+01] [-6.38559146e-01 7.67905775e-01 -5.06254762e-02 -3.36793671e+01] [-7.80105452e-02 8.55353743e-04 9.96952167e-01 -5.32817569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24864 meters 0.026780973189816377 Centerline is valid? [True, True] Translation: X:82.58, Y:-33.70, Z:-5.33 [[ 7.63347949e-01 6.43306984e-01 5.87880283e-02 8.25811019e+01] [-6.41349140e-01 7.65608115e-01 -5.01547105e-02 -3.37016708e+01] [-7.72734670e-02 5.81844025e-04 9.97009766e-01 -5.32901366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27864 meters 0.02666649088911746 Centerline is valid? [True, True] Translation: X:82.60, Y:-33.72, Z:-5.33 [[ 7.61034074e-01 6.46007632e-01 5.91715976e-02 8.26044079e+01] [-6.44030995e-01 7.63330882e-01 -5.04979349e-02 -3.37237059e+01] [-7.77895591e-02 3.22306193e-04 9.96969749e-01 -5.33091965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30864 meters 0.026438541654553133 Centerline is valid? [True, True] Translation: X:82.63, Y:-33.75, Z:-5.33 [[ 7.57182001e-01 6.50461103e-01 5.97977561e-02 8.26285349e+01] [-6.48454967e-01 7.59539557e-01 -5.10472009e-02 -3.37459204e+01] [-7.86229798e-02 -1.24130279e-04 9.96904415e-01 -5.33258970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33864 meters 0.02651102680385722 Centerline is valid? [True, True] Translation: X:82.65, Y:-33.77, Z:-5.34 [[ 7.55784214e-01 6.52115618e-01 5.94595843e-02 8.26534084e+01] [-6.50135837e-01 7.58119477e-01 -5.07764941e-02 -3.37669348e+01] [-7.81896139e-02 -2.80733899e-04 9.96938466e-01 -5.33551030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36864 meters 0.026476377139018265 Centerline is valid? [True, True] Translation: X:82.68, Y:-33.79, Z:-5.34 [[ 7.55133396e-01 6.52892540e-01 5.92020670e-02 8.26788504e+01] [-6.50931256e-01 7.57450466e-01 -5.05696744e-02 -3.37870877e+01] [-7.78591965e-02 -3.49625820e-04 9.96964304e-01 -5.33739681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39864 meters 0.02652774634100652 Centerline is valid? [True, True] Translation: X:82.70, Y:-33.81, Z:-5.34 [[ 7.54690133e-01 6.53350902e-01 5.97946732e-02 8.27031463e+01] [-6.51350474e-01 7.57055115e-01 -5.10892714e-02 -3.38079964e+01] [-7.86470847e-02 -3.90719736e-04 9.96902444e-01 -5.33977350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42864 meters 0.02661336800011162 Centerline is valid? [True, True] Translation: X:82.73, Y:-33.83, Z:-5.34 [[ 7.56373806e-01 6.51466938e-01 5.90719398e-02 8.27279413e+01] [-6.49507888e-01 7.58677003e-01 -5.04847320e-02 -3.38278470e+01] [-7.77056561e-02 -1.82362003e-04 9.96976328e-01 -5.34116354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45864 meters 0.026536391257907167 Centerline is valid? [True, True] Translation: X:82.75, Y:-33.85, Z:-5.34 [[ 7.57591887e-01 6.50088482e-01 5.86472429e-02 8.27523879e+01] [-6.48152414e-01 7.59858516e-01 -5.01346471e-02 -3.38488010e+01] [-7.71555636e-02 -3.07501868e-05 9.97019066e-01 -5.34412199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters 0.02639287778269425 Centerline is valid? [True, True] Translation: X:82.78, Y:-33.87, Z:-5.35 [[ 7.58111691e-01 6.49565007e-01 5.77231825e-02 8.27771378e+01] [-6.47687082e-01 7.60306057e-01 -4.93572949e-02 -3.38700508e+01] [-7.59480569e-02 3.17826166e-05 9.97111775e-01 -5.34551147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51863999999999 meters 0.026370832621867263 Centerline is valid? [True, True] Translation: X:82.80, Y:-33.89, Z:-5.35 [[ 7.59517163e-01 6.48011526e-01 5.66986821e-02 8.28019170e+01] [-6.46194511e-01 7.61630504e-01 -4.84936014e-02 -3.38907766e+01] [-7.46078585e-02 1.93345372e-04 9.97212931e-01 -5.34718966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters 0.026546359739293483 Centerline is valid? [True, True] Translation: X:82.83, Y:-33.91, Z:-5.35 [[ 7.60151410e-01 6.47150811e-01 5.80143271e-02 8.28255634e+01] [-6.45244863e-01 7.62361949e-01 -4.96318983e-02 -3.39120106e+01] [-7.63472388e-02 2.94310898e-04 9.97081247e-01 -5.34975376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57864 meters 0.026419223113230833 Centerline is valid? [True, True] Translation: X:82.85, Y:-33.93, Z:-5.35 [[ 7.59382657e-01 6.48034068e-01 5.82222223e-02 8.28498338e+01] [-6.46116014e-01 7.61611318e-01 -4.98226453e-02 -3.39326961e+01] [-7.66294750e-02 2.16142558e-04 9.97059616e-01 -5.35122062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60864 meters 0.02648471332036772 Centerline is valid? [True, True] Translation: X:82.87, Y:-33.95, Z:-5.35 [[ 7.58420883e-01 6.49183944e-01 5.79480048e-02 8.28747411e+01] [-6.47286323e-01 7.60631445e-01 -4.96006153e-02 -3.39531327e+01] [-7.62769977e-02 1.09191461e-04 9.97086660e-01 -5.35346064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63864 meters 0.026289225341384864 Centerline is valid? [True, True] Translation: X:82.90, Y:-33.97, Z:-5.36 [[ 7.58581790e-01 6.49064577e-01 5.71737902e-02 8.29005306e+01] [-6.47216114e-01 7.60733303e-01 -4.89504167e-02 -3.39726898e+01] [-7.52659878e-02 1.29096367e-04 9.97163484e-01 -5.35511174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66864 meters 0.02623911811511703 Centerline is valid? [True, True] Translation: X:82.92, Y:-33.99, Z:-5.36 [[ 7.58577761e-01 6.49026238e-01 5.76604136e-02 8.29242222e+01] [-6.47145041e-01 7.60766010e-01 -4.93798901e-02 -3.39940938e+01] [-7.59149271e-02 1.43835770e-04 9.97114288e-01 -5.35719657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69864 meters 0.026515995224879147 Centerline is valid? [True, True] Translation: X:82.95, Y:-34.01, Z:-5.36 [[ 7.60933334e-01 6.46252020e-01 5.77822507e-02 8.29480867e+01] [-6.44353920e-01 7.63123935e-01 -4.94963097e-02 -3.40147757e+01] [-7.60821086e-02 4.31172210e-04 9.97101463e-01 -5.35992258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72864 meters 0.026449465443799558 Centerline is valid? [True, True] Translation: X:82.97, Y:-34.04, Z:-5.36 [[ 7.61367991e-01 6.45710945e-01 5.81047193e-02 8.29723974e+01] [-6.43789200e-01 7.63581777e-01 -4.97828871e-02 -3.40354952e+01] [-7.65130599e-02 4.95905940e-04 9.97068456e-01 -5.36122741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75864 meters 0.026373417905585582 Centerline is valid? [True, True] Translation: X:83.00, Y:-34.06, Z:-5.36 [[ 7.62275572e-01 6.44631882e-01 5.81866693e-02 8.29963496e+01] [-6.42700586e-01 7.64492877e-01 -4.98658098e-02 -3.40566000e+01] [-7.66283850e-02 6.14882301e-04 9.97059533e-01 -5.36294465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78864 meters 0.026671307581722866 Centerline is valid? [True, True] Translation: X:83.02, Y:-34.08, Z:-5.36 [[ 7.64870929e-01 6.41597574e-01 5.76629418e-02 8.30198914e+01] [-6.39691345e-01 7.67040876e-01 -4.94295218e-02 -3.40792414e+01] [-7.59436946e-02 9.20719441e-04 9.97111683e-01 -5.36460171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81864 meters 0.02710916344022029 Centerline is valid? [True, True] Translation: X:83.04, Y:-34.10, Z:-5.37 [[ 7.66290509e-01 6.39866899e-01 5.80448774e-02 8.30435557e+01] [-6.37929218e-01 7.68484950e-01 -4.97714201e-02 -3.41002704e+01] [-7.64536989e-02 1.11084358e-03 9.97072514e-01 -5.36679483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84864 meters 0.027277955111494057 Centerline is valid? [True, True] Translation: X:83.07, Y:-34.12, Z:-5.37 [[ 7.68034838e-01 6.37750296e-01 5.82842073e-02 8.30666739e+01] [-6.35789067e-01 7.70242015e-01 -4.99950135e-02 -3.41231295e+01] [-7.67772799e-02 1.34145030e-03 9.97047366e-01 -5.36918374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87863999999999 meters 0.02758363518679046 Centerline is valid? [True, True] Translation: X:83.09, Y:-34.15, Z:-5.37 [[ 7.68680639e-01 6.36977293e-01 5.82237346e-02 8.30894790e+01] [-6.35016965e-01 7.70881244e-01 -4.99555997e-02 -3.41458143e+01] [-7.67041676e-02 1.42684308e-03 9.97052875e-01 -5.37160418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters 0.027398419576305365 Centerline is valid? [True, True] Translation: X:83.11, Y:-34.17, Z:-5.37 [[ 7.69984955e-01 6.35439954e-01 5.77861100e-02 8.31121685e+01] [-6.33503718e-01 7.72148674e-01 -4.95929928e-02 -3.41689076e+01] [-7.61328373e-02 1.57814277e-03 9.97096435e-01 -5.37271093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93863999999999 meters 0.027947291732830115 Centerline is valid? [True, True] Translation: X:83.14, Y:-34.19, Z:-5.38 [[ 7.71171862e-01 6.34000373e-01 5.77709828e-02 8.31361416e+01] [-6.32059998e-01 7.73330802e-01 -4.95946462e-02 -3.41909453e+01] [-7.61191046e-02 1.73126840e-03 9.97097229e-01 -5.37535978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96864 meters 0.02851920133253522 Centerline is valid? [True, True] Translation: X:83.16, Y:-34.21, Z:-5.38 [[ 7.73827947e-01 6.30755300e-01 5.77759524e-02 8.31582696e+01] [-6.28804646e-01 7.75979064e-01 -4.96105758e-02 -3.42139497e+01] [-7.61250631e-02 2.06026274e-03 9.97096149e-01 -5.37688835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99864 meters 0.0289426680139412 Centerline is valid? [True, True] Translation: X:83.18, Y:-34.24, Z:-5.38 [[ 7.75735138e-01 6.28395961e-01 5.79095155e-02 8.31780869e+01] [-6.26428944e-01 7.77890226e-01 -4.97350485e-02 -3.42405612e+01] [-7.63005497e-02 2.30502813e-03 9.97082200e-01 -5.38058679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02864 meters 0.029280790446350954 Centerline is valid? [True, True] Translation: X:83.20, Y:-34.26, Z:-5.38 [[ 7.76489789e-01 6.27470287e-01 5.78329120e-02 8.31996933e+01] [-6.25505000e-01 7.78636801e-01 -4.96812527e-02 -3.42644646e+01] [-7.62043435e-02 2.40220981e-03 9.97089328e-01 -5.38258024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05864 meters 0.029000226486936023 Centerline is valid? [True, True] Translation: X:83.22, Y:-34.29, Z:-5.38 [[ 7.76252451e-01 6.27759342e-01 5.78821195e-02 8.32224839e+01] [-6.25790430e-01 7.78403823e-01 -4.97375779e-02 -3.42893902e+01] [-7.62788923e-02 2.38684027e-03 9.97083664e-01 -5.38381592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08864 meters 0.0290219432602086 Centerline is valid? [True, True] Translation: X:83.24, Y:-34.32, Z:-5.39 [[ 7.76082429e-01 6.28095248e-01 5.65015327e-02 8.32414518e+01] [-6.26218337e-01 7.78133018e-01 -4.85757267e-02 -3.43160464e+01] [-7.44758913e-02 2.31647217e-03 9.97220124e-01 -5.38547234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11864 meters 0.028712550306990364 Centerline is valid? [True, True] Translation: X:83.26, Y:-34.34, Z:-5.39 [[ 7.74607859e-01 6.29715050e-01 5.86653299e-02 8.32626586e+01] [-6.27692490e-01 7.76822862e-01 -5.04814623e-02 -3.43416188e+01] [-7.73615060e-02 2.27955043e-03 9.97000502e-01 -5.38898891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14864 meters 0.02839563360987814 Centerline is valid? [True, True] Translation: X:83.28, Y:-34.37, Z:-5.39 [[ 7.72901577e-01 6.31712469e-01 5.96867644e-02 8.32809615e+01] [-6.29620801e-01 7.75199791e-01 -5.14094471e-02 -3.43690526e+01] [-7.87451560e-02 2.15441426e-03 9.96892451e-01 -5.39125660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17864 meters 0.028362203652298672 Centerline is valid? [True, True] Translation: X:83.30, Y:-34.39, Z:-5.39 [[ 7.72292795e-01 6.32483164e-01 5.94044234e-02 8.33029130e+01] [-6.30410115e-01 7.74571261e-01 -5.12098550e-02 -3.43926492e+01] [-7.84023302e-02 2.09985272e-03 9.96919588e-01 -5.39238901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20864 meters 0.02834583932279395 Centerline is valid? [True, True] Translation: X:83.33, Y:-34.42, Z:-5.39 [[ 7.71689979e-01 6.33131085e-01 6.03291445e-02 8.33254919e+01] [-6.30991138e-01 7.74041737e-01 -5.20535543e-02 -3.44174348e+01] [-7.96539991e-02 2.10205069e-03 9.96820356e-01 -5.39491495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23863999999999 meters 0.028303145715222078 Centerline is valid? [True, True] Translation: X:83.34, Y:-34.45, Z:-5.40 [[ 7.71602399e-01 6.33193775e-01 6.07896485e-02 8.33444224e+01] [-6.31017156e-01 7.73990322e-01 -5.25007601e-02 -3.44452003e+01] [-8.02937541e-02 2.15040127e-03 9.96768924e-01 -5.39692339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters 0.02805933392858449 Centerline is valid? [True, True] Translation: X:83.36, Y:-34.47, Z:-5.40 [[ 7.70860750e-01 6.34112351e-01 6.06236754e-02 8.33644540e+01] [-6.31947478e-01 7.73238132e-01 -5.23944351e-02 -3.44714240e+01] [-8.01004959e-02 2.07783477e-03 9.96784627e-01 -5.39810344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29863999999999 meters 0.028178810325623277 Centerline is valid? [True, True] Translation: X:83.39, Y:-34.49, Z:-5.40 [[ 7.69954331e-01 6.35143742e-01 6.13412988e-02 8.33880114e+01] [-6.32928330e-01 7.72391331e-01 -5.30411234e-02 -3.44940121e+01] [-8.10682250e-02 2.01459688e-03 9.96706519e-01 -5.40079316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters 0.02794837242441667 Centerline is valid? [True, True] Translation: X:83.41, Y:-34.52, Z:-5.40 [[ 7.69139159e-01 6.36137198e-01 6.12733224e-02 8.34115671e+01] [-6.33925701e-01 7.71573505e-01 -5.30333148e-02 -3.45164391e+01] [-8.10133364e-02 1.94726529e-03 9.96711115e-01 -5.40190602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35864 meters 0.027811982535416287 Centerline is valid? [True, True] Translation: X:83.43, Y:-34.54, Z:-5.41 [[ 7.66833679e-01 6.38695436e-01 6.35157374e-02 8.34342688e+01] [-6.36323239e-01 7.69457586e-01 -5.50250739e-02 -3.45409843e+01] [-8.40169295e-02 1.77854017e-03 9.96462740e-01 -5.40533865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38864 meters 0.027575586338227223 Centerline is valid? [True, True] Translation: X:83.46, Y:-34.56, Z:-5.41 [[ 7.65915621e-01 6.39790451e-01 6.35723281e-02 8.34579276e+01] [-6.37413878e-01 7.68547529e-01 -5.51202708e-02 -3.45627469e+01] [-8.41237785e-02 1.69559219e-03 9.96453870e-01 -5.40662755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41864 meters 0.02727803530632903 Centerline is valid? [True, True] Translation: X:83.48, Y:-34.58, Z:-5.41 [[ 7.63583090e-01 6.42508003e-01 6.42209483e-02 8.34815024e+01] [-6.40089293e-01 7.66277627e-01 -5.57162066e-02 -3.45843392e+01] [-8.50091845e-02 1.43681180e-03 9.96379132e-01 -5.40934393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44864 meters 0.02715521145541823 Centerline is valid? [True, True] Translation: X:83.51, Y:-34.61, Z:-5.41 [[ 7.62196147e-01 6.44159638e-01 6.41513354e-02 8.35054565e+01] [-6.41747817e-01 7.64889991e-01 -5.57049365e-02 -3.46058665e+01] [-8.49515861e-02 1.28910847e-03 9.96384246e-01 -5.41196583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47864 meters 0.027151121536680766 Centerline is valid? [True, True] Translation: X:83.53, Y:-34.63, Z:-5.41 [[ 7.61129702e-01 6.45413177e-01 6.42137590e-02 8.35303349e+01] [-6.42996708e-01 7.63832714e-01 -5.58105613e-02 -3.46280983e+01] [-8.50694415e-02 1.18984026e-03 9.96374314e-01 -5.41443757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50864 meters 0.026708459887791334 Centerline is valid? [True, True] Translation: X:83.56, Y:-34.65, Z:-5.42 [[ 7.59277938e-01 6.47715764e-01 6.29388745e-02 8.35552107e+01] [-6.45397954e-01 7.61881474e-01 -5.47549185e-02 -3.46492543e+01] [-8.34175863e-02 9.53580799e-04 9.96514223e-01 -5.41504192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53864 meters 0.026501813500891716 Centerline is valid? [True, True] Translation: X:83.58, Y:-34.67, Z:-5.42 [[ 7.58332678e-01 6.48840982e-01 6.27449568e-02 8.35798692e+01] [-6.46537264e-01 7.60923540e-01 -5.46345404e-02 -3.46694704e+01] [-8.31932435e-02 8.64204672e-04 9.96533059e-01 -5.41716729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56864 meters 0.02636606459794717 Centerline is valid? [True, True] Translation: X:83.61, Y:-34.69, Z:-5.42 [[ 7.56856125e-01 6.50519733e-01 6.31892658e-02 8.36053024e+01] [-6.48184727e-01 7.59489008e-01 -5.50727377e-02 -3.46903282e+01] [-8.38174554e-02 7.23821782e-04 9.96480863e-01 -5.41963197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59864 meters 0.026556217782103268 Centerline is valid? [True, True] Translation: X:83.63, Y:-34.71, Z:-5.42 [[ 7.56219255e-01 6.51246828e-01 6.33246209e-02 8.36305660e+01] [-6.48899574e-01 7.58865665e-01 -5.52471359e-02 -3.47122307e+01] [-8.40344025e-02 6.87628412e-04 9.96462617e-01 -5.42165942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters 0.026570517488402945 Centerline is valid? [True, True] Translation: X:83.66, Y:-34.73, Z:-5.43 [[ 7.55163497e-01 6.52386986e-01 6.41818823e-02 8.36557492e+01] [-6.49974770e-01 7.57885773e-01 -5.60531253e-02 -3.47338270e+01] [-8.52108649e-02 6.12669927e-04 9.96362752e-01 -5.42509352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65863999999999 meters 0.026539176373743867 Centerline is valid? [True, True] Translation: X:83.68, Y:-34.75, Z:-5.43 [[ 7.55395881e-01 6.52109249e-01 6.42696760e-02 8.36820503e+01] [-6.49684488e-01 7.58124695e-01 -5.61873046e-02 -3.47533499e+01] [-8.53646895e-02 6.88646860e-04 9.96349535e-01 -5.42622979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters 0.026651986385440626 Centerline is valid? [True, True] Translation: X:83.71, Y:-34.77, Z:-5.43 [[ 7.54282181e-01 6.53363884e-01 6.46067089e-02 8.37091170e+01] [-6.50913146e-01 7.57043779e-01 -5.65401941e-02 -3.47726908e+01] [-8.58514279e-02 5.93904728e-04 9.96307774e-01 -5.42817780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71864 meters 0.026651986385440626 Centerline is valid? [True, True] Translation: X:83.73, Y:-34.79, Z:-5.43 [[ 7.53949692e-01 6.53750398e-01 6.45776982e-02 8.37338164e+01] [-6.51298239e-01 7.56710026e-01 -5.65733149e-02 -3.47938610e+01] [-8.58514188e-02 5.94092224e-04 9.96307774e-01 -5.43009575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74864 meters 0.02655476003026787 Centerline is valid? [True, True] Translation: X:83.76, Y:-34.81, Z:-5.43 [[ 7.53628325e-01 6.54192875e-01 6.38438011e-02 8.37589054e+01] [-6.51793980e-01 7.56327545e-01 -5.59754619e-02 -3.48146889e+01] [-8.49055737e-02 5.71688358e-04 9.96388838e-01 -5.43269243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77864 meters 0.026510768855452494 Centerline is valid? [True, True] Translation: X:83.78, Y:-34.84, Z:-5.44 [[ 7.52829513e-01 6.55100499e-01 6.39613978e-02 8.37844632e+01] [-6.52693424e-01 7.55541589e-01 -5.61088328e-02 -3.48361666e+01] [-8.50824205e-02 4.93201557e-04 9.96373795e-01 -5.43508807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80864 meters 0.026366718921766633 Centerline is valid? [True, True] Translation: X:83.81, Y:-34.86, Z:-5.44 [[ 7.53128530e-01 6.54828198e-01 6.32253816e-02 8.38091494e+01] [-6.52470757e-01 7.55777559e-01 -5.55174919e-02 -3.48569608e+01] [-8.41387437e-02 5.59094409e-04 9.96453892e-01 -5.43621851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83864 meters 0.02655721692271244 Centerline is valid? [True, True] Translation: X:83.83, Y:-34.88, Z:-5.44 [[ 7.52619799e-01 6.55287686e-01 6.45095856e-02 8.38333542e+01] [-6.52830596e-01 7.55379202e-01 -5.66963344e-02 -3.48787211e+01] [-8.58816091e-02 5.56952604e-04 9.96305194e-01 -5.43953294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86864 meters 0.026453558223967222 Centerline is valid? [True, True] Translation: X:83.86, Y:-34.90, Z:-5.44 [[ 7.52519049e-01 6.55433630e-01 6.42015382e-02 8.38575156e+01] [-6.52996004e-01 7.55252555e-01 -5.64782797e-02 -3.49012285e+01] [-8.55061397e-02 5.77633373e-04 9.96337476e-01 -5.44123132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89864 meters 0.026645304508691795 Centerline is valid? [True, True] Translation: X:83.88, Y:-34.92, Z:-5.44 [[ 7.52266497e-01 6.55721296e-01 6.42238194e-02 8.38824712e+01] [-6.53278038e-01 7.55002804e-01 -5.65559035e-02 -3.49225307e+01] [-8.55740741e-02 5.89100665e-04 9.96331637e-01 -5.44277329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92864 meters 0.026396920352629256 Centerline is valid? [True, True] Translation: X:83.91, Y:-34.94, Z:-5.44 [[ 7.52092425e-01 6.55970893e-01 6.37116307e-02 8.39077331e+01] [-6.53562521e-01 7.54785948e-01 -5.61622924e-02 -3.49438542e+01] [-8.49294727e-02 5.99700680e-04 9.96386785e-01 -5.44437951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95864 meters 0.026466334932289243 Centerline is valid? [True, True] Translation: X:83.93, Y:-34.97, Z:-5.45 [[ 7.50826010e-01 6.57251606e-01 6.54265092e-02 8.39312142e+01] [-6.54711362e-01 7.53671059e-01 -5.77318624e-02 -3.49664850e+01] [-8.72544258e-02 5.11104962e-04 9.96185928e-01 -5.44641630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters 0.026551937278456533 Centerline is valid? [True, True] Translation: X:83.96, Y:-34.99, Z:-5.45 [[ 7.49699649e-01 6.58553187e-01 6.52543955e-02 8.39552805e+01] [-6.56026501e-01 7.52534079e-01 -5.76341046e-02 -3.49898160e+01] [-8.70612797e-02 3.99655226e-04 9.96202878e-01 -5.44854946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01863999999999 meters 0.026461777157562438 Centerline is valid? [True, True] Translation: X:83.98, Y:-35.01, Z:-5.45 [[ 7.48914260e-01 6.59470362e-01 6.50097926e-02 8.39795263e+01] [-6.56960924e-01 7.51730490e-01 -5.74770873e-02 -3.50126147e+01] [-8.67742788e-02 3.36516893e-04 9.96227941e-01 -5.45020980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters 0.026426905324429 Centerline is valid? [True, True] Translation: X:84.00, Y:-35.03, Z:-5.45 [[ 7.48276981e-01 6.60224440e-01 6.46934958e-02 8.40042668e+01] [-6.57737128e-01 7.51068308e-01 -5.72561506e-02 -3.50343174e+01] [-8.63911444e-02 2.92145409e-04 9.96261253e-01 -5.45269979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07864 meters 0.026421215519874943 Centerline is valid? [True, True] Translation: X:84.03, Y:-35.06, Z:-5.45 [[ 7.46145161e-01 6.62699653e-01 6.40044338e-02 8.40271701e+01] [-6.60269411e-01 7.48885283e-01 -5.67021812e-02 -3.50567375e+01] [-8.55084944e-02 4.78882458e-05 9.96337440e-01 -5.45312016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10864 meters 0.026378002812696134 Centerline is valid? [True, True] Translation: X:84.05, Y:-35.08, Z:-5.46 [[ 7.44292928e-01 6.64727487e-01 6.45399547e-02 8.40514247e+01] [-6.62259186e-01 7.47085903e-01 -5.72313172e-02 -3.50786464e+01] [-8.62601200e-02 -1.45313236e-04 9.96272639e-01 -5.45557727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13864 meters 0.026433674814843978 Centerline is valid? [True, True] Translation: X:84.08, Y:-35.10, Z:-5.46 [[ 7.42558004e-01 6.66689833e-01 6.42827958e-02 8.40764495e+01] [-6.64243416e-01 7.45335199e-01 -5.70624672e-02 -3.51004319e+01] [-8.59551972e-02 -3.27232130e-04 9.96298950e-01 -5.45741676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16864 meters 0.026843221874620276 Centerline is valid? [True, True] Translation: X:84.10, Y:-35.12, Z:-5.46 [[ 7.38438258e-01 6.71260463e-01 6.41742180e-02 8.41001255e+01] [-6.68834568e-01 7.41221106e-01 -5.70227412e-02 -3.51223879e+01] [-8.58443965e-02 -8.14161719e-04 9.96308224e-01 -5.45968153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19864 meters 0.027157594408685776 Centerline is valid? [True, True] Translation: X:84.12, Y:-35.14, Z:-5.46 [[ 7.36274042e-01 6.73708091e-01 6.33872526e-02 8.41242850e+01] [-6.71345952e-01 7.38996829e-01 -5.63764078e-02 -3.51445301e+01] [-8.48242208e-02 -1.04628983e-03 9.96395382e-01 -5.46102131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22864 meters 0.027085275102144243 Centerline is valid? [True, True] Translation: X:84.15, Y:-35.17, Z:-5.46 [[ 7.35294019e-01 6.74842652e-01 6.26905205e-02 8.41494947e+01] [-6.72531501e-01 7.37960797e-01 -5.58143507e-02 -3.51666059e+01] [-8.39290509e-02 -1.12139165e-03 9.96471102e-01 -5.46233110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25864 meters 0.027475416606888563 Centerline is valid? [True, True] Translation: X:84.17, Y:-35.19, Z:-5.46 [[ 7.33112598e-01 6.77165116e-01 6.31927569e-02 8.41739088e+01] [-6.74820457e-01 7.35829850e-01 -5.63185876e-02 -3.51878866e+01] [-8.46360997e-02 -1.35589903e-03 9.96411006e-01 -5.46374651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28864 meters 0.027498155953008627 Centerline is valid? [True, True] Translation: X:84.20, Y:-35.21, Z:-5.47 [[ 7.31860976e-01 6.78516388e-01 6.32061920e-02 8.41990748e+01] [-6.76171184e-01 7.34583788e-01 -5.63842928e-02 -3.52092130e+01] [-8.46879107e-02 -1.47274212e-03 9.96406438e-01 -5.46522106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31864 meters 0.02784863860156549 Centerline is valid? [True, True] Translation: X:84.22, Y:-35.23, Z:-5.47 [[ 7.30811402e-01 6.79587815e-01 6.38364810e-02 8.42242482e+01] [-6.77194652e-01 7.33592486e-01 -5.70041013e-02 -3.52290407e+01] [-8.55692555e-02 -1.57047635e-03 9.96330987e-01 -5.46849264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34864 meters 0.027839729086451485 Centerline is valid? [True, True] Translation: X:84.25, Y:-35.25, Z:-5.47 [[ 7.30238072e-01 6.80140527e-01 6.45075341e-02 8.42498607e+01] [-6.77694240e-01 7.33079982e-01 -5.76563708e-02 -3.52484202e+01] [-8.65036164e-02 -1.61350723e-03 9.96250230e-01 -5.46976543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37863999999999 meters 0.027750154631993908 Centerline is valid? [True, True] Translation: X:84.28, Y:-35.27, Z:-5.47 [[ 7.30070595e-01 6.80372244e-01 6.39573026e-02 8.42761899e+01] [-6.77964003e-01 7.32864985e-01 -5.72164713e-02 -3.52673554e+01] [-8.58005665e-02 -1.58868563e-03 9.96311065e-01 -5.47195347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters 0.028069665586156117 Centerline is valid? [True, True] Translation: X:84.30, Y:-35.29, Z:-5.47 [[ 7.29243190e-01 6.81399095e-01 6.24471276e-02 8.43031090e+01] [-6.79102953e-01 7.31910248e-01 -5.59157297e-02 -3.52853615e+01] [-8.38066203e-02 -1.63186366e-03 9.96480701e-01 -5.47397017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43863999999999 meters 0.027974849922776584 Centerline is valid? [True, True] Translation: X:84.33, Y:-35.31, Z:-5.48 [[ 7.29198653e-01 6.81372999e-01 6.32468282e-02 8.43295532e+01] [-6.79012798e-01 7.31934591e-01 -5.66866361e-02 -3.53059702e+01] [-8.49172846e-02 -1.60958711e-03 9.96386704e-01 -5.47602823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46864 meters 0.028101939365757226 Centerline is valid? [True, True] Translation: X:84.36, Y:-35.32, Z:-5.48 [[ 7.29310157e-01 6.81225498e-01 6.35493167e-02 8.43575001e+01] [-6.78836965e-01 7.32071990e-01 -5.70173334e-02 -3.53243990e+01] [-8.53643361e-02 -1.55630485e-03 9.96348588e-01 -5.47805123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49864 meters 0.028039504990721387 Centerline is valid? [True, True] Translation: X:84.38, Y:-35.34, Z:-5.48 [[ 7.29194230e-01 6.81280093e-01 6.42900388e-02 8.43842475e+01] [-6.78830401e-01 7.32021225e-01 -5.77426470e-02 -3.53434859e+01] [-8.64005889e-02 -1.53642775e-03 9.96259292e-01 -5.48081449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52864 meters 0.02803148998306742 Centerline is valid? [True, True] Translation: X:84.41, Y:-35.36, Z:-5.48 [[ 7.30057768e-01 6.80252112e-01 6.53660406e-02 8.44127030e+01] [-6.77709971e-01 7.32976892e-01 -5.87713424e-02 -3.53608463e+01] [-8.78911271e-02 -1.39274237e-03 9.96129113e-01 -5.48367054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55864 meters 0.027934784692140113 Centerline is valid? [True, True] Translation: X:84.44, Y:-35.38, Z:-5.49 [[ 7.31373749e-01 6.78832146e-01 6.54167891e-02 8.44387597e+01] [-6.76275121e-01 7.34292535e-01 -5.88764251e-02 -3.53799076e+01] [-8.80022699e-02 -1.17907522e-03 9.96119576e-01 -5.48599031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58864 meters 0.027987749023643604 Centerline is valid? [True, True] Translation: X:84.46, Y:-35.40, Z:-5.49 [[ 7.32590194e-01 6.77500872e-01 6.56062231e-02 8.44647003e+01] [-6.74918879e-01 7.35521314e-01 -5.91007839e-02 -3.53989253e+01] [-8.82956080e-02 -9.82223848e-04 9.96093831e-01 -5.48789362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61864 meters 0.02776288327883399 Centerline is valid? [True, True] Translation: X:84.49, Y:-35.42, Z:-5.49 [[ 7.38030571e-01 6.71725178e-01 6.40012680e-02 8.44930326e+01] [-6.69241932e-01 7.40800396e-01 -5.77062457e-02 -3.54156682e+01] [-8.61749029e-02 -2.43358775e-04 9.96279994e-01 -5.48926478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64864 meters 0.027606943985597876 Centerline is valid? [True, True] Translation: X:84.52, Y:-35.44, Z:-5.49 [[ 7.40115710e-01 6.69458673e-01 6.36696234e-02 8.45190797e+01] [-6.66988089e-01 7.42849299e-01 -5.74613550e-02 -3.54359540e+01] [-8.57649376e-02 6.11711328e-05 9.96315398e-01 -5.49132822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67864 meters 0.027916742130257945 Centerline is valid? [True, True] Translation: X:84.55, Y:-35.46, Z:-5.49 [[ 7.44972993e-01 6.64098798e-01 6.31508225e-02 8.45462507e+01] [-6.61644058e-01 7.47644481e-01 -5.70514766e-02 -3.54557238e+01] [-8.51021810e-02 7.18442802e-04 9.96371970e-01 -5.49489191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70864 meters 0.02820265934721319 Centerline is valid? [True, True] Translation: X:84.57, Y:-35.48, Z:-5.50 [[ 7.46492389e-01 6.62287017e-01 6.42263125e-02 8.45715432e+01] [-6.59736099e-01 7.49249583e-01 -5.80804746e-02 -3.54758588e+01] [-8.65874822e-02 9.84215385e-04 9.96243765e-01 -5.49691505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73863999999999 meters 0.028329330333041792 Centerline is valid? [True, True] Translation: X:84.60, Y:-35.50, Z:-5.50 [[ 7.47997760e-01 6.60640615e-01 6.36657613e-02 8.45975273e+01] [-6.58123651e-01 7.50701358e-01 -5.76257899e-02 -3.54970106e+01] [-8.58639107e-02 1.20401853e-03 9.96306147e-01 -5.49770784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters 0.028771528431792887 Centerline is valid? [True, True] Translation: X:84.62, Y:-35.52, Z:-5.50 [[ 7.50612243e-01 6.57712264e-01 6.32126423e-02 8.46216119e+01] [-6.55216002e-01 7.53267624e-01 -5.72702123e-02 -3.55190145e+01] [-8.52833578e-02 1.56978777e-03 9.96355501e-01 -5.49986565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79863999999999 meters 0.029177021108352193 Centerline is valid? [True, True] Translation: X:84.64, Y:-35.54, Z:-5.50 [[ 7.52820385e-01 6.55278275e-01 6.22241982e-02 8.46446980e+01] [-6.52847233e-01 7.55385297e-01 -5.64228889e-02 -3.55420343e+01] [-8.39759378e-02 1.85340525e-03 9.96466059e-01 -5.50182442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters 0.029405372573157746 Centerline is valid? [True, True] Translation: X:84.67, Y:-35.57, Z:-5.50 [[ 7.53568667e-01 6.54422427e-01 6.21735472e-02 8.46667781e+01] [-6.51988382e-01 7.56126544e-01 -5.64251565e-02 -3.55654330e+01] [-8.39369573e-02 1.98379952e-03 9.96469092e-01 -5.50409589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85864 meters 0.029804646005273494 Centerline is valid? [True, True] Translation: X:84.69, Y:-35.59, Z:-5.51 [[ 7.55908004e-01 6.51862402e-01 6.06506313e-02 8.46876289e+01] [-6.49534304e-01 7.58333935e-01 -5.50893063e-02 -3.55904963e+01] [-8.19040794e-02 2.24778203e-03 9.96637682e-01 -5.50540832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88864 meters 0.029977826199322457 Centerline is valid? [True, True] Translation: X:84.71, Y:-35.61, Z:-5.51 [[ 7.56271101e-01 6.51427197e-01 6.07999037e-02 8.47097009e+01] [-6.49082317e-01 7.58707551e-01 -5.52720447e-02 -3.56143590e+01] [-8.21350592e-02 2.33650772e-03 9.96618469e-01 -5.50761138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91864 meters 0.03007035063815911 Centerline is valid? [True, True] Translation: X:84.73, Y:-35.64, Z:-5.51 [[ 7.56429971e-01 6.51157691e-01 6.17038117e-02 8.47277792e+01] [-6.48737505e-01 7.58938547e-01 -5.61420666e-02 -3.56426741e+01] [-8.33867396e-02 2.43796503e-03 9.96514279e-01 -5.50900439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94864 meters 0.030109237806158533 Centerline is valid? [True, True] Translation: X:84.75, Y:-35.67, Z:-5.51 [[ 7.56931903e-01 6.50562041e-01 6.18314290e-02 8.47489748e+01] [-6.48125835e-01 7.59448848e-01 -5.63058537e-02 -3.56667245e+01] [-8.35882586e-02 2.54515041e-03 9.96497128e-01 -5.51131273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97864 meters 0.03007722344679174 Centerline is valid? [True, True] Translation: X:84.77, Y:-35.69, Z:-5.51 [[ 7.56291236e-01 6.51236490e-01 6.25667762e-02 8.47706366e+01] [-6.48739860e-01 7.58870600e-01 -5.70263592e-02 -3.56915174e+01] [-8.46177330e-02 2.53897403e-03 9.96410253e-01 -5.51287890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00864 meters 0.029941378223158725 Centerline is valid? [True, True] Translation: X:84.79, Y:-35.72, Z:-5.51 [[ 7.55981545e-01 6.51737015e-01 6.10800015e-02 8.47885552e+01] [-6.49355208e-01 7.58441031e-01 -5.57226663e-02 -3.57192807e+01] [-8.26421036e-02 2.46269029e-03 9.96576248e-01 -5.51434183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03864 meters 0.029809249824647326 Centerline is valid? [True, True] Translation: X:84.81, Y:-35.74, Z:-5.52 [[ 7.55404438e-01 6.52374393e-01 6.14148685e-02 8.48094427e+01] [-6.49964297e-01 7.57892920e-01 -5.60779360e-02 -3.57446762e+01] [-8.31297035e-02 2.44404996e-03 9.96535739e-01 -5.51676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06864 meters 0.02995620061019355 Centerline is valid? [True, True] Translation: X:84.83, Y:-35.77, Z:-5.52 [[ 7.55154987e-01 6.52643120e-01 6.16271288e-02 8.48319727e+01] [-6.50212591e-01 7.57661457e-01 -5.63267486e-02 -3.57691102e+01] [-8.34537651e-02 2.46469004e-03 9.96508602e-01 -5.51832806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09864 meters 0.029813286094378093 Centerline is valid? [True, True] Translation: X:84.85, Y:-35.79, Z:-5.52 [[ 7.54707430e-01 6.53161183e-01 6.16211294e-02 8.48539003e+01] [-6.50728226e-01 7.57214944e-01 -5.63764534e-02 -3.57934886e+01] [-8.34833510e-02 2.44912003e-03 9.96506163e-01 -5.52022822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters 0.029526125392860866 Centerline is valid? [True, True] Translation: X:84.87, Y:-35.82, Z:-5.52 [[ 7.53531959e-01 6.54552099e-01 6.12465240e-02 8.48721022e+01] [-6.52148892e-01 7.56013336e-01 -5.60861756e-02 -3.58206668e+01] [-8.30145129e-02 2.32087299e-03 9.96545636e-01 -5.52143558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15863999999999 meters 0.0291799078340648 Centerline is valid? [True, True] Translation: X:84.89, Y:-35.85, Z:-5.52 [[ 7.52277169e-01 6.56042844e-01 6.07194247e-02 8.48934719e+01] [-6.53682557e-01 7.54720539e-01 -5.56419242e-02 -3.58456468e+01] [-8.23296831e-02 2.16692038e-03 9.96602793e-01 -5.52309028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters 0.028455422346034064 Centerline is valid? [True, True] Translation: X:84.91, Y:-35.87, Z:-5.53 [[ 7.49306367e-01 6.59461876e-01 6.04152504e-02 8.49134454e+01] [-6.57134858e-01 7.51735864e-01 -5.53802188e-02 -3.58722666e+01] [-8.19374534e-02 1.79578359e-03 9.96635856e-01 -5.52500090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21864 meters 0.028357855080435992 Centerline is valid? [True, True] Translation: X:84.94, Y:-35.90, Z:-5.53 [[ 7.47810614e-01 6.61077177e-01 6.12882659e-02 8.49354324e+01] [-6.58686224e-01 7.50316083e-01 -5.61981688e-02 -3.58964494e+01] [-8.31368984e-02 1.65585069e-03 9.96536760e-01 -5.52819384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24864 meters 0.02813169006983554 Centerline is valid? [True, True] Translation: X:84.96, Y:-35.92, Z:-5.53 [[ 7.46537894e-01 6.62566500e-01 6.07190803e-02 8.49572141e+01] [-6.60222560e-01 7.49001599e-01 -5.57025706e-02 -3.59206213e+01] [-8.23853455e-02 1.49597310e-03 9.96599427e-01 -5.52876518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27864 meters 0.02759533750202153 Centerline is valid? [True, True] Translation: X:84.98, Y:-35.95, Z:-5.53 [[ 7.43806595e-01 6.65682864e-01 6.01504256e-02 8.49765677e+01] [-6.63388880e-01 7.46233838e-01 -5.52290953e-02 -3.59471027e+01] [-8.16513452e-02 1.17664188e-03 9.96660260e-01 -5.52964867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30864 meters 0.02721479788841679 Centerline is valid? [True, True] Translation: X:85.00, Y:-35.97, Z:-5.53 [[ 7.42872183e-01 6.66829417e-01 5.89868489e-02 8.49983472e+01] [-6.64623271e-01 7.45209630e-01 -5.42080719e-02 -3.59708596e+01] [-8.01051048e-02 1.06563619e-03 9.96785853e-01 -5.53108893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33864 meters 0.027181060066485286 Centerline is valid? [True, True] Translation: X:85.02, Y:-36.00, Z:-5.53 [[ 7.40952497e-01 6.68954939e-01 5.90651122e-02 8.50168191e+01] [-6.66745741e-01 7.43302446e-01 -5.43285402e-02 -3.59982984e+01] [-8.02465877e-02 8.73455492e-04 9.96774660e-01 -5.53444714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36864 meters 0.026970823672276656 Centerline is valid? [True, True] Translation: X:85.04, Y:-36.02, Z:-5.54 [[ 7.39309654e-01 6.70757102e-01 5.92127112e-02 8.50380639e+01] [-6.68538468e-01 7.41676745e-01 -5.45153325e-02 -3.60242311e+01] [-8.04832374e-02 7.17736381e-04 9.96755704e-01 -5.53596138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39864 meters 0.026853372914327024 Centerline is valid? [True, True] Translation: X:85.06, Y:-36.05, Z:-5.54 [[ 7.38264465e-01 6.71997921e-01 5.81753651e-02 8.50584337e+01] [-6.69856118e-01 7.40552780e-01 -5.36130733e-02 -3.60489876e+01] [-7.91098021e-02 6.11502724e-04 9.96865721e-01 -5.53745685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42864 meters 0.026523107616344695 Centerline is valid? [True, True] Translation: X:85.08, Y:-36.07, Z:-5.54 [[ 7.36110745e-01 6.74377474e-01 5.79309424e-02 8.50796306e+01] [-6.72257180e-01 7.38386668e-01 -5.34360694e-02 -3.60738237e+01] [-7.88115170e-02 3.90372889e-04 9.96889458e-01 -5.53840135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45864 meters 0.026551905080060147 Centerline is valid? [True, True] Translation: X:85.10, Y:-36.10, Z:-5.54 [[ 7.34112119e-01 6.76602573e-01 5.73441838e-02 8.51013873e+01] [-6.74528079e-01 7.36348371e-01 -5.29428626e-02 -3.60972992e+01] [-7.80465734e-02 1.85734955e-04 9.96949697e-01 -5.53985093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters 0.026299098388982 Centerline is valid? [True, True] Translation: X:85.12, Y:-36.12, Z:-5.54 [[ 7.28513980e-01 6.82564336e-01 5.80801849e-02 8.51210750e+01] [-6.80450993e-01 7.30825390e-01 -5.36721087e-02 -3.61230519e+01] [-7.90811410e-02 -4.19837920e-04 9.96868094e-01 -5.54131482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51863999999999 meters 0.02630961181046839 Centerline is valid? [True, True] Translation: X:85.14, Y:-36.15, Z:-5.54 [[ 7.25317685e-01 6.85934896e-01 5.83744307e-02 8.51430697e+01] [-6.83806944e-01 7.27662524e-01 -5.39936489e-02 -3.61463127e+01] [-7.95130136e-02 -7.54292673e-04 9.96833543e-01 -5.54335468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters 0.02684095926297161 Centerline is valid? [True, True] Translation: X:85.17, Y:-36.17, Z:-5.54 [[ 7.19421519e-01 6.92151783e-01 5.79533223e-02 8.51653762e+01] [-6.90071181e-01 7.21750618e-01 -5.36452334e-02 -3.61699200e+01] [-7.89584901e-02 -1.39838220e-03 9.96876924e-01 -5.54477311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57864 meters 0.027117749347872085 Centerline is valid? [True, True] Translation: X:85.19, Y:-36.19, Z:-5.55 [[ 7.16567912e-01 6.95085710e-01 5.81917750e-02 8.51890506e+01] [-6.92995537e-01 7.18924844e-01 -5.38911350e-02 -3.61910412e+01] [-7.92944706e-02 -1.70998229e-03 9.96849769e-01 -5.54628935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60864 meters 0.027326658694248444 Centerline is valid? [True, True] Translation: X:85.21, Y:-36.21, Z:-5.55 [[ 7.13775823e-01 6.97892727e-01 5.89051392e-02 8.52130099e+01] [-6.95756511e-01 7.16199481e-01 -5.46001925e-02 -3.62126680e+01] [-8.02929073e-02 -2.01133682e-03 9.96769283e-01 -5.54776753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63864 meters 0.027326658694248444 Centerline is valid? [True, True] Translation: X:85.24, Y:-36.23, Z:-5.55 [[ 7.13409352e-01 6.98269544e-01 5.88790243e-02 8.52370456e+01] [-6.96132287e-01 7.15832091e-01 -5.46283429e-02 -3.62345332e+01] [-8.02928032e-02 -2.01521913e-03 9.96769284e-01 -5.54968583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66864 meters 0.028050910293876682 Centerline is valid? [True, True] Translation: X:85.26, Y:-36.26, Z:-5.55 [[ 7.09796839e-01 7.01872178e-01 5.96983457e-02 8.52615379e+01] [-6.99683734e-01 7.12298799e-01 -5.54354843e-02 -3.62557238e+01] [-8.14316841e-02 -2.42202995e-03 9.96675983e-01 -5.55258756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69864 meters 0.028284388166577443 Centerline is valid? [True, True] Translation: X:85.29, Y:-36.28, Z:-5.55 [[ 7.07917651e-01 7.03670173e-01 6.08349185e-02 8.52858025e+01] [-7.01402538e-01 7.10521767e-01 -5.65092818e-02 -3.62761883e+01] [-8.29884299e-02 -2.66584815e-03 9.96546945e-01 -5.55415543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72864 meters 0.02831621460947953 Centerline is valid? [True, True] Translation: X:85.31, Y:-36.30, Z:-5.56 [[ 7.07394080e-01 7.04197535e-01 6.08230795e-02 8.53123837e+01] [-7.01929769e-01 7.09998966e-01 -5.65337802e-02 -3.62963811e+01] [-8.29952722e-02 -2.70186874e-03 9.96546278e-01 -5.55609844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75864 meters 0.027776828824219574 Centerline is valid? [True, True] Translation: X:85.34, Y:-36.31, Z:-5.56 [[ 7.09358593e-01 7.02210586e-01 6.09153388e-02 8.53398932e+01] [-6.99923922e-01 7.11965150e-01 -5.66756431e-02 -3.63139491e+01] [-8.31678349e-02 -2.43274842e-03 9.96532585e-01 -5.55855688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78864 meters 0.027482263072568146 Centerline is valid? [True, True] Translation: X:85.37, Y:-36.33, Z:-5.56 [[ 7.11046674e-01 7.00447259e-01 6.15326263e-02 8.53653500e+01] [-6.98102960e-01 7.13700739e-01 -5.73019382e-02 -3.63335322e+01] [-8.40528664e-02 -2.21175594e-03 9.96458842e-01 -5.55965629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81864 meters 0.027318672291250127 Centerline is valid? [True, True] Translation: X:85.39, Y:-36.35, Z:-5.56 [[ 7.12195805e-01 6.99265288e-01 6.16862482e-02 8.53908489e+01] [-6.96901022e-01 7.14859339e-01 -5.74899153e-02 -3.63539867e+01] [-8.42976928e-02 -2.04513295e-03 9.96438516e-01 -5.56186784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84864 meters 0.027127184197991084 Centerline is valid? [True, True] Translation: X:85.42, Y:-36.37, Z:-5.56 [[ 7.13993569e-01 6.97443591e-01 6.15273971e-02 8.54200406e+01] [-6.95081731e-01 7.16637426e-01 -5.73775925e-02 -3.63702909e+01] [-8.41104697e-02 -1.79933761e-03 9.96454811e-01 -5.56347675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87863999999999 meters 0.026973627168767226 Centerline is valid? [True, True] Translation: X:85.45, Y:-36.39, Z:-5.57 [[ 7.14269261e-01 6.97171289e-01 6.14134838e-02 8.54456919e+01] [-6.94812759e-01 7.16902513e-01 -5.73237827e-02 -3.63894716e+01] [-8.39919764e-02 -1.72625624e-03 9.96464936e-01 -5.56626104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters 0.026895671423741174 Centerline is valid? [True, True] Translation: X:85.47, Y:-36.41, Z:-5.57 [[ 7.13870963e-01 6.97571321e-01 6.15020365e-02 8.54714220e+01] [-6.95202785e-01 7.16513251e-01 -5.74617161e-02 -3.64099529e+01] [-8.41506693e-02 -1.73613645e-03 9.96451530e-01 -5.56780146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93863999999999 meters 0.026797176598783425 Centerline is valid? [True, True] Translation: X:85.50, Y:-36.43, Z:-5.57 [[ 7.13935242e-01 6.97616625e-01 6.02288590e-02 8.54979150e+01] [-6.95340803e-01 7.16469311e-01 -5.63284521e-02 -3.64285883e+01] [-8.24477937e-02 -1.66471608e-03 9.96593995e-01 -5.56959522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96864 meters 0.026772438267796277 Centerline is valid? [True, True] Translation: X:85.52, Y:-36.45, Z:-5.57 [[ 7.14088278e-01 6.97449807e-01 6.03464792e-02 8.55243071e+01] [-6.95159973e-01 7.16631827e-01 -5.64927986e-02 -3.64488853e+01] [-8.26470992e-02 -1.60961157e-03 9.96577577e-01 -5.57120540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99864 meters 0.026541571777910274 Centerline is valid? [True, True] Translation: X:85.55, Y:-36.47, Z:-5.57 [[ 7.14695330e-01 6.96903731e-01 5.94623747e-02 8.55496380e+01] [-6.94674121e-01 7.17163154e-01 -5.57214093e-02 -3.64684868e+01] [-8.14766822e-02 -1.48314187e-03 9.96674145e-01 -5.57268532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02864 meters 0.02654217555893163 Centerline is valid? [True, True] Translation: X:85.58, Y:-36.49, Z:-5.58 [[ 7.16353272e-01 6.95182365e-01 5.96612773e-02 8.55754880e+01] [-6.92927556e-01 7.18832322e-01 -5.59597640e-02 -3.64872973e+01] [-8.17886956e-02 -1.25398300e-03 9.96648903e-01 -5.57503590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05864 meters 0.02637789328720537 Centerline is valid? [True, True] Translation: X:85.60, Y:-36.51, Z:-5.58 [[ 7.17405880e-01 6.94065018e-01 6.00212861e-02 8.56016711e+01] [-6.91774453e-01 7.19911491e-01 -5.63520329e-02 -3.65083262e+01] [-8.23219883e-02 -1.09391255e-03 9.96605184e-01 -5.57676009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08864 meters 0.026380291821923526 Centerline is valid? [True, True] Translation: X:85.63, Y:-36.53, Z:-5.58 [[ 7.18355167e-01 6.93027525e-01 6.06523215e-02 8.56273293e+01] [-6.90679680e-01 7.20910510e-01 -5.70053998e-02 -3.65290944e+01] [-8.32312072e-02 -9.41202548e-04 9.96529819e-01 -5.57891186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11864 meters 0.026258717655010724 Centerline is valid? [True, True] Translation: X:85.65, Y:-36.55, Z:-5.58 [[ 7.20143439e-01 6.91207849e-01 6.02091032e-02 8.56527952e+01] [-6.88883084e-01 7.22655687e-01 -5.66467521e-02 -3.65482946e+01] [-8.26651306e-02 -6.83245790e-04 9.96577147e-01 -5.58174605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14864 meters 0.02611804261175974 Centerline is valid? [True, True] Translation: X:85.68, Y:-36.57, Z:-5.58 [[ 7.21323850e-01 6.90053220e-01 5.93165877e-02 8.56769561e+01] [-6.87788918e-01 7.23758453e-01 -5.58579138e-02 -3.65694613e+01] [-8.14758150e-02 -5.05646193e-04 9.96675191e-01 -5.58378438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17864 meters 0.02610426780997384 Centerline is valid? [True, True] Translation: X:85.70, Y:-36.59, Z:-5.58 [[ 7.22295546e-01 6.89148490e-01 5.79957183e-02 8.57011707e+01] [-6.86977188e-01 7.24620059e-01 -5.46636369e-02 -3.65910769e+01] [-7.96962237e-02 -3.58433980e-04 9.96819133e-01 -5.58490259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20864 meters 0.026279984792197484 Centerline is valid? [True, True] Translation: X:85.73, Y:-36.61, Z:-5.59 [[ 7.25122527e-01 6.86035052e-01 5.96089627e-02 8.57257419e+01] [-6.83726258e-01 7.27568490e-01 -5.62360801e-02 -3.66110675e+01] [-8.19495251e-02 2.18355014e-05 9.96636481e-01 -5.58742445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23863999999999 meters 0.026266741070984166 Centerline is valid? [True, True] Translation: X:85.75, Y:-36.63, Z:-5.59 [[ 7.26994976e-01 6.83994206e-01 6.02514004e-02 8.57501516e+01] [-6.81624123e-01 7.29487382e-01 -5.68921228e-02 -3.66325804e+01] [-8.28665187e-02 2.91479431e-04 9.96560613e-01 -5.58930544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters 0.02649106390649499 Centerline is valid? [True, True] Translation: X:85.77, Y:-36.66, Z:-5.59 [[ 7.31169558e-01 6.79601328e-01 5.94399849e-02 8.57732106e+01] [-6.77275852e-01 7.33581191e-01 -5.61787947e-02 -3.66559788e+01] [-8.17832384e-02 8.18958069e-04 9.96649804e-01 -5.59117260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29863999999999 meters 0.026591349524952273 Centerline is valid? [True, True] Translation: X:85.80, Y:-36.68, Z:-5.59 [[ 7.32744568e-01 6.77963820e-01 5.87405895e-02 8.57962646e+01] [-6.75682973e-01 7.35094548e-01 -5.55745056e-02 -3.66792059e+01] [-8.08573912e-02 1.03190089e-03 9.96725146e-01 -5.59352253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32864 meters 0.02676670568743646 Centerline is valid? [True, True] Translation: X:85.82, Y:-36.70, Z:-5.60 [[ 7.34063705e-01 6.76552436e-01 5.85429587e-02 8.58181482e+01] [-6.74278048e-01 7.36393444e-01 -5.54419467e-02 -3.67022480e+01] [-8.06200350e-02 1.22368893e-03 9.96744156e-01 -5.59584255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35864 meters 0.027128475030353618 Centerline is valid? [True, True] Translation: X:85.84, Y:-36.73, Z:-5.60 [[ 7.35942565e-01 6.74380932e-01 5.99908285e-02 8.58401261e+01] [-6.71980975e-01 7.38382014e-01 -5.68644930e-02 -3.67263401e+01] [-8.26444785e-02 1.53630539e-03 9.96577910e-01 -5.59823769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38864 meters 0.02739958730944949 Centerline is valid? [True, True] Translation: X:85.86, Y:-36.75, Z:-5.60 [[ 7.36286858e-01 6.73953959e-01 6.05617400e-02 8.58626631e+01] [-6.71502313e-01 7.38771535e-01 -5.74566153e-02 -3.67493009e+01] [-8.34644029e-02 1.63720222e-03 9.96509414e-01 -5.60008410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41864 meters 0.027235827936040933 Centerline is valid? [True, True] Translation: X:85.89, Y:-36.77, Z:-5.60 [[ 7.36342648e-01 6.73956659e-01 5.98492010e-02 8.58855749e+01] [-6.71558236e-01 7.38769031e-01 -5.68318013e-02 -3.67727804e+01] [-8.25169072e-02 1.65545524e-03 9.96588290e-01 -5.60167718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44864 meters 0.027145717664241693 Centerline is valid? [True, True] Translation: X:85.91, Y:-36.80, Z:-5.60 [[ 7.34767146e-01 6.75728264e-01 5.92330497e-02 8.59061771e+01] [-6.73380374e-01 7.37149319e-01 -5.63005573e-02 -3.67980831e+01] [-8.17074801e-02 1.48142665e-03 9.96655253e-01 -5.60407587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47864 meters 0.0266971024801051 Centerline is valid? [True, True] Translation: X:85.93, Y:-36.82, Z:-5.61 [[ 7.33885878e-01 6.76704070e-01 5.90179550e-02 8.59285009e+01] [-6.74372377e-01 7.36253781e-01 -5.61450521e-02 -3.68218593e+01] [-8.14457779e-02 1.40398225e-03 9.96676785e-01 -5.60571594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50864 meters 0.026685659573057876 Centerline is valid? [True, True] Translation: X:85.95, Y:-36.85, Z:-5.61 [[ 7.32392727e-01 6.78260022e-01 5.97012262e-02 8.59498689e+01] [-6.75874751e-01 7.34820858e-01 -5.68474061e-02 -3.68470377e+01] [-8.24270292e-02 1.28407545e-03 9.96596275e-01 -5.60844422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53864 meters 0.02648375008691224 Centerline is valid? [True, True] Translation: X:85.97, Y:-36.87, Z:-5.61 [[ 7.32037253e-01 6.78672936e-01 5.93675534e-02 8.59718928e+01] [-6.76310971e-01 7.34439532e-01 -5.65866129e-02 -3.68712308e+01] [-8.20056809e-02 1.27258096e-03 9.96631050e-01 -5.61025574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56864 meters 0.026733700637346453 Centerline is valid? [True, True] Translation: X:85.99, Y:-36.90, Z:-5.61 [[ 7.31971749e-01 6.78707937e-01 5.97736968e-02 8.59947628e+01] [-6.76308791e-01 7.34407104e-01 -5.70317885e-02 -3.68951671e+01] [-8.26061550e-02 1.32018136e-03 9.96581397e-01 -5.61225777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59864 meters 0.02656491382820143 Centerline is valid? [True, True] Translation: X:86.02, Y:-36.92, Z:-5.61 [[ 7.31760579e-01 6.79020674e-01 5.87994817e-02 8.60165664e+01] [-6.76695803e-01 7.34117990e-01 -5.61566215e-02 -3.69187668e+01] [-8.12972643e-02 1.30383936e-03 9.96689046e-01 -5.61274987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters 0.02670325840788903 Centerline is valid? [True, True] Translation: X:86.04, Y:-36.94, Z:-5.61 [[ 7.31002448e-01 6.79863250e-01 5.84925806e-02 8.60393433e+01] [-6.77561318e-01 7.33337864e-01 -5.59127629e-02 -3.69412086e+01] [-8.09078569e-02 1.24005650e-03 9.96720814e-01 -5.61481680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65863999999999 meters 0.026309500296742998 Centerline is valid? [True, True] Translation: X:86.06, Y:-36.96, Z:-5.62 [[ 7.29393163e-01 6.81587984e-01 5.85101116e-02 8.60610559e+01] [-6.79286153e-01 7.31735363e-01 -5.59792948e-02 -3.69646667e+01] [-8.09687324e-02 1.08580626e-03 9.96716051e-01 -5.61657874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters 0.026105373588749765 Centerline is valid? [True, True] Translation: X:86.08, Y:-36.99, Z:-5.62 [[ 7.26057920e-01 6.85190017e-01 5.79183642e-02 8.60812240e+01] [-6.82942035e-01 7.28364010e-01 -5.54621182e-02 -3.69899906e+01] [-8.01877417e-02 7.13824706e-04 9.96779523e-01 -5.61887866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71864 meters 0.02593084505176468 Centerline is valid? [True, True] Translation: X:86.10, Y:-37.01, Z:-5.62 [[ 7.23997384e-01 6.87366433e-01 5.79238672e-02 8.61038498e+01] [-6.85120937e-01 7.26310627e-01 -5.55173385e-02 -3.70122607e+01] [-8.02314752e-02 5.09553703e-04 9.96776129e-01 -5.61989860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74864 meters 0.025921851444779632 Centerline is valid? [True, True] Translation: X:86.13, Y:-37.04, Z:-5.62 [[ 7.20282224e-01 6.91229935e-01 5.82640129e-02 8.61264626e+01] [-6.88967098e-01 7.22634877e-01 -5.58853504e-02 -3.70355025e+01] [-8.07332349e-02 1.11236615e-04 9.96735739e-01 -5.62149302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77864 meters 0.025823512731013843 Centerline is valid? [True, True] Translation: X:86.15, Y:-37.06, Z:-5.62 [[ 7.18495876e-01 6.93095497e-01 5.81576206e-02 8.61496620e+01] [-6.90844667e-01 7.20845772e-01 -5.58123548e-02 -3.70595842e+01] [-8.06059667e-02 -7.69353142e-05 9.96746042e-01 -5.62405920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80864 meters 0.025774722115244092 Centerline is valid? [True, True] Translation: X:86.17, Y:-37.08, Z:-5.63 [[ 7.17643484e-01 6.94068585e-01 5.70668870e-02 8.61727946e+01] [-6.91900215e-01 7.19908869e-01 -5.48207421e-02 -3.70824608e+01] [-7.91323130e-02 -1.42843043e-04 9.96864111e-01 -5.62603347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83864 meters 0.025901216915213347 Centerline is valid? [True, True] Translation: X:86.20, Y:-37.11, Z:-5.63 [[ 7.16776764e-01 6.94866406e-01 5.82387219e-02 8.61959973e+01] [-6.92606308e-01 7.19138817e-01 -5.59987868e-02 -3.71052126e+01] [-8.07934013e-02 -1.97876974e-04 9.96730850e-01 -5.62861424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86864 meters 0.025738550338785842 Centerline is valid? [True, True] Translation: X:86.22, Y:-37.13, Z:-5.63 [[ 7.15739750e-01 6.95945116e-01 5.81120135e-02 8.62203822e+01] [-6.93694061e-01 7.18094922e-01 -5.59306081e-02 -3.71279207e+01] [-8.06545754e-02 -2.80199249e-04 9.96742073e-01 -5.63092914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89864 meters 0.02568294913259327 Centerline is valid? [True, True] Translation: X:86.24, Y:-37.15, Z:-5.63 [[ 7.14949076e-01 6.96753241e-01 5.81613274e-02 8.62440503e+01] [-6.94496236e-01 7.17310821e-01 -5.60371808e-02 -3.71501849e+01] [-8.07638368e-02 -3.29092265e-04 9.96733211e-01 -5.63321168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92864 meters 0.025888666421578485 Centerline is valid? [True, True] Translation: X:86.27, Y:-37.17, Z:-5.63 [[ 7.12259110e-01 6.99399466e-01 5.93914774e-02 8.62678892e+01] [-6.97050068e-01 7.14730738e-01 -5.72815403e-02 -3.71719868e+01] [-8.25115931e-02 -5.99534474e-04 9.96589924e-01 -5.63475739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95864 meters 0.02580865605625773 Centerline is valid? [True, True] Translation: X:86.29, Y:-37.19, Z:-5.64 [[ 7.10566318e-01 7.01169283e-01 5.87974803e-02 8.62926423e+01] [-6.98868335e-01 7.12994433e-01 -5.67625647e-02 -3.71936516e+01] [-8.17224429e-02 -7.58130595e-04 9.96654839e-01 -5.63614411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters 0.02583715331357677 Centerline is valid? [True, True] Translation: X:86.32, Y:-37.21, Z:-5.64 [[ 7.08963392e-01 7.02769988e-01 5.90360395e-02 8.63172713e+01] [-7.00451040e-01 7.11416563e-01 -5.70509829e-02 -3.72142259e+01] [-8.20929349e-02 -9.04796980e-04 9.96624268e-01 -5.63789270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01863999999999 meters 0.0260949875146792 Centerline is valid? [True, True] Translation: X:86.34, Y:-37.23, Z:-5.64 [[ 7.06864012e-01 7.04837371e-01 5.95612977e-02 8.63430532e+01] [-7.02479807e-01 7.09368051e-01 -5.76115333e-02 -3.72339884e+01] [-8.28576433e-02 -1.11708933e-03 9.96560767e-01 -5.64076934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters 0.026213762118226992 Centerline is valid? [True, True] Translation: X:86.37, Y:-37.25, Z:-5.64 [[ 7.05653455e-01 7.06079242e-01 5.92056228e-02 8.63687028e+01] [-7.03749651e-01 7.08131784e-01 -5.73219421e-02 -3.72547812e+01] [-8.23992167e-02 -1.21650992e-03 9.96598660e-01 -5.64253353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07864 meters 0.026266652612808403 Centerline is valid? [True, True] Translation: X:86.39, Y:-37.27, Z:-5.64 [[ 7.04073816e-01 7.07644863e-01 5.93195451e-02 8.63941625e+01] [-7.05306987e-01 7.06566978e-01 -5.74905116e-02 -3.72748549e+01] [-8.25960969e-02 -1.36092573e-03 9.96582176e-01 -5.64475081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10864 meters 0.026338214349828214 Centerline is valid? [True, True] Translation: X:86.42, Y:-37.29, Z:-5.65 [[ 7.03398741e-01 7.08350950e-01 5.88994293e-02 8.64230457e+01] [-7.06044111e-01 7.05859041e-01 -5.71377965e-02 -3.72925798e+01] [-8.20483071e-02 -1.39494106e-03 9.96627377e-01 -5.64732193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13864 meters 0.02634646411312604 Centerline is valid? [True, True] Translation: X:86.45, Y:-37.31, Z:-5.65 [[ 7.02637550e-01 7.09046573e-01 5.96106585e-02 8.64483185e+01] [-7.06681173e-01 7.05160158e-01 -5.78867128e-02 -3.73124156e+01] [-8.30794366e-02 -1.45235206e-03 9.96541870e-01 -5.64901219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16864 meters 0.02607504220014509 Centerline is valid? [True, True] Translation: X:86.48, Y:-37.33, Z:-5.65 [[ 7.04270152e-01 7.07519500e-01 5.84782861e-02 8.64772360e+01] [-7.05233785e-01 7.06692783e-01 -5.68385279e-02 -3.73294636e+01] [-8.15405496e-02 -1.21118440e-03 9.96669289e-01 -5.64973584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19864 meters 0.02607714357317471 Centerline is valid? [True, True] Translation: X:86.50, Y:-37.35, Z:-5.65 [[ 7.04409850e-01 7.07386275e-01 5.84073800e-02 8.65030859e+01] [-7.05101230e-01 7.06826232e-01 -5.68236991e-02 -3.73497643e+01] [-8.14801732e-02 -1.15594217e-03 9.96674292e-01 -5.65189809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22864 meters 0.025774085612731874 Centerline is valid? [True, True] Translation: X:86.53, Y:-37.37, Z:-5.65 [[ 7.05591389e-01 7.06219630e-01 5.82634179e-02 8.65285434e+01] [-7.03937203e-01 7.07992145e-01 -5.67409610e-02 -3.73701401e+01] [-8.13216227e-02 -9.77853917e-04 9.96687432e-01 -5.65465305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25864 meters 0.025866840779710524 Centerline is valid? [True, True] Translation: X:86.56, Y:-37.39, Z:-5.66 [[ 7.07209958e-01 7.04561404e-01 5.87137475e-02 8.65572153e+01] [-7.02233250e-01 7.09642628e-01 -5.72346268e-02 -3.73876061e+01] [-8.19910872e-02 -7.53847733e-04 9.96632778e-01 -5.65708037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28864 meters 0.025712419524359275 Centerline is valid? [True, True] Translation: X:86.58, Y:-37.41, Z:-5.66 [[ 7.07944564e-01 7.03814426e-01 5.88196187e-02 8.65845569e+01] [-7.01470325e-01 7.10383602e-01 -5.73979112e-02 -3.74072508e+01] [-8.21819705e-02 -6.25677813e-04 9.96617144e-01 -5.65898718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31864 meters 0.02588602229613852 Centerline is valid? [True, True] Translation: X:86.61, Y:-37.43, Z:-5.66 [[ 7.08732176e-01 7.02958725e-01 5.95628484e-02 8.66108903e+01] [-7.00546771e-01 7.11230477e-01 -5.81844566e-02 -3.74268251e+01] [-8.32641845e-02 -4.89364521e-04 9.96527389e-01 -5.66217585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34864 meters 0.025832886646634783 Centerline is valid? [True, True] Translation: X:86.64, Y:-37.45, Z:-5.66 [[ 7.08502846e-01 7.03208556e-01 5.93417661e-02 8.66367582e+01] [-7.00810362e-01 7.10983476e-01 -5.80287244e-02 -3.74481979e+01] [-8.29973106e-02 -4.73808242e-04 9.96549659e-01 -5.66381497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37863999999999 meters 0.025958261052285984 Centerline is valid? [True, True] Translation: X:86.66, Y:-37.47, Z:-5.67 [[ 7.07487559e-01 7.04104659e-01 6.08110439e-02 8.66623889e+01] [-7.01584167e-01 7.10095998e-01 -5.95258785e-02 -3.74684588e+01] [-8.50941273e-02 -5.50247097e-04 9.96372765e-01 -5.66601329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters 0.025884293780872904 Centerline is valid? [True, True] Translation: X:86.69, Y:-37.49, Z:-5.67 [[ 7.06046750e-01 7.05599203e-01 6.02308204e-02 8.66888706e+01] [-7.03127390e-01 7.08610822e-01 -5.90133525e-02 -3.74888047e+01] [-8.43199857e-02 -6.83753819e-04 9.96438494e-01 -5.66668618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43863999999999 meters 0.025828823356668442 Centerline is valid? [True, True] Translation: X:86.72, Y:-37.50, Z:-5.67 [[ 7.04009639e-01 7.07711397e-01 5.92874986e-02 8.67200313e+01] [-7.05319481e-01 7.06501096e-01 -5.81431867e-02 -3.75046617e+01] [-8.30352786e-02 -8.83263916e-04 9.96546217e-01 -5.66756079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46864 meters 0.026165871321959296 Centerline is valid? [True, True] Translation: X:86.75, Y:-37.52, Z:-5.67 [[ 7.02922121e-01 7.08702552e-01 6.03422228e-02 8.67463020e+01] [-7.06224308e-01 7.05506713e-01 -5.92241877e-02 -3.75234062e+01] [-8.45441762e-02 -9.85152874e-04 9.96419245e-01 -5.67052987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49864 meters 0.02605652589647369 Centerline is valid? [True, True] Translation: X:86.77, Y:-37.54, Z:-5.67 [[ 7.03125363e-01 7.08545074e-01 5.98214224e-02 8.67727772e+01] [-7.06105299e-01 7.05664948e-01 -5.87561730e-02 -3.75430469e+01] [-8.38452778e-02 -9.27267904e-04 9.96478354e-01 -5.67204299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52864 meters 0.02605652589647369 Centerline is valid? [True, True] Translation: X:86.80, Y:-37.57, Z:-5.67 [[ 7.02756251e-01 7.08912506e-01 5.98056119e-02 8.67962075e+01] [-7.06472690e-01 7.05295796e-01 -5.87722616e-02 -3.75656238e+01] [-8.38450379e-02 -9.48457374e-04 9.96478354e-01 -5.67396339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55864 meters 0.026119740796994598 Centerline is valid? [True, True] Translation: X:86.83, Y:-37.58, Z:-5.68 [[ 7.04742136e-01 7.06728716e-01 6.22337924e-02 8.68257386e+01] [-7.04072327e-01 7.07484326e-01 -6.12216204e-02 -3.75818565e+01] [-8.72965098e-02 -6.71635550e-04 9.96182146e-01 -5.67648093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58864 meters 0.02624948892529609 Centerline is valid? [True, True] Translation: X:86.85, Y:-37.60, Z:-5.68 [[ 7.06980449e-01 7.04410422e-01 6.31237109e-02 8.68530165e+01] [-7.01662788e-01 7.09792813e-01 -6.21570163e-02 -3.76006840e+01] [-8.85888064e-02 -3.47763680e-04 9.96068222e-01 -5.67948370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61864 meters 0.02626023565803025 Centerline is valid? [True, True] Translation: X:86.88, Y:-37.62, Z:-5.68 [[ 7.09511280e-01 7.01861803e-01 6.31169872e-02 8.68802913e+01] [-6.99099530e-01 7.12313140e-01 -6.22080140e-02 -3.76200340e+01] [-8.86204882e-02 1.22314770e-05 9.96065464e-01 -5.68138130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64864 meters 0.026739448266582488 Centerline is valid? [True, True] Translation: X:86.91, Y:-37.64, Z:-5.68 [[ 7.14603209e-01 6.96799295e-01 6.17494620e-02 8.69098415e+01] [-6.94132615e-01 7.17265854e-01 -6.09065528e-02 -3.76365257e+01] [-8.67304236e-02 6.61702561e-04 9.96231597e-01 -5.68388796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67864 meters 0.02721671691058562 Centerline is valid? [True, True] Translation: X:86.94, Y:-37.66, Z:-5.69 [[ 7.16272486e-01 6.95003825e-01 6.26371275e-02 8.69352627e+01] [-6.92247987e-01 7.19005434e-01 -6.18377789e-02 -3.76564291e+01] [-8.80139278e-02 9.32274211e-04 9.96118808e-01 -5.68686446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70864 meters 0.027722028486566897 Centerline is valid? [True, True] Translation: X:86.96, Y:-37.67, Z:-5.69 [[ 7.19507204e-01 6.91758096e-01 6.14826842e-02 8.69643877e+01] [-6.89086486e-01 7.22128054e-01 -6.07526751e-02 -3.76745047e+01] [-8.64245260e-02 1.34510060e-03 9.96257493e-01 -5.68858100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73863999999999 meters 0.027954773734183893 Centerline is valid? [True, True] Translation: X:86.99, Y:-37.70, Z:-5.69 [[ 7.20159712e-01 6.91087349e-01 6.13861934e-02 8.69901412e+01] [-6.88416513e-01 7.22769759e-01 -6.07172203e-02 -3.76952448e+01] [-8.63289870e-02 1.46682672e-03 9.96265604e-01 -5.69032406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters 0.028317784678812397 Centerline is valid? [True, True] Translation: X:87.01, Y:-37.72, Z:-5.69 [[ 7.20772236e-01 6.90439197e-01 6.14906345e-02 8.70149414e+01] [-6.87751906e-01 7.23388686e-01 -6.08779607e-02 -3.77163149e+01] [-8.65141596e-02 1.58884284e-03 9.96249354e-01 -5.69333945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79863999999999 meters 0.028756498005442336 Centerline is valid? [True, True] Translation: X:87.04, Y:-37.74, Z:-5.70 [[ 7.22585549e-01 6.88580449e-01 6.10498852e-02 8.70391427e+01] [-6.85920559e-01 7.25157634e-01 -6.04929130e-02 -3.77376039e+01] [-8.59250275e-02 1.83593341e-03 9.96299914e-01 -5.69552319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82864 meters 0.029390978875620366 Centerline is valid? [True, True] Translation: X:87.06, Y:-37.76, Z:-5.70 [[ 7.24211058e-01 6.86836101e-01 6.14370762e-02 8.70631831e+01] [-6.84131527e-01 7.26809319e-01 -6.09283773e-02 -3.77591088e+01] [-8.65008486e-02 2.09396382e-03 9.96249576e-01 -5.69826128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85864 meters 0.02974603721612355 Centerline is valid? [True, True] Translation: X:87.09, Y:-37.78, Z:-5.70 [[ 7.25725742e-01 6.85343703e-01 6.02175749e-02 8.70874578e+01] [-6.82736097e-01 7.28216232e-01 -5.97707401e-02 -3.77815918e+01] [-8.48149158e-02 2.26445267e-03 9.96394150e-01 -5.69967165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88864 meters 0.03132480923337336 Centerline is valid? [True, True] Translation: X:87.11, Y:-37.80, Z:-5.70 [[ 7.30435444e-01 6.80308400e-01 6.03700553e-02 8.71098537e+01] [-6.77666799e-01 7.32920281e-01 -5.99630837e-02 -3.78024727e+01] [-8.50398274e-02 2.88837954e-03 9.96373366e-01 -5.70158926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91864 meters 0.03177016668093062 Centerline is valid? [True, True] Translation: X:87.13, Y:-37.83, Z:-5.70 [[ 7.32502401e-01 6.77997662e-01 6.13139613e-02 8.71322171e+01] [-6.75263948e-01 7.35057041e-01 -6.09076976e-02 -3.78258872e+01] [-8.63645356e-02 3.21192724e-03 9.96258426e-01 -5.70297952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94864 meters 0.0335154307263933 Centerline is valid? [True, True] Translation: X:87.15, Y:-37.85, Z:-5.70 [[ 7.36789340e-01 6.73513525e-01 5.93380054e-02 8.71540770e+01] [-6.70937804e-01 7.39165996e-01 -5.89584040e-02 -3.78499198e+01] [-8.35699184e-02 3.62781256e-03 9.96495312e-01 -5.70474252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97864 meters 0.033592333328938746 Centerline is valid? [True, True] Translation: X:87.18, Y:-37.87, Z:-5.71 [[ 7.37186480e-01 6.73116040e-01 5.89142618e-02 8.71751630e+01] [-6.70573830e-01 7.39527804e-01 -5.85607874e-02 -3.78748118e+01] [-8.29869400e-02 3.66385856e-03 9.96543900e-01 -5.70654932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00864 meters 0.0337467379351443 Centerline is valid? [True, True] Translation: X:87.20, Y:-37.90, Z:-5.71 [[ 7.37287446e-01 6.73050401e-01 5.83984576e-02 8.71966036e+01] [-6.70548384e-01 7.39587488e-01 -5.80965741e-02 -3.79007397e+01] [-8.22926911e-02 3.67488335e-03 9.96601429e-01 -5.70873996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03864 meters 0.033268598109042063 Centerline is valid? [True, True] Translation: X:87.22, Y:-37.93, Z:-5.71 [[ 7.36848163e-01 6.73497430e-01 5.87877239e-02 8.72168430e+01] [-6.70958773e-01 7.39180356e-01 -5.85382466e-02 -3.79270125e+01] [-8.28800893e-02 3.68966035e-03 9.96552697e-01 -5.71038144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06864 meters 0.032898071835349985 Centerline is valid? [True, True] Translation: X:87.23, Y:-37.96, Z:-5.71 [[ 7.34985270e-01 6.75446110e-01 5.97428305e-02 8.72341497e+01] [-6.72825979e-01 7.37400726e-01 -5.95430225e-02 -3.79550898e+01] [-8.42725095e-02 3.56671609e-03 9.96436362e-01 -5.71295754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09864 meters 0.032487978197238365 Centerline is valid? [True, True] Translation: X:87.25, Y:-37.98, Z:-5.71 [[ 7.33242105e-01 6.77370972e-01 5.93681821e-02 8.72541325e+01] [-6.74785881e-01 7.35633928e-01 -5.92177220e-02 -3.79810467e+01] [-8.37856149e-02 3.36011606e-03 9.96478138e-01 -5.71485171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters 0.03101869811039198 Centerline is valid? [True, True] Translation: X:87.27, Y:-38.01, Z:-5.72 [[ 7.28395402e-01 6.82475149e-01 6.05624429e-02 8.72670818e+01] [-6.79798994e-01 7.30903206e-01 -6.04469257e-02 -3.80118622e+01] [-8.55188083e-02 2.85897497e-03 9.96332454e-01 -5.71788890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15863999999999 meters 0.030285631258222746 Centerline is valid? [True, True] Translation: X:87.29, Y:-38.04, Z:-5.72 [[ 7.25013045e-01 6.85926349e-01 6.21379754e-02 8.72861806e+01] [-6.83119259e-01 7.27666556e-01 -6.20440282e-02 -3.80380643e+01] [-8.77733603e-02 2.53508213e-03 9.96137245e-01 -5.72079996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters 0.029580849095254876 Centerline is valid? [True, True] Translation: X:87.31, Y:-38.06, Z:-5.72 [[ 7.21857033e-01 6.89242395e-01 6.21879806e-02 8.73066890e+01] [-6.86439374e-01 7.24527596e-01 -6.21349324e-02 -3.80637208e+01] [-8.78829377e-02 2.16425954e-03 9.96128458e-01 -5.72233432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21864 meters 0.02844651457607127 Centerline is valid? [True, True] Translation: X:87.32, Y:-38.09, Z:-5.72 [[ 7.14639532e-01 6.96715527e-01 6.22720986e-02 8.73241466e+01] [-6.93931572e-01 7.17346416e-01 -6.22341741e-02 -3.80902226e+01] [-8.80301821e-02 1.26242578e-03 9.96117008e-01 -5.72378169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24864 meters 0.028165567820224797 Centerline is valid? [True, True] Translation: X:87.35, Y:-38.11, Z:-5.73 [[ 7.11074653e-01 7.00368328e-01 6.21050929e-02 8.73453414e+01] [-6.97611117e-01 7.13781145e-01 -6.20903081e-02 -3.81149605e+01] [-8.78155296e-02 8.25641055e-04 9.96136412e-01 -5.72581669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27864 meters 0.027783698129463553 Centerline is valid? [True, True] Translation: X:87.27, Y:-38.35, Z:-3.89 [[ 7.54614438e-01 -6.55868950e-01 -1.98234798e-02 8.72659648e+01] [-6.55487608e-01 -7.54863242e-01 2.27482302e-02 -3.83517306e+01] [-2.98838741e-02 -4.17209758e-03 -9.99544670e-01 -3.89339065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30864 meters 0.02797098859719927 Centerline is valid? [True, True] Translation: X:87.35, Y:-38.14, Z:-5.73 [[ 7.50906133e-01 6.57144824e-01 6.55794070e-02 8.73482822e+01] [-6.54680552e-01 7.53764302e-01 -5.68572964e-02 -3.81404993e+01] [-8.67948939e-02 -2.39069792e-04 9.96226174e-01 -5.72662280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33864 meters 0.028022510263850706 Centerline is valid? [True, True] Translation: X:87.37, Y:-38.16, Z:-5.73 [[ 7.48529003e-01 6.59837027e-01 6.57223697e-02 8.73732945e+01] [-6.57367560e-01 7.51408568e-01 -5.70355550e-02 -3.81625059e+01] [-8.70185227e-02 -5.10986732e-04 9.96206563e-01 -5.72763295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36864 meters 0.0280080842670404 Centerline is valid? [True, True] Translation: X:87.40, Y:-38.18, Z:-5.73 [[ 7.45946578e-01 6.62822058e-01 6.50432403e-02 8.73980781e+01] [-6.60409684e-01 7.48776516e-01 -5.65046783e-02 -3.81840294e+01] [-8.61553980e-02 -8.05714347e-04 9.96281385e-01 -5.72845802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39864 meters 0.028295046183973903 Centerline is valid? [True, True] Translation: X:87.42, Y:-38.20, Z:-5.73 [[ 7.44924254e-01 6.63922255e-01 6.55369816e-02 8.74230568e+01] [-6.61472299e-01 7.47801066e-01 -5.69909036e-02 -3.82044753e+01] [-8.68461539e-02 -8.96991589e-04 9.96221331e-01 -5.73054740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42864 meters 0.028236717166934867 Centerline is valid? [True, True] Translation: X:87.45, Y:-38.22, Z:-5.73 [[ 7.43069690e-01 6.66130153e-01 6.41720637e-02 8.74488420e+01] [-6.63785263e-01 7.45834716e-01 -5.58542810e-02 -3.82233085e+01] [-8.50679737e-02 -1.09284682e-03 9.96374551e-01 -5.73064186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45864 meters 0.02840127572075493 Centerline is valid? [True, True] Translation: X:87.47, Y:-38.24, Z:-5.73 [[ 7.42263154e-01 6.67016537e-01 6.42989059e-02 8.74746570e+01] [-6.64661104e-01 7.45042013e-01 -5.60179915e-02 -3.82438490e+01] [-8.52703130e-02 -1.15689077e-03 9.96357183e-01 -5.73239548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters 0.028331621144127433 Centerline is valid? [True, True] Translation: X:87.50, Y:-38.26, Z:-5.73 [[ 7.41593224e-01 6.67797832e-01 6.39182790e-02 8.75007830e+01] [-6.65468209e-01 7.44341740e-01 -5.57443900e-02 -3.82644035e+01] [-8.48030258e-02 -1.19592082e-03 9.96397018e-01 -5.73417166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51863999999999 meters 0.028479354878127073 Centerline is valid? [True, True] Translation: X:87.53, Y:-38.28, Z:-5.74 [[ 7.39854954e-01 6.69732438e-01 6.38209085e-02 8.75264605e+01] [-6.67412312e-01 7.42601222e-01 -5.57156220e-02 -3.82844628e+01] [-8.47080440e-02 -1.37338122e-03 9.96404868e-01 -5.73537686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters 0.028697373117725404 Centerline is valid? [True, True] Translation: X:87.56, Y:-38.30, Z:-5.74 [[ 7.37691417e-01 6.72210169e-01 6.28081350e-02 8.75550808e+01] [-6.69967821e-01 7.40358665e-01 -5.48832121e-02 -3.83018758e+01] [-8.33936003e-02 -1.59255484e-03 9.96515414e-01 -5.73550711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57864 meters 0.028804519980777248 Centerline is valid? [True, True] Translation: X:87.58, Y:-38.32, Z:-5.74 [[ 7.36399100e-01 6.73652009e-01 6.25246923e-02 8.75821957e+01] [-6.71430296e-01 7.39046726e-01 -5.46927263e-02 -3.83205256e+01] [-8.30525341e-02 -1.70529822e-03 9.96543711e-01 -5.73731738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60864 meters 0.028883843008291252 Centerline is valid? [True, True] Translation: X:87.61, Y:-38.34, Z:-5.74 [[ 7.35729368e-01 6.74347839e-01 6.29069839e-02 8.76112454e+01] [-6.72096697e-01 7.38411753e-01 -5.50827887e-02 -3.83358367e+01] [-8.35962158e-02 -1.75355080e-03 9.96498167e-01 -5.73962906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63864 meters 0.02881594300660695 Centerline is valid? [True, True] Translation: X:87.64, Y:-38.35, Z:-5.74 [[ 7.36878739e-01 6.73172079e-01 6.20409258e-02 8.76379012e+01] [-6.70974369e-01 7.39484222e-01 -5.43735331e-02 -3.83537081e+01] [-8.24810301e-02 -1.56117064e-03 9.96591412e-01 -5.74138328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66864 meters 0.028792737817011187 Centerline is valid? [True, True] Translation: X:87.66, Y:-38.37, Z:-5.74 [[ 7.38056794e-01 6.71864341e-01 6.22131506e-02 8.76649071e+01] [-6.69646373e-01 7.40672923e-01 -5.45651470e-02 -3.83723813e+01] [-8.27399726e-02 -1.38863323e-03 9.96570203e-01 -5.74337112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69864 meters 0.02836268901530309 Centerline is valid? [True, True] Translation: X:87.69, Y:-38.39, Z:-5.75 [[ 7.41903225e-01 6.67599778e-01 6.23710022e-02 8.76943586e+01] [-6.65353128e-01 7.44519804e-01 -5.47309493e-02 -3.83870540e+01] [-8.29748159e-02 -8.93673711e-04 9.96551244e-01 -5.74539500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72864 meters 0.028347823687157256 Centerline is valid? [True, True] Translation: X:87.72, Y:-38.41, Z:-5.75 [[ 7.43197572e-01 6.66180641e-01 6.21347143e-02 8.77213980e+01] [-6.63941923e-01 7.45790099e-01 -5.45733612e-02 -3.84057633e+01] [-8.26951714e-02 -6.95052118e-04 9.96574646e-01 -5.74695312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75864 meters 0.028311173522564438 Centerline is valid? [True, True] Translation: X:87.75, Y:-38.42, Z:-5.75 [[ 7.44764648e-01 6.64363367e-01 6.28246375e-02 8.77488802e+01] [-6.62063678e-01 7.47409597e-01 -5.52320691e-02 -3.84246560e+01] [-8.36499004e-02 -4.59018022e-04 9.96495100e-01 -5.74892849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78864 meters 0.028290414162403917 Centerline is valid? [True, True] Translation: X:87.78, Y:-38.44, Z:-5.75 [[ 7.47532404e-01 6.61422818e-01 6.09521295e-02 8.77769402e+01] [-6.59244311e-01 7.50013233e-01 -5.36385093e-02 -3.84417098e+01] [-8.11926376e-02 -8.58208564e-05 9.96698424e-01 -5.74980633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81864 meters 0.0281501504620925 Centerline is valid? [True, True] Translation: X:87.80, Y:-38.46, Z:-5.75 [[ 7.48413168e-01 6.60502174e-01 6.01216114e-02 8.78031468e+01] [-6.58375953e-01 7.50824131e-01 -5.29549630e-02 -3.84612420e+01] [-8.01176248e-02 4.95684188e-05 9.96785415e-01 -5.75100214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84864 meters 0.02800205960380954 Centerline is valid? [True, True] Translation: X:87.83, Y:-38.48, Z:-5.75 [[ 7.49680436e-01 6.59087778e-01 5.98543666e-02 8.78304812e+01] [-6.56972007e-01 7.52065984e-01 -5.27687166e-02 -3.84803675e+01] [-7.97936493e-02 2.37031058e-04 9.96811375e-01 -5.75207943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87863999999999 meters 0.02802563785297612 Centerline is valid? [True, True] Translation: X:87.86, Y:-38.50, Z:-5.75 [[ 7.49839309e-01 6.58848242e-01 6.04979644e-02 8.78555803e+01] [-6.56681411e-01 7.52275813e-01 -5.33912515e-02 -3.85015388e+01] [-8.06878876e-02 3.06970575e-04 9.96739369e-01 -5.75475499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters 0.027946092343324146 Centerline is valid? [True, True] Translation: X:87.88, Y:-38.52, Z:-5.76 [[ 7.49717905e-01 6.58876112e-01 6.16873671e-02 8.78793608e+01] [-6.56618684e-01 7.52251384e-01 -5.44954872e-02 -3.85231382e+01] [-8.23101820e-02 3.51164754e-04 9.96606698e-01 -5.75685578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93863999999999 meters 0.027923107589371846 Centerline is valid? [True, True] Translation: X:87.90, Y:-38.55, Z:-5.76 [[ 7.50372451e-01 6.58198754e-01 6.09556008e-02 8.79035534e+01] [-6.55988397e-01 7.52844068e-01 -5.38983500e-02 -3.85455338e+01] [-8.13658893e-02 4.57670121e-04 9.96684194e-01 -5.75722169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96864 meters 0.027678206260877494 Centerline is valid? [True, True] Translation: X:87.93, Y:-38.57, Z:-5.76 [[ 7.49947424e-01 6.58740066e-01 6.03356224e-02 8.79282792e+01] [-6.56572054e-01 7.52370479e-01 -5.34022600e-02 -3.85666988e+01] [-8.05729494e-02 4.34203785e-04 9.96748620e-01 -5.75833751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99864 meters 0.027669120491209058 Centerline is valid? [True, True] Translation: X:87.95, Y:-38.59, Z:-5.76 [[ 7.49896287e-01 6.58788314e-01 6.04443218e-02 8.79538351e+01] [-6.56608587e-01 7.52328212e-01 -5.35483353e-02 -3.85883422e+01] [-8.07509861e-02 4.67437085e-04 9.96734197e-01 -5.76065388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02864 meters 0.027422360063165938 Centerline is valid? [True, True] Translation: X:87.98, Y:-38.61, Z:-5.76 [[ 7.49018997e-01 6.59800463e-01 6.02817681e-02 8.79768687e+01] [-6.57632167e-01 7.51440747e-01 -5.34484469e-02 -3.86115799e+01] [-8.05634868e-02 3.90672322e-04 9.96749403e-01 -5.76223070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05864 meters 0.027423466353082952 Centerline is valid? [True, True] Translation: X:88.00, Y:-38.63, Z:-5.76 [[ 7.48412043e-01 6.60506782e-01 6.00849786e-02 8.80011640e+01] [-6.58352728e-01 7.50820005e-01 -5.33010948e-02 -3.86336359e+01] [-8.03187385e-02 3.34071669e-04 9.96769175e-01 -5.76424539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08864 meters 0.02742529357773032 Centerline is valid? [True, True] Translation: X:88.03, Y:-38.66, Z:-5.77 [[ 7.47890360e-01 6.61140991e-01 5.96036821e-02 8.80264369e+01] [-6.59019042e-01 7.50261619e-01 -5.29283068e-02 -3.86556763e+01] [-7.97114283e-02 3.04608909e-04 9.96817935e-01 -5.76573479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11864 meters 0.027301968527144112 Centerline is valid? [True, True] Translation: X:88.05, Y:-38.68, Z:-5.77 [[ 7.47370710e-01 6.61681039e-01 6.01267442e-02 8.80511884e+01] [-6.59518926e-01 7.49785382e-01 -5.34478097e-02 -3.86780569e+01] [-8.04475561e-02 2.90601711e-04 9.96758800e-01 -5.76804443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14864 meters 0.027351237686154446 Centerline is valid? [True, True] Translation: X:88.08, Y:-38.70, Z:-5.77 [[ 7.47408699e-01 6.61586722e-01 6.06897458e-02 8.80752865e+01] [-6.59379036e-01 7.49868582e-01 -5.40036763e-02 -3.87000185e+01] [-8.12374489e-02 3.45271395e-04 9.96694716e-01 -5.76982683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17864 meters 0.027336722169542884 Centerline is valid? [True, True] Translation: X:88.10, Y:-38.72, Z:-5.77 [[ 7.46893846e-01 6.62125622e-01 6.11493474e-02 8.81002878e+01] [-6.59881532e-01 7.49392788e-01 -5.44684638e-02 -3.87222740e+01] [-8.18898454e-02 3.30835429e-04 9.96641332e-01 -5.77165246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20864 meters 0.027327059783786144 Centerline is valid? [True, True] Translation: X:88.13, Y:-38.74, Z:-5.77 [[ 7.44451230e-01 6.64945739e-01 6.03285125e-02 8.81259312e+01] [-6.62767232e-01 7.46891666e-01 -5.37813716e-02 -3.87426185e+01] [-8.08205571e-02 5.38470418e-05 9.96728667e-01 -5.77271996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23863999999999 meters 0.027250352513323185 Centerline is valid? [True, True] Translation: X:88.15, Y:-38.76, Z:-5.77 [[ 7.41872920e-01 6.67903044e-01 5.94145897e-02 8.81511148e+01] [-6.65797615e-01 7.44248254e-01 -5.29912492e-02 -3.87632366e+01] [-7.96122213e-02 -2.45319333e-04 9.96825880e-01 -5.77354664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters 0.027121580078253715 Centerline is valid? [True, True] Translation: X:88.18, Y:-38.78, Z:-5.78 [[ 7.37406613e-01 6.72899547e-01 5.86317922e-02 8.81775949e+01] [-6.70861201e-01 7.39733503e-01 -5.23411194e-02 -3.87831479e+01] [-7.85922165e-02 -7.37106984e-04 9.96906575e-01 -5.77588811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29863999999999 meters 0.027301527272880575 Centerline is valid? [True, True] Translation: X:88.20, Y:-38.80, Z:-5.78 [[ 7.35224086e-01 6.75267540e-01 5.88157542e-02 8.82024971e+01] [-6.73220442e-01 7.37572251e-01 -5.25491254e-02 -3.88029794e+01] [-7.88655869e-02 -9.60585351e-04 9.96884796e-01 -5.77831766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32864 meters 0.02751279266451662 Centerline is valid? [True, True] Translation: X:88.23, Y:-38.82, Z:-5.78 [[ 7.33068141e-01 6.77524809e-01 5.97598018e-02 8.82282031e+01] [-6.75417702e-01 7.35498922e-01 -5.34065905e-02 -3.88227864e+01] [-8.01375598e-02 -1.21215800e-03 9.96783077e-01 -5.78045327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35864 meters 0.027648980217677088 Centerline is valid? [True, True] Translation: X:88.26, Y:-38.84, Z:-5.78 [[ 7.30797884e-01 6.80014243e-01 5.92881291e-02 8.82563702e+01] [-6.77947385e-01 7.33197442e-01 -5.29986173e-02 -3.88402422e+01] [-7.95097192e-02 -1.46295470e-03 9.96833017e-01 -5.78163288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38864 meters 0.027821322569946638 Centerline is valid? [True, True] Translation: X:88.28, Y:-38.86, Z:-5.78 [[ 7.30983544e-01 6.79741973e-01 6.01157945e-02 8.82818414e+01] [-6.77614863e-01 7.33449908e-01 -5.37524896e-02 -3.88595107e+01] [-8.06297472e-02 -1.44317056e-03 9.96743077e-01 -5.78383868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41864 meters 0.027357838243514367 Centerline is valid? [True, True] Translation: X:88.31, Y:-38.88, Z:-5.78 [[ 7.33898356e-01 6.76577147e-01 6.03039654e-02 8.83109228e+01] [-6.74424834e-01 7.36370954e-01 -5.39347903e-02 -3.88753382e+01] [-8.08971350e-02 -1.08783797e-03 9.96721862e-01 -5.78404786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44864 meters 0.027357838243514367 Centerline is valid? [True, True] Translation: X:88.34, Y:-38.90, Z:-5.79 [[ 7.33767340e-01 6.76719940e-01 6.02960464e-02 8.83351838e+01] [-6.74567381e-01 7.36239724e-01 -5.39436422e-02 -3.88969584e+01] [-8.08970829e-02 -1.09166331e-03 9.96721862e-01 -5.78596078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47864 meters 0.027147810516422753 Centerline is valid? [True, True] Translation: X:88.36, Y:-38.92, Z:-5.79 [[ 7.35717149e-01 6.74576076e-01 6.05590131e-02 8.83614424e+01] [-6.72395831e-01 7.38204852e-01 -5.41981837e-02 -3.89159216e+01] [-8.12657554e-02 -8.45094782e-04 9.96692110e-01 -5.78765539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50864 meters 0.027110236946154328 Centerline is valid? [True, True] Translation: X:88.39, Y:-38.94, Z:-5.79 [[ 7.37476693e-01 6.72543354e-01 6.17540661e-02 8.83867874e+01] [-6.70267724e-01 7.40057464e-01 -5.52822586e-02 -3.89354753e+01] [-8.28812731e-02 -6.22380083e-04 9.96559234e-01 -5.79026078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53864 meters 0.02686472629740167 Centerline is valid? [True, True] Translation: X:88.41, Y:-38.95, Z:-5.79 [[ 7.42283926e-01 6.67298323e-01 6.10534331e-02 8.84131950e+01] [-6.65055143e-01 7.44790540e-01 -5.46690894e-02 -3.89547128e+01] [-8.19526111e-02 -2.39133958e-05 9.96636227e-01 -5.79287487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56864 meters 0.027039852847945564 Centerline is valid? [True, True] Translation: X:88.44, Y:-38.98, Z:-5.79 [[ 7.44393120e-01 6.65065744e-01 5.97196727e-02 8.84388532e+01] [-6.62911243e-01 7.46784777e-01 -5.34900004e-02 -3.89750247e+01] [-8.01721094e-02 2.28745756e-04 9.96781009e-01 -5.79439474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59864 meters 0.02717290903960718 Centerline is valid? [True, True] Translation: X:88.46, Y:-38.99, Z:-5.80 [[ 7.47565609e-01 6.61413179e-01 6.06487114e-02 8.84648691e+01] [-6.59177446e-01 7.50021460e-01 -5.43406350e-02 -3.89945200e+01] [-8.14294472e-02 6.44927252e-04 9.96678900e-01 -5.79591797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters 0.027240018757021357 Centerline is valid? [True, True] Translation: X:88.49, Y:-39.02, Z:-5.80 [[ 7.49007019e-01 6.59861909e-01 5.97557177e-02 8.84889495e+01] [-6.57685623e-01 7.51386453e-01 -5.35538999e-02 -3.90164984e+01] [-8.02378154e-02 8.11770543e-04 9.96775418e-01 -5.79756971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65863999999999 meters 0.027335453300776077 Centerline is valid? [True, True] Translation: X:88.51, Y:-39.04, Z:-5.80 [[ 7.49842115e-01 6.58975978e-01 5.90547524e-02 8.85121523e+01] [-6.56846747e-01 7.52163440e-01 -5.29387391e-02 -3.90382307e+01] [-7.93041831e-02 9.05774018e-04 9.96850052e-01 -5.79848829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters 0.02726618300168151 Centerline is valid? [True, True] Translation: X:88.54, Y:-39.06, Z:-5.80 [[ 7.50915446e-01 6.57774383e-01 5.88120298e-02 8.85358967e+01] [-6.55657923e-01 7.53214301e-01 -5.27342843e-02 -3.90598812e+01] [-7.89853232e-02 1.03841526e-03 9.96875238e-01 -5.80059154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71864 meters 0.02765995864926075 Centerline is valid? [True, True] Translation: X:88.56, Y:-39.08, Z:-5.80 [[ 7.52356564e-01 6.56170586e-01 5.83074889e-02 8.85585315e+01] [-6.54084507e-01 7.54611626e-01 -5.22948511e-02 -3.90827644e+01] [-7.83138521e-02 1.20634940e-03 9.96928024e-01 -5.80338412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74864 meters 0.02772508457372553 Centerline is valid? [True, True] Translation: X:88.58, Y:-39.11, Z:-5.81 [[ 7.52713038e-01 6.55772428e-01 5.81859535e-02 8.85818633e+01] [-6.53692716e-01 7.54957578e-01 -5.22004674e-02 -3.91066544e+01] [-7.81595538e-02 1.25623845e-03 9.96940071e-01 -5.80507242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77864 meters 0.02792310758535087 Centerline is valid? [True, True] Translation: X:88.60, Y:-39.13, Z:-5.81 [[ 7.53187566e-01 6.55182069e-01 5.86936652e-02 8.86020538e+01] [-6.53062628e-01 7.55469823e-01 -5.26740034e-02 -3.91316901e+01] [-7.88523554e-02 1.34276523e-03 9.96885401e-01 -5.80909039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80864 meters 0.02774931207426175 Centerline is valid? [True, True] Translation: X:88.62, Y:-39.16, Z:-5.81 [[ 7.53009620e-01 6.55447923e-01 5.80045933e-02 8.86247467e+01] [-6.53377815e-01 7.55239238e-01 -5.20684581e-02 -3.91551615e+01] [-7.79355076e-02 1.30913545e-03 9.96957543e-01 -5.81101639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83864 meters 0.027830767628883417 Centerline is valid? [True, True] Translation: X:88.65, Y:-39.18, Z:-5.81 [[ 7.52234859e-01 6.56284679e-01 5.85929751e-02 8.86481580e+01] [-6.54173652e-01 7.54512337e-01 -5.26114652e-02 -3.91785981e+01] [-7.87372211e-02 1.24619757e-03 9.96894627e-01 -5.81328248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86864 meters 0.027406025560443643 Centerline is valid? [True, True] Translation: X:88.67, Y:-39.20, Z:-5.81 [[ 7.51043275e-01 6.57641099e-01 5.86701374e-02 8.86704681e+01] [-6.55527197e-01 7.53330560e-01 -5.26987764e-02 -3.92019769e+01] [-7.88548887e-02 1.11919087e-03 9.96885477e-01 -5.81436518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89864 meters 0.02732893323803519 Centerline is valid? [True, True] Translation: X:88.69, Y:-39.23, Z:-5.82 [[ 7.47685478e-01 6.61423951e-01 5.90320439e-02 8.86908029e+01] [-6.59294509e-01 7.50011877e-01 -5.30371067e-02 -3.92280851e+01] [-7.93547468e-02 7.35572063e-04 9.96846168e-01 -5.81588344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92864 meters 0.027163240292955165 Centerline is valid? [True, True] Translation: X:88.71, Y:-39.25, Z:-5.82 [[ 7.46297945e-01 6.63015996e-01 5.87296024e-02 8.87137018e+01] [-6.60912219e-01 7.48605010e-01 -5.27785784e-02 -3.92513375e+01] [-7.89583163e-02 5.73432772e-04 9.96877754e-01 -5.81788388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95864 meters 0.02706876959683512 Centerline is valid? [True, True] Translation: X:88.74, Y:-39.27, Z:-5.82 [[ 7.43318309e-01 6.66305263e-01 5.92890157e-02 8.87358113e+01] [-6.64170471e-01 7.45679046e-01 -5.32948857e-02 -3.92749241e+01] [-7.97212396e-02 2.37050835e-04 9.96817169e-01 -5.81938083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters 0.026979771511546714 Centerline is valid? [True, True] Translation: X:88.76, Y:-39.30, Z:-5.82 [[ 7.41204267e-01 6.68637094e-01 5.95035349e-02 8.87598785e+01] [-6.66493033e-01 7.43588890e-01 -5.35032713e-02 -3.92980142e+01] [-8.00204392e-02 -1.83846768e-06 9.96793223e-01 -5.82137682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01863999999999 meters 0.02711841364752573 Centerline is valid? [True, True] Translation: X:88.78, Y:-39.32, Z:-5.82 [[ 7.39751179e-01 6.70308259e-01 5.87795166e-02 8.87835970e+01] [-6.68219855e-01 7.42082752e-01 -5.28716862e-02 -3.93204668e+01] [-7.90595933e-02 -1.65747880e-04 9.96869878e-01 -5.82313161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters 0.027014918995772796 Centerline is valid? [True, True] Translation: X:88.81, Y:-39.34, Z:-5.82 [[ 7.36016967e-01 6.74451546e-01 5.82592130e-02 8.88086596e+01] [-6.72410862e-01 7.38318881e-01 -5.24295968e-02 -3.93428151e+01] [-7.83750996e-02 -5.85054872e-04 9.96923769e-01 -5.82365088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07864 meters 0.027160059749826587 Centerline is valid? [True, True] Translation: X:88.83, Y:-39.36, Z:-5.82 [[ 7.33835158e-01 6.76898669e-01 5.73946996e-02 8.88339808e+01] [-6.74922207e-01 7.36075777e-01 -5.16958798e-02 -3.93644260e+01] [-7.72397204e-02 -8.00703173e-04 9.97012229e-01 -5.82478481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10864 meters 0.027512926693820307 Centerline is valid? [True, True] Translation: X:88.86, Y:-39.39, Z:-5.83 [[ 7.29842384e-01 6.81124686e-01 5.83031405e-02 8.88587616e+01] [-6.79096970e-01 7.32166370e-01 -5.25329718e-02 -3.93852738e+01] [-7.84691027e-02 -1.25269665e-03 9.96915759e-01 -5.82663631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13864 meters 0.02737974771103325 Centerline is valid? [True, True] Translation: X:88.88, Y:-39.41, Z:-5.83 [[ 7.28041769e-01 6.83103527e-01 5.76606800e-02 8.88831861e+01] [-6.81125397e-01 7.30320135e-01 -5.19682016e-02 -3.94059400e+01] [-7.76104174e-02 -1.43913213e-03 9.96982724e-01 -5.82740202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16864 meters 0.02812527655787882 Centerline is valid? [True, True] Translation: X:88.91, Y:-39.43, Z:-5.83 [[ 7.24533050e-01 6.86731369e-01 5.87527601e-02 8.89087423e+01] [-6.84688016e-01 7.26908939e-01 -5.29689943e-02 -3.94260210e+01] [-7.90833764e-02 -1.84952380e-03 9.96866289e-01 -5.82936559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19864 meters 0.028316520359990063 Centerline is valid? [True, True] Translation: X:88.93, Y:-39.45, Z:-5.83 [[ 7.23458405e-01 6.87917093e-01 5.81206508e-02 8.89339313e+01] [-6.85920283e-01 7.25786663e-01 -5.24126508e-02 -3.94460572e+01] [-7.82387515e-02 -1.94776046e-03 9.96932748e-01 -5.83102907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22864 meters 0.028276816061021323 Centerline is valid? [True, True] Translation: X:88.96, Y:-39.47, Z:-5.83 [[ 7.22631800e-01 6.88774691e-01 5.82469489e-02 8.89603496e+01] [-6.86770822e-01 7.24972611e-01 -5.25409540e-02 -3.94654905e+01] [-7.84163219e-02 -2.03454079e-03 9.96918623e-01 -5.83262230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25864 meters 0.028233284609183295 Centerline is valid? [True, True] Translation: X:88.99, Y:-39.48, Z:-5.83 [[ 7.21837568e-01 6.89712119e-01 5.69887647e-02 8.89883735e+01] [-6.87795719e-01 7.24080709e-01 -5.14215546e-02 -3.94827968e+01] [-7.67305345e-02 -2.07861848e-03 9.97049700e-01 -5.83440245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28864 meters 0.028221653799422777 Centerline is valid? [True, True] Translation: X:89.01, Y:-39.50, Z:-5.84 [[ 7.21929879e-01 6.89634084e-01 5.67633759e-02 8.90142141e+01] [-6.87731571e-01 7.24155106e-01 -5.12315150e-02 -3.95018945e+01] [-7.64364874e-02 -2.05240430e-03 9.97072340e-01 -5.83547691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31864 meters 0.02807538583605161 Centerline is valid? [True, True] Translation: X:89.04, Y:-39.52, Z:-5.84 [[ 7.22902355e-01 6.88612776e-01 5.67858165e-02 8.90396189e+01] [-6.86704703e-01 7.25126675e-01 -5.12636015e-02 -3.95204966e+01] [-7.64776812e-02 -1.93650900e-03 9.97069413e-01 -5.83661352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34864 meters 0.027772806809769887 Centerline is valid? [True, True] Translation: X:89.07, Y:-39.54, Z:-5.84 [[ 7.25230027e-01 6.86130804e-01 5.71483026e-02 8.90668012e+01] [-6.84190146e-01 7.27476250e-01 -5.15960280e-02 -3.95363764e+01] [-7.69756570e-02 -1.68131673e-03 9.97031555e-01 -5.83834920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37863999999999 meters 0.02748479515099899 Centerline is valid? [True, True] Translation: X:89.09, Y:-39.56, Z:-5.84 [[ 7.27008459e-01 6.84259063e-01 5.69932976e-02 8.90915567e+01] [-6.82323121e-01 7.29237513e-01 -5.14568581e-02 -3.95550965e+01] [-7.67714721e-02 -1.47827360e-03 9.97047620e-01 -5.84065223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters 0.02695907975356358 Centerline is valid? [True, True] Translation: X:89.12, Y:-39.57, Z:-5.84 [[ 7.30663093e-01 6.80310715e-01 5.75219611e-02 8.91156419e+01] [-6.78326294e-01 7.32923040e-01 -5.19351053e-02 -3.95730237e+01] [-7.74911792e-02 -1.07159406e-03 9.96992462e-01 -5.84146145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43863999999999 meters 0.02671952804313535 Centerline is valid? [True, True] Translation: X:89.14, Y:-39.59, Z:-5.84 [[ 7.32203322e-01 6.78689927e-01 5.70813281e-02 8.91395040e+01] [-6.76731299e-01 7.34424386e-01 -5.15322189e-02 -3.95923206e+01] [-7.68963173e-02 -8.96659418e-04 9.97038692e-01 -5.84182866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46864 meters 0.026569996445787124 Centerline is valid? [True, True] Translation: X:89.16, Y:-39.61, Z:-5.84 [[ 7.34068440e-01 6.76681988e-01 5.69650108e-02 8.91626159e+01] [-6.74725414e-01 7.36275096e-01 -5.14256706e-02 -3.96108747e+01] [-7.67407438e-02 -6.85778706e-04 9.97050845e-01 -5.84329298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49864 meters 0.02613847511508585 Centerline is valid? [True, True] Translation: X:89.18, Y:-39.63, Z:-5.84 [[ 7.38465439e-01 6.71910878e-01 5.66089000e-02 8.91848814e+01] [-6.69965774e-01 7.40631982e-01 -5.10894173e-02 -3.96297468e+01] [-7.62538970e-02 -1.98256538e-04 9.97088413e-01 -5.84479298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52864 meters 0.026257436285099283 Centerline is valid? [True, True] Translation: X:89.21, Y:-39.65, Z:-5.85 [[ 7.40641439e-01 6.69464348e-01 5.71641964e-02 8.92063588e+01] [-6.67476225e-01 7.42844187e-01 -5.15558227e-02 -3.96494231e+01] [-7.69788762e-02 2.86366365e-05 9.97032724e-01 -5.84722505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55864 meters 0.02609967071888904 Centerline is valid? [True, True] Translation: X:89.23, Y:-39.67, Z:-5.85 [[ 7.42988900e-01 6.66893667e-01 5.67479708e-02 8.92274199e+01] [-6.64927422e-01 7.45152839e-01 -5.11739178e-02 -3.96696072e+01] [-7.64134733e-02 2.88370996e-04 9.97076175e-01 -5.84847036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58864 meters 0.026320062949864224 Centerline is valid? [True, True] Translation: X:89.25, Y:-39.69, Z:-5.85 [[ 7.44966617e-01 6.64651181e-01 5.71274646e-02 8.92497872e+01] [-6.62652300e-01 7.47153624e-01 -5.15110766e-02 -3.96908714e+01] [-7.69198902e-02 5.18386617e-04 9.97037142e-01 -5.85010210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61864 meters 0.026528227636695007 Centerline is valid? [True, True] Translation: X:89.27, Y:-39.71, Z:-5.85 [[ 7.48346067e-01 6.60790805e-01 5.77380026e-02 8.92707326e+01] [-6.58737256e-01 7.50569553e-01 -5.20631798e-02 -3.97145546e+01] [-7.77392573e-02 9.27102444e-04 9.96973294e-01 -5.85259936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64864 meters 0.0266728393434579 Centerline is valid? [True, True] Translation: X:89.29, Y:-39.74, Z:-5.85 [[ 7.49257597e-01 6.59748927e-01 5.78308508e-02 8.92928630e+01] [-6.57685021e-01 7.51485373e-01 -5.21550353e-02 -3.97376562e+01] [-7.78682671e-02 1.04307210e-03 9.96963111e-01 -5.85498066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67864 meters 0.02675641618303254 Centerline is valid? [True, True] Translation: X:89.31, Y:-39.76, Z:-5.86 [[ 7.50172743e-01 6.58659630e-01 5.83810539e-02 8.93138221e+01] [-6.56551861e-01 7.52440102e-01 -5.26644851e-02 -3.97627173e+01] [-7.86162164e-02 1.17727170e-03 9.96904260e-01 -5.85664143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70864 meters 0.026822152670333856 Centerline is valid? [True, True] Translation: X:89.34, Y:-39.79, Z:-5.86 [[ 7.50997207e-01 6.57718896e-01 5.83870579e-02 8.93357151e+01] [-6.55606883e-01 7.53262372e-01 -5.26821967e-02 -3.97857543e+01] [-7.86308500e-02 1.28522552e-03 9.96902973e-01 -5.85786428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73863999999999 meters 0.02694633608520338 Centerline is valid? [True, True] Translation: X:89.36, Y:-39.81, Z:-5.86 [[ 7.51260090e-01 6.57397036e-01 5.86294564e-02 8.93573109e+01] [-6.55265593e-01 7.53543204e-01 -5.29116465e-02 -3.98099029e+01] [-7.89637881e-02 1.33254288e-03 9.96876594e-01 -5.86036141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters 0.02681731016339926 Centerline is valid? [True, True] Translation: X:89.37, Y:-39.84, Z:-5.86 [[ 7.51777586e-01 6.56786419e-01 5.88392805e-02 8.93746772e+01] [-6.54636749e-01 7.54075332e-01 -5.31142177e-02 -3.98381318e+01] [-7.92539468e-02 1.41172313e-03 9.96853459e-01 -5.86237664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79863999999999 meters 0.02690303835820685 Centerline is valid? [True, True] Translation: X:89.40, Y:-39.86, Z:-5.86 [[ 7.51660417e-01 6.56976005e-01 5.82163743e-02 8.93950570e+01] [-6.54871233e-01 7.53910210e-01 -5.25648496e-02 -3.98631864e+01] [-7.84237639e-02 1.38668798e-03 9.96919149e-01 -5.86432660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82864 meters 0.026921372185521618 Centerline is valid? [True, True] Translation: X:89.42, Y:-39.89, Z:-5.87 [[ 7.51280707e-01 6.57305116e-01 5.93909330e-02 8.94158232e+01] [-6.55114352e-01 7.53623283e-01 -5.36389176e-02 -3.98882251e+01] [-8.00155249e-02 1.39003138e-03 9.96792648e-01 -5.86745444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85864 meters 0.02667539958701213 Centerline is valid? [True, True] Translation: X:89.44, Y:-39.92, Z:-5.87 [[ 7.48990002e-01 6.59869691e-01 5.98829528e-02 8.94352864e+01] [-6.57648735e-01 7.51379188e-01 -5.41059782e-02 -3.99153431e+01] [-8.06976995e-02 1.14288853e-03 9.96737967e-01 -5.86875287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88864 meters 0.02638901362786395 Centerline is valid? [True, True] Translation: X:89.46, Y:-39.94, Z:-5.87 [[ 7.46962966e-01 6.62135416e-01 6.01915107e-02 8.94569797e+01] [-6.59894915e-01 7.49383619e-01 -5.44324565e-02 -3.99393505e+01] [-8.11481894e-02 9.38957362e-04 9.96701605e-01 -5.86991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91864 meters 0.026132439515556178 Centerline is valid? [True, True] Translation: X:89.48, Y:-39.97, Z:-5.87 [[ 7.42107600e-01 6.67522863e-01 6.07415640e-02 8.94759796e+01] [-6.65255779e-01 7.44589202e-01 -5.49697153e-02 -3.99669777e+01] [-8.19210544e-02 3.84767056e-04 9.96638747e-01 -5.87169135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94864 meters 0.026116705231137006 Centerline is valid? [True, True] Translation: X:89.50, Y:-39.99, Z:-5.87 [[ 7.39252689e-01 6.70650451e-01 6.11018401e-02 8.94985023e+01] [-6.68364580e-01 7.41773530e-01 -5.53246726e-02 -3.99914601e+01] [-8.24272442e-02 6.06073627e-05 9.96597083e-01 -5.87444122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97864 meters 0.026148064255534377 Centerline is valid? [True, True] Translation: X:89.52, Y:-40.02, Z:-5.88 [[ 7.36270859e-01 6.73925697e-01 6.10686252e-02 8.95214150e+01] [-6.71648804e-01 7.38799084e-01 -5.53515809e-02 -4.00155018e+01] [-8.24202970e-02 -2.62913067e-04 9.96597625e-01 -5.87591510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00864 meters 0.026598810090965756 Centerline is valid? [True, True] Translation: X:89.54, Y:-40.04, Z:-5.88 [[ 7.31927136e-01 6.78447269e-01 6.31820426e-02 8.95428649e+01] [-6.76021478e-01 7.34648715e-01 -5.73256231e-02 -4.00391770e+01] [-8.53090188e-02 -7.54238688e-04 9.96354256e-01 -5.87911373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03864 meters 0.026679198133200268 Centerline is valid? [True, True] Translation: X:89.57, Y:-40.06, Z:-5.88 [[ 7.29790719e-01 6.80754467e-01 6.30782264e-02 8.95667578e+01] [-6.78340790e-01 7.32511016e-01 -5.72833697e-02 -4.00604020e+01] [-8.52014055e-02 -9.83662344e-04 9.96363264e-01 -5.87996711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06864 meters 0.026926589924225173 Centerline is valid? [True, True] Translation: X:89.59, Y:-40.08, Z:-5.88 [[ 7.26111460e-01 6.84660723e-01 6.32601068e-02 8.95921743e+01] [-6.82243328e-01 7.28860559e-01 -5.75006672e-02 -4.00808262e+01] [-8.54762452e-02 -1.40689235e-03 9.96339215e-01 -5.88216611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09864 meters 0.027358698768805298 Centerline is valid? [True, True] Translation: X:89.62, Y:-40.10, Z:-5.89 [[ 7.24101648e-01 6.86760083e-01 6.35404690e-02 8.96169807e+01] [-6.84324685e-01 7.26882351e-01 -5.78080661e-02 -4.01015143e+01] [-8.58867178e-02 -1.62339545e-03 9.96303586e-01 -5.88511112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters 0.027426428161874246 Centerline is valid? [True, True] Translation: X:89.64, Y:-40.12, Z:-5.89 [[ 7.22381153e-01 6.88584047e-01 6.33835992e-02 8.96424519e+01] [-6.86164088e-01 7.25154295e-01 -5.77069569e-02 -4.01216359e+01] [-8.56989791e-02 -1.80513149e-03 9.96319440e-01 -5.88736147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15863999999999 meters 0.027686515913965457 Centerline is valid? [True, True] Translation: X:89.67, Y:-40.14, Z:-5.89 [[ 7.20109203e-01 6.91107095e-01 6.17553270e-02 8.96715360e+01] [-6.88816786e-01 7.22749520e-01 -5.62544804e-02 -4.01383142e+01] [-8.35115034e-02 -2.02873689e-03 9.96504748e-01 -5.88938615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999999 meters 0.028035705237249235 Centerline is valid? [True, True] Translation: X:89.70, Y:-40.16, Z:-5.89 [[ 7.18975581e-01 6.92229428e-01 6.23901627e-02 8.96972058e+01] [-6.89891032e-01 7.21674332e-01 -5.68904506e-02 -4.01581389e+01] [-8.44066231e-02 -2.13956895e-03 9.96429096e-01 -5.89162693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21864 meters 0.028150815661065035 Centerline is valid? [True, True] Translation: X:89.72, Y:-40.18, Z:-5.89 [[ 7.18844066e-01 6.92350047e-01 6.25669291e-02 8.97232662e+01] [-6.89994199e-01 7.21558671e-01 -5.71059535e-02 -4.01783391e+01] [-8.46830198e-02 -2.12054232e-03 9.96405685e-01 -5.89428916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24864 meters 0.027894402158517694 Centerline is valid? [True, True] Translation: X:89.75, Y:-40.20, Z:-5.90 [[ 7.19612081e-01 6.91520413e-01 6.29124150e-02 8.97508289e+01] [-6.89130374e-01 7.22354171e-01 -5.74785147e-02 -4.01954679e+01] [-8.51926116e-02 -1.99262251e-03 9.96362509e-01 -5.89649203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27864 meters 0.028039427308739144 Centerline is valid? [True, True] Translation: X:89.78, Y:-40.21, Z:-5.90 [[ 7.20467679e-01 6.90635655e-01 6.28388149e-02 8.97771005e+01] [-6.88243424e-01 7.23200510e-01 -5.74631386e-02 -4.02143004e+01] [-8.51311553e-02 -1.84806702e-03 9.96368040e-01 -5.89926407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30864 meters 0.027775750320722586 Centerline is valid? [True, True] Translation: X:89.80, Y:-40.23, Z:-5.90 [[ 7.22421362e-01 6.88567773e-01 6.31014929e-02 8.98043137e+01] [-6.86144060e-01 7.25170271e-01 -5.77443200e-02 -4.02315417e+01] [-8.55202046e-02 -1.58098427e-03 9.96335182e-01 -5.90162568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33864 meters 0.027775750320722586 Centerline is valid? [True, True] Translation: X:89.83, Y:-40.25, Z:-5.90 [[ 7.22288258e-01 6.88708184e-01 6.30928589e-02 8.98283284e+01] [-6.86284182e-01 7.25036913e-01 -5.77537527e-02 -4.02534413e+01] [-8.55201338e-02 -1.58477363e-03 9.96335182e-01 -5.90353894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36864 meters 0.027800582530421017 Centerline is valid? [True, True] Translation: X:89.85, Y:-40.27, Z:-5.91 [[ 7.23116873e-01 6.87803782e-01 6.34660942e-02 8.98526130e+01] [-6.85345733e-01 7.25895165e-01 -5.81157052e-02 -4.02742661e+01] [-8.60419328e-02 -1.47176987e-03 9.96290429e-01 -5.90617295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39864 meters 0.027945913124508146 Centerline is valid? [True, True] Translation: X:89.88, Y:-40.30, Z:-5.91 [[ 7.24092215e-01 6.86784346e-01 6.33855436e-02 8.98770524e+01] [-6.84327352e-01 7.26860009e-01 -5.80568956e-02 -4.02951810e+01] [-8.59449839e-02 -1.33791506e-03 9.96298986e-01 -5.90833609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42864 meters 0.027898088045952604 Centerline is valid? [True, True] Translation: X:89.90, Y:-40.32, Z:-5.91 [[ 7.25002931e-01 6.85769939e-01 6.39557738e-02 8.99027042e+01] [-6.83262984e-01 7.27817362e-01 -5.85967762e-02 -4.03165797e+01] [-8.67320302e-02 -1.21577842e-03 9.96230935e-01 -5.91169307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45864 meters 0.027947452999766195 Centerline is valid? [True, True] Translation: X:89.93, Y:-40.34, Z:-5.91 [[ 7.26450566e-01 6.84311686e-01 6.31434226e-02 8.99265722e+01] [-6.81860912e-01 7.29188925e-01 -5.78723393e-02 -4.03377609e+01] [-8.56462026e-02 -1.01363810e-03 9.96325098e-01 -5.91390090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters 0.027855284976987263 Centerline is valid? [True, True] Translation: X:89.95, Y:-40.36, Z:-5.92 [[ 7.26885904e-01 6.83830126e-01 6.33501491e-02 8.99508597e+01] [-6.81359930e-01 7.29640639e-01 -5.80791224e-02 -4.03607386e+01] [-8.59390968e-02 -9.47357746e-04 9.96299942e-01 -5.91586243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51863999999999 meters 0.027901916190863848 Centerline is valid? [True, True] Translation: X:89.97, Y:-40.38, Z:-5.92 [[ 7.29543280e-01 6.80965606e-01 6.36588255e-02 8.99743463e+01] [-6.78457536e-01 7.32315163e-01 -5.83941280e-02 -4.03826057e+01] [-8.63827159e-02 -5.88766260e-04 9.96261853e-01 -5.91778203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters 0.02806856889845201 Centerline is valid? [True, True] Translation: X:90.00, Y:-40.41, Z:-5.92 [[ 7.30228325e-01 6.80189225e-01 6.41031428e-02 8.99982265e+01] [-6.77638150e-01 7.33036430e-01 -5.88568646e-02 -4.04054220e+01] [-8.70237441e-02 -4.59785437e-04 9.96206132e-01 -5.92004828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57864 meters 0.028186441824683658 Centerline is valid? [True, True] Translation: X:90.02, Y:-40.43, Z:-5.92 [[ 7.30906425e-01 6.79392498e-01 6.48199972e-02 9.00221920e+01] [-6.76775397e-01 7.33774985e-01 -5.95762798e-02 -4.04284026e+01] [-8.80389701e-02 -3.23893714e-04 9.96116979e-01 -5.92201905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60864 meters 0.02843625059899986 Centerline is valid? [True, True] Translation: X:90.04, Y:-40.45, Z:-5.92 [[ 7.32471880e-01 6.77609337e-01 6.58067787e-02 9.00446167e+01] [-6.74899242e-01 7.35422044e-01 -6.05428034e-02 -4.04522049e+01] [-8.94201246e-02 -6.70440632e-05 9.95993994e-01 -5.92414843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63864 meters 0.02852195467177259 Centerline is valid? [True, True] Translation: X:90.07, Y:-40.47, Z:-5.93 [[ 7.32517970e-01 6.77637213e-01 6.50017817e-02 9.00677210e+01] [-6.74988578e-01 7.35396360e-01 -5.98549383e-02 -4.04742011e+01] [-8.83620073e-02 -3.06422797e-05 9.96088427e-01 -5.92574407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66864 meters 0.028600575806645986 Centerline is valid? [True, True] Translation: X:90.09, Y:-40.50, Z:-5.93 [[ 7.32301852e-01 6.77837815e-01 6.53444235e-02 9.00913480e+01] [-6.75156926e-01 7.35211464e-01 -6.02264841e-02 -4.04978856e+01] [-8.88657576e-02 -1.37742238e-05 9.96043612e-01 -5.92812109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69864 meters 0.028820519686354514 Centerline is valid? [True, True] Translation: X:90.11, Y:-40.52, Z:-5.93 [[ 7.32284998e-01 6.77865389e-01 6.52471904e-02 9.01146568e+01] [-6.75187149e-01 7.35186040e-01 -6.01980129e-02 -4.05209841e+01] [-8.87749730e-02 2.80372724e-05 9.96051707e-01 -5.93089432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72864 meters 0.02880187316656968 Centerline is valid? [True, True] Translation: X:90.14, Y:-40.54, Z:-5.93 [[ 7.32277463e-01 6.77957128e-01 6.43727432e-02 9.01371046e+01] [-6.75345634e-01 7.35101441e-01 -5.94486876e-02 -4.05442629e+01] [-8.76241578e-02 5.90831119e-05 9.96153604e-01 -5.93155672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75864 meters 0.028839428188288156 Centerline is valid? [True, True] Translation: X:90.16, Y:-40.57, Z:-5.93 [[ 7.31095532e-01 6.79314332e-01 6.34930044e-02 9.01605864e+01] [-6.76774460e-01 7.33847419e-01 -5.86881306e-02 -4.05668744e+01] [-8.64618657e-02 -6.38136424e-05 9.96255159e-01 -5.93331790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78864 meters 0.02893666927138165 Centerline is valid? [True, True] Translation: X:90.18, Y:-40.59, Z:-5.94 [[ 7.30394396e-01 6.80064216e-01 6.35349380e-02 9.01841022e+01] [-6.77519006e-01 7.33152542e-01 -5.87821902e-02 -4.05895820e+01] [-8.65564654e-02 -1.11945780e-04 9.96246940e-01 -5.93516631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81864 meters 0.029039166197142835 Centerline is valid? [True, True] Translation: X:90.21, Y:-40.61, Z:-5.94 [[ 7.28830464e-01 6.81749879e-01 6.34291508e-02 9.02071548e+01] [-6.79214307e-01 7.31585287e-01 -5.87443102e-02 -4.06128888e+01] [-8.64527598e-02 -2.67343831e-04 9.96255915e-01 -5.93756740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84864 meters 0.029217288835736977 Centerline is valid? [True, True] Translation: X:90.23, Y:-40.64, Z:-5.94 [[ 7.26419372e-01 6.84318038e-01 6.34327826e-02 9.02302529e+01] [-6.81786707e-01 7.29183477e-01 -5.88076752e-02 -4.06362012e+01] [-8.64972899e-02 -5.28593509e-04 9.96251946e-01 -5.94027605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87863999999999 meters 0.02941735843333985 Centerline is valid? [True, True] Translation: X:90.25, Y:-40.66, Z:-5.94 [[ 7.24919362e-01 6.85966771e-01 6.27814305e-02 9.02545481e+01] [-6.83488311e-01 7.27632555e-01 -5.82631463e-02 -4.06581525e+01] [-8.56483950e-02 -6.74291081e-04 9.96325197e-01 -5.94176594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters 0.029511450389943128 Centerline is valid? [True, True] Translation: X:90.28, Y:-40.68, Z:-5.94 [[ 7.22769871e-01 6.88220255e-01 6.29014675e-02 9.02775420e+01] [-6.85736719e-01 7.25501245e-01 -5.84217140e-02 -4.06801984e+01] [-8.58420999e-02 -9.08391269e-04 9.96308340e-01 -5.94350716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93863999999999 meters 0.02996668902772205 Centerline is valid? [True, True] Translation: X:90.30, Y:-40.70, Z:-5.94 [[ 7.21593746e-01 6.89476096e-01 6.26512474e-02 9.03014152e+01] [-6.87014320e-01 7.24307705e-01 -5.82209009e-02 -4.07027744e+01] [-8.55207007e-02 -1.03046615e-03 9.96335861e-01 -5.94449732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96864 meters 0.029915818430525033 Centerline is valid? [True, True] Translation: X:90.33, Y:-40.72, Z:-5.95 [[ 7.20773794e-01 6.90448452e-01 6.13683374e-02 9.03259158e+01] [-6.88086273e-01 7.23380778e-01 -5.70747862e-02 -4.07243097e+01] [-8.37998734e-02 -1.08870033e-03 9.96482010e-01 -5.94610889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99864 meters 0.029770156673766323 Centerline is valid? [True, True] Translation: X:90.35, Y:-40.75, Z:-5.95 [[ 7.20469010e-01 6.90836312e-01 6.05771800e-02 9.03503520e+01] [-6.88533830e-01 7.23010360e-01 -5.63665140e-02 -4.07459282e+01] [-8.27379635e-02 -1.09911120e-03 9.96570731e-01 -5.94778391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02864 meters 0.02989334636164467 Centerline is valid? [True, True] Translation: X:90.37, Y:-40.77, Z:-5.95 [[ 7.20364537e-01 6.91005511e-01 5.98858662e-02 9.03741609e+01] [-6.88751832e-01 7.22848698e-01 -5.57734164e-02 -4.07682157e+01] [-8.18281585e-02 -1.06930873e-03 9.96645879e-01 -5.94981919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05864 meters 0.0298738074936181 Centerline is valid? [True, True] Translation: X:90.40, Y:-40.79, Z:-5.95 [[ 7.20622818e-01 6.90740540e-01 5.98352766e-02 9.03980089e+01] [-6.88485464e-01 7.23102002e-01 -5.57786697e-02 -4.07913100e+01] [-8.17955968e-02 -1.00033605e-03 9.96648624e-01 -5.95144895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08864 meters 0.029931652992961872 Centerline is valid? [True, True] Translation: X:90.42, Y:-40.81, Z:-5.95 [[ 7.22241117e-01 6.89019299e-01 6.01678867e-02 9.04210615e+01] [-6.86728410e-01 7.24742586e-01 -5.61451285e-02 -4.08131037e+01] [-8.22913068e-02 -7.68676838e-04 9.96608022e-01 -5.95329391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11864 meters 0.02996382307059 Centerline is valid? [True, True] Translation: X:90.45, Y:-40.83, Z:-5.96 [[ 7.22674303e-01 6.88547295e-01 6.03694895e-02 9.04454819e+01] [-6.86234930e-01 7.25191122e-01 -5.63866785e-02 -4.08349117e+01] [-8.26043127e-02 -6.78448815e-04 9.96582193e-01 -5.95512696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14864 meters 0.029952618088184717 Centerline is valid? [True, True] Translation: X:90.47, Y:-40.86, Z:-5.96 [[ 7.24608058e-01 6.86458472e-01 6.09748173e-02 9.04698418e+01] [-6.84087020e-01 7.27168897e-01 -5.70117856e-02 -4.08577660e+01] [-8.34752140e-02 -4.00881855e-04 9.96509773e-01 -5.95774039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17864 meters 0.029957780431192037 Centerline is valid? [True, True] Translation: X:90.49, Y:-40.88, Z:-5.96 [[ 7.24572907e-01 6.86539954e-01 6.04730901e-02 9.04921549e+01] [-6.84203045e-01 7.27091987e-01 -5.65989025e-02 -4.08810395e+01] [-8.28269072e-02 -3.65841071e-04 9.96563881e-01 -5.96024015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20864 meters 0.029984245547591288 Centerline is valid? [True, True] Translation: X:90.52, Y:-40.90, Z:-5.96 [[ 7.25262335e-01 6.85778026e-01 6.08526492e-02 9.05151723e+01] [-6.83404471e-01 7.27810718e-01 -5.70077834e-02 -4.09041097e+01] [-8.33838954e-02 -2.41374402e-04 9.96517470e-01 -5.96219581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23863999999999 meters 0.030064533309503483 Centerline is valid? [True, True] Translation: X:90.54, Y:-40.93, Z:-5.96 [[ 7.25175324e-01 6.85885252e-01 6.06808858e-02 9.05380574e+01] [-6.83521400e-01 7.27709677e-01 -5.68957136e-02 -4.09273053e+01] [-8.31819987e-02 -2.17316388e-04 9.96534349e-01 -5.96374298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters 0.030004025865308565 Centerline is valid? [True, True] Translation: X:90.56, Y:-40.95, Z:-5.97 [[ 7.26535001e-01 6.84450979e-01 6.06114644e-02 9.05616377e+01] [-6.82084579e-01 7.29058884e-01 -5.68662510e-02 -4.09506470e+01] [-8.31114878e-02 -2.68234995e-05 9.96540255e-01 -5.96687116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29863999999999 meters 0.030093230269416075 Centerline is valid? [True, True] Translation: X:90.59, Y:-40.97, Z:-5.97 [[ 7.27220361e-01 6.83720186e-01 6.06403707e-02 9.05858817e+01] [-6.81344030e-01 7.29744269e-01 -5.69527480e-02 -4.09737328e+01] [-8.31917064e-02 1.00243444e-04 9.96533557e-01 -5.96862797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32864 meters 0.030342322047856026 Centerline is valid? [True, True] Translation: X:90.61, Y:-41.00, Z:-5.97 [[ 7.28843830e-01 6.82008797e-01 6.04207867e-02 9.06086627e+01] [-6.79639129e-01 7.31343891e-01 -5.68046491e-02 -4.09971068e+01] [-8.29296437e-02 3.37387235e-04 9.96555347e-01 -5.97128991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35864 meters 0.030320160765907378 Centerline is valid? [True, True] Translation: X:90.63, Y:-41.02, Z:-5.97 [[ 7.29389713e-01 6.81391718e-01 6.07945153e-02 9.06317196e+01] [-6.78985536e-01 7.31918794e-01 -5.72146850e-02 -4.10201196e+01] [-8.34822608e-02 4.53206059e-04 9.96509160e-01 -5.97413749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38864 meters 0.030367176052953946 Centerline is valid? [True, True] Translation: X:90.65, Y:-41.04, Z:-5.98 [[ 7.30215791e-01 6.80520296e-01 6.06384736e-02 9.06529425e+01] [-6.78118718e-01 7.32728991e-01 -5.71246807e-02 -4.10449851e+01] [-8.33060722e-02 5.93259962e-04 9.96523831e-01 -5.97660500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41864 meters 0.030495797358886457 Centerline is valid? [True, True] Translation: X:90.68, Y:-41.07, Z:-5.98 [[ 7.31083076e-01 6.79609748e-01 6.03997252e-02 9.06763344e+01] [-6.77219414e-01 7.33573480e-01 -5.69544990e-02 -4.10686617e+01] [-8.30144694e-02 7.34603811e-04 9.96548071e-01 -5.97835365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44864 meters 0.030640876045049205 Centerline is valid? [True, True] Translation: X:90.70, Y:-41.09, Z:-5.98 [[ 7.31894104e-01 6.78725084e-01 6.05250491e-02 9.06993843e+01] [-6.76316972e-01 7.34391917e-01 -5.71302590e-02 -4.10919641e+01] [-8.32248466e-02 8.79181725e-04 9.96530407e-01 -5.97993296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47864 meters 0.030893594702366113 Centerline is valid? [True, True] Translation: X:90.72, Y:-41.12, Z:-5.98 [[ 7.34687360e-01 6.75670507e-01 6.08592610e-02 9.07205099e+01] [-6.73220520e-01 7.37202648e-01 -5.75011978e-02 -4.11169906e+01] [-8.37174718e-02 1.27369992e-03 9.96488717e-01 -5.98128863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50864 meters 0.03093773844004129 Centerline is valid? [True, True] Translation: X:90.74, Y:-41.14, Z:-5.98 [[ 7.35881804e-01 6.74294089e-01 6.16883493e-02 9.07425385e+01] [-6.71767649e-01 7.38461421e-01 -5.83348541e-02 -4.11398093e+01] [-8.48893133e-02 1.48732025e-03 9.96389278e-01 -5.98381497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53864 meters 0.031024462393336658 Centerline is valid? [True, True] Translation: X:90.76, Y:-41.16, Z:-5.99 [[ 7.36861486e-01 6.73194109e-01 6.20067991e-02 9.07648459e+01] [-6.70633407e-01 7.39463955e-01 -5.86846848e-02 -4.11634120e+01] [-8.53579770e-02 1.65865312e-03 9.96348967e-01 -5.98541673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56864 meters 0.03137643262255293 Centerline is valid? [True, True] Translation: X:90.78, Y:-41.19, Z:-5.99 [[ 7.38415524e-01 6.71471956e-01 6.21926524e-02 9.07838587e+01] [-6.68885456e-01 7.41027529e-01 -5.89104978e-02 -4.11894022e+01] [-8.56432148e-02 1.90066538e-03 9.96324057e-01 -5.98765642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59864 meters 0.031343608091898276 Centerline is valid? [True, True] Translation: X:90.81, Y:-41.21, Z:-5.99 [[ 7.38583504e-01 6.71359779e-01 6.14040252e-02 9.08054672e+01] [-6.68833983e-01 7.41129096e-01 -5.82131137e-02 -4.12144565e+01] [-8.45902528e-02 1.92614669e-03 9.96413960e-01 -5.98980272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters 0.03145963305173535 Centerline is valid? [True, True] Translation: X:90.83, Y:-41.24, Z:-5.99 [[ 7.38539836e-01 6.71524534e-01 6.01141598e-02 9.08259599e+01] [-6.69100030e-01 7.40979868e-01 -5.70437079e-02 -4.12403994e+01] [-8.28496316e-02 1.90666448e-03 9.96560236e-01 -5.98973081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65863999999999 meters 0.031241644728685115 Centerline is valid? [True, True] Translation: X:90.85, Y:-41.26, Z:-5.99 [[ 7.37471434e-01 6.72676381e-01 6.03520549e-02 9.08478400e+01] [-6.70232329e-01 7.39934572e-01 -5.73188919e-02 -4.12645151e+01] [-8.32136366e-02 1.82114715e-03 9.96530067e-01 -5.99186709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999999 meters 0.03104699906329091 Centerline is valid? [True, True] Translation: X:90.87, Y:-41.29, Z:-5.99 [[ 7.35929878e-01 6.74341357e-01 6.05883540e-02 9.08685386e+01] [-6.71879545e-01 7.38417852e-01 -5.75929920e-02 -4.12892517e+01] [-8.35768586e-02 1.67632788e-03 9.96499924e-01 -5.99440612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71864 meters 0.030501724554553616 Centerline is valid? [True, True] Translation: X:90.89, Y:-41.32, Z:-6.00 [[ 7.33289638e-01 6.77279643e-01 5.98213323e-02 9.08871396e+01] [-6.74885575e-01 7.35724428e-01 -5.69124525e-02 -4.13164207e+01] [-8.25576610e-02 1.36075749e-03 9.96585361e-01 -5.99507677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74864 meters 0.030343509548358197 Centerline is valid? [True, True] Translation: X:90.91, Y:-41.34, Z:-6.00 [[ 7.31375774e-01 6.79328152e-01 6.00228309e-02 9.09089597e+01] [-6.76920624e-01 7.33833696e-01 -5.71539712e-02 -4.13397253e+01] [-8.28730774e-02 1.17033778e-03 9.96559423e-01 -5.99688799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77864 meters 0.030020903725815524 Centerline is valid? [True, True] Translation: X:90.93, Y:-41.37, Z:-6.00 [[ 7.28978986e-01 6.81832754e-01 6.07760879e-02 9.09299554e+01] [-6.79368464e-01 7.31507497e-01 -5.79247113e-02 -4.13655219e+01] [-8.39531294e-02 9.36539861e-04 9.96469264e-01 -5.99877577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80864 meters 0.02988538254804935 Centerline is valid? [True, True] Translation: X:90.95, Y:-41.39, Z:-6.00 [[ 7.27442217e-01 6.83414090e-01 6.14247730e-02 9.09528470e+01] [-6.80897384e-01 7.30030501e-01 -5.86022104e-02 -4.13897473e+01] [-8.48915341e-02 8.05754624e-04 9.96389873e-01 -6.00086305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83864 meters 0.03001478148861752 Centerline is valid? [True, True] Translation: X:90.98, Y:-41.41, Z:-6.00 [[ 7.25722365e-01 6.85227791e-01 6.15623556e-02 9.09759386e+01] [-6.82701186e-01 7.28328543e-01 -5.87930658e-02 -4.14139046e+01] [-8.51242634e-02 6.38749594e-04 9.96370138e-01 -6.00313135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86864 meters 0.02972974764137795 Centerline is valid? [True, True] Translation: X:91.00, Y:-41.44, Z:-6.00 [[ 7.23004849e-01 6.88190983e-01 6.04744519e-02 9.09982069e+01] [-6.85758666e-01 7.25529506e-01 -5.78099251e-02 -4.14377398e+01] [-8.36602684e-02 3.25976645e-04 9.96494282e-01 -6.00259037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89864 meters 0.02985517873322309 Centerline is valid? [True, True] Translation: X:91.02, Y:-41.46, Z:-6.01 [[ 7.21614607e-01 6.89591691e-01 6.11200329e-02 9.10214621e+01] [-6.87107397e-01 7.24198355e-01 -5.84822059e-02 -4.14613837e+01] [-8.45918706e-02 2.05587335e-04 9.96415663e-01 -6.00579075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92864 meters 0.02949228960986243 Centerline is valid? [True, True] Translation: X:91.04, Y:-41.49, Z:-6.01 [[ 7.18791110e-01 6.92526667e-01 6.12058432e-02 9.10436712e+01] [-6.90040780e-01 7.21392269e-01 -5.86252188e-02 -4.14855257e+01] [-8.47529495e-02 -9.52416091e-05 9.96401991e-01 -6.00747934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95864 meters 0.029593293131668814 Centerline is valid? [True, True] Translation: X:91.07, Y:-41.51, Z:-6.01 [[ 7.18103783e-01 6.93353693e-01 5.98966946e-02 9.10673105e+01] [-6.90971347e-01 7.20597415e-01 -5.74278943e-02 -4.15076543e+01] [-8.29792459e-02 -1.47711590e-04 9.96551265e-01 -6.00881967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters 0.029386210558071384 Centerline is valid? [True, True] Translation: X:91.09, Y:-41.53, Z:-6.01 [[ 7.17356080e-01 6.94105300e-01 6.01505306e-02 9.10917562e+01] [-6.91700704e-01 7.19873457e-01 -5.77264364e-02 -4.15299701e+01] [-8.33689958e-02 -1.95754218e-04 9.96518726e-01 -6.01011192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01863999999999 meters 0.02962797247550606 Centerline is valid? [True, True] Translation: X:91.12, Y:-41.55, Z:-6.01 [[ 7.16033764e-01 6.95544878e-01 5.92703283e-02 9.11153550e+01] [-6.93210458e-01 7.18482583e-01 -5.69388975e-02 -4.15522721e+01] [-8.21882571e-02 -3.16638275e-04 9.96616772e-01 -6.01300072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters 0.029673128968894475 Centerline is valid? [True, True] Translation: X:91.14, Y:-41.57, Z:-6.01 [[ 7.16177713e-01 6.95448158e-01 5.86629590e-02 9.11390406e+01] [-6.93156906e-01 7.18576223e-01 -5.64066959e-02 -4.15741430e+01] [-8.13817403e-02 -2.65416657e-04 9.96682970e-01 -6.01452349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07864 meters 0.029664653450755463 Centerline is valid? [True, True] Translation: X:91.16, Y:-41.60, Z:-6.02 [[ 7.16321565e-01 6.95298747e-01 5.86776691e-02 9.11633029e+01] [-6.93001471e-01 7.18720814e-01 -5.64743496e-02 -4.15964137e+01] [-8.14394066e-02 -2.09916489e-04 9.96678273e-01 -6.01735063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10864 meters 0.029686074076435514 Centerline is valid? [True, True] Translation: X:91.19, Y:-41.62, Z:-6.02 [[ 7.17083506e-01 6.94454224e-01 5.93681404e-02 9.11877130e+01] [-6.92094596e-01 7.19536882e-01 -5.71991713e-02 -4.16187726e+01] [-8.24397728e-02 -7.17868190e-05 9.96596046e-01 -6.02011227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13864 meters 0.02970525184484942 Centerline is valid? [True, True] Translation: X:91.21, Y:-41.64, Z:-6.02 [[ 7.17515057e-01 6.94000730e-01 5.94569540e-02 9.12119750e+01] [-6.91627509e-01 7.19974295e-01 -5.73445970e-02 -4.16417770e+01] [-8.26046707e-02 2.35468325e-05 9.96582394e-01 -6.02223403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16864 meters 0.029507117014384417 Centerline is valid? [True, True] Translation: X:91.24, Y:-41.66, Z:-6.02 [[ 7.19221740e-01 6.92430065e-01 5.71024833e-02 9.12361099e+01] [-6.90232153e-01 7.21484962e-01 -5.51273563e-02 -4.16633682e+01] [-7.93704219e-02 2.34823195e-04 9.96845164e-01 -6.02142429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19864 meters 0.029510967164317378 Centerline is valid? [True, True] Translation: X:91.26, Y:-41.69, Z:-6.02 [[ 7.19092117e-01 6.92615217e-01 5.64861771e-02 9.12605691e+01] [-6.90461121e-01 7.21307216e-01 -5.45833334e-02 -4.16856324e+01] [-7.85491345e-02 2.48935600e-04 9.96910212e-01 -6.02285385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22864 meters 0.029439307722042427 Centerline is valid? [True, True] Translation: X:91.28, Y:-41.71, Z:-6.02 [[ 7.19460648e-01 6.92303670e-01 5.56057946e-02 9.12840682e+01] [-6.90211213e-01 7.21606214e-01 -5.37861840e-02 -4.17080233e+01] [-7.73618595e-02 3.17299879e-04 9.97003030e-01 -6.02493987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25864 meters 0.029439307722042427 Centerline is valid? [True, True] Translation: X:91.31, Y:-41.73, Z:-6.03 [[ 7.19104741e-01 6.92675377e-01 5.55805078e-02 9.13076679e+01] [-6.90582010e-01 7.21249418e-01 -5.38123047e-02 -4.17303901e+01] [-7.73618674e-02 3.13784649e-04 9.97003031e-01 -6.02685283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28864 meters 0.029610743327083123 Centerline is valid? [True, True] Translation: X:91.33, Y:-41.75, Z:-6.03 [[ 7.18844396e-01 6.92933212e-01 5.57341742e-02 9.13313851e+01] [-6.90824665e-01 7.21001703e-01 -5.40169052e-02 -4.17530302e+01] [-7.76145422e-02 3.27207372e-04 9.96983388e-01 -6.02877300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31864 meters 0.029532001892136246 Centerline is valid? [True, True] Translation: X:91.35, Y:-41.78, Z:-6.03 [[ 7.18099504e-01 6.93618330e-01 5.68041724e-02 9.13540828e+01] [-6.91425620e-01 7.20342643e-01 -5.51097851e-02 -4.17759795e+01] [-7.91436247e-02 2.98449263e-04 9.96863179e-01 -6.03173879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34864 meters 0.02937593071376051 Centerline is valid? [True, True] Translation: X:91.38, Y:-41.80, Z:-6.03 [[ 7.18137009e-01 6.93706188e-01 5.52355143e-02 9.13776299e+01] [-6.91629680e-01 7.20258027e-01 -5.36354305e-02 -4.17984177e+01] [-7.69910526e-02 3.15066506e-04 9.97031734e-01 -6.03284950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37863999999999 meters 0.029284050956770138 Centerline is valid? [True, True] Translation: X:91.40, Y:-41.82, Z:-6.03 [[ 7.17284957e-01 6.94638942e-01 5.45804953e-02 9.14009247e+01] [-6.92610525e-01 7.19358519e-01 -5.30469810e-02 -4.18209084e+01] [-7.61114430e-02 2.46775953e-04 9.97099287e-01 -6.03427743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters 0.029431671212913433 Centerline is valid? [True, True] Translation: X:91.42, Y:-41.84, Z:-6.04 [[ 7.16228678e-01 6.95685087e-01 5.51247771e-02 9.14243362e+01] [-6.93615138e-01 7.18346873e-01 -5.36265860e-02 -4.18441345e+01] [-7.69059274e-02 1.73518925e-04 9.97038338e-01 -6.03573406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43863999999999 meters 0.02925552658350355 Centerline is valid? [True, True] Translation: X:91.45, Y:-41.87, Z:-6.04 [[ 7.15898470e-01 6.96039355e-01 5.49417684e-02 9.14481961e+01] [-6.93979907e-01 7.18003612e-01 -5.35042285e-02 -4.18674571e+01] [-7.66894368e-02 1.75111947e-04 9.97055013e-01 -6.03683194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46864 meters 0.02934338326306177 Centerline is valid? [True, True] Translation: X:91.47, Y:-41.89, Z:-6.04 [[ 7.15382077e-01 6.96516369e-01 5.56186206e-02 9.14707420e+01] [-6.94402774e-01 7.17540884e-01 -5.42205396e-02 -4.18911109e+01] [-7.76741275e-02 1.66677870e-04 9.96978787e-01 -6.03874031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49864 meters 0.029174765964379824 Centerline is valid? [True, True] Translation: X:91.49, Y:-41.91, Z:-6.04 [[ 7.14106878e-01 6.97859497e-01 5.51678321e-02 9.14945806e+01] [-6.95779783e-01 7.16234682e-01 -5.38365467e-02 -4.19143898e+01] [-7.70834601e-02 6.03859800e-05 9.97024642e-01 -6.04001951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52864 meters 0.029075346212692508 Centerline is valid? [True, True] Translation: X:91.52, Y:-41.94, Z:-6.04 [[ 7.12002525e-01 7.00079864e-01 5.42271843e-02 9.15180102e+01] [-6.98072947e-01 7.14064538e-01 -5.29716561e-02 -4.19365046e+01] [-7.58060992e-02 -1.38577407e-04 9.97122568e-01 -6.04144463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55864 meters 0.029083034535014502 Centerline is valid? [True, True] Translation: X:91.54, Y:-41.96, Z:-6.04 [[ 7.10412297e-01 7.01721091e-01 5.38690932e-02 9.15413688e+01] [-6.99741591e-01 7.12451707e-01 -5.26713543e-02 -4.19600969e+01] [-7.53397276e-02 -2.76067153e-04 9.97157886e-01 -6.04313761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58864 meters 0.029094968227550703 Centerline is valid? [True, True] Translation: X:91.56, Y:-41.98, Z:-6.04 [[ 7.09066486e-01 7.03074971e-01 5.39472235e-02 9.15641855e+01] [-7.01089410e-01 7.11115631e-01 -5.28034077e-02 -4.19837210e+01] [-7.54874682e-02 -3.80700325e-04 9.97146678e-01 -6.04491097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61864 meters 0.0292379915515803 Centerline is valid? [True, True] Translation: X:91.59, Y:-42.01, Z:-6.05 [[ 7.08204981e-01 7.03883962e-01 5.47089798e-02 9.15888826e+01] [-7.01839873e-01 7.10314846e-01 -5.36060848e-02 -4.20059219e+01] [-7.65930639e-02 -4.32847159e-04 9.97062343e-01 -6.04764645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64864 meters 0.029314715654449805 Centerline is valid? [True, True] Translation: X:91.61, Y:-42.03, Z:-6.05 [[ 7.07748563e-01 7.04295232e-01 5.53190571e-02 9.16144060e+01] [-7.02202008e-01 7.09907058e-01 -5.42614819e-02 -4.20274976e+01] [-7.74874921e-02 -4.41667220e-04 9.96993226e-01 -6.04996831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67864 meters 0.0293463341996579 Centerline is valid? [True, True] Translation: X:91.64, Y:-42.05, Z:-6.05 [[ 7.07300988e-01 7.04721304e-01 5.56165173e-02 9.16391274e+01] [-7.02602322e-01 7.09484095e-01 -5.46103982e-02 -4.20490376e+01] [-7.79441455e-02 -4.50305635e-04 9.96957626e-01 -6.05240381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70864 meters 0.029133324633476492 Centerline is valid? [True, True] Translation: X:91.66, Y:-42.07, Z:-6.05 [[ 7.07393184e-01 7.04651013e-01 5.53338241e-02 9.16632787e+01] [-7.02548917e-01 7.09553937e-01 -5.43896175e-02 -4.20711713e+01] [-7.75880318e-02 -3.99873407e-04 9.96985425e-01 -6.05333186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73863999999999 meters 0.02911361344681039 Centerline is valid? [True, True] Translation: X:91.69, Y:-42.09, Z:-6.06 [[ 7.06602570e-01 7.05457148e-01 5.51635731e-02 9.16879334e+01] [-7.03366015e-01 7.08752434e-01 -5.42792413e-02 -4.20938359e+01] [-7.73889955e-02 -4.46331136e-04 9.97000875e-01 -6.05577495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters 0.029061760147880953 Centerline is valid? [True, True] Translation: X:91.71, Y:-42.11, Z:-6.06 [[ 7.06383658e-01 7.05651033e-01 5.54864644e-02 9.17134817e+01] [-7.03531395e-01 7.08559408e-01 -5.46547402e-02 -4.21143581e+01] [-7.78826303e-02 -4.29254435e-04 9.96962442e-01 -6.05842239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79863999999999 meters 0.02912880903418025 Centerline is valid? [True, True] Translation: X:91.74, Y:-42.14, Z:-6.06 [[ 7.06081134e-01 7.05925401e-01 5.58458718e-02 9.17378948e+01] [-7.03774452e-01 7.08286066e-01 -5.50669564e-02 -4.21373158e+01] [-7.84280161e-02 -4.21158837e-04 9.96919690e-01 -6.06033651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82864 meters 0.029148869599748214 Centerline is valid? [True, True] Translation: X:91.76, Y:-42.16, Z:-6.06 [[ 7.06225888e-01 7.05718532e-01 5.66246207e-02 9.17633362e+01] [-7.03501669e-01 7.08492218e-01 -5.58943579e-02 -4.21588955e+01] [-7.95637873e-02 -3.61472554e-04 9.96829711e-01 -6.06095747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85864 meters 0.02915011906743159 Centerline is valid? [True, True] Translation: X:91.79, Y:-42.18, Z:-6.06 [[ 7.06467500e-01 7.05529881e-01 5.59576530e-02 9.17876039e+01] [-7.03360042e-01 7.08680111e-01 -5.52915109e-02 -4.21794533e+01] [-7.86658888e-02 -2.96721691e-04 9.96900993e-01 -6.06296330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88864 meters 0.02915673059552595 Centerline is valid? [True, True] Translation: X:91.81, Y:-42.20, Z:-6.07 [[ 7.06518478e-01 7.05433404e-01 5.65274468e-02 9.18123670e+01] [-7.03214478e-01 7.08776163e-01 -5.59083874e-02 -4.22014970e+01] [-7.95049509e-02 -2.50610199e-04 9.96834440e-01 -6.06587067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91864 meters 0.02903843413485041 Centerline is valid? [True, True] Translation: X:91.84, Y:-42.22, Z:-6.07 [[ 7.06402533e-01 7.05653950e-01 5.52083725e-02 9.18363180e+01] [-7.03533939e-01 7.08556596e-01 -5.46584505e-02 -4.22233609e+01] [-7.76882080e-02 -2.30095865e-04 9.96977677e-01 -6.06740011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94864 meters 0.029046796149563833 Centerline is valid? [True, True] Translation: X:91.86, Y:-42.24, Z:-6.07 [[ 7.06585683e-01 7.05457291e-01 5.53776400e-02 9.18630015e+01] [-7.03319574e-01 7.08752411e-01 -5.48780139e-02 -4.22428889e+01] [-7.79631309e-02 -1.72159285e-04 9.96956228e-01 -6.06884706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97864 meters 0.02904490797837198 Centerline is valid? [True, True] Translation: X:91.89, Y:-42.26, Z:-6.07 [[ 7.06751326e-01 7.05268210e-01 5.56714850e-02 9.18925562e+01] [-7.03102553e-01 7.08940575e-01 -5.52273539e-02 -4.22606349e+01] [-7.84178716e-02 -1.10757564e-04 9.96920571e-01 -6.07113899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00864 meters 0.029221923370334107 Centerline is valid? [True, True] Translation: X:91.92, Y:-42.28, Z:-6.07 [[ 7.06564488e-01 7.05453781e-01 5.56919034e-02 9.19184666e+01] [-7.03282576e-01 7.08755921e-01 -5.53051765e-02 -4.22817267e+01] [-7.84872121e-02 -9.04715985e-05 9.96915116e-01 -6.07410131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03864 meters 0.02917490623949749 Centerline is valid? [True, True] Translation: X:91.94, Y:-42.30, Z:-6.08 [[ 7.07407915e-01 7.04653117e-01 5.51182882e-02 9.19436231e+01] [-7.02519657e-01 7.09551959e-01 -5.47918710e-02 -4.23028196e+01] [-7.77185521e-02 3.85222858e-05 9.96975338e-01 -6.07682408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06864 meters 0.0289763178442355 Centerline is valid? [True, True] Translation: X:91.97, Y:-42.32, Z:-6.08 [[ 7.07813044e-01 7.04307282e-01 5.43318273e-02 9.19683470e+01] [-7.02229207e-01 7.09895232e-01 -5.40638550e-02 -4.23243404e+01] [-7.66474719e-02 1.13705780e-04 9.97058249e-01 -6.07707004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09864 meters 0.029100228400132093 Centerline is valid? [True, True] Translation: X:92.00, Y:-42.34, Z:-6.08 [[ 7.09811283e-01 7.02161174e-01 5.60145392e-02 9.19962753e+01] [-6.99941429e-01 7.12017929e-01 -5.57894714e-02 -4.23419335e+01] [-7.90565569e-02 3.93099689e-04 9.96870055e-01 -6.08005956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters 0.029234181510621692 Centerline is valid? [True, True] Translation: X:92.02, Y:-42.36, Z:-6.08 [[ 7.11125064e-01 7.00807883e-01 5.62979174e-02 9.20211664e+01] [-6.98557344e-01 7.13349825e-01 -5.61218762e-02 -4.23629687e+01] [-7.94907627e-02 5.82349094e-04 9.96835433e-01 -6.08260086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15863999999999 meters 0.029630530458745138 Centerline is valid? [True, True] Translation: X:92.05, Y:-42.38, Z:-6.08 [[ 7.14720703e-01 6.97009913e-01 5.78921293e-02 9.20450279e+01] [-6.94613115e-01 7.17060690e-01 -5.77632056e-02 -4.23846174e+01] [-8.17736970e-02 1.07192659e-03 9.96650347e-01 -6.08497661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999999 meters 0.02993513664488747 Centerline is valid? [True, True] Translation: X:92.07, Y:-42.41, Z:-6.09 [[ 7.16358749e-01 6.95301119e-01 5.81936122e-02 9.20688894e+01] [-6.92869388e-01 7.18717355e-01 -5.81151909e-02 -4.24061472e+01] [-8.22323163e-02 1.31075298e-03 9.96612326e-01 -6.08778692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21864 meters 0.029876221236191935 Centerline is valid? [True, True] Translation: X:92.09, Y:-42.43, Z:-6.09 [[ 7.17286055e-01 6.94461605e-01 5.67784625e-02 9.20927791e+01] [-6.92140369e-01 7.19528385e-01 -5.67504460e-02 -4.24284974e+01] [-8.02647213e-02 1.40763755e-03 9.96772588e-01 -6.08800663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24864 meters 0.029920840039617858 Centerline is valid? [True, True] Translation: X:92.00, Y:-42.71, Z:-4.29 [[ 7.42836905e-01 -6.68991902e-01 -2.53607361e-02 9.19955401e+01] [-6.68434520e-01 -7.43261474e-01 2.75258786e-02 -4.27077547e+01] [-3.72642479e-02 -3.49524700e-03 -9.99299334e-01 -4.28660668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27864 meters 0.029616731341751003 Centerline is valid? [True, True] Translation: X:92.11, Y:-42.46, Z:-6.09 [[ 7.64323159e-01 6.41991077e-01 6.04778120e-02 9.21107248e+01] [-6.39847821e-01 7.66710868e-01 -5.24329194e-02 -4.24618284e+01] [-8.00304621e-02 1.37909837e-03 9.96791464e-01 -6.09044345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30864 meters 0.02962466235310117 Centerline is valid? [True, True] Translation: X:92.14, Y:-42.48, Z:-6.09 [[ 7.61835541e-01 6.44803576e-01 6.19270240e-02 9.21367042e+01] [-6.42561303e-01 7.64347453e-01 -5.37395954e-02 -4.24821561e+01] [-8.19852463e-02 1.14882451e-03 9.96632881e-01 -6.09328080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33864 meters 0.029275560381779416 Centerline is valid? [True, True] Translation: X:92.16, Y:-42.50, Z:-6.09 [[ 7.60590717e-01 6.46344029e-01 6.11649957e-02 9.21613801e+01] [-6.44158154e-01 7.63045469e-01 -5.31214109e-02 -4.25028651e+01] [-8.10063797e-02 1.00372130e-03 9.96713078e-01 -6.09460398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36864 meters 0.02906836319847027 Centerline is valid? [True, True] Translation: X:92.19, Y:-42.52, Z:-6.10 [[ 7.57418959e-01 6.49958658e-01 6.22114438e-02 9.21866976e+01] [-6.47706993e-01 7.59969289e-01 -5.40585881e-02 -4.25235586e+01] [-8.24146341e-02 6.50212327e-04 9.96597916e-01 -6.09633385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39864 meters 0.029051750286084036 Centerline is valid? [True, True] Translation: X:92.21, Y:-42.54, Z:-6.10 [[ 7.56620232e-01 6.50827379e-01 6.28454236e-02 9.22128384e+01] [-6.48527769e-01 7.59225498e-01 -5.46660387e-02 -4.25442408e+01] [-8.32920027e-02 6.04428484e-04 9.96525001e-01 -6.09869221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42864 meters 0.028962998642363288 Centerline is valid? [True, True] Translation: X:92.24, Y:-42.56, Z:-6.10 [[ 7.55451840e-01 6.52236488e-01 6.22902992e-02 9.22382579e+01] [-6.49977746e-01 7.58015388e-01 -5.42365428e-02 -4.25642024e+01] [-8.25920575e-02 4.85787816e-04 9.96583321e-01 -6.10010426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45864 meters 0.028932634341117487 Centerline is valid? [True, True] Translation: X:92.26, Y:-42.58, Z:-6.10 [[ 7.54249839e-01 6.53697947e-01 6.15318967e-02 9.22639784e+01] [-6.51494900e-01 7.56755486e-01 -5.36239663e-02 -4.25835530e+01] [-8.16184771e-02 3.58151053e-04 9.96663582e-01 -6.10161277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters 0.028767136014353236 Centerline is valid? [True, True] Translation: X:92.29, Y:-42.60, Z:-6.10 [[ 7.52560054e-01 6.55553599e-01 6.24727516e-02 9.22909038e+01] [-6.53285581e-01 7.55148623e-01 -5.44840045e-02 -4.26011575e+01] [-8.28933976e-02 1.89937511e-04 9.96558402e-01 -6.10153113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51863999999999 meters 0.02879255503626167 Centerline is valid? [True, True] Translation: X:92.32, Y:-42.62, Z:-6.10 [[ 7.51666349e-01 6.56608557e-01 6.21522513e-02 9.23180876e+01] [-6.54365006e-01 7.54231525e-01 -5.42332408e-02 -4.26208703e+01] [-8.24871973e-02 9.50437624e-05 9.96592120e-01 -6.10372944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999999 meters 0.029026857542823963 Centerline is valid? [True, True] Translation: X:92.35, Y:-42.64, Z:-6.11 [[ 7.49946243e-01 6.58432224e-01 6.36210549e-02 9.23470723e+01] [-6.56082918e-01 7.52640021e-01 -5.55716058e-02 -4.26371255e+01] [-8.44738881e-02 -6.49703541e-05 9.96425691e-01 -6.10731159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57864 meters 0.028990345816627745 Centerline is valid? [True, True] Translation: X:92.37, Y:-42.66, Z:-6.11 [[ 7.49210782e-01 6.59199890e-01 6.43327964e-02 9.23733112e+01] [-6.56796072e-01 7.51967747e-01 -5.62443575e-02 -4.26554418e+01] [-8.54524622e-02 -1.14648947e-04 9.96342242e-01 -6.11003321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60864 meters 0.028860726759310312 Centerline is valid? [True, True] Translation: X:92.40, Y:-42.67, Z:-6.11 [[ 7.49146186e-01 6.59338468e-01 6.36614275e-02 9.23996586e+01] [-6.56980930e-01 7.51846245e-01 -5.57071068e-02 -4.26737037e+01] [-8.45934437e-02 -9.15771943e-05 9.96415546e-01 -6.11163819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63864 meters 0.029178982246388718 Centerline is valid? [True, True] Translation: X:92.43, Y:-42.69, Z:-6.11 [[ 7.49644362e-01 6.58735482e-01 6.40382254e-02 9.24293271e+01] [-6.56343161e-01 7.52374617e-01 -5.60900225e-02 -4.26904818e+01] [-8.51292233e-02 1.65178110e-05 9.96369919e-01 -6.11441807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66864 meters 0.029161874950157395 Centerline is valid? [True, True] Translation: X:92.46, Y:-42.71, Z:-6.12 [[ 7.50131382e-01 6.58234631e-01 6.34829171e-02 9.24557063e+01] [-6.55877265e-01 7.52812830e-01 -5.56583871e-02 -4.27089686e+01] [-8.44270324e-02 1.14100751e-04 9.96429658e-01 -6.11608315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69864 meters 0.029182167883624006 Centerline is valid? [True, True] Translation: X:92.48, Y:-42.73, Z:-6.12 [[ 7.52230878e-01 6.55872216e-01 6.30899547e-02 9.24841405e+01] [-6.53532237e-01 7.54871823e-01 -5.53547253e-02 -4.27259473e+01] [-8.39304555e-02 4.08214372e-04 9.96471531e-01 -6.11740899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72864 meters 0.029289174485220712 Centerline is valid? [True, True] Translation: X:92.51, Y:-42.75, Z:-6.12 [[ 7.53356560e-01 6.54643032e-01 6.24211066e-02 9.25101037e+01] [-6.52346696e-01 7.55937957e-01 -5.47868012e-02 -4.27450967e+01] [-8.30522814e-02 5.53793400e-04 9.96545038e-01 -6.12011735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75864 meters 0.029322303985055843 Centerline is valid? [True, True] Translation: X:92.54, Y:-42.76, Z:-6.12 [[ 7.54670100e-01 6.53118891e-01 6.25200307e-02 9.25355154e+01] [-6.50808857e-01 7.57255027e-01 -5.48876620e-02 -4.27642151e+01] [-8.31917765e-02 7.33487724e-04 9.96533286e-01 -6.12254521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78864 meters 0.029804753124748833 Centerline is valid? [True, True] Translation: X:92.56, Y:-42.78, Z:-6.12 [[ 7.58534870e-01 6.48717738e-01 6.15641801e-02 9.25627868e+01] [-6.46462267e-01 7.61028144e-01 -5.40620236e-02 -4.27823120e+01] [-8.19230673e-02 1.20901056e-03 9.96637923e-01 -6.12447022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81864 meters 0.029988589220986767 Centerline is valid? [True, True] Translation: X:92.59, Y:-42.80, Z:-6.13 [[ 7.59838235e-01 6.47256506e-01 6.08676558e-02 9.25873234e+01] [-6.45046106e-01 7.62271056e-01 -5.34636233e-02 -4.28028718e+01] [-8.10023303e-02 1.36126089e-03 9.96712982e-01 -6.12578878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84864 meters 0.03031263027054686 Centerline is valid? [True, True] Translation: X:92.61, Y:-42.82, Z:-6.13 [[ 7.61573309e-01 6.45207890e-01 6.09333602e-02 9.26117637e+01] [-6.42985073e-01 7.64005397e-01 -5.35345626e-02 -4.28244265e+01] [-8.10943382e-02 1.59125291e-03 9.96705160e-01 -6.12768695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87863999999999 meters 0.030646499814323123 Centerline is valid? [True, True] Translation: X:92.63, Y:-42.85, Z:-6.13 [[ 7.63850520e-01 6.42590684e-01 6.00799141e-02 9.26346709e+01] [-6.40420667e-01 7.66207399e-01 -5.27976324e-02 -4.28465573e+01] [-7.99609415e-02 1.85308027e-03 9.96796275e-01 -6.12980311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters 0.030794249130096478 Centerline is valid? [True, True] Translation: X:92.66, Y:-42.87, Z:-6.13 [[ 7.65003552e-01 6.41242677e-01 5.98113284e-02 9.26583339e+01] [-6.39086907e-01 7.67335552e-01 -5.25744858e-02 -4.28687436e+01] [-7.96083627e-02 1.99503150e-03 9.96824221e-01 -6.13092823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93863999999999 meters 0.030886604736244248 Centerline is valid? [True, True] Translation: X:92.68, Y:-42.89, Z:-6.13 [[ 7.65444453e-01 6.40759329e-01 5.93487294e-02 9.26805630e+01] [-6.38634247e-01 7.67739096e-01 -5.21821795e-02 -4.28939217e+01] [-7.90005582e-02 2.04042872e-03 9.96872484e-01 -6.13293671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96864 meters 0.030790321555934676 Centerline is valid? [True, True] Translation: X:92.70, Y:-42.92, Z:-6.14 [[ 7.65354567e-01 6.40851201e-01 5.95157449e-02 9.27039186e+01] [-6.38712857e-01 7.67662379e-01 -5.23484221e-02 -4.29175639e+01] [-7.92355475e-02 2.05163245e-03 9.96853810e-01 -6.13508462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99864 meters 0.03081064146253395 Centerline is valid? [True, True] Translation: X:92.73, Y:-42.94, Z:-6.14 [[ 7.64847227e-01 6.41454831e-01 5.95350215e-02 9.27268746e+01] [-6.39315511e-01 7.67158189e-01 -5.23831226e-02 -4.29407083e+01] [-7.92741863e-02 2.00342339e-03 9.96850836e-01 -6.13710798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02864 meters 0.03061821343440312 Centerline is valid? [True, True] Translation: X:92.75, Y:-42.97, Z:-6.14 [[ 7.64232347e-01 6.42226665e-01 5.91086304e-02 9.27481224e+01] [-6.40119223e-01 7.66512379e-01 -5.20206966e-02 -4.29657435e+01] [-7.87165754e-02 1.91932848e-03 9.96895189e-01 -6.13884516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05864 meters 0.0303963556665338 Centerline is valid? [True, True] Translation: X:92.77, Y:-42.99, Z:-6.14 [[ 7.63551738e-01 6.43110175e-01 5.82927588e-02 9.27706436e+01] [-6.41061605e-01 7.65771504e-01 -5.13227240e-02 -4.29888518e+01] [-7.76450996e-02 1.81830560e-03 9.96979404e-01 -6.14105960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08864 meters 0.0300643743998676 Centerline is valid? [True, True] Translation: X:92.79, Y:-43.01, Z:-6.14 [[ 7.61801512e-01 6.45109676e-01 5.90928235e-02 9.27911467e+01] [-6.43006832e-01 7.64088157e-01 -5.20720791e-02 -4.30143045e+01] [-7.87443287e-02 1.67149937e-03 9.96893443e-01 -6.14267076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11864 meters 0.029972764436855422 Centerline is valid? [True, True] Translation: X:92.81, Y:-43.04, Z:-6.15 [[ 7.60261112e-01 6.46813091e-01 6.02981497e-02 9.28145670e+01] [-6.44624887e-01 7.62646958e-01 -5.31824354e-02 -4.30374665e+01] [-8.03852959e-02 1.56284948e-03 9.96762641e-01 -6.14546971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14864 meters 0.029972764436855422 Centerline is valid? [True, True] Translation: X:92.84, Y:-43.06, Z:-6.15 [[ 7.59945059e-01 6.47186826e-01 6.02720454e-02 9.28392012e+01] [-6.44997452e-01 7.62329830e-01 -5.32120071e-02 -4.30587495e+01] [-8.03852881e-02 1.56288614e-03 9.96762641e-01 -6.14737798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17864 meters 0.029713794400772597 Centerline is valid? [True, True] Translation: X:92.86, Y:-43.08, Z:-6.15 [[ 7.58073948e-01 6.49433557e-01 5.96652661e-02 9.28625508e+01] [-6.47291054e-01 7.60417144e-01 -5.27262578e-02 -4.30812641e+01] [-7.96126924e-02 1.34960943e-03 9.96824958e-01 -6.14800735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20864 meters 0.02926072187792645 Centerline is valid? [True, True] Translation: X:92.89, Y:-43.10, Z:-6.15 [[ 7.55560507e-01 6.52253027e-01 6.07808276e-02 9.28858697e+01] [-6.50034761e-01 7.58000501e-01 -5.37591762e-02 -4.31039584e+01] [-8.11364832e-02 1.10865961e-03 9.96702384e-01 -6.14987381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23863999999999 meters 0.0293561530410636 Centerline is valid? [True, True] Translation: X:92.91, Y:-43.13, Z:-6.15 [[ 7.54733857e-01 6.53212396e-01 6.07484181e-02 9.29101203e+01] [-6.50995645e-01 7.57174009e-01 -5.37790835e-02 -4.31257758e+01] [-8.11262873e-02 1.04193945e-03 9.96703286e-01 -6.15185210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters 0.02919122164811295 Centerline is valid? [True, True] Translation: X:92.93, Y:-43.15, Z:-6.15 [[ 7.53230662e-01 6.54948041e-01 6.07176579e-02 9.29344817e+01] [-6.52734947e-01 7.55673385e-01 -5.38035736e-02 -4.31471396e+01] [-8.11212632e-02 8.93964174e-04 9.96703838e-01 -6.15356521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29863999999999 meters 0.02898327960667585 Centerline is valid? [True, True] Translation: X:92.96, Y:-43.17, Z:-6.15 [[ 7.50803217e-01 6.57650041e-01 6.15707075e-02 9.29587858e+01] [-6.55379092e-01 7.53323305e-01 -5.46099221e-02 -4.31690887e+01] [-8.22968664e-02 6.49150875e-04 9.96607648e-01 -6.15483444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32864 meters 0.029021195604909605 Centerline is valid? [True, True] Translation: X:92.98, Y:-43.19, Z:-6.16 [[ 7.49295376e-01 6.59337314e-01 6.18930185e-02 9.29836871e+01] [-6.57043601e-01 7.51847091e-01 -5.49514141e-02 -4.31913394e+01] [-8.27656036e-02 5.08428740e-04 9.96568912e-01 -6.15690490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35864 meters 0.02889747367878811 Centerline is valid? [True, True] Translation: X:93.01, Y:-43.21, Z:-6.16 [[ 7.47263658e-01 6.61588619e-01 6.24301608e-02 9.30082459e+01] [-6.59257923e-01 7.49866926e-01 -5.54849865e-02 -4.32131575e+01] [-8.35225483e-02 3.04335824e-04 9.96505841e-01 -6.15895904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38864 meters 0.028810777139002264 Centerline is valid? [True, True] Translation: X:93.03, Y:-43.23, Z:-6.16 [[ 7.45820791e-01 6.63239548e-01 6.21663108e-02 9.30325682e+01] [-6.60930529e-01 7.48407161e-01 -5.52951824e-02 -4.32336817e+01] [-8.31996640e-02 1.52683944e-04 9.96532886e-01 -6.15992855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41864 meters 0.028849544251329313 Centerline is valid? [True, True] Translation: X:93.06, Y:-43.25, Z:-6.16 [[ 7.44301202e-01 6.64975022e-01 6.18380237e-02 9.30580560e+01] [-6.62693920e-01 7.46865597e-01 -5.50322433e-02 -4.32545139e+01] [-8.27797597e-02 -1.91174980e-05 9.96567866e-01 -6.16171468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44864 meters 0.028807875842618843 Centerline is valid? [True, True] Translation: X:93.08, Y:-43.27, Z:-6.16 [[ 7.41404975e-01 6.68230550e-01 6.15353099e-02 9.30839022e+01] [-6.65978224e-01 7.43954177e-01 -5.48195880e-02 -4.32745030e+01] [-8.24115743e-02 -3.37661081e-04 9.96598324e-01 -6.16334207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47864 meters 0.029005244009141236 Centerline is valid? [True, True] Translation: X:93.11, Y:-43.30, Z:-6.17 [[ 7.40332809e-01 6.69288685e-01 6.29284410e-02 9.31088799e+01] [-6.66932019e-01 7.43002340e-01 -5.61177709e-02 -4.32951150e+01] [-8.43149680e-02 -4.23165301e-04 9.96439063e-01 -6.16661183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50864 meters 0.028867274313315584 Centerline is valid? [True, True] Translation: X:93.14, Y:-43.31, Z:-6.17 [[ 7.38133550e-01 6.71704067e-01 6.30278423e-02 9.31356786e+01] [-6.69344161e-01 7.40819284e-01 -5.62599527e-02 -4.33149653e+01] [-8.44822800e-02 -6.59959624e-04 9.96424763e-01 -6.16735275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53864 meters 0.028955025173957774 Centerline is valid? [True, True] Translation: X:93.16, Y:-43.33, Z:-6.17 [[ 7.37231170e-01 6.72753806e-01 6.23900521e-02 9.31617578e+01] [-6.70440434e-01 7.39866058e-01 -5.57480093e-02 -4.33346967e+01] [-8.36649674e-02 -7.29643469e-04 9.96493673e-01 -6.16912367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56864 meters 0.02881107013970398 Centerline is valid? [True, True] Translation: X:93.19, Y:-43.35, Z:-6.17 [[ 7.36706027e-01 6.73418690e-01 6.14125256e-02 9.31884113e+01] [-6.71175157e-01 7.39260916e-01 -5.49290973e-02 -4.33538122e+01] [-8.23901607e-02 -7.51964480e-04 9.96599868e-01 -6.17175840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59863999999999 meters 0.029056030559360766 Centerline is valid? [True, True] Translation: X:93.22, Y:-43.37, Z:-6.17 [[ 7.35912738e-01 6.74310012e-01 6.11428598e-02 9.32164749e+01] [-6.72085824e-01 7.38447926e-01 -5.47293889e-02 -4.33713573e+01] [-8.20553930e-02 -8.17194847e-04 9.96627435e-01 -6.17414139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters 0.02897974790729658 Centerline is valid? [True, True] Translation: X:93.24, Y:-43.39, Z:-6.18 [[ 7.35736976e-01 6.74439975e-01 6.18208816e-02 9.32426027e+01] [-6.72163955e-01 7.38329229e-01 -5.53675630e-02 -4.33909303e+01] [-8.29862617e-02 -8.17804868e-04 9.96550356e-01 -6.17625916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65863999999999 meters 0.029091620444796393 Centerline is valid? [True, True] Translation: X:93.27, Y:-43.41, Z:-6.18 [[ 7.34887011e-01 6.75305179e-01 6.24819572e-02 9.32708703e+01] [-6.72979656e-01 7.37537874e-01 -5.60023758e-02 -4.34082019e+01] [-8.39015043e-02 -8.93667485e-04 9.96473652e-01 -6.17823824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999999 meters 0.02921252083448895 Centerline is valid? [True, True] Translation: X:93.30, Y:-43.43, Z:-6.18 [[ 7.34696301e-01 6.75522107e-01 6.23797119e-02 9.32973564e+01] [-6.73203594e-01 7.37339179e-01 -5.59272455e-02 -4.34275936e+01] [-8.37750963e-02 -9.04705900e-04 9.96484277e-01 -6.18023893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71864 meters 0.029039424618952408 Centerline is valid? [True, True] Translation: X:93.32, Y:-43.45, Z:-6.18 [[ 7.34617209e-01 6.75645060e-01 6.19783053e-02 9.33234403e+01] [-6.73355164e-01 7.37226523e-01 -5.55866617e-02 -4.34460239e+01] [-8.32489039e-02 -8.98493661e-04 9.96528380e-01 -6.18290671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74864 meters 0.02907706322880109 Centerline is valid? [True, True] Translation: X:93.35, Y:-43.46, Z:-6.19 [[ 7.34507784e-01 6.75728250e-01 6.23670319e-02 9.33510162e+01] [-6.73408576e-01 7.37150267e-01 -5.59497367e-02 -4.34628468e+01] [-8.37806919e-02 -9.02976979e-04 9.96483808e-01 -6.18520920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77864 meters 0.02910319129923533 Centerline is valid? [True, True] Translation: X:93.38, Y:-43.48, Z:-6.19 [[ 7.34793118e-01 6.75490248e-01 6.15792071e-02 9.33770411e+01] [-6.73226907e-01 7.37368426e-01 -5.52570029e-02 -4.34824326e+01] [-8.27321296e-02 -8.54313689e-04 9.96571455e-01 -6.18786420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80864 meters 0.028776082945466092 Centerline is valid? [True, True] Translation: X:93.40, Y:-43.50, Z:-6.19 [[ 7.35551096e-01 6.74661737e-01 6.16127105e-02 9.34029662e+01] [-6.72391845e-01 7.38126667e-01 -5.53012643e-02 -4.35015521e+01] [-8.27876317e-02 -7.50978480e-04 9.96566929e-01 -6.18903844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83864 meters 0.029093638878866727 Centerline is valid? [True, True] Translation: X:93.43, Y:-43.52, Z:-6.19 [[ 7.38057005e-01 6.71896790e-01 6.18592017e-02 9.34305144e+01] [-6.69597754e-01 7.40644664e-01 -5.55367501e-02 -4.35185747e+01] [-8.31306517e-02 -4.31495086e-04 9.96538564e-01 -6.19215033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86864 meters 0.029339838325884583 Centerline is valid? [True, True] Translation: X:93.46, Y:-43.54, Z:-6.19 [[ 7.39982927e-01 6.69700255e-01 6.26644744e-02 9.34558560e+01] [-6.67331938e-01 7.42631495e-01 -5.62720904e-02 -4.35376465e+01] [-8.42220455e-02 -1.77618923e-04 9.96446996e-01 -6.19480125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89864 meters 0.02944916788720777 Centerline is valid? [True, True] Translation: X:93.48, Y:-43.56, Z:-6.20 [[ 7.43630916e-01 6.65673864e-01 6.23808261e-02 9.34812228e+01] [-6.63312169e-01 7.46242739e-01 -5.60244574e-02 -4.35556074e+01] [-8.38452556e-02 2.83557470e-04 9.96478747e-01 -6.19666174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92864 meters 0.02961343308738683 Centerline is valid? [True, True] Translation: X:93.51, Y:-43.58, Z:-6.20 [[ 7.45069998e-01 6.64096742e-01 6.20178564e-02 9.35051704e+01] [-6.61756453e-01 7.47646508e-01 -5.57054361e-02 -4.35760146e+01] [-8.33612325e-02 4.63732460e-04 9.96519287e-01 -6.19894851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95864 meters 0.029900889123094333 Centerline is valid? [True, True] Translation: X:93.53, Y:-43.60, Z:-6.20 [[ 7.46973451e-01 6.61989862e-01 6.16448458e-02 9.35297797e+01] [-6.59669937e-01 7.49512463e-01 -5.53772667e-02 -4.35958887e+01] [-8.28627694e-02 7.00096450e-04 9.96560721e-01 -6.20067205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters 0.030194009811024332 Centerline is valid? [True, True] Translation: X:93.55, Y:-43.61, Z:-6.20 [[ 7.49754317e-01 6.58842711e-01 6.16015061e-02 9.35543140e+01] [-6.56515007e-01 7.52279985e-01 -5.53431977e-02 -4.36146976e+01] [-8.28040425e-02 1.05148821e-03 9.96565294e-01 -6.20212925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01863999999999 meters 0.030473250185285242 Centerline is valid? [True, True] Translation: X:93.58, Y:-43.63, Z:-6.20 [[ 7.51649291e-01 6.56801768e-01 6.02891433e-02 9.35766305e+01] [-6.54565936e-01 7.54062252e-01 -5.41623047e-02 -4.36336482e+01] [-8.10356647e-02 1.24783842e-03 9.96710421e-01 -6.20301704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999999 meters 0.031180131541901693 Centerline is valid? [True, True] Translation: X:93.60, Y:-43.66, Z:-6.21 [[ 7.55149919e-01 6.52700846e-01 6.10754099e-02 9.35986774e+01] [-6.50393173e-01 7.57613814e-01 -5.48637423e-02 -4.36550244e+01] [-8.20811852e-02 1.70732090e-03 9.96624184e-01 -6.20587615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07864 meters 0.031865722671667984 Centerline is valid? [True, True] Translation: X:93.62, Y:-43.68, Z:-6.21 [[ 7.57557569e-01 6.49964899e-01 6.04331044e-02 9.36209663e+01] [-6.47696881e-01 7.59961642e-01 -5.42867624e-02 -4.36754869e+01] [-8.12113313e-02 1.98301452e-03 9.96694932e-01 -6.20731745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10864 meters 0.032447635262241384 Centerline is valid? [True, True] Translation: X:93.64, Y:-43.70, Z:-6.21 [[ 7.59769968e-01 6.47307798e-01 6.11736046e-02 9.36433142e+01] [-6.44974989e-01 7.62225255e-01 -5.49538344e-02 -4.36973134e+01] [-8.22001119e-02 2.29682811e-03 9.96613198e-01 -6.21089442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13864 meters 0.033424923080910614 Centerline is valid? [True, True] Translation: X:93.66, Y:-43.72, Z:-6.21 [[ 7.63486015e-01 6.42989234e-01 6.04479045e-02 9.36637896e+01] [-6.40697388e-01 7.65870329e-01 -5.43092583e-02 -4.37219936e+01] [-8.12155249e-02 2.73554468e-03 9.96692809e-01 -6.21189656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16864 meters 0.0340167408575194 Centerline is valid? [True, True] Translation: X:93.69, Y:-43.75, Z:-6.21 [[ 7.64695037e-01 6.41535032e-01 6.06160243e-02 9.36859500e+01] [-6.39224966e-01 7.67088232e-01 -5.44709822e-02 -4.37455369e+01] [-8.14428822e-02 2.90641369e-03 9.96673773e-01 -6.21389814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19864 meters 0.03362384540808821 Centerline is valid? [True, True] Translation: X:93.70, Y:-43.77, Z:-6.21 [[ 7.64106964e-01 6.42281655e-01 6.01233970e-02 9.37042852e+01] [-6.40010146e-01 7.66463535e-01 -5.40431526e-02 -4.37728717e+01] [-8.07933169e-02 2.81516514e-03 9.96726901e-01 -6.21463464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22864 meters 0.0335794580540132 Centerline is valid? [True, True] Translation: X:93.73, Y:-43.80, Z:-6.22 [[ 7.63764677e-01 6.42781903e-01 5.91180446e-02 9.37257966e+01] [-6.40585916e-01 7.66044369e-01 -5.31573977e-02 -4.37976498e+01] [-7.94556584e-02 2.72955596e-03 9.96834664e-01 -6.21598509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25864 meters 0.033378276411079356 Centerline is valid? [True, True] Translation: X:93.75, Y:-43.82, Z:-6.22 [[ 7.62777695e-01 6.43945477e-01 5.91980614e-02 9.37463114e+01] [-6.41746002e-01 7.65066892e-01 -5.32420900e-02 -4.38223177e+01] [-7.95754798e-02 2.62175945e-03 9.96825396e-01 -6.21868504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28864 meters 0.033045145129090535 Centerline is valid? [True, True] Translation: X:93.76, Y:-43.85, Z:-6.22 [[ 7.60645125e-01 6.46416763e-01 5.97022769e-02 9.37639249e+01] [-6.44186118e-01 7.62980759e-01 -5.37085447e-02 -4.38508936e+01] [-8.02697921e-02 2.39376467e-03 9.96770300e-01 -6.22069470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31864 meters 0.03268547218555856 Centerline is valid? [True, True] Translation: X:93.78, Y:-43.88, Z:-6.22 [[ 7.59357580e-01 6.47911107e-01 5.98937694e-02 9.37849209e+01] [-6.45669681e-01 7.61712624e-01 -5.38938010e-02 -4.38761245e+01] [-8.05402325e-02 2.25307531e-03 9.96748812e-01 -6.22227183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters 0.03204936226120987 Centerline is valid? [True, True] Translation: X:93.80, Y:-43.90, Z:-6.22 [[ 7.56224240e-01 6.51519970e-01 6.03873202e-02 9.38037669e+01] [-6.49250994e-01 7.58629100e-01 -5.43602328e-02 -4.39032337e+01] [-8.12283556e-02 1.90199806e-03 9.96693703e-01 -6.22390496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37863999999999 meters 0.03203302566699289 Centerline is valid? [True, True] Translation: X:93.83, Y:-43.93, Z:-6.23 [[ 7.54730317e-01 6.53273618e-01 6.01309373e-02 9.38256908e+01] [-6.51025721e-01 7.57119904e-01 -5.41752773e-02 -4.39266044e+01] [-8.09176089e-02 1.74093735e-03 9.96719273e-01 -6.22535702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters 0.03159124504024004 Centerline is valid? [True, True] Translation: X:93.85, Y:-43.95, Z:-6.23 [[ 7.53102759e-01 6.55170574e-01 5.98978521e-02 9.38481591e+01] [-6.52943010e-01 7.55479374e-01 -5.40031619e-02 -4.39503507e+01] [-8.06328745e-02 1.56004640e-03 9.96742648e-01 -6.22766157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43863999999999 meters 0.03133697659872978 Centerline is valid? [True, True] Translation: X:93.87, Y:-43.97, Z:-6.23 [[ 7.50050324e-01 6.58653871e-01 5.99965742e-02 9.38702518e+01] [-6.56427986e-01 7.52445095e-01 -5.41172636e-02 -4.39745261e+01] [-8.07886731e-02 1.20724069e-03 9.96730522e-01 -6.22874786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46864 meters 0.03093627851820463 Centerline is valid? [True, True] Translation: X:93.89, Y:-44.00, Z:-6.23 [[ 7.48927400e-01 6.59937327e-01 5.99205612e-02 9.38935063e+01] [-6.57717359e-01 7.51319844e-01 -5.40959194e-02 -4.39970132e+01] [-8.07194231e-02 1.10312303e-03 9.96736253e-01 -6.23101748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49864 meters 0.030994583341113296 Centerline is valid? [True, True] Translation: X:93.92, Y:-44.02, Z:-6.23 [[ 7.46990586e-01 6.62111726e-01 6.01092892e-02 9.39166788e+01] [-6.59880867e-01 7.49404590e-01 -5.43139198e-02 -4.40193162e+01] [-8.10080604e-02 9.07016902e-04 9.96713034e-01 -6.23175009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52864 meters 0.030941142683321547 Centerline is valid? [True, True] Translation: X:93.94, Y:-44.04, Z:-6.23 [[ 7.46465314e-01 6.62654841e-01 6.06473085e-02 9.39417367e+01] [-6.60381435e-01 7.48924404e-01 -5.48506878e-02 -4.40413228e+01] [-8.17673232e-02 8.93779313e-04 9.96651045e-01 -6.23341721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55864 meters 0.03095946909696632 Centerline is valid? [True, True] Translation: X:93.97, Y:-44.06, Z:-6.24 [[ 7.46333734e-01 6.62834142e-01 6.03063676e-02 9.39671632e+01] [-6.60582387e-01 7.48765698e-01 -5.45970573e-02 -4.40629947e+01] [-8.13441331e-02 9.10301344e-04 9.96685659e-01 -6.23512770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58864 meters 0.030998222895844037 Centerline is valid? [True, True] Translation: X:93.99, Y:-44.08, Z:-6.24 [[ 7.47087192e-01 6.62067900e-01 5.93870685e-02 9.39925910e+01] [-6.59877637e-01 7.49443165e-01 -5.38186510e-02 -4.40834943e+01] [-8.01388338e-02 1.01902639e-03 9.96783191e-01 -6.23759057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61864 meters 0.03110593988692421 Centerline is valid? [True, True] Translation: X:94.02, Y:-44.10, Z:-6.24 [[ 7.47586063e-01 6.61529171e-01 5.91120463e-02 9.40181165e+01] [-6.59353219e-01 7.49918608e-01 -5.36228791e-02 -4.41042132e+01] [-7.98023222e-02 1.11199902e-03 9.96810089e-01 -6.23863806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64864 meters 0.031334305885038286 Centerline is valid? [True, True] Translation: X:94.04, Y:-44.12, Z:-6.24 [[ 7.49726323e-01 6.59085930e-01 5.92973632e-02 9.40429697e+01] [-6.56884481e-01 7.52066309e-01 -5.38427889e-02 -4.41243122e+01] [-8.00825736e-02 1.41583849e-03 9.96787227e-01 -6.23906037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67864 meters 0.031796744538016515 Centerline is valid? [True, True] Translation: X:94.07, Y:-44.15, Z:-6.24 [[ 7.51235170e-01 6.57401649e-01 5.88964366e-02 9.40672306e+01] [-6.55221080e-01 7.53538618e-01 -5.35246464e-02 -4.41461663e+01] [-7.95679303e-02 1.61941008e-03 9.96828131e-01 -6.24068149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70864 meters 0.03222569639863034 Centerline is valid? [True, True] Translation: X:94.09, Y:-44.17, Z:-6.24 [[ 7.54105700e-01 6.54109316e-01 5.88693093e-02 9.40895775e+01] [-6.51917040e-01 7.56397380e-01 -5.35460238e-02 -4.41691063e+01] [-7.95535443e-02 2.00145587e-03 9.96828585e-01 -6.24284890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73863999999999 meters 0.03261009067887667 Centerline is valid? [True, True] Translation: X:94.11, Y:-44.19, Z:-6.24 [[ 7.55563889e-01 6.52479923e-01 5.82508328e-02 9.41129796e+01] [-6.50325179e-01 7.57802863e-01 -5.30281323e-02 -4.41908481e+01] [-7.87424395e-02 2.18415863e-03 9.96892601e-01 -6.24452962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters 0.0331052479594639 Centerline is valid? [True, True] Translation: X:94.14, Y:-44.21, Z:-6.25 [[ 7.56680088e-01 6.51234505e-01 5.76963035e-02 9.41368169e+01] [-6.49113595e-01 7.58872988e-01 -5.25673674e-02 -4.42129506e+01] [-7.80178498e-02 2.32522521e-03 9.96949251e-01 -6.24675482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79863999999999 meters 0.033116809710009645 Centerline is valid? [True, True] Translation: X:94.16, Y:-44.24, Z:-6.25 [[ 7.58245242e-01 6.49494144e-01 5.67583455e-02 9.41579456e+01] [-6.47434067e-01 7.60362513e-01 -5.17491901e-02 -4.42379708e+01] [-7.67677142e-02 2.49129076e-03 9.97045892e-01 -6.24846227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82864 meters 0.033442241482866196 Centerline is valid? [True, True] Translation: X:94.18, Y:-44.26, Z:-6.25 [[ 7.58961152e-01 6.48589085e-01 5.75340626e-02 9.41801100e+01] [-6.46467840e-01 7.61134187e-01 -5.24793405e-02 -4.42618959e+01] [-7.78286694e-02 2.63585956e-03 9.96963264e-01 -6.25098141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85864 meters 0.03415769349731955 Centerline is valid? [True, True] Translation: X:94.20, Y:-44.29, Z:-6.25 [[ 7.61231422e-01 6.45925719e-01 5.75038097e-02 9.41997485e+01] [-6.43796271e-01 7.63394624e-01 -5.24881899e-02 -4.42886274e+01] [-7.78015710e-02 2.93492118e-03 9.96964544e-01 -6.25204002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88864 meters 0.03428891267148552 Centerline is valid? [True, True] Translation: X:94.22, Y:-44.31, Z:-6.25 [[ 7.61807210e-01 6.45239753e-01 5.75798278e-02 9.42210830e+01] [-6.43101185e-01 7.63974160e-01 -5.25770796e-02 -4.43122803e+01] [-7.79143224e-02 3.02394282e-03 9.96955473e-01 -6.25345158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91864 meters 0.03503260694774344 Centerline is valid? [True, True] Translation: X:94.24, Y:-44.34, Z:-6.26 [[ 7.63020478e-01 6.43715176e-01 5.85706616e-02 9.42432157e+01] [-6.41494418e-01 7.65258191e-01 -5.35239559e-02 -4.43361007e+01] [-7.92758612e-02 3.26712197e-03 9.96847362e-01 -6.25665403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94864 meters 0.03510861298003165 Centerline is valid? [True, True] Translation: X:94.26, Y:-44.36, Z:-6.26 [[ 7.63951525e-01 6.42653444e-01 5.80914552e-02 9.42641578e+01] [-6.40462514e-01 7.66149535e-01 -5.31286887e-02 -4.43603044e+01] [-7.86500762e-02 3.38234333e-03 9.96896547e-01 -6.25823075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97864 meters 0.03563739698238766 Centerline is valid? [True, True] Translation: X:94.28, Y:-44.39, Z:-6.26 [[ 7.65976570e-01 6.40378411e-01 5.65277367e-02 9.42825627e+01] [-6.38294666e-01 7.68051357e-01 -5.17400503e-02 -4.43876960e+01] [-7.65494160e-02 3.55031347e-03 9.97059468e-01 -6.26026622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00864 meters 0.035648074151387675 Centerline is valid? [True, True] Translation: X:94.30, Y:-44.42, Z:-6.26 [[ 7.66562112e-01 6.39779817e-01 5.53562516e-02 9.43004548e+01] [-6.37777048e-01 7.68549977e-01 -5.07086808e-02 -4.44157269e+01] [-7.49864364e-02 3.56640669e-03 9.97178176e-01 -6.26120634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03864 meters 0.035335427760175106 Centerline is valid? [True, True] Translation: X:94.32, Y:-44.44, Z:-6.26 [[ 7.66377289e-01 6.40098615e-01 5.42182086e-02 9.43212442e+01] [-6.38175322e-01 7.68284819e-01 -4.97060947e-02 -4.44408901e+01] [-7.34718289e-02 3.49289941e-03 9.97291176e-01 -6.26230150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06864 meters 0.035335427760175106 Centerline is valid? [True, True] Translation: X:94.35, Y:-44.46, Z:-6.26 [[ 7.66076859e-01 6.40459911e-01 5.41973148e-02 9.43454505e+01] [-6.38535913e-01 7.67983677e-01 -4.97288678e-02 -4.44626590e+01] [-7.34719994e-02 3.48920297e-03 9.97291177e-01 -6.26421171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09863999999999 meters 0.03488590862457002 Centerline is valid? [True, True] Translation: X:94.37, Y:-44.49, Z:-6.27 [[ 7.64811994e-01 6.42013344e-01 5.36794136e-02 9.43651753e+01] [-6.40126505e-01 7.66686176e-01 -4.92987273e-02 -4.44881233e+01] [-7.28057052e-02 3.34264252e-03 9.97340542e-01 -6.26617455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12863999999999 meters 0.03372743306292484 Centerline is valid? [True, True] Translation: X:94.38, Y:-44.52, Z:-6.27 [[ 7.61764819e-01 6.45496975e-01 5.52088400e-02 9.43793571e+01] [-6.43507306e-01 7.63756438e-01 -5.07390404e-02 -4.45197122e+01] [-7.49180041e-02 3.12392398e-03 9.97184804e-01 -6.26977305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15863999999999 meters 0.03288610699261176 Centerline is valid? [True, True] Translation: X:94.40, Y:-44.55, Z:-6.27 [[ 7.59495580e-01 6.48164045e-01 5.52253127e-02 9.43983738e+01] [-6.46178951e-01 7.61495310e-01 -5.07706231e-02 -4.45465202e+01] [-7.49615090e-02 2.87462924e-03 9.97182285e-01 -6.27139291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18863999999999 meters 0.031383502116162636 Centerline is valid? [True, True] Translation: X:94.41, Y:-44.58, Z:-6.27 [[ 7.53597793e-01 6.54863149e-01 5.69615824e-02 9.44131806e+01] [-6.52767059e-01 7.55743953e-01 -5.24046259e-02 -4.45770078e+01] [-7.73662298e-02 2.30936579e-03 9.97000067e-01 -6.27265558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21864 meters 0.030751582546797246 Centerline is valid? [True, True] Translation: X:94.43, Y:-44.60, Z:-6.27 [[ 7.50365248e-01 6.58530250e-01 5.73576941e-02 9.44339180e+01] [-6.56414334e-01 7.52551713e-01 -5.27839159e-02 -4.46026533e+01] [-7.79244363e-02 1.95680355e-03 9.96957348e-01 -6.27491559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24864 meters 0.03005066423133906 Centerline is valid? [True, True] Translation: X:94.45, Y:-44.63, Z:-6.28 [[ 7.47212319e-01 6.62142152e-01 5.69343542e-02 9.44542087e+01] [-6.60066008e-01 7.49376576e-01 -5.24176671e-02 -4.46284122e+01] [-7.73732183e-02 1.58669469e-03 9.97000937e-01 -6.27575519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27864 meters 0.028976298656074307 Centerline is valid? [True, True] Translation: X:94.47, Y:-44.66, Z:-6.28 [[ 7.40853121e-01 6.69178205e-01 5.77683488e-02 9.44706835e+01] [-6.67058760e-01 7.43101423e-01 -5.32248595e-02 -4.46575101e+01] [-7.85446582e-02 8.96920221e-04 9.96910193e-01 -6.27799685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30864 meters 0.02876810367575566 Centerline is valid? [True, True] Translation: X:94.49, Y:-44.68, Z:-6.28 [[ 7.37677098e-01 6.72612561e-01 5.85221454e-02 9.44922609e+01] [-6.70446044e-01 7.39994616e-01 -5.39450679e-02 -4.46817150e+01] [-7.95902028e-02 5.58100252e-04 9.96827512e-01 -6.28056430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33864 meters 0.028517736911218387 Centerline is valid? [True, True] Translation: X:94.51, Y:-44.71, Z:-6.28 [[ 7.32050265e-01 6.78560619e-01 6.04805373e-02 9.45130774e+01] [-6.76262260e-01 7.34544405e-01 -5.58020820e-02 -4.47059703e+01] [-8.22907356e-02 -5.07759582e-05 9.96608365e-01 -6.28251106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36864 meters 0.028552256654682712 Centerline is valid? [True, True] Translation: X:94.54, Y:-44.73, Z:-6.28 [[ 7.29236895e-01 6.81555608e-01 6.07906614e-02 9.45375170e+01] [-6.79239485e-01 7.31766240e-01 -5.61417178e-02 -4.47279782e+01] [-8.27482563e-02 -3.50805535e-04 9.96570421e-01 -6.28328867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39864 meters 0.02860496464315999 Centerline is valid? [True, True] Translation: X:94.56, Y:-44.75, Z:-6.29 [[ 7.26202044e-01 6.84834261e-01 6.02712692e-02 9.45617240e+01] [-6.82564041e-01 7.28698552e-01 -5.57202895e-02 -4.47502577e+01] [-8.20787499e-02 -6.74812884e-04 9.96625619e-01 -6.28583098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42864 meters 0.028786055524344316 Centerline is valid? [True, True] Translation: X:94.59, Y:-44.77, Z:-6.29 [[ 7.23146412e-01 6.88147062e-01 5.92696209e-02 9.45860990e+01] [-6.85958223e-01 7.25570562e-01 -5.48514055e-02 -4.47721561e+01] [-8.07501256e-02 -9.90886715e-04 9.96733884e-01 -6.28747386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45864 meters 0.029002325701121053 Centerline is valid? [True, True] Translation: X:94.61, Y:-44.79, Z:-6.29 [[ 7.21284627e-01 6.89957884e-01 6.08819001e-02 9.46100130e+01] [-6.87649707e-01 7.23848546e-01 -5.64018069e-02 -4.47936630e+01] [-8.29841462e-02 -1.18366450e-03 9.96550165e-01 -6.28962674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters 0.029210004425494398 Centerline is valid? [True, True] Translation: X:94.64, Y:-44.81, Z:-6.29 [[ 7.19968035e-01 6.91231154e-01 6.20122604e-02 9.46351016e+01] [-6.88836468e-01 7.22632520e-01 -5.75026993e-02 -4.48136683e+01] [-8.45597332e-02 -1.31620105e-03 9.96417543e-01 -6.29210496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51863999999999 meters 0.02902307800486029 Centerline is valid? [True, True] Translation: X:94.66, Y:-44.84, Z:-6.29 [[ 7.20077210e-01 6.91135459e-01 6.18109114e-02 9.46594773e+01] [-6.88752366e-01 7.22724127e-01 -5.73586444e-02 -4.48353518e+01] [-8.43148301e-02 -1.26975885e-03 9.96438356e-01 -6.29412774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999999 meters 0.0289615425960258 Centerline is valid? [True, True] Translation: X:94.68, Y:-44.86, Z:-6.30 [[ 7.20113680e-01 6.91097147e-01 6.18144067e-02 9.46842322e+01] [-6.88711837e-01 7.22760798e-01 -5.73832238e-02 -4.48573567e+01] [-8.43344121e-02 -1.24986919e-03 9.96436724e-01 -6.29638205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57864 meters 0.028906791366472312 Centerline is valid? [True, True] Translation: X:94.71, Y:-44.88, Z:-6.30 [[ 7.20581019e-01 6.90562202e-01 6.23445298e-02 9.47107759e+01] [-6.88130497e-01 7.23272062e-01 -5.79132355e-02 -4.48777866e+01] [-8.50847480e-02 -1.16999401e-03 9.96373031e-01 -6.29831037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60864 meters 0.028831233050017026 Centerline is valid? [True, True] Translation: X:94.74, Y:-44.90, Z:-6.30 [[ 7.21063629e-01 6.90096523e-01 6.19195639e-02 9.47370436e+01] [-6.87691222e-01 7.23716558e-01 -5.75771446e-02 -4.48967464e+01] [-8.45460009e-02 -1.06475572e-03 9.96419008e-01 -6.30012860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63864 meters 0.028980296334564816 Centerline is valid? [True, True] Translation: X:94.76, Y:-44.92, Z:-6.30 [[ 7.20600882e-01 6.90570331e-01 6.20240793e-02 9.47614294e+01] [-6.88153902e-01 7.23264438e-01 -5.77300542e-02 -4.49186879e+01] [-8.47264735e-02 -1.08178422e-03 9.96403660e-01 -6.30161527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66864 meters 0.028956520584401912 Centerline is valid? [True, True] Translation: X:94.79, Y:-44.94, Z:-6.30 [[ 7.20079248e-01 6.91053612e-01 6.26959473e-02 9.47852844e+01] [-6.88581151e-01 7.22802655e-01 -5.84150609e-02 -4.49398921e+01] [-8.56847360e-02 -1.10777446e-03 9.96321684e-01 -6.30346781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69864 meters 0.029196657843942705 Centerline is valid? [True, True] Translation: X:94.81, Y:-44.96, Z:-6.31 [[ 7.19134169e-01 6.92023385e-01 6.28464952e-02 9.48097969e+01] [-6.89537853e-01 7.21874109e-01 -5.86115978e-02 -4.49612891e+01] [-8.59278540e-02 -1.18543470e-03 9.96300657e-01 -6.30550063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72864 meters 0.029063672008278234 Centerline is valid? [True, True] Translation: X:94.84, Y:-44.98, Z:-6.31 [[ 7.18102605e-01 6.93043525e-01 6.33981120e-02 9.48353687e+01] [-6.90512826e-01 7.20894614e-01 -5.91860849e-02 -4.49810819e+01] [-8.67218904e-02 -1.27552767e-03 9.96231744e-01 -6.30682648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75864 meters 0.02921187594554242 Centerline is valid? [True, True] Translation: X:94.86, Y:-45.00, Z:-6.31 [[ 7.16900080e-01 6.94352245e-01 6.26836103e-02 9.48599747e+01] [-6.91878541e-01 7.19633979e-01 -5.85749249e-02 -4.50024023e+01] [-8.57808864e-02 -1.37707650e-03 9.96313075e-01 -6.30886003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78864 meters 0.029324039648304885 Centerline is valid? [True, True] Translation: X:94.88, Y:-45.02, Z:-6.31 [[ 7.16798544e-01 6.94490597e-01 6.23109726e-02 9.48849852e+01] [-6.92041557e-01 7.19500529e-01 -5.82878342e-02 -4.50245387e+01] [-8.53131305e-02 -1.34114786e-03 9.96353286e-01 -6.30998319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81864 meters 0.02913140374036236 Centerline is valid? [True, True] Translation: X:94.91, Y:-45.05, Z:-6.31 [[ 7.16894178e-01 6.94443720e-01 6.17305275e-02 9.49091852e+01] [-6.92035081e-01 7.19545884e-01 -5.78028326e-02 -4.50463929e+01] [-8.45587610e-02 -1.28117645e-03 9.96417671e-01 -6.31186480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84863999999999 meters 0.029091355344113574 Centerline is valid? [True, True] Translation: X:94.93, Y:-45.07, Z:-6.31 [[ 7.17371542e-01 6.94048330e-01 6.06216717e-02 9.49327471e+01] [-6.91719881e-01 7.19927451e-01 -5.68161105e-02 -4.50681937e+01] [-8.30763323e-02 -1.17495479e-03 9.96542494e-01 -6.31344438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87863999999999 meters 0.02904037196926476 Centerline is valid? [True, True] Translation: X:94.96, Y:-45.09, Z:-6.32 [[ 7.19286483e-01 6.91974528e-01 6.16295999e-02 9.49560648e+01] [-6.89555515e-01 7.21921342e-01 -5.78166778e-02 -4.50920921e+01] [-8.44993918e-02 -9.10275665e-04 9.96423115e-01 -6.31601201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90863999999999 meters 0.028846847498318128 Centerline is valid? [True, True] Translation: X:94.98, Y:-45.11, Z:-6.32 [[ 7.20723764e-01 6.90614812e-01 6.00702702e-02 9.49787747e+01] [-6.88307479e-01 7.23222444e-01 -5.64101915e-02 -4.51145321e+01] [-8.24018815e-02 -6.90650775e-04 9.96598943e-01 -6.31702426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93863999999999 meters 0.028918890473970428 Centerline is valid? [True, True] Translation: X:95.00, Y:-45.14, Z:-6.32 [[ 7.20484024e-01 6.90894143e-01 5.97331913e-02 9.50024673e+01] [-6.88609233e-01 7.22955615e-01 -5.61471609e-02 -4.51371376e+01] [-8.19761906e-02 -6.79694580e-04 9.96634056e-01 -6.31786047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96864 meters 0.028820227268423784 Centerline is valid? [True, True] Translation: X:95.03, Y:-45.16, Z:-6.32 [[ 7.19137240e-01 6.92265960e-01 6.00788664e-02 9.50252896e+01] [-6.89954496e-01 7.21642018e-01 -5.65295636e-02 -4.51598995e+01] [-8.24889270e-02 -7.99169609e-04 9.96591661e-01 -6.31912625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99864 meters 0.029072839767732943 Centerline is valid? [True, True] Translation: X:95.05, Y:-45.18, Z:-6.32 [[ 7.17715966e-01 6.93669323e-01 6.08823629e-02 9.50486698e+01] [-6.91296057e-01 7.20292993e-01 -5.73390420e-02 -4.51824522e+01] [-8.36274739e-02 -9.34591402e-04 9.96496649e-01 -6.32163875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02864 meters 0.02900139912727886 Centerline is valid? [True, True] Translation: X:95.07, Y:-45.20, Z:-6.32 [[ 7.16172556e-01 6.95389364e-01 5.94180393e-02 9.50716340e+01] [-6.93131584e-01 7.18632361e-01 -5.60012200e-02 -4.52049958e+01] [-8.16423787e-02 -1.07798290e-03 9.96661106e-01 -6.32266433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05864 meters 0.028968887971680866 Centerline is valid? [True, True] Translation: X:95.09, Y:-45.23, Z:-6.33 [[ 7.15115458e-01 6.96548624e-01 5.85653224e-02 9.50939929e+01] [-6.94356827e-01 7.17508635e-01 -5.52263967e-02 -4.52291210e+01] [-8.04889952e-02 -1.17198151e-03 9.96754808e-01 -6.32503708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08864 meters 0.029021450950822487 Centerline is valid? [True, True] Translation: X:95.12, Y:-45.25, Z:-6.33 [[ 7.14484313e-01 6.97213242e-01 5.83597634e-02 9.51179540e+01] [-6.95034356e-01 7.16862786e-01 -5.50907468e-02 -4.52524896e+01] [-8.02459408e-02 -1.20056623e-03 9.96774371e-01 -6.32617398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11864 meters 0.02879148298972385 Centerline is valid? [True, True] Translation: X:95.14, Y:-45.27, Z:-6.33 [[ 7.13805408e-01 6.97904294e-01 5.84075074e-02 9.51419169e+01] [-6.95719451e-01 7.16189965e-01 -5.51940141e-02 -4.52749871e+01] [-8.03510101e-02 -1.23745329e-03 9.96765862e-01 -6.32767230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14864 meters 0.028827010143712552 Centerline is valid? [True, True] Translation: X:95.17, Y:-45.30, Z:-6.33 [[ 7.13180591e-01 6.98568883e-01 5.80944066e-02 9.51661363e+01] [-6.96405018e-01 7.15541695e-01 -5.49557364e-02 -4.52970102e+01] [-7.99593377e-02 -1.26387175e-03 9.96797325e-01 -6.32907619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17864 meters 0.028901369717888776 Centerline is valid? [True, True] Translation: X:95.19, Y:-45.32, Z:-6.33 [[ 7.12393249e-01 6.99341669e-01 5.84558792e-02 9.51902362e+01] [-6.97148600e-01 7.14786329e-01 -5.53564209e-02 -4.53188214e+01] [-8.04965151e-02 -1.31689382e-03 9.96754020e-01 -6.33146125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20864 meters 0.029018986052453608 Centerline is valid? [True, True] Translation: X:95.21, Y:-45.34, Z:-6.33 [[ 7.10579858e-01 7.01080957e-01 5.96804634e-02 9.52137746e+01] [-6.98796181e-01 7.13080101e-01 -5.65744353e-02 -4.53408575e+01] [-8.22202101e-02 -1.50382567e-03 9.96613052e-01 -6.33408905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23863999999999 meters 0.029031698384457353 Centerline is valid? [True, True] Translation: X:95.24, Y:-45.36, Z:-6.34 [[ 7.09830402e-01 7.01790329e-01 6.02588901e-02 9.52373341e+01] [-6.99459113e-01 7.12381842e-01 -5.71756997e-02 -4.53625362e+01] [-8.30526922e-02 -1.56357987e-03 9.96543931e-01 -6.33601631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters 0.02915362921934008 Centerline is valid? [True, True] Translation: X:95.26, Y:-45.39, Z:-6.34 [[ 7.09410275e-01 7.02202889e-01 6.04000370e-02 9.52612918e+01] [-6.99857595e-01 7.11975153e-01 -5.73648643e-02 -4.53854310e+01] [-8.32850991e-02 -1.57620046e-03 9.96524514e-01 -6.33754615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29863999999999 meters 0.02900622454873411 Centerline is valid? [True, True] Translation: X:95.29, Y:-45.41, Z:-6.34 [[ 7.09421745e-01 7.02105527e-01 6.13890583e-02 9.52859424e+01] [-6.99676984e-01 7.12071232e-01 -5.83667537e-02 -4.54078958e+01] [-8.46930028e-02 -1.54586690e-03 9.96405894e-01 -6.33915458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32864 meters 0.02901437498115383 Centerline is valid? [True, True] Translation: X:95.31, Y:-45.43, Z:-6.34 [[ 7.09163697e-01 7.02460370e-01 6.03015765e-02 9.53097437e+01] [-7.00113725e-01 7.11721239e-01 -5.73903232e-02 -4.54298794e+01] [-8.32323404e-02 -1.51882758e-03 9.96529011e-01 -6.34067883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35864 meters 0.028900161349389497 Centerline is valid? [True, True] Translation: X:95.34, Y:-45.45, Z:-6.34 [[ 7.10107528e-01 7.01653097e-01 5.85681611e-02 9.53352765e+01] [-6.99432813e-01 7.12517450e-01 -5.57908934e-02 -4.54502327e+01] [-8.08766899e-02 -1.34696022e-03 9.96723205e-01 -6.34222464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38864 meters 0.028898454591221312 Centerline is valid? [True, True] Translation: X:95.36, Y:-45.47, Z:-6.34 [[ 7.09835456e-01 7.01956398e-01 5.82309246e-02 9.53599592e+01] [-6.99758394e-01 7.12218668e-01 -5.55225978e-02 -4.54715677e+01] [-8.04475943e-02 -1.33566976e-03 9.96757945e-01 -6.34411502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41864 meters 0.02896729311643621 Centerline is valid? [True, True] Translation: X:95.38, Y:-45.49, Z:-6.35 [[ 7.10023186e-01 7.01739246e-01 5.85585636e-02 9.53849873e+01] [-6.99510839e-01 7.12432735e-01 -5.58944083e-02 -4.54933114e+01] [-8.09423375e-02 -1.27602408e-03 9.96717969e-01 -6.34647361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44864 meters 0.028924893958412055 Centerline is valid? [True, True] Translation: X:95.41, Y:-45.51, Z:-6.35 [[ 7.10813856e-01 7.01002202e-01 5.77890556e-02 9.54096591e+01] [-6.98825155e-01 7.13158203e-01 -5.52157577e-02 -4.55145890e+01] [-7.99191067e-02 -1.13632012e-03 9.96800705e-01 -6.34890749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47864 meters 0.028875968096972 Centerline is valid? [True, True] Translation: X:95.43, Y:-45.54, Z:-6.35 [[ 7.11105756e-01 7.00691173e-01 5.79696858e-02 9.54336708e+01] [-6.98495141e-01 7.13463905e-01 -5.54418169e-02 -4.55368120e+01] [-8.02068701e-02 -1.06654871e-03 9.96777669e-01 -6.35087483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50864 meters 0.028911694028233743 Centerline is valid? [True, True] Translation: X:95.46, Y:-45.56, Z:-6.35 [[ 7.11373426e-01 7.00348710e-01 5.88178026e-02 9.54592773e+01] [-6.98081741e-01 7.13800172e-01 -5.63133924e-02 -4.55576145e+01] [-8.14231693e-02 -9.99783196e-04 9.96679120e-01 -6.35280324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53864 meters 0.028854372823368193 Centerline is valid? [True, True] Translation: X:95.48, Y:-45.58, Z:-6.35 [[ 7.11247445e-01 7.00440328e-01 5.92487896e-02 9.54842009e+01] [-6.98135308e-01 7.13710303e-01 -5.67863970e-02 -4.55787412e+01] [-8.20619541e-02 -9.74492194e-04 9.96626754e-01 -6.35442526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56864 meters 0.0289233685154093 Centerline is valid? [True, True] Translation: X:95.51, Y:-45.60, Z:-6.36 [[ 7.10724324e-01 7.00946447e-01 5.95400145e-02 9.55086989e+01] [-6.98615444e-01 7.13213214e-01 -5.71259379e-02 -4.56012574e+01] [-8.25069484e-02 -9.94780061e-04 9.96589993e-01 -6.35692095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59863999999999 meters 0.02871181335329424 Centerline is valid? [True, True] Translation: X:95.53, Y:-45.62, Z:-6.36 [[ 7.10087463e-01 7.01707561e-01 5.81574845e-02 9.55333095e+01] [-6.99481742e-01 7.12464359e-01 -5.58554430e-02 -4.56223018e+01] [-8.06293216e-02 -1.01784872e-03 9.96743636e-01 -6.35888531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters 0.028835294950114217 Centerline is valid? [True, True] Translation: X:95.56, Y:-45.64, Z:-6.36 [[ 7.08633237e-01 7.03186665e-01 5.80297368e-02 9.55596253e+01] [-7.00971266e-01 7.11004362e-01 -5.57860392e-02 -4.56428959e+01] [-8.04873948e-02 -1.14533651e-03 9.96754969e-01 -6.36183530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65863999999999 meters 0.028952508451486576 Centerline is valid? [True, True] Translation: X:95.58, Y:-45.66, Z:-6.36 [[ 7.08145643e-01 7.03597851e-01 5.89899297e-02 9.55832644e+01] [-7.01305030e-01 7.10597421e-01 -5.67676016e-02 -4.56639698e+01] [-8.18596544e-02 -1.17020469e-03 9.96643180e-01 -6.36493368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999999 meters 0.029019730447930468 Centerline is valid? [True, True] Translation: X:95.61, Y:-45.69, Z:-6.37 [[ 7.07850199e-01 7.03778609e-01 6.03636150e-02 9.56068993e+01] [-7.01373670e-01 7.10418381e-01 -5.81437720e-02 -4.56858444e+01] [-8.38037647e-02 -1.18036964e-03 9.96481578e-01 -6.36735159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71864 meters 0.02914229943437482 Centerline is valid? [True, True] Translation: X:95.63, Y:-45.71, Z:-6.37 [[ 7.08823968e-01 7.02704457e-01 6.14412629e-02 9.56325412e+01] [-7.00203744e-01 7.11481120e-01 -5.92396232e-02 -4.57071482e+01] [-8.53422458e-02 -1.03093755e-03 9.96351162e-01 -6.36880911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74864 meters 0.02917158652803664 Centerline is valid? [True, True] Translation: X:95.66, Y:-45.73, Z:-6.37 [[ 7.09349569e-01 7.02136931e-01 6.18620913e-02 9.56579301e+01] [-6.99594146e-01 7.12041345e-01 -5.97089167e-02 -4.57288163e+01] [-8.59722022e-02 -9.23862608e-04 9.96297108e-01 -6.37110797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77864 meters 0.029001664803103098 Centerline is valid? [True, True] Translation: X:95.68, Y:-45.75, Z:-6.37 [[ 7.10255990e-01 7.01394402e-01 5.98524965e-02 9.56828833e+01] [-6.99007848e-01 7.12772962e-01 -5.78163750e-02 -4.57500977e+01] [-8.32133230e-02 -7.72938076e-04 9.96531457e-01 -6.37174989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80864 meters 0.029131876997883065 Centerline is valid? [True, True] Translation: X:95.71, Y:-45.77, Z:-6.37 [[ 7.10311679e-01 7.01307345e-01 6.02106750e-02 9.57069889e+01] [-6.98889108e-01 7.12858649e-01 -5.81941742e-02 -4.57725221e+01] [-8.37337023e-02 -7.44583358e-04 9.96487889e-01 -6.37487535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83864 meters 0.029220937036277428 Centerline is valid? [True, True] Translation: X:95.73, Y:-45.79, Z:-6.38 [[ 7.10527935e-01 7.01040906e-01 6.07593824e-02 9.57319688e+01] [-6.98572067e-01 7.13120742e-01 -5.87866870e-02 -4.57944748e+01] [-8.45406482e-02 -6.75224103e-04 9.96419803e-01 -6.37720016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86864 meters 0.02944803297292425 Centerline is valid? [True, True] Translation: X:95.76, Y:-45.82, Z:-6.38 [[ 7.11257055e-01 7.00289855e-01 6.08894061e-02 9.57565310e+01] [-6.97802424e-01 7.13858406e-01 -5.89741794e-02 -4.58158362e+01] [-8.47654340e-02 -5.42973971e-04 9.96400786e-01 -6.37995679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89864 meters 0.02941530442431857 Centerline is valid? [True, True] Translation: X:95.78, Y:-45.84, Z:-6.38 [[ 7.12358804e-01 6.99178234e-01 6.07843101e-02 9.57798725e+01] [-6.96690108e-01 7.14947316e-01 -5.89341138e-02 -4.58385323e+01] [-8.46630289e-02 -3.65592752e-04 9.96409573e-01 -6.38109967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92864 meters 0.02936471980126245 Centerline is valid? [True, True] Translation: X:95.80, Y:-45.86, Z:-6.38 [[ 7.13425664e-01 6.98172012e-01 5.98302846e-02 9.58030647e+01] [-6.95753147e-01 7.15930025e-01 -5.80668403e-02 -4.58603133e+01] [-8.33749399e-02 -2.00734737e-04 9.96518228e-01 -6.38237293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95864 meters 0.02936471980126245 Centerline is valid? [True, True] Translation: X:95.83, Y:-45.88, Z:-6.38 [[ 7.13063567e-01 6.98544191e-01 5.98026988e-02 9.58266243e+01] [-6.96124250e-01 7.15566888e-01 -5.80952408e-02 -4.58827166e+01] [-8.33749241e-02 -2.04509193e-04 9.96518229e-01 -6.38428117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters 0.029660112382971105 Centerline is valid? [True, True] Translation: X:95.85, Y:-45.90, Z:-6.39 [[ 7.13039588e-01 6.98497274e-01 6.06308898e-02 9.58494231e+01] [-6.96004497e-01 7.15612698e-01 -5.89593682e-02 -4.59046999e+01] [-8.45711925e-02 -1.59008356e-04 9.96417427e-01 -6.38714445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01863999999999 meters 0.02975569342355135 Centerline is valid? [True, True] Translation: X:95.87, Y:-45.93, Z:-6.39 [[ 7.13242560e-01 6.98293479e-01 6.05909808e-02 9.58729107e+01] [-6.95798493e-01 7.15811573e-01 -5.89766895e-02 -4.59281810e+01] [-8.45547630e-02 -9.44281290e-05 9.96418829e-01 -6.38893633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999999 meters 0.02995890031002965 Centerline is valid? [True, True] Translation: X:95.90, Y:-45.95, Z:-6.39 [[ 7.12817804e-01 6.98622498e-01 6.17849808e-02 9.58954565e+01] [-6.96024059e-01 7.15490459e-01 -6.01989430e-02 -4.59502702e+01] [-8.62629001e-02 -9.29547923e-05 9.96272404e-01 -6.39190235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07864 meters 0.030033085164344005 Centerline is valid? [True, True] Translation: X:95.92, Y:-45.97, Z:-6.39 [[ 7.12948740e-01 6.98556279e-01 6.10181770e-02 9.59180373e+01] [-6.96017436e-01 7.15555115e-01 -5.95029909e-02 -4.59725326e+01] [-8.52280566e-02 -4.71327373e-05 9.96361469e-01 -6.39435102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10864 meters 0.029792991926244645 Centerline is valid? [True, True] Translation: X:95.94, Y:-46.00, Z:-6.40 [[ 7.13471029e-01 6.98109956e-01 6.00131682e-02 9.59410427e+01] [-6.95648190e-01 7.15990564e-01 -5.85756583e-02 -4.59954948e+01] [-8.38611124e-02 4.39833807e-05 9.96477452e-01 -6.39572335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13864 meters 0.029848280233315937 Centerline is valid? [True, True] Translation: X:95.96, Y:-46.02, Z:-6.40 [[ 7.13323372e-01 6.98284565e-01 5.97363673e-02 9.59641162e+01] [-6.95841477e-01 7.15820273e-01 -5.83607468e-02 -4.60196216e+01] [-8.35129114e-02 6.30426436e-05 9.96506693e-01 -6.39772169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16864 meters 0.029899440834196846 Centerline is valid? [True, True] Translation: X:95.99, Y:-46.04, Z:-6.40 [[ 7.13592016e-01 6.97938897e-01 6.05617903e-02 9.59853391e+01] [-6.95421354e-01 7.16157297e-01 -5.92272410e-02 -4.60439470e+01] [-8.47087633e-02 1.48124116e-04 9.96405742e-01 -6.40024568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19864 meters 0.029923676808633233 Centerline is valid? [True, True] Translation: X:96.01, Y:-46.07, Z:-6.40 [[ 7.13398197e-01 6.98193943e-01 5.99018403e-02 9.60075755e+01] [-6.95727499e-01 7.15908649e-01 -5.86349125e-02 -4.60665766e+01] [-8.38227863e-02 1.54683400e-04 9.96480665e-01 -6.40198350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22864 meters 0.03008180738704582 Centerline is valid? [True, True] Translation: X:96.03, Y:-46.09, Z:-6.41 [[ 7.12612557e-01 6.98926591e-01 6.07039009e-02 9.60295159e+01] [-6.96391544e-01 7.15193406e-01 -5.94744402e-02 -4.60894970e+01] [-8.49832974e-02 1.08549580e-04 9.96382370e-01 -6.40527345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25864 meters 0.030082155751660195 Centerline is valid? [True, True] Translation: X:96.05, Y:-46.11, Z:-6.41 [[ 7.11132979e-01 7.00489803e-01 6.00326801e-02 9.60501464e+01] [-6.98011695e-01 7.13662409e-01 -5.88696795e-02 -4.61138148e+01] [-8.40806774e-02 -3.93422575e-05 9.96458950e-01 -6.40612187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28864 meters 0.03005317244550002 Centerline is valid? [True, True] Translation: X:96.07, Y:-46.14, Z:-6.41 [[ 7.07934403e-01 7.03623901e-01 6.11742317e-02 9.60721527e+01] [-7.01057385e-01 7.10572489e-01 -6.00439938e-02 -4.61368040e+01] [-8.57171152e-02 -3.79438049e-04 9.96319443e-01 -6.40747800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31864 meters 0.029939020967189294 Centerline is valid? [True, True] Translation: X:96.09, Y:-46.16, Z:-6.41 [[ 7.06180353e-01 7.05501410e-01 5.98086099e-02 9.60948419e+01] [-7.03050681e-01 7.08708298e-01 -5.87561780e-02 -4.61590718e+01] [-8.38394245e-02 -5.56025375e-04 9.96479123e-01 -6.40931141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters 0.030143843956922784 Centerline is valid? [True, True] Translation: X:96.12, Y:-46.18, Z:-6.41 [[ 7.04143262e-01 7.07483348e-01 6.04117425e-02 9.61177288e+01] [-7.04985458e-01 7.06729604e-01 -5.94034559e-02 -4.61821723e+01] [-8.47217227e-02 -7.60856726e-04 9.96404361e-01 -6.41279547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37863999999999 meters 0.029924066763223296 Centerline is valid? [True, True] Translation: X:96.14, Y:-46.21, Z:-6.41 [[ 7.02647311e-01 7.09104765e-01 5.87978639e-02 9.61398978e+01] [-7.06740129e-01 7.05102569e-01 -5.78684486e-02 -4.62053092e+01] [-8.24933175e-02 -8.93700123e-04 9.96591217e-01 -6.41346706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999999 meters 0.029952674395970998 Centerline is valid? [True, True] Translation: X:96.16, Y:-46.23, Z:-6.42 [[ 7.02002245e-01 7.09744386e-01 5.87856678e-02 9.61638692e+01] [-7.07378391e-01 7.04458688e-01 -5.79117363e-02 -4.62277488e+01] [-8.25146041e-02 -9.29542219e-04 9.96589422e-01 -6.41505926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43863999999999 meters 0.030190283954087425 Centerline is valid? [True, True] Translation: X:96.19, Y:-46.25, Z:-6.42 [[ 7.00341305e-01 7.11295505e-01 5.98394667e-02 9.61879203e+01] [-7.08844294e-01 7.02892252e-01 -5.90105763e-02 -4.62494816e+01] [-8.40346552e-02 -1.08932053e-03 9.96462237e-01 -6.41618433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46864 meters 0.03018170679034175 Centerline is valid? [True, True] Translation: X:96.21, Y:-46.27, Z:-6.42 [[ 6.99048919e-01 7.12453492e-01 6.11607029e-02 9.62112668e+01] [-7.09892205e-01 7.01718279e-01 -6.03698124e-02 -4.62722205e+01] [-8.59282668e-02 -1.21605420e-03 9.96300584e-01 -6.41811677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49864 meters 0.030196395274191445 Centerline is valid? [True, True] Translation: X:96.24, Y:-46.29, Z:-6.42 [[ 6.97891726e-01 7.13668140e-01 6.02073448e-02 9.62360975e+01] [-7.11185933e-01 7.00482751e-01 -5.94851651e-02 -4.62947296e+01] [-8.46268736e-02 -1.30441215e-03 9.96411858e-01 -6.41936227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52864 meters 0.030570578903926577 Centerline is valid? [True, True] Translation: X:96.26, Y:-46.31, Z:-6.42 [[ 6.94873008e-01 7.16576999e-01 6.05715035e-02 9.62620107e+01] [-7.14070438e-01 6.97506102e-01 -5.99053190e-02 -4.63146019e+01] [-8.51757669e-02 -1.62573083e-03 9.96364615e-01 -6.42043201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55864 meters 0.030547045679689282 Centerline is valid? [True, True] Translation: X:96.29, Y:-46.34, Z:-6.42 [[ 6.92935756e-01 7.18514407e-01 5.98087330e-02 9.62876050e+01] [-7.16073120e-01 6.95509744e-01 -5.92071107e-02 -4.63356038e+01] [-8.41387186e-02 -1.80070206e-03 9.96452424e-01 -6.42273483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58864 meters 0.03098830958190274 Centerline is valid? [True, True] Translation: X:96.31, Y:-46.35, Z:-6.43 [[ 6.89486715e-01 7.21778559e-01 6.03637435e-02 9.63135446e+01] [-7.19299034e-01 6.92120633e-01 -5.98157982e-02 -4.63544025e+01] [-8.49527529e-02 -2.17738420e-03 9.96382602e-01 -6.42570789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61864 meters 0.031034176164748597 Centerline is valid? [True, True] Translation: X:96.34, Y:-46.37, Z:-6.43 [[ 6.87683665e-01 7.23491836e-01 6.04213590e-02 9.63389237e+01] [-7.21009713e-01 6.90328919e-01 -5.99247587e-02 -4.63746792e+01] [-8.50656852e-02 -2.35510907e-03 9.96372562e-01 -6.42703012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64864 meters 0.03126683480584615 Centerline is valid? [True, True] Translation: X:96.36, Y:-46.39, Z:-6.43 [[ 6.86296410e-01 7.24815963e-01 6.03245965e-02 9.63646541e+01] [-7.22342267e-01 6.88938082e-01 -5.98829600e-02 -4.63937750e+01] [-8.49640371e-02 -2.47754531e-03 9.96380938e-01 -6.42919372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67864 meters 0.03139083665153924 Centerline is valid? [True, True] Translation: X:96.39, Y:-46.41, Z:-6.43 [[ 6.84492457e-01 7.26560989e-01 5.98264659e-02 9.63945301e+01] [-7.24130135e-01 6.87096928e-01 -5.94420697e-02 -4.64092824e+01] [-8.42948699e-02 -2.63449848e-03 9.96437371e-01 -6.43021763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70864 meters 0.03127167835360428 Centerline is valid? [True, True] Translation: X:96.42, Y:-46.43, Z:-6.43 [[ 6.83872684e-01 7.27134339e-01 5.99483560e-02 9.64215472e+01] [-7.24690962e-01 6.86489996e-01 -5.96195864e-02 -4.64294725e+01] [-8.45053952e-02 -2.67182526e-03 9.96419440e-01 -6.43194841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73863999999999 meters 0.03134860212764554 Centerline is valid? [True, True] Translation: X:96.45, Y:-46.45, Z:-6.44 [[ 6.84476590e-01 7.26415642e-01 6.17423104e-02 9.64497651e+01] [-7.23815206e-01 6.87250654e-01 -6.14661324e-02 -4.64472493e+01] [-8.70824032e-02 -2.61789450e-03 9.96197672e-01 -6.43505405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters 0.03141202084267037 Centerline is valid? [True, True] Translation: X:96.48, Y:-46.47, Z:-6.44 [[ 6.86039318e-01 7.24929912e-01 6.18601452e-02 9.64763079e+01] [-7.22308571e-01 6.88818472e-01 -6.16395976e-02 -4.64666670e+01] [-8.72947988e-02 -2.39492563e-03 9.96179644e-01 -6.43708096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79863999999999 meters 0.031054527684913073 Centerline is valid? [True, True] Translation: X:96.51, Y:-46.48, Z:-6.44 [[ 6.89102211e-01 7.22124090e-01 6.06212949e-02 9.65052302e+01] [-7.19592525e-01 6.91760739e-01 -6.04456638e-02 -4.64827891e+01] [-8.55847017e-02 -1.96939007e-03 9.96328952e-01 -6.43875483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82864 meters 0.030924851190448573 Centerline is valid? [True, True] Translation: X:96.53, Y:-46.50, Z:-6.44 [[ 6.90298777e-01 7.20969284e-01 6.07526964e-02 9.65311481e+01] [-7.18420053e-01 6.92964651e-01 -6.06021503e-02 -4.65021654e+01] [-8.57917600e-02 -1.81236517e-03 9.96311442e-01 -6.44124131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85864 meters 0.030697559102078383 Centerline is valid? [True, True] Translation: X:96.56, Y:-46.52, Z:-6.44 [[ 6.91737035e-01 7.19627797e-01 6.02968394e-02 9.65563327e+01] [-7.17107024e-01 6.94358184e-01 -6.02015596e-02 -4.65219496e+01] [-8.51903196e-02 -1.59563869e-03 9.96363419e-01 -6.44346665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88864 meters 0.03070073926566077 Centerline is valid? [True, True] Translation: X:96.58, Y:-46.54, Z:-6.45 [[ 6.94154361e-01 7.17239411e-01 6.09700761e-02 9.65849918e+01] [-7.14647889e-01 6.96825656e-01 -6.09294651e-02 -4.65390030e+01] [-8.61865270e-02 -1.27768227e-03 9.96278199e-01 -6.44595270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91864 meters 0.03052003469519422 Centerline is valid? [True, True] Translation: X:96.61, Y:-46.56, Z:-6.45 [[ 6.95509283e-01 7.15911220e-01 6.11388733e-02 9.66102500e+01] [-7.13295347e-01 6.98190493e-01 -6.11537730e-02 -4.65588235e+01] [-8.64672523e-02 -1.07705703e-03 9.96254111e-01 -6.44847860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94864 meters 0.030449498968798772 Centerline is valid? [True, True] Translation: X:96.50, Y:-46.84, Z:-4.65 [[ 7.61309929e-01 -6.48003482e-01 -2.23311391e-02 9.65019303e+01] [-6.47540457e-01 -7.61624093e-01 2.49017696e-02 -4.68356667e+01] [-3.31443669e-02 -4.49764840e-03 -9.99440455e-01 -4.64688277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97864 meters 0.030576732356885267 Centerline is valid? [True, True] Translation: X:96.63, Y:-46.58, Z:-6.45 [[ 7.46457131e-01 6.62284558e-01 6.46600031e-02 9.66255653e+01] [-6.59904772e-01 7.49251984e-01 -5.60995310e-02 -4.65813461e+01] [-8.56004886e-02 -7.93549593e-04 9.96329226e-01 -6.44970723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00864 meters 0.030527666167478058 Centerline is valid? [True, True] Translation: X:96.66, Y:-46.60, Z:-6.45 [[ 7.46994447e-01 6.61661077e-01 6.48376112e-02 9.66554003e+01] [-6.59261205e-01 7.49802742e-01 -5.63072905e-02 -4.65979416e+01] [-8.58717611e-02 -6.83688383e-04 9.96305964e-01 -6.45100402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03864 meters 0.030448007922888244 Centerline is valid? [True, True] Translation: X:96.68, Y:-46.62, Z:-6.45 [[ 7.47597349e-01 6.61006790e-01 6.45618078e-02 9.66817240e+01] [-6.58620087e-01 7.50379707e-01 -5.61237491e-02 -4.66161553e+01] [-8.55440497e-02 -5.63737459e-04 9.96334230e-01 -6.45241370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06864 meters 0.03021331156740058 Centerline is valid? [True, True] Translation: X:96.71, Y:-46.63, Z:-6.45 [[ 7.47882016e-01 6.60691991e-01 6.44870817e-02 9.67101875e+01] [-6.58305117e-01 7.50656949e-01 -5.61116507e-02 -4.66343910e+01] [-8.54801942e-02 -4.87281458e-04 9.96339751e-01 -6.45465877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09863999999999 meters 0.030282091654039698 Centerline is valid? [True, True] Translation: X:96.74, Y:-46.65, Z:-6.46 [[ 7.48822777e-01 6.59610146e-01 6.46444469e-02 9.67371380e+01] [-6.57202509e-01 7.51607845e-01 -5.63072820e-02 -4.66541619e+01] [-8.57281280e-02 -3.20317445e-04 9.96318516e-01 -6.45683011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters 0.030332150996241824 Centerline is valid? [True, True] Translation: X:96.76, Y:-46.67, Z:-6.46 [[ 7.49948231e-01 6.58330228e-01 6.46448930e-02 9.67644504e+01] [-6.55912722e-01 7.52729231e-01 -5.63667101e-02 -4.66737070e+01] [-8.57680097e-02 -1.29293161e-04 9.96315127e-01 -6.45914249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15863999999999 meters 0.030270015784368033 Centerline is valid? [True, True] Translation: X:96.79, Y:-46.69, Z:-6.46 [[ 7.52917265e-01 6.54975040e-01 6.42128392e-02 9.67925464e+01] [-6.52572639e-01 7.55650454e-01 -5.60476671e-02 -4.66923018e+01] [-8.52322842e-02 2.95714245e-04 9.96361064e-01 -6.45985080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999999 meters 0.030172872220701 Centerline is valid? [True, True] Translation: X:96.82, Y:-46.71, Z:-6.46 [[ 7.53900918e-01 6.53868748e-01 6.39458061e-02 9.68178539e+01] [-6.51477490e-01 7.56607855e-01 -5.58715802e-02 -4.67128710e+01] [-8.49145793e-02 4.62382369e-04 9.96388127e-01 -6.46202640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21864 meters 0.03011036090778847 Centerline is valid? [True, True] Translation: X:96.84, Y:-46.73, Z:-6.46 [[ 7.54889878e-01 6.52900850e-01 6.21429985e-02 9.68432910e+01] [-6.50635883e-01 7.57443156e-01 -5.43397890e-02 -4.67329271e+01] [-8.25482833e-02 5.88091934e-04 9.96586893e-01 -6.46364758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24864 meters 0.030320720863761107 Centerline is valid? [True, True] Translation: X:96.87, Y:-46.75, Z:-6.47 [[ 7.55028612e-01 6.52671615e-01 6.28614209e-02 9.68685282e+01] [-6.50351684e-01 7.57640655e-01 -5.49847687e-02 -4.67530515e+01] [-8.35133659e-02 6.33042598e-04 9.96506456e-01 -6.46652437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27864 meters 0.03009817923421957 Centerline is valid? [True, True] Translation: X:96.89, Y:-46.77, Z:-6.47 [[ 7.54496995e-01 6.53342172e-01 6.22759242e-02 9.68927311e+01] [-6.51065612e-01 7.57062534e-01 -5.44966926e-02 -4.67739428e+01] [-8.27517565e-02 5.71878159e-04 9.96570028e-01 -6.46847247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30864 meters 0.03027735218711964 Centerline is valid? [True, True] Translation: X:96.92, Y:-46.80, Z:-6.47 [[ 7.54409598e-01 6.53331933e-01 6.34314177e-02 9.69160425e+01] [-6.50965694e-01 7.57071331e-01 -5.55577644e-02 -4.67967165e+01] [-8.43197693e-02 6.21633812e-04 9.96438553e-01 -6.47171399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33864 meters 0.030075589682068984 Centerline is valid? [True, True] Translation: X:96.94, Y:-46.82, Z:-6.47 [[ 7.54177274e-01 6.53753835e-01 6.18268832e-02 9.69388717e+01] [-6.51503507e-01 7.56707056e-01 -5.41997433e-02 -4.68195196e+01] [-8.22181287e-02 5.95783428e-04 9.96614180e-01 -6.47367195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36864 meters 0.030196510298115084 Centerline is valid? [True, True] Translation: X:96.96, Y:-46.84, Z:-6.47 [[ 7.53579415e-01 6.54483642e-01 6.13940328e-02 9.69626899e+01] [-6.52263823e-01 7.56075966e-01 -5.38612921e-02 -4.68418064e+01] [-8.16698873e-02 5.43654447e-04 9.96659287e-01 -6.47454645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39864 meters 0.030015747321051434 Centerline is valid? [True, True] Translation: X:96.99, Y:-46.86, Z:-6.48 [[ 7.53205022e-01 6.54989733e-01 6.05858403e-02 9.69862592e+01] [-6.52827164e-01 7.55637607e-01 -5.31836547e-02 -4.68634299e+01] [-8.06156871e-02 5.06113552e-04 9.96745130e-01 -6.47600719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42864 meters 0.029942764837918297 Centerline is valid? [True, True] Translation: X:97.01, Y:-46.89, Z:-6.48 [[ 7.50394456e-01 6.57970990e-01 6.31057641e-02 9.70079952e+01] [-6.55630638e-01 7.53043241e-01 -5.54467677e-02 -4.68870081e+01] [-8.40037337e-02 2.32874675e-04 9.96465413e-01 -6.47883609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45864 meters 0.029664612657743224 Centerline is valid? [True, True] Translation: X:97.03, Y:-46.91, Z:-6.48 [[ 7.48445905e-01 6.60219793e-01 6.27578865e-02 9.70326926e+01] [-6.57908780e-01 7.51072449e-01 -5.51925153e-02 -4.69087277e+01] [-8.35749106e-02 1.96475217e-05 9.96501497e-01 -6.47938279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters 0.029880970186352763 Centerline is valid? [True, True] Translation: X:97.06, Y:-46.93, Z:-6.48 [[ 7.44034057e-01 6.65011500e-01 6.45989651e-02 9.70572140e+01] [-6.62575583e-01 7.46832957e-01 -5.68694179e-02 -4.69297678e+01] [-8.60634531e-02 -4.88913221e-04 9.96289538e-01 -6.48206345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51863999999999 meters 0.02992540769623766 Centerline is valid? [True, True] Translation: X:97.08, Y:-46.95, Z:-6.48 [[ 7.42135699e-01 6.67111642e-01 6.47816460e-02 9.70818324e+01] [-6.64665156e-01 7.44957432e-01 -5.70846302e-02 -4.69514964e+01] [-8.63413901e-02 -6.93560894e-04 9.96265368e-01 -6.48382974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999999 meters 0.030367013186326553 Centerline is valid? [True, True] Translation: X:97.11, Y:-46.97, Z:-6.49 [[ 7.39670816e-01 6.69731837e-01 6.59268653e-02 9.71061409e+01] [-6.67203115e-01 7.42602397e-01 -5.81522431e-02 -4.69730139e+01] [-8.79038568e-02 -9.73092868e-04 9.96128488e-01 -6.48592776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57864 meters 0.030187159685891595 Centerline is valid? [True, True] Translation: X:97.13, Y:-46.99, Z:-6.49 [[ 7.39084799e-01 6.70464391e-01 6.50473700e-02 9.71308322e+01] [-6.68001170e-01 7.41941025e-01 -5.74277996e-02 -4.69939036e+01] [-8.67646071e-02 -1.00770560e-03 9.96228331e-01 -6.48698772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60864 meters 0.030273833707468757 Centerline is valid? [True, True] Translation: X:97.16, Y:-47.01, Z:-6.49 [[ 7.38083287e-01 6.71461000e-01 6.61300757e-02 9.71559454e+01] [-6.68914214e-01 7.41039072e-01 -5.84368657e-02 -4.70145599e+01] [-8.82430463e-02 -1.10407371e-03 9.96098362e-01 -6.48924589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63864 meters 0.03037821191708945 Centerline is valid? [True, True] Translation: X:97.18, Y:-47.03, Z:-6.49 [[ 7.37703787e-01 6.71947890e-01 6.54152625e-02 9.71814622e+01] [-6.69453354e-01 7.40597596e-01 -5.78567845e-02 -4.70344841e+01] [-8.73231303e-02 -1.11129786e-03 9.96179420e-01 -6.49142445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66864 meters 0.030282751935180763 Centerline is valid? [True, True] Translation: X:97.21, Y:-47.06, Z:-6.49 [[ 7.37461018e-01 6.72366989e-01 6.38269516e-02 9.72064150e+01] [-6.69990504e-01 7.40217141e-01 -5.64916684e-02 -4.70555760e+01] [-8.52289366e-02 -1.10304817e-03 9.96360784e-01 -6.49286957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69864 meters 0.030256269555633396 Centerline is valid? [True, True] Translation: X:97.23, Y:-47.08, Z:-6.50 [[ 7.35926345e-01 6.74026314e-01 6.40386045e-02 9.72319712e+01] [-6.71637801e-01 7.38706230e-01 -5.67077562e-02 -4.70759120e+01] [-8.55282360e-02 -1.27801575e-03 9.96334927e-01 -6.49512012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72864 meters 0.030379344576751934 Centerline is valid? [True, True] Translation: X:97.26, Y:-47.10, Z:-6.50 [[ 7.34925716e-01 6.75149903e-01 6.36930197e-02 9.72574258e+01] [-6.72786816e-01 7.37679303e-01 -5.64548183e-02 -4.70971037e+01] [-8.51004875e-02 -1.36172621e-03 9.96371443e-01 -6.49604108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75864 meters 0.03042553379800528 Centerline is valid? [True, True] Translation: X:97.28, Y:-47.12, Z:-6.50 [[ 7.32579240e-01 6.77815185e-01 6.24037832e-02 9.72831462e+01] [-6.75551847e-01 7.35230597e-01 -5.53684960e-02 -4.71185794e+01] [-8.34107781e-02 -1.59518024e-03 9.96513973e-01 -6.49762965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78864 meters 0.030650743837428756 Centerline is valid? [True, True] Translation: X:97.31, Y:-47.14, Z:-6.50 [[ 7.31273647e-01 6.79139272e-01 6.33143219e-02 9.73071785e+01] [-6.76809539e-01 7.34007393e-01 -5.62316189e-02 -4.71391717e+01] [-8.46622810e-02 -1.73103599e-03 9.96408200e-01 -6.49982403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81864 meters 0.030729939952871987 Centerline is valid? [True, True] Translation: X:97.33, Y:-47.16, Z:-6.50 [[ 7.29597494e-01 6.81033986e-01 6.22913025e-02 9.73327641e+01] [-6.78782879e-01 7.32249363e-01 -5.53594895e-02 -4.71580444e+01] [-8.33144604e-02 -1.89212480e-03 9.96521510e-01 -6.50113529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters 0.030875586421540882 Centerline is valid? [True, True] Translation: X:97.36, Y:-47.18, Z:-6.50 [[ 7.29311431e-01 6.81321203e-01 6.25000405e-02 9.73575804e+01] [-6.79054778e-01 7.31982055e-01 -5.55596863e-02 -4.71785290e+01] [-8.36029004e-02 -1.92063685e-03 9.96497299e-01 -6.50382503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87863999999999 meters 0.030875586421540882 Centerline is valid? [True, True] Translation: X:97.38, Y:-47.20, Z:-6.51 [[ 7.29179615e-01 6.81463045e-01 6.24916564e-02 9.73819077e+01] [-6.79196333e-01 7.31849995e-01 -5.55691153e-02 -4.72000825e+01] [-8.36028169e-02 -1.92423773e-03 9.96497299e-01 -6.50572858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999999 meters 0.03090267389873028 Centerline is valid? [True, True] Translation: X:97.41, Y:-47.22, Z:-6.51 [[ 7.29392337e-01 6.81131149e-01 6.36174264e-02 9.74073570e+01] [-6.78778918e-01 7.32158949e-01 -5.65902322e-02 -4.72203969e+01] [-8.51234379e-02 -1.90568613e-03 9.96368591e-01 -6.50744457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93863999999999 meters 0.030681297625937562 Centerline is valid? [True, True] Translation: X:97.43, Y:-47.24, Z:-6.51 [[ 7.31315804e-01 6.79044728e-01 6.38392756e-02 9.74332384e+01] [-6.76666820e-01 7.34095028e-01 -5.68023279e-02 -4.72392033e+01] [-8.54354161e-02 -1.65747951e-03 9.96342332e-01 -6.50795712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96864 meters 0.030625028864838557 Centerline is valid? [True, True] Translation: X:97.46, Y:-47.26, Z:-6.51 [[ 7.32106063e-01 6.78236047e-01 6.33764682e-02 9.74580585e+01] [-6.75888285e-01 7.34842494e-01 -5.64051084e-02 -4.72600131e+01] [-8.48276997e-02 -1.54089055e-03 9.96394444e-01 -6.51094784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99864 meters 0.030508951151913866 Centerline is valid? [True, True] Translation: X:97.48, Y:-47.28, Z:-6.51 [[ 7.33123087e-01 6.77129055e-01 6.34569270e-02 9.74839560e+01] [-6.74769919e-01 7.35862944e-01 -5.64914562e-02 -4.72796107e+01] [-8.49476074e-02 -1.40363473e-03 9.96384431e-01 -6.51210067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02864 meters 0.03048948089992616 Centerline is valid? [True, True] Translation: X:97.51, Y:-47.30, Z:-6.51 [[ 7.33152302e-01 6.77151528e-01 6.28769451e-02 9.75095821e+01] [-6.74834261e-01 7.35842304e-01 -5.59895087e-02 -4.72986274e+01] [-8.41808975e-02 -1.38267958e-03 9.96449529e-01 -6.51285543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05864 meters 0.03043311029138203 Centerline is valid? [True, True] Translation: X:97.54, Y:-47.32, Z:-6.51 [[ 7.33516905e-01 6.76759407e-01 6.28462880e-02 9.75369118e+01] [-6.74441738e-01 7.36203061e-01 -5.59767358e-02 -4.73158844e+01] [-8.41504121e-02 -1.32627780e-03 9.96452181e-01 -6.51372972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08864 meters 0.030276867631037624 Centerline is valid? [True, True] Translation: X:97.56, Y:-47.34, Z:-6.52 [[ 7.34116872e-01 6.76187833e-01 6.19873573e-02 9.75620459e+01] [-6.73929968e-01 7.36728236e-01 -5.52259374e-02 -4.73366435e+01] [-8.30109434e-02 -1.23284530e-03 9.96547873e-01 -6.51555186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11864 meters 0.030300293983005596 Centerline is valid? [True, True] Translation: X:97.59, Y:-47.36, Z:-6.52 [[ 7.34377368e-01 6.75837819e-01 6.27146194e-02 9.75862498e+01] [-6.73524065e-01 7.37049395e-01 -5.58884963e-02 -4.73579996e+01] [-8.39953318e-02 -1.19655855e-03 9.96465430e-01 -6.51854967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14864 meters 0.030291994169639007 Centerline is valid? [True, True] Translation: X:97.61, Y:-47.38, Z:-6.52 [[ 7.36144619e-01 6.73856231e-01 6.33157124e-02 9.76113385e+01] [-6.71489251e-01 7.38861855e-01 -5.64388618e-02 -4.73779831e+01] [-8.48132434e-02 -9.68655904e-04 9.96396395e-01 -6.52095783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17864 meters 0.029996449061792118 Centerline is valid? [True, True] Translation: X:97.64, Y:-47.40, Z:-6.52 [[ 7.36469478e-01 6.73611938e-01 6.21262028e-02 9.76364341e+01] [-6.71331168e-01 7.39084654e-01 -5.53925723e-02 -4.73986221e+01] [-8.32296211e-02 -9.12317498e-04 9.96529978e-01 -6.52130182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20864 meters 0.029965160547850485 Centerline is valid? [True, True] Translation: X:97.66, Y:-47.42, Z:-6.52 [[ 7.36400949e-01 6.73651628e-01 6.25070099e-02 9.76617491e+01] [-6.71341705e-01 7.39048478e-01 -5.57464081e-02 -4.74184456e+01] [-8.37493691e-02 -9.11854829e-04 9.96486433e-01 -6.52202815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23863999999999 meters 0.029978949440211466 Centerline is valid? [True, True] Translation: X:97.69, Y:-47.44, Z:-6.52 [[ 7.36227940e-01 6.73840489e-01 6.25093339e-02 9.76867590e+01] [-6.71529681e-01 7.38876274e-01 -5.57650373e-02 -4.74394381e+01] [-8.37634037e-02 -9.21094568e-04 9.96485245e-01 -6.52365512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999999 meters 0.030125774886859493 Centerline is valid? [True, True] Translation: X:97.71, Y:-47.46, Z:-6.53 [[ 7.34426051e-01 6.75770671e-01 6.28679209e-02 9.77117940e+01] [-6.73438616e-01 7.37111061e-01 -5.61044987e-02 -4.74594577e+01] [-8.42544146e-02 -1.13308018e-03 9.96443631e-01 -6.52594567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29863999999999 meters 0.030163210385663566 Centerline is valid? [True, True] Translation: X:97.74, Y:-47.48, Z:-6.53 [[ 7.33818531e-01 6.76387367e-01 6.33284522e-02 9.77362605e+01] [-6.74022005e-01 7.36545101e-01 -5.65300969e-02 -4.74797779e+01] [-8.48805046e-02 -1.20193763e-03 9.96390413e-01 -6.52840225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32864 meters 0.03017216622851811 Centerline is valid? [True, True] Translation: X:97.76, Y:-47.50, Z:-6.53 [[ 7.33102732e-01 6.77189376e-01 6.30470795e-02 9.77621988e+01] [-6.74846562e-01 7.35807665e-01 -5.62956306e-02 -4.75008647e+01] [-8.45133273e-02 -1.27662422e-03 9.96421531e-01 -6.53004350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35864 meters 0.030166378596541168 Centerline is valid? [True, True] Translation: X:97.79, Y:-47.52, Z:-6.53 [[ 7.31304682e-01 6.79102764e-01 6.33474388e-02 9.77892363e+01] [-6.76743012e-01 7.34041698e-01 -5.65834062e-02 -4.75186917e+01] [-8.49256091e-02 -1.49022664e-03 9.96386180e-01 -6.53188101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38864 meters 0.029968246592477953 Centerline is valid? [True, True] Translation: X:97.81, Y:-47.54, Z:-6.53 [[ 7.30987265e-01 6.79527730e-01 6.24474348e-02 9.78148513e+01] [-6.77235028e-01 7.33648276e-01 -5.57935855e-02 -4.75380047e+01] [-8.37277414e-02 -1.50718978e-03 9.96487528e-01 -6.53256928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41864 meters 0.030025743699329907 Centerline is valid? [True, True] Translation: X:97.84, Y:-47.55, Z:-6.53 [[ 7.30315119e-01 6.80296069e-01 6.19442090e-02 9.78420639e+01] [-6.78042158e-01 7.32935725e-01 -5.53539004e-02 -4.75534381e+01] [-8.30581646e-02 -1.57499477e-03 9.96543457e-01 -6.53484468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44864 meters 0.029978367092168317 Centerline is valid? [True, True] Translation: X:97.87, Y:-47.57, Z:-6.54 [[ 7.31233055e-01 6.79321036e-01 6.18154516e-02 9.78658418e+01] [-6.77074243e-01 7.33839740e-01 -5.52241436e-02 -4.75700986e+01] [-8.28775574e-02 -1.47193083e-03 9.96558651e-01 -6.53630501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47864 meters 0.02995214477512151 Centerline is valid? [True, True] Translation: X:97.89, Y:-47.59, Z:-6.54 [[ 7.31442449e-01 6.79042791e-01 6.23925591e-02 9.78894032e+01] [-6.76757013e-01 7.34097176e-01 -5.56891494e-02 -4.75870580e+01] [-8.36175168e-02 -1.49119414e-03 9.96496807e-01 -6.53790350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50864 meters 0.02979215138996949 Centerline is valid? [True, True] Translation: X:97.92, Y:-47.60, Z:-6.54 [[ 7.33007829e-01 6.77377027e-01 6.21279785e-02 9.79150936e+01] [-6.75108781e-01 7.35634821e-01 -5.54034712e-02 -4.76007603e+01] [-8.32325430e-02 -1.33196568e-03 9.96529262e-01 -6.53891021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53864 meters 0.029721822407071514 Centerline is valid? [True, True] Translation: X:97.94, Y:-47.62, Z:-6.54 [[ 7.33817484e-01 6.76504658e-01 6.20753477e-02 9.79390113e+01] [-6.74241445e-01 7.36437258e-01 -5.53049563e-02 -4.76161500e+01] [-8.31286593e-02 -1.27002829e-03 9.96538014e-01 -6.54086102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56864 meters 0.029635726472478707 Centerline is valid? [True, True] Translation: X:97.96, Y:-47.63, Z:-6.54 [[ 7.35023404e-01 6.75331445e-01 6.05643022e-02 9.79626271e+01] [-6.73177439e-01 7.37513473e-01 -5.39074409e-02 -4.76336415e+01] [-8.10723788e-02 -1.14729116e-03 9.96707556e-01 -6.54157837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59863999999999 meters 0.02949227836933399 Centerline is valid? [True, True] Translation: X:97.98, Y:-47.65, Z:-6.54 [[ 7.35650599e-01 6.74670617e-01 6.03138009e-02 9.79846074e+01] [-6.72536010e-01 7.38118106e-01 -5.36374605e-02 -4.76509487e+01] [-8.07063271e-02 -1.10477302e-03 9.96737312e-01 -6.54391691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters 0.029340038056746284 Centerline is valid? [True, True] Translation: X:98.01, Y:-47.67, Z:-6.55 [[ 7.36123645e-01 6.74259443e-01 5.91285234e-02 9.80082397e+01] [-6.72210747e-01 7.38493768e-01 -5.25325358e-02 -4.76673217e+01] [-7.90866043e-02 -1.07638709e-03 9.96867168e-01 -6.54523877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65863999999999 meters 0.02934126973118192 Centerline is valid? [True, True] Translation: X:98.03, Y:-47.68, Z:-6.55 [[ 7.36269959e-01 6.74105440e-01 5.90627046e-02 9.80299407e+01] [-6.72064646e-01 7.38634320e-01 -5.24256903e-02 -4.76847857e+01] [-7.89661836e-02 -1.09449480e-03 9.96876694e-01 -6.54664441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999999 meters 0.02930224751885341 Centerline is valid? [True, True] Translation: X:98.05, Y:-47.70, Z:-6.55 [[ 7.35603135e-01 6.74891474e-01 5.83911408e-02 9.80525953e+01] [-6.72903464e-01 7.37916017e-01 -5.17772150e-02 -4.77011488e+01] [-7.80317590e-02 -1.20411919e-03 9.96950147e-01 -6.54708202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71864 meters 0.02937963866608547 Centerline is valid? [True, True] Translation: X:98.07, Y:-47.72, Z:-6.55 [[ 7.35652938e-01 6.74736101e-01 5.95478716e-02 9.80748621e+01] [-6.72672114e-01 7.38058013e-01 -5.27503196e-02 -4.77191347e+01] [-7.95423288e-02 -1.25026501e-03 9.96830705e-01 -6.54870670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74864 meters 0.029502804780698697 Centerline is valid? [True, True] Translation: X:98.10, Y:-47.74, Z:-6.55 [[ 7.35435798e-01 6.74935051e-01 5.99738593e-02 9.80966254e+01] [-6.72845865e-01 7.37875969e-01 -5.30800933e-02 -4.77374341e+01] [-8.00788850e-02 -1.31616244e-03 9.96787660e-01 -6.55011807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77864 meters 0.02947426826899876 Centerline is valid? [True, True] Translation: X:98.12, Y:-47.75, Z:-6.55 [[ 7.35864404e-01 6.74448548e-01 6.01891622e-02 9.81201387e+01] [-6.72346672e-01 7.38320699e-01 -5.32212143e-02 -4.77535252e+01] [-8.03338750e-02 -1.30438579e-03 9.96767158e-01 -6.55198794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80864 meters 0.029393915536622777 Centerline is valid? [True, True] Translation: X:98.14, Y:-47.77, Z:-6.55 [[ 7.36779879e-01 6.73520231e-01 5.93793627e-02 9.81438586e+01] [-6.71475610e-01 7.39167775e-01 -5.24547879e-02 -4.77707106e+01] [-7.92206723e-02 -1.22416153e-03 9.96856352e-01 -6.55363631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83864 meters 0.02955076573193173 Centerline is valid? [True, True] Translation: X:98.17, Y:-47.78, Z:-6.56 [[ 7.37157053e-01 6.73018297e-01 6.03808834e-02 9.81700604e+01] [-6.70906000e-01 7.39624820e-01 -5.32941332e-02 -4.77845669e+01] [-8.05271268e-02 -1.22375082e-03 9.96751666e-01 -6.55573248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86864 meters 0.0295497486064801 Centerline is valid? [True, True] Translation: X:98.19, Y:-47.80, Z:-6.56 [[ 7.37579489e-01 6.72532645e-01 6.06328187e-02 9.81922883e+01] [-6.70405037e-01 7.40066464e-01 -5.34669557e-02 -4.78011106e+01] [-8.08305889e-02 -1.21241721e-03 9.96727117e-01 -6.55621914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89864 meters 0.02929335570800378 Centerline is valid? [True, True] Translation: X:98.22, Y:-47.82, Z:-6.56 [[ 7.40062738e-01 6.69953033e-01 5.89073570e-02 9.82161970e+01] [-6.67940738e-01 7.42402888e-01 -5.18953004e-02 -4.78169319e+01] [-7.85004058e-02 -9.40845403e-04 9.96913638e-01 -6.55702890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92864 meters 0.02936673145750794 Centerline is valid? [True, True] Translation: X:98.24, Y:-47.83, Z:-6.56 [[ 7.41784517e-01 6.68009538e-01 5.93210560e-02 9.82385253e+01] [-6.65966494e-01 7.44152306e-01 -5.22108695e-02 -4.78339255e+01] [-7.90212594e-02 -7.76621147e-04 9.96872628e-01 -6.55974446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95864 meters 0.02911478857899761 Centerline is valid? [True, True] Translation: X:98.26, Y:-47.85, Z:-6.56 [[ 7.43576579e-01 6.66074896e-01 5.86353438e-02 9.82614280e+01] [-6.64076811e-01 7.45884623e-01 -5.15569524e-02 -4.78516949e+01] [-7.80759929e-02 -6.01829812e-04 9.96947229e-01 -6.56116739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters 0.029263346168733995 Centerline is valid? [True, True] Translation: X:98.28, Y:-47.87, Z:-6.56 [[ 7.46837884e-01 6.62406494e-01 5.87436118e-02 9.82840751e+01] [-6.60393235e-01 7.49144561e-01 -5.16062254e-02 -4.78685048e+01] [-7.81917561e-02 -2.52399611e-04 9.96938306e-01 -6.56412277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01863999999999 meters 0.02935971117527311 Centerline is valid? [True, True] Translation: X:98.31, Y:-47.88, Z:-6.57 [[ 7.49930539e-01 6.58843843e-01 5.94052013e-02 9.83067054e+01] [-6.56777547e-01 7.52279724e-01 -5.21389575e-02 -4.78845223e+01] [-7.90407595e-02 8.45941114e-05 9.96871381e-01 -6.56557265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999999 meters 0.02966719833007379 Centerline is valid? [True, True] Translation: X:98.33, Y:-47.90, Z:-6.57 [[ 7.51164939e-01 6.57391250e-01 5.98997320e-02 9.83288426e+01] [-6.55289868e-01 7.53549404e-01 -5.25212879e-02 -4.79020239e+01] [-7.96644424e-02 2.00462617e-04 9.96821717e-01 -6.56754298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07864 meters 0.029359621211503917 Centerline is valid? [True, True] Translation: X:98.35, Y:-47.92, Z:-6.57 [[ 7.52862380e-01 6.55641143e-01 5.77315225e-02 9.83510867e+01] [-6.53687539e-01 7.55072564e-01 -5.05769255e-02 -4.79203767e+01] [-7.67518020e-02 3.39087670e-04 9.97050172e-01 -6.56750740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10864 meters 0.029587962533102873 Centerline is valid? [True, True] Translation: X:98.37, Y:-47.94, Z:-6.57 [[ 7.53641023e-01 6.54737364e-01 5.78289888e-02 9.83725576e+01] [-6.52778003e-01 7.55856353e-01 -5.06167284e-02 -4.79383733e+01] [-7.68510719e-02 3.97351143e-04 9.97042504e-01 -6.57017217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13864 meters 0.029703139328647005 Centerline is valid? [True, True] Translation: X:98.40, Y:-47.95, Z:-6.57 [[ 7.55974846e-01 6.52171336e-01 5.63434122e-02 9.83951014e+01] [-6.50307975e-01 7.58071357e-01 -4.92681950e-02 -4.79542106e+01] [-7.48436316e-02 6.04945826e-04 9.97195099e-01 -6.57249480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16864 meters 0.030033811696596947 Centerline is valid? [True, True] Translation: X:98.42, Y:-47.97, Z:-6.57 [[ 7.58063727e-01 6.49693324e-01 5.69031658e-02 9.84189342e+01] [-6.47789410e-01 7.60195968e-01 -4.97088558e-02 -4.79704525e+01] [-7.55530690e-02 8.21212355e-04 9.97141444e-01 -6.57488841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19864 meters 0.03024463407697553 Centerline is valid? [True, True] Translation: X:98.44, Y:-47.99, Z:-6.58 [[ 7.59983907e-01 6.47534102e-01 5.58931827e-02 9.84403404e+01] [-6.45694619e-01 7.62035837e-01 -4.87836218e-02 -4.79877048e+01] [-7.41816670e-02 9.84840199e-04 9.97244258e-01 -6.57629874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22864 meters 0.030467806033623902 Centerline is valid? [True, True] Translation: X:98.46, Y:-48.01, Z:-6.58 [[ 7.61457451e-01 6.45842243e-01 5.54107133e-02 9.84619736e+01] [-6.44033335e-01 7.63470089e-01 -4.83165247e-02 -4.80063499e+01] [-7.35092749e-02 1.10463129e-03 9.97293922e-01 -6.57774503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25864 meters 0.031303957910895505 Centerline is valid? [True, True] Translation: X:98.48, Y:-48.02, Z:-6.58 [[ 7.65958276e-01 6.40649656e-01 5.36277723e-02 9.84836937e+01] [-6.38945435e-01 7.67831817e-01 -4.67229207e-02 -4.80247100e+01] [-7.11101330e-02 1.52258744e-03 9.97467308e-01 -6.57862873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28864 meters 0.03184342771122438 Centerline is valid? [True, True] Translation: X:98.51, Y:-48.04, Z:-6.58 [[ 7.68095049e-01 6.38008675e-01 5.45428880e-02 9.85051552e+01] [-6.36242003e-01 7.70027150e-01 -4.74794911e-02 -4.80437381e+01] [-7.22918318e-02 1.76628569e-03 9.97381959e-01 -6.58080801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31864 meters 0.03264660956049591 Centerline is valid? [True, True] Translation: X:98.53, Y:-48.06, Z:-6.58 [[ 7.71937957e-01 6.33313844e-01 5.50033199e-02 9.85264432e+01] [-6.31507691e-01 7.73891941e-01 -4.78466329e-02 -4.80647360e+01] [-7.28685610e-02 2.19961257e-03 9.97339127e-01 -6.58220752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters 0.03345190151887971 Centerline is valid? [True, True] Translation: X:98.55, Y:-48.09, Z:-6.58 [[ 7.73646335e-01 6.31170514e-01 5.56339101e-02 9.85466261e+01] [-6.29318068e-01 7.75640335e-01 -4.83822244e-02 -4.80852750e+01] [-7.36893380e-02 2.41930574e-03 9.97278310e-01 -6.58476014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37863999999999 meters 0.03375505425687423 Centerline is valid? [True, True] Translation: X:98.57, Y:-48.11, Z:-6.59 [[ 7.75439469e-01 6.28905403e-01 5.63171843e-02 9.85663215e+01] [-6.27004217e-01 7.77477363e-01 -4.89352737e-02 -4.81066494e+01] [-7.45609939e-02 2.63523060e-03 9.97212973e-01 -6.58665837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999999 meters 0.0346997085833725 Centerline is valid? [True, True] Translation: X:98.59, Y:-48.13, Z:-6.59 [[ 7.78549023e-01 6.25102235e-01 5.57549456e-02 9.85854676e+01] [-6.23231525e-01 7.80537331e-01 -4.84142665e-02 -4.81299450e+01] [-7.37826827e-02 2.94464012e-03 9.97269996e-01 -6.58770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43863999999999 meters 0.03487451390568313 Centerline is valid? [True, True] Translation: X:98.60, Y:-48.15, Z:-6.59 [[ 7.79545772e-01 6.23963088e-01 5.45752167e-02 9.86047216e+01] [-6.22168890e-01 7.81448139e-01 -4.73780390e-02 -4.81515647e+01] [-7.22098491e-02 2.97834795e-03 9.97385015e-01 -6.58820615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46864 meters 0.036037870419828505 Centerline is valid? [True, True] Translation: X:98.62, Y:-48.18, Z:-6.59 [[ 7.81604632e-01 6.21318376e-01 5.52962484e-02 9.86204127e+01] [-6.19472696e-01 7.83551538e-01 -4.79642120e-02 -4.81772795e+01] [-7.31285068e-02 3.23453421e-03 9.97317281e-01 -6.59138820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49864 meters 0.03569568361699195 Centerline is valid? [True, True] Translation: X:98.64, Y:-48.20, Z:-6.59 [[ 7.81961233e-01 6.20868268e-01 5.53102451e-02 9.86370569e+01] [-6.19023475e-01 7.83908195e-01 -4.79362047e-02 -4.82009876e+01] [-7.31202228e-02 3.24591364e-03 9.97317852e-01 -6.59208845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52864 meters 0.03568206719456632 Centerline is valid? [True, True] Translation: X:98.66, Y:-48.22, Z:-6.59 [[ 7.82384157e-01 6.20311301e-01 5.55780573e-02 9.86554475e+01] [-6.18450377e-01 7.84348859e-01 -4.81248322e-02 -4.82241217e+01] [-7.34449631e-02 3.27983580e-03 9.97293879e-01 -6.59345405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55864 meters 0.03489897200950125 Centerline is valid? [True, True] Translation: X:98.67, Y:-48.25, Z:-6.60 [[ 7.81406516e-01 6.21505076e-01 5.59937203e-02 9.86689950e+01] [-6.19622116e-01 7.83403759e-01 -4.84456752e-02 -4.82519724e+01] [-7.39749241e-02 3.16081885e-03 9.97255093e-01 -6.59577925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58864 meters 0.03483014417455975 Centerline is valid? [True, True] Translation: X:98.69, Y:-48.28, Z:-6.60 [[ 7.81038600e-01 6.22015958e-01 5.54513522e-02 9.86871318e+01] [-6.20173332e-01 7.82998611e-01 -4.79396895e-02 -4.82752543e+01] [-7.32375836e-02 3.05329811e-03 9.97309848e-01 -6.59759486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61864 meters 0.034126683855979716 Centerline is valid? [True, True] Translation: X:98.70, Y:-48.30, Z:-6.60 [[ 7.78856993e-01 6.24643230e-01 5.65917027e-02 9.87000091e+01] [-6.22733875e-01 7.80905124e-01 -4.88846506e-02 -4.83045979e+01] [-7.47282167e-02 2.83258165e-03 9.97199915e-01 -6.59968940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64864 meters 0.0336391800868389 Centerline is valid? [True, True] Translation: X:98.72, Y:-48.33, Z:-6.60 [[ 7.77499386e-01 6.26254622e-01 5.74443487e-02 9.87169697e+01] [-6.24294682e-01 7.79613963e-01 -4.95804370e-02 -4.83286386e+01] [-7.58343941e-02 2.68655791e-03 9.97116807e-01 -6.60276035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67864 meters 0.032726423521948475 Centerline is valid? [True, True] Translation: X:98.73, Y:-48.35, Z:-6.60 [[ 7.76038416e-01 6.28086595e-01 5.71979608e-02 9.87342720e+01] [-6.26150850e-01 7.78139525e-01 -4.93355194e-02 -4.83539849e+01] [-7.54949725e-02 2.47170655e-03 9.97143119e-01 -6.60381966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70864 meters 0.03169913392144498 Centerline is valid? [True, True] Translation: X:98.75, Y:-48.39, Z:-6.61 [[ 7.72600320e-01 6.32192796e-01 5.84894329e-02 9.87493479e+01] [-6.30180195e-01 7.74808222e-01 -5.04493796e-02 -4.83850460e+01] [-7.72118279e-02 2.11832462e-03 9.97012460e-01 -6.60661598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73863999999999 meters 0.03149232950203382 Centerline is valid? [True, True] Translation: X:98.77, Y:-48.41, Z:-6.61 [[ 7.70202443e-01 6.35105407e-01 5.85603863e-02 9.87695025e+01] [-6.33095504e-01 7.72423296e-01 -5.05206411e-02 -4.84104178e+01] [-7.73193390e-02 1.83680393e-03 9.97004687e-01 -6.60865995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999999 meters 0.03149232950203382 Centerline is valid? [True, True] Translation: X:98.79, Y:-48.43, Z:-6.61 [[ 7.70087408e-01 6.35245525e-01 5.85534563e-02 9.87941505e+01] [-6.33235416e-01 7.72308074e-01 -5.05286720e-02 -4.84316004e+01] [-7.73194199e-02 1.83337183e-03 9.97004687e-01 -6.61056330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79863999999999 meters 0.03044172646753446 Centerline is valid? [True, True] Translation: X:98.81, Y:-48.46, Z:-6.61 [[ 7.65502213e-01 6.40662564e-01 5.96476469e-02 9.88115128e+01] [-6.38591361e-01 7.67821412e-01 -5.14912923e-02 -4.84606266e+01] [-7.87872838e-02 1.32622614e-03 9.96890568e-01 -6.61208003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82864 meters 0.030092728243827194 Centerline is valid? [True, True] Translation: X:98.83, Y:-48.48, Z:-6.61 [[ 7.62837401e-01 6.43802314e-01 5.99806540e-02 9.88327646e+01] [-6.41716323e-01 7.65191179e-01 -5.17940279e-02 -4.84846566e+01] [-7.92417823e-02 1.01985690e-03 9.96854904e-01 -6.61413836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85864 meters 0.029716863717829358 Centerline is valid? [True, True] Translation: X:98.85, Y:-48.51, Z:-6.62 [[ 7.60474089e-01 6.46608687e-01 5.98027324e-02 9.88538889e+01] [-6.44542679e-01 7.62821516e-01 -5.16533594e-02 -4.85087292e+01] [-7.90183219e-02 7.35628053e-04 9.96872892e-01 -6.61716689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88864 meters 0.029411495135563816 Centerline is valid? [True, True] Translation: X:98.87, Y:-48.53, Z:-6.62 [[ 7.56520189e-01 6.51184501e-01 6.02988299e-02 9.88739193e+01] [-6.49096678e-01 7.58919408e-01 -5.21040664e-02 -4.85347053e+01] [-7.96913128e-02 2.78007985e-04 9.96819551e-01 -6.62066560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91864 meters 0.029561256597922733 Centerline is valid? [True, True] Translation: X:98.90, Y:-48.56, Z:-6.62 [[ 7.55104285e-01 6.52783157e-01 6.07591051e-02 9.88978353e+01] [-6.50664455e-01 7.57544803e-01 -5.25512998e-02 -4.85572443e+01] [-8.03323476e-02 1.47921695e-04 9.96768124e-01 -6.62304972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94864 meters 0.029568855256909735 Centerline is valid? [True, True] Translation: X:98.92, Y:-48.58, Z:-6.62 [[ 7.52033521e-01 6.56219217e-01 6.18216986e-02 9.89214623e+01] [-6.54032721e-01 7.54570280e-01 -5.35246891e-02 -4.85792570e+01] [-8.17727459e-02 -1.81053311e-04 9.96650985e-01 -6.62392165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97864 meters 0.02952572078781448 Centerline is valid? [True, True] Translation: X:98.95, Y:-48.60, Z:-6.62 [[ 7.50926980e-01 6.57438936e-01 6.23114449e-02 9.89460941e+01] [-6.55217567e-01 7.53507776e-01 -5.39997265e-02 -4.86008999e+01] [-8.24536809e-02 -2.77701792e-04 9.96594859e-01 -6.62492117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00864 meters 0.029615514539427117 Centerline is valid? [True, True] Translation: X:98.97, Y:-48.62, Z:-6.63 [[ 7.48986752e-01 6.59547254e-01 6.33740045e-02 9.89693691e+01] [-6.57252299e-01 7.51662951e-01 -5.49747574e-02 -4.86223302e+01] [-8.38943415e-02 -4.77345104e-04 9.96474541e-01 -6.62790851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03864 meters 0.029421241207699525 Centerline is valid? [True, True] Translation: X:99.00, Y:-48.64, Z:-6.63 [[ 7.48245859e-01 6.60438749e-01 6.28394273e-02 9.89950243e+01] [-6.58181473e-01 7.50879732e-01 -5.45598364e-02 -4.86429350e+01] [-8.32182824e-02 -5.35575208e-04 9.96531199e-01 -6.62980630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06864 meters 0.029635509634787276 Centerline is valid? [True, True] Translation: X:99.02, Y:-48.66, Z:-6.63 [[ 7.48156381e-01 6.60571385e-01 6.25098046e-02 9.90211626e+01] [-6.58333543e-01 7.50763072e-01 -5.43300597e-02 -4.86637026e+01] [-8.28189357e-02 -5.04920317e-04 9.96564483e-01 -6.63153159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09863999999999 meters 0.029749008251799127 Centerline is valid? [True, True] Translation: X:99.05, Y:-48.68, Z:-6.63 [[ 7.50009857e-01 6.58501065e-01 6.21414651e-02 9.90459974e+01] [-6.56277955e-01 7.52579759e-01 -5.40643349e-02 -4.86836442e+01] [-8.23678309e-02 -2.33289590e-04 9.96601970e-01 -6.63393093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters 0.029807838091544737 Centerline is valid? [True, True] Translation: X:99.07, Y:-48.70, Z:-6.64 [[ 7.52130426e-01 6.56040367e-01 6.25368539e-02 9.90720557e+01] [-6.53775993e-01 7.54725798e-01 -5.44602649e-02 -4.87046650e+01] [-8.29263092e-02 7.61285333e-05 9.96555679e-01 -6.63607234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15863999999999 meters 0.030114206851768823 Centerline is valid? [True, True] Translation: X:99.10, Y:-48.72, Z:-6.64 [[ 7.56475123e-01 6.51204352e-01 6.06488338e-02 9.90979179e+01] [-6.49055095e-01 7.58902166e-01 -5.28676288e-02 -4.87234969e+01] [-8.04541613e-02 6.28611430e-04 9.96758111e-01 -6.63662789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999999 meters 0.030592797828761446 Centerline is valid? [True, True] Translation: X:99.12, Y:-48.74, Z:-6.64 [[ 7.58623251e-01 6.48775432e-01 5.98431437e-02 9.91235515e+01] [-6.46671601e-01 7.60979374e-01 -5.22133374e-02 -4.87448272e+01] [-7.94141286e-02 9.11390127e-04 9.96841294e-01 -6.63950787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21864 meters 0.030711583254602187 Centerline is valid? [True, True] Translation: X:99.15, Y:-48.77, Z:-6.64 [[ 7.60467026e-01 6.46671028e-01 5.92155751e-02 9.91479034e+01] [-6.44600837e-01 7.62768144e-01 -5.17157595e-02 -4.87664683e+01] [-7.86108377e-02 1.15772055e-03 9.96904708e-01 -6.64138440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24864 meters 0.03134621393807207 Centerline is valid? [True, True] Translation: X:99.17, Y:-48.79, Z:-6.64 [[ 7.63799642e-01 6.42685768e-01 5.97085484e-02 9.91700620e+01] [-6.40565050e-01 7.66128180e-01 -5.21922283e-02 -4.87898792e+01] [-7.92876038e-02 1.61719594e-03 9.96850471e-01 -6.64253286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27864 meters 0.03195709797828779 Centerline is valid? [True, True] Translation: X:99.19, Y:-48.81, Z:-6.64 [[ 7.64942563e-01 6.41275508e-01 6.02378471e-02 9.91935914e+01] [-6.39108894e-01 7.67308563e-01 -5.27009541e-02 -4.88116294e+01] [-8.00168470e-02 1.81465906e-03 9.96791860e-01 -6.64423848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30864 meters 0.032488688435676545 Centerline is valid? [True, True] Translation: X:99.22, Y:-48.84, Z:-6.65 [[ 7.67485853e-01 6.38350427e-01 5.89423363e-02 9.92158323e+01] [-6.36264052e-01 7.69743001e-01 -5.16117066e-02 -4.88352797e+01] [-7.83168057e-02 2.10836488e-03 9.96926293e-01 -6.64521092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33864 meters 0.032599145923773235 Centerline is valid? [True, True] Translation: X:99.24, Y:-48.86, Z:-6.65 [[ 7.67968295e-01 6.37843054e-01 5.81458189e-02 9.92388217e+01] [-6.35807885e-01 7.70163327e-01 -5.09586449e-02 -4.88588050e+01] [-7.72853950e-02 2.16505346e-03 9.97006660e-01 -6.64800777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36864 meters 0.03285551689948972 Centerline is valid? [True, True] Translation: X:99.26, Y:-48.88, Z:-6.65 [[ 7.68179576e-01 6.37643810e-01 5.75370357e-02 9.92616492e+01] [-6.35646825e-01 7.70328198e-01 -5.04735626e-02 -4.88823199e+01] [-7.65065558e-02 2.19952580e-03 9.97066652e-01 -6.65022373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39864 meters 0.03304656252061009 Centerline is valid? [True, True] Translation: X:99.28, Y:-48.91, Z:-6.65 [[ 7.68766735e-01 6.36866690e-01 5.82968791e-02 9.92803747e+01] [-6.34810517e-01 7.70970376e-01 -5.11887363e-02 -4.89095309e+01] [-7.75455678e-02 2.34472573e-03 9.96986052e-01 -6.65342060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42864 meters 0.03302961724054268 Centerline is valid? [True, True] Translation: X:99.30, Y:-48.93, Z:-6.66 [[ 7.68618982e-01 6.36920210e-01 5.96448369e-02 9.93010211e+01] [-6.34764689e-01 7.70925916e-01 -5.24120399e-02 -4.89339273e+01] [-7.93640380e-02 2.42445244e-03 9.96842752e-01 -6.65548384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45864 meters 0.03331163079016757 Centerline is valid? [True, True] Translation: X:99.32, Y:-48.96, Z:-6.66 [[ 7.69014881e-01 6.36500041e-01 5.90238127e-02 9.93203521e+01] [-6.34385601e-01 7.71272727e-01 -5.18969201e-02 -4.89618959e+01] [-7.85558488e-02 2.46564693e-03 9.96906665e-01 -6.65698824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters 0.03356055047122856 Centerline is valid? [True, True] Translation: X:99.34, Y:-48.99, Z:-6.66 [[ 7.68788076e-01 6.36787701e-01 5.88754519e-02 9.93437959e+01] [-6.34680788e-01 7.71035232e-01 -5.18166897e-02 -4.89855040e+01] [-7.83912784e-02 2.46893495e-03 9.96919612e-01 -6.65875516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51863999999999 meters 0.033467863368570154 Centerline is valid? [True, True] Translation: X:99.37, Y:-49.01, Z:-6.66 [[ 7.68417639e-01 6.37293004e-01 5.82405352e-02 9.93664156e+01] [-6.35229075e-01 7.70617760e-01 -5.13058560e-02 -4.90081614e+01] [-7.75780538e-02 2.42824342e-03 9.96983324e-01 -6.66074840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999999 meters 0.03318715476422614 Centerline is valid? [True, True] Translation: X:99.39, Y:-49.03, Z:-6.66 [[ 7.66438979e-01 6.39704674e-01 5.78724616e-02 9.93869369e+01] [-6.37670811e-01 7.68617653e-01 -5.10180412e-02 -4.90340528e+01] [-7.71182750e-02 2.19863590e-03 9.97019527e-01 -6.66290453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57864 meters 0.03314304390755723 Centerline is valid? [True, True] Translation: X:99.41, Y:-49.06, Z:-6.67 [[ 7.65329810e-01 6.40992724e-01 5.82975991e-02 9.94088932e+01] [-6.38930753e-01 7.67544077e-01 -5.14157833e-02 -4.90580019e+01] [-7.77031198e-02 2.10190276e-03 9.96974326e-01 -6.66581941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60864 meters 0.03275549198649631 Centerline is valid? [True, True] Translation: X:99.43, Y:-49.08, Z:-6.67 [[ 7.63467821e-01 6.43137949e-01 5.90801596e-02 9.94294559e+01] [-6.41022967e-01 7.65747869e-01 -5.21512890e-02 -4.90829844e+01] [-7.87809794e-02 1.94409180e-03 9.96890053e-01 -6.66779347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63864 meters 0.03281177966189613 Centerline is valid? [True, True] Translation: X:99.45, Y:-49.11, Z:-6.67 [[ 7.62435690e-01 6.44243516e-01 6.03499012e-02 9.94522093e+01] [-6.42036012e-01 7.64818054e-01 -5.33207655e-02 -4.91063957e+01] [-8.05082515e-02 1.90684479e-03 9.96752118e-01 -6.67074866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66864 meters 0.0328644760920932 Centerline is valid? [True, True] Translation: X:99.48, Y:-49.13, Z:-6.67 [[ 7.61798642e-01 6.44976788e-01 6.05621313e-02 9.94750900e+01] [-6.42751692e-01 7.64199856e-01 -5.35615711e-02 -4.91298614e+01] [-8.08275422e-02 1.87671977e-03 9.96726335e-01 -6.67307983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69864 meters 0.03291011710333373 Centerline is valid? [True, True] Translation: X:99.49, Y:-49.16, Z:-6.68 [[ 7.61464536e-01 6.45294522e-01 6.13737729e-02 9.94948428e+01] [-6.43005974e-01 7.63931501e-01 -5.43321191e-02 -4.91562244e+01] [-8.19455773e-02 1.90827915e-03 9.96634979e-01 -6.67553100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72864 meters 0.032853873982257704 Centerline is valid? [True, True] Translation: X:99.52, Y:-49.18, Z:-6.68 [[ 7.61266863e-01 6.45618329e-01 6.04130476e-02 9.95166403e+01] [-6.43398279e-01 7.63657935e-01 -5.35276891e-02 -4.91799660e+01] [-8.06933604e-02 1.87920516e-03 9.96737202e-01 -6.67687585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75864 meters 0.03289644172819325 Centerline is valid? [True, True] Translation: X:99.54, Y:-49.20, Z:-6.68 [[ 7.60732012e-01 6.46254341e-01 6.03500811e-02 9.95388303e+01] [-6.44036981e-01 7.63119856e-01 -5.35205793e-02 -4.92042790e+01] [-8.06422519e-02 1.84713391e-03 9.96741398e-01 -6.67844590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78864 meters 0.03284302035798495 Centerline is valid? [True, True] Translation: X:99.56, Y:-49.23, Z:-6.68 [[ 7.59386123e-01 6.47771882e-01 6.10270914e-02 9.95589133e+01] [-6.45504815e-01 7.61832355e-01 -5.41756016e-02 -4.92319292e+01] [-8.15858442e-02 1.74691867e-03 9.96664787e-01 -6.67977162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81864 meters 0.03286744303088013 Centerline is valid? [True, True] Translation: X:99.58, Y:-49.26, Z:-6.68 [[ 7.57900302e-01 6.49386151e-01 6.23278389e-02 9.95813348e+01] [-6.47021946e-01 7.60457036e-01 -5.53868015e-02 -4.92566028e+01] [-8.33650655e-02 1.65019400e-03 9.96517708e-01 -6.68272836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters 0.03227916287872564 Centerline is valid? [True, True] Translation: X:99.60, Y:-49.28, Z:-6.68 [[ 7.55541981e-01 6.52176278e-01 6.18256984e-02 9.95994987e+01] [-6.49854977e-01 7.58066105e-01 -5.49935485e-02 -4.92844651e+01] [-8.27334542e-02 1.37219675e-03 9.96570767e-01 -6.68431624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87863999999999 meters 0.031931161849697555 Centerline is valid? [True, True] Translation: X:99.62, Y:-49.31, Z:-6.69 [[ 7.53521488e-01 6.54535322e-01 6.15538696e-02 9.96207777e+01] [-6.52239030e-01 7.56030566e-01 -5.47907950e-02 -4.93095510e+01] [-8.23991175e-02 1.13820518e-03 9.96598761e-01 -6.68615589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999999 meters 0.03177941458783429 Centerline is valid? [True, True] Translation: X:99.64, Y:-49.33, Z:-6.69 [[ 7.51796670e-01 6.56451587e-01 6.22340742e-02 9.96429131e+01] [-6.54108244e-01 7.54367543e-01 -5.54257625e-02 -4.93340945e+01] [-8.33316954e-02 9.61082686e-04 9.96521402e-01 -6.68904561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93863999999999 meters 0.0315185615093408 Centerline is valid? [True, True] Translation: X:99.66, Y:-49.36, Z:-6.69 [[ 7.48007131e-01 6.60775148e-01 6.21412645e-02 9.96623697e+01] [-6.58449051e-01 7.50583728e-01 -5.53977825e-02 -4.93600080e+01] [-8.32476998e-02 5.21079672e-04 9.96528750e-01 -6.68989338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96864 meters 0.031210364135061685 Centerline is valid? [True, True] Translation: X:99.68, Y:-49.39, Z:-6.69 [[ 7.44487469e-01 6.64781267e-01 6.16788107e-02 9.96826892e+01] [-6.62499265e-01 7.47038055e-01 -5.50351596e-02 -4.93862038e+01] [-8.26627619e-02 1.10819907e-04 9.96577571e-01 -6.69181528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99864 meters 0.03125659473775061 Centerline is valid? [True, True] Translation: X:99.70, Y:-49.41, Z:-6.69 [[ 7.42263764e-01 6.67144187e-01 6.29534653e-02 9.97047218e+01] [-6.64770741e-01 7.44928601e-01 -5.62249199e-02 -4.94095976e+01] [-8.44059652e-02 -1.15901085e-04 9.96431443e-01 -6.69440080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02864 meters 0.031247895302864884 Centerline is valid? [True, True] Translation: X:99.73, Y:-49.43, Z:-6.70 [[ 7.40458575e-01 6.69219861e-01 6.21761695e-02 9.97275357e+01] [-6.66907796e-01 7.43064386e-01 -5.55815697e-02 -4.94328986e+01] [-8.33971875e-02 -3.09922275e-04 9.96516339e-01 -6.69628122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05864 meters 0.031202538756010503 Centerline is valid? [True, True] Translation: X:99.75, Y:-49.46, Z:-6.70 [[ 7.37014869e-01 6.72982766e-01 6.24762317e-02 9.97488665e+01] [-6.70657363e-01 7.39657831e-01 -5.59016431e-02 -4.94571091e+01] [-8.38318764e-02 -6.99802670e-04 9.96479667e-01 -6.69802087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08864 meters 0.031194910072852425 Centerline is valid? [True, True] Translation: X:99.77, Y:-49.48, Z:-6.70 [[ 7.35413074e-01 6.74682447e-01 6.30175145e-02 9.97722665e+01] [-6.72318289e-01 7.38107616e-01 -5.64381642e-02 -4.94794234e+01] [-8.45915461e-02 -8.62463727e-04 9.96415338e-01 -6.69961401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11864 meters 0.031293142082982436 Centerline is valid? [True, True] Translation: X:99.80, Y:-49.50, Z:-6.70 [[ 7.33482382e-01 6.76731837e-01 6.35422372e-02 9.97953523e+01] [-6.74331195e-01 7.36228822e-01 -5.69610534e-02 -4.95021890e+01] [-8.53289847e-02 -1.06858362e-03 9.96352258e-01 -6.70168982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14864 meters 0.03137381275482258 Centerline is valid? [True, True] Translation: X:99.82, Y:-49.53, Z:-6.70 [[ 7.31225173e-01 6.79012036e-01 6.52104377e-02 9.98178194e+01] [-6.76487617e-01 7.34125935e-01 -5.85116711e-02 -4.95255645e+01] [-8.76028025e-02 -1.32884668e-03 9.96154598e-01 -6.70440258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17864 meters 0.031494928412267774 Centerline is valid? [True, True] Translation: X:99.84, Y:-49.55, Z:-6.71 [[ 7.30018806e-01 6.80329361e-01 6.49961803e-02 9.98415364e+01] [-6.77821807e-01 7.32905100e-01 -5.83756170e-02 -4.95481089e+01] [-8.73506782e-02 -1.44053021e-03 9.96176583e-01 -6.70599463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20864 meters 0.03155209430845555 Centerline is valid? [True, True] Translation: X:99.86, Y:-49.57, Z:-6.71 [[ 7.27698750e-01 6.82813870e-01 6.49595854e-02 9.98639717e+01] [-6.80313812e-01 7.30590411e-01 -5.84017894e-02 -4.95709793e+01] [-8.73364021e-02 -1.69399404e-03 9.96177436e-01 -6.70825622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23863999999999 meters 0.0318585249891881 Centerline is valid? [True, True] Translation: X:99.89, Y:-49.59, Z:-6.71 [[ 7.26088496e-01 6.84496090e-01 6.52732666e-02 9.98871313e+01] [-6.81973758e-01 7.29014145e-01 -5.87381517e-02 -4.95929763e+01] [-8.77911698e-02 -1.86555869e-03 9.96137154e-01 -6.71075370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999999 meters 0.03186692565268832 Centerline is valid? [True, True] Translation: X:99.91, Y:-49.61, Z:-6.71 [[ 7.25082705e-01 6.85502620e-01 6.58880056e-02 9.99111441e+01] [-6.82931703e-01 7.28067506e-01 -5.93464042e-02 -4.96139000e+01] [-8.86530314e-02 -1.96595659e-03 9.96060628e-01 -6.71202675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29863999999999 meters 0.032145097582979246 Centerline is valid? [True, True] Translation: X:99.94, Y:-49.64, Z:-6.71 [[ 7.23461845e-01 6.87297311e-01 6.50028064e-02 9.99362521e+01] [-6.84797422e-01 7.26373135e-01 -5.86051148e-02 -4.96354909e+01] [-8.74954301e-02 -2.11518974e-03 9.96162675e-01 -6.71439062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32864 meters 0.03235326807837065 Centerline is valid? [True, True] Translation: X:99.96, Y:-49.66, Z:-6.72 [[ 7.22319585e-01 6.88369801e-01 6.63433022e-02 9.99604165e+01] [-6.85764554e-01 7.25356442e-01 -5.98749423e-02 -4.96566479e+01] [-8.93386437e-02 -2.24704156e-03 9.95998774e-01 -6.71748637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35864 meters 0.03269684241444462 Centerline is valid? [True, True] Translation: X:99.99, Y:-49.68, Z:-6.72 [[ 7.21398528e-01 6.89381394e-01 6.58593745e-02 9.99856554e+01] [-6.86813221e-01 7.24394879e-01 -5.94950238e-02 -4.96771237e+01] [-8.87229561e-02 -2.31346659e-03 9.96053656e-01 -6.72008955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38864 meters 0.032593978901199916 Centerline is valid? [True, True] Translation: X:100.01, Y:-49.70, Z:-6.72 [[ 7.21255152e-01 6.89587245e-01 6.52720208e-02 1.00011177e+02] [-6.87061464e-01 7.24199017e-01 -5.90112611e-02 -4.96970791e+01] [-8.79633463e-02 -2.28371399e-03 9.96121094e-01 -6.72160532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41864 meters 0.03273655450275763 Centerline is valid? [True, True] Translation: X:100.04, Y:-49.72, Z:-6.72 [[ 7.20610671e-01 6.90220071e-01 6.57001833e-02 1.00036140e+02] [-6.87660821e-01 7.23595683e-01 -5.94296409e-02 -4.97168355e+01] [-8.85599000e-02 -2.35380856e-03 9.96068072e-01 -6.72336073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44864 meters 0.03273596839631483 Centerline is valid? [True, True] Translation: X:100.06, Y:-49.74, Z:-6.73 [[ 7.21014522e-01 6.89787572e-01 6.58115845e-02 1.00062310e+02] [-6.87212959e-01 7.24008270e-01 -5.95850041e-02 -4.97355475e+01] [-8.87491268e-02 -2.26492055e-03 9.96051436e-01 -6.72561860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47864 meters 0.032778253400043124 Centerline is valid? [True, True] Translation: X:100.09, Y:-49.76, Z:-6.73 [[ 7.21988792e-01 6.88755519e-01 6.59395168e-02 1.00087522e+02] [-6.86161692e-01 7.24990631e-01 -5.97554734e-02 -4.97554472e+01] [-8.89624440e-02 -2.10238843e-03 9.96032762e-01 -6.72781330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50864 meters 0.0324315310966987 Centerline is valid? [True, True] Translation: X:100.11, Y:-49.77, Z:-6.73 [[ 7.26060840e-01 6.84521116e-01 6.53184433e-02 1.00114935e+02] [-6.81955108e-01 7.28991414e-01 -5.92346967e-02 -4.97737174e+01] [-8.81639851e-02 -1.53625240e-03 9.96104790e-01 -6.72857535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53864 meters 0.032308366068459465 Centerline is valid? [True, True] Translation: X:100.14, Y:-49.79, Z:-6.73 [[ 7.28062479e-01 6.82479767e-01 6.43925017e-02 1.00140471e+02] [-6.79975482e-01 7.30903420e-01 -5.84254549e-02 -4.97940199e+01] [-8.69388906e-02 -1.24794089e-03 9.96212865e-01 -6.73020597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56864 meters 0.03222544703186105 Centerline is valid? [True, True] Translation: X:100.16, Y:-49.81, Z:-6.73 [[ 7.30001555e-01 6.80387738e-01 6.45775183e-02 1.00164557e+02] [-6.77856063e-01 7.32851692e-01 -5.86477285e-02 -4.98146472e+01] [-8.72289388e-02 -9.61329311e-04 9.96187828e-01 -6.73373230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59863999999999 meters 0.032301891855204184 Centerline is valid? [True, True] Translation: X:100.19, Y:-49.84, Z:-6.74 [[ 7.31869231e-01 6.78343577e-01 6.49416700e-02 1.00188431e+02] [-6.75770103e-01 7.34744534e-01 -5.90358978e-02 -4.98369002e+01] [-8.77621592e-02 -6.79081901e-04 9.96141226e-01 -6.73618858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters 0.032013247334399864 Centerline is valid? [True, True] Translation: X:100.21, Y:-49.86, Z:-6.74 [[ 7.32307593e-01 6.77864770e-01 6.49995603e-02 1.00213189e+02] [-6.75279293e-01 7.35186386e-01 -5.91511178e-02 -4.98582996e+01] [-8.78832506e-02 -5.76044368e-04 9.96130615e-01 -6.73757087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65863999999999 meters 0.03173750112049009 Centerline is valid? [True, True] Translation: X:100.24, Y:-49.88, Z:-6.74 [[ 7.30766975e-01 6.79600485e-01 6.42091011e-02 1.00238518e+02] [-6.77078957e-01 7.33582066e-01 -5.84930576e-02 -4.98798097e+01] [-8.68545554e-02 -7.29836379e-04 9.96220735e-01 -6.73874094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999999 meters 0.03173750112049009 Centerline is valid? [True, True] Translation: X:100.26, Y:-49.90, Z:-6.74 [[ 7.30410728e-01 6.79986270e-01 6.41782042e-02 1.00262762e+02] [-6.77463251e-01 7.33224482e-01 -5.85269438e-02 -4.99014550e+01] [-8.68545487e-02 -7.29667269e-04 9.96220736e-01 -6.74064432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71864 meters 0.03177423460626063 Centerline is valid? [True, True] Translation: X:100.29, Y:-49.92, Z:-6.74 [[ 7.29177291e-01 6.81222223e-01 6.50904082e-02 1.00285731e+02] [-6.78626492e-01 7.32076203e-01 -5.94181505e-02 -4.99231982e+01] [-8.81281035e-02 -8.45709401e-04 9.96108790e-01 -6.74254977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74864 meters 0.031520197158019805 Centerline is valid? [True, True] Translation: X:100.31, Y:-49.95, Z:-6.74 [[ 7.26999566e-01 6.83599328e-01 6.45258768e-02 1.00309259e+02] [-6.81053091e-01 7.29856687e-01 -5.89567921e-02 -4.99462743e+01] [-8.73974661e-02 -1.08398557e-03 9.96172931e-01 -6.74464752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77864 meters 0.031456271574320155 Centerline is valid? [True, True] Translation: X:100.33, Y:-49.97, Z:-6.75 [[ 7.25775199e-01 6.84996597e-01 6.34824547e-02 1.00333138e+02] [-6.82532507e-01 7.28545295e-01 -5.80614264e-02 -4.99677358e+01] [-8.60217232e-02 -1.18929567e-03 9.96292552e-01 -6.74663362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80864 meters 0.03139996507418344 Centerline is valid? [True, True] Translation: X:100.36, Y:-49.99, Z:-6.75 [[ 7.24688951e-01 6.86151991e-01 6.34142769e-02 1.00357796e+02] [-6.83692786e-01 7.27457076e-01 -5.80549538e-02 -4.99896450e+01] [-8.59656865e-02 -1.28410003e-03 9.96297271e-01 -6.74834256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83864 meters 0.03147358414206063 Centerline is valid? [True, True] Translation: X:100.38, Y:-50.01, Z:-6.75 [[ 7.24045972e-01 6.86889424e-01 6.27722039e-02 1.00382100e+02] [-6.84477460e-01 7.26760754e-01 -5.75274987e-02 -5.00122758e+01] [-8.51354047e-02 -1.31360493e-03 9.96368525e-01 -6.75001119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86864 meters 0.03149319923221179 Centerline is valid? [True, True] Translation: X:100.41, Y:-50.03, Z:-6.75 [[ 7.21570089e-01 6.89223025e-01 6.56370953e-02 1.00405422e+02] [-6.86590649e-01 7.24547431e-01 -6.02021775e-02 -5.00346677e+01] [-8.90499156e-02 -1.62572518e-03 9.96025838e-01 -6.75130852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89864 meters 0.03158669878170373 Centerline is valid? [True, True] Translation: X:100.43, Y:-50.05, Z:-6.75 [[ 7.19910721e-01 6.90961128e-01 6.55840938e-02 1.00430561e+02] [-6.88337564e-01 7.22889629e-01 -6.01829081e-02 -5.00544808e+01] [-8.89941113e-02 -1.81767459e-03 9.96030494e-01 -6.75237878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92864 meters 0.031711334710004854 Centerline is valid? [True, True] Translation: X:100.46, Y:-50.07, Z:-6.76 [[ 7.16483308e-01 6.94524976e-01 6.54731047e-02 1.00458311e+02] [-6.91920166e-01 7.19465182e-01 -6.01359769e-02 -5.00713081e+01] [-8.88715571e-02 -2.21573778e-03 9.96040630e-01 -6.75524860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95864 meters 0.03185227191356871 Centerline is valid? [True, True] Translation: X:100.48, Y:-50.09, Z:-6.76 [[ 7.14195001e-01 6.96869870e-01 6.55582561e-02 1.00484250e+02] [-6.94263175e-01 7.17193335e-01 -6.02690955e-02 -5.00912074e+01] [-8.90176611e-02 -2.47079638e-03 9.96026983e-01 -6.75741866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters 0.03223752227360689 Centerline is valid? [True, True] Translation: X:100.51, Y:-50.11, Z:-6.76 [[ 7.11846174e-01 6.99187803e-01 6.64186786e-02 1.00509926e+02] [-6.96517061e-01 7.14932736e-01 -6.11160054e-02 -5.01109768e+01] [-9.02164531e-02 -2.75654824e-03 9.95918367e-01 -6.75955906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01863999999999 meters 0.032848804869850694 Centerline is valid? [True, True] Translation: X:100.54, Y:-50.13, Z:-6.76 [[ 7.08377911e-01 7.02730054e-01 6.61151018e-02 1.00539955e+02] [-7.00094111e-01 7.11449597e-01 -6.08909405e-02 -5.01262731e+01] [-8.98274565e-02 -3.15299622e-03 9.95952352e-01 -6.76097156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999999 meters 0.032638801454199555 Centerline is valid? [True, True] Translation: X:100.57, Y:-50.14, Z:-6.76 [[ 7.07184200e-01 7.03977118e-01 6.56256418e-02 1.00567676e+02] [-7.01380741e-01 7.10215222e-01 -6.04929321e-02 -5.01435802e+01] [-8.91939698e-02 -3.24891549e-03 9.96008976e-01 -6.76254439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07864 meters 0.03269506810252891 Centerline is valid? [True, True] Translation: X:100.60, Y:-50.16, Z:-6.77 [[ 7.07416704e-01 7.03871446e-01 6.42385720e-02 1.00597742e+02] [-7.01379550e-01 7.10320461e-01 -5.92584943e-02 -5.01590239e+01] [-8.73403342e-02 -3.13517199e-03 9.96173598e-01 -6.76608383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10864 meters 0.03242584988647266 Centerline is valid? [True, True] Translation: X:100.63, Y:-50.18, Z:-6.77 [[ 7.08719896e-01 7.02689885e-01 6.27935850e-02 1.00625243e+02] [-7.00301354e-01 7.11490363e-01 -5.79609955e-02 -5.01768340e+01] [-8.54056358e-02 -2.89632190e-03 9.96342054e-01 -6.76664185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13864 meters 0.032295304202427155 Centerline is valid? [True, True] Translation: X:100.65, Y:-50.19, Z:-6.77 [[ 7.09497971e-01 7.01832062e-01 6.35954871e-02 1.00653415e+02] [-6.99373965e-01 7.12336977e-01 -5.87544845e-02 -5.01941318e+01] [-8.65371980e-02 -2.79084038e-03 9.96244711e-01 -6.76922819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16864 meters 0.0317551356479248 Centerline is valid? [True, True] Translation: X:100.68, Y:-50.21, Z:-6.77 [[ 7.13452429e-01 6.97876867e-01 6.28769436e-02 1.00684164e+02] [-6.95455454e-01 7.16214206e-01 -5.81285019e-02 -5.02072856e+01] [-8.55998970e-02 -2.25619250e-03 9.96327038e-01 -6.77145766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19864 meters 0.03156069886919615 Centerline is valid? [True, True] Translation: X:100.71, Y:-50.23, Z:-6.77 [[ 7.15462861e-01 6.95840594e-01 6.26000223e-02 1.00710966e+02] [-6.93430836e-01 7.18193510e-01 -5.78943618e-02 -5.02257726e+01] [-8.52441769e-02 -1.98752008e-03 9.96358108e-01 -6.77355931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22864 meters 0.031213807641761793 Centerline is valid? [True, True] Translation: X:100.74, Y:-50.24, Z:-6.78 [[ 7.20561332e-01 6.90577062e-01 6.24074397e-02 1.00740452e+02] [-6.88158704e-01 7.23257602e-01 -5.77584568e-02 -5.02420888e+01] [-8.50233206e-02 -1.32771228e-03 9.96378077e-01 -6.77557279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25864 meters 0.03109504878621538 Centerline is valid? [True, True] Translation: X:100.77, Y:-50.26, Z:-6.78 [[ 7.22904608e-01 6.88161123e-01 6.19935176e-02 1.00767496e+02] [-6.85763439e-01 7.25557192e-01 -5.74044268e-02 -5.02604585e+01] [-8.44833374e-02 -1.01496315e-03 9.96424375e-01 -6.77686174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28864 meters 0.030868406392194177 Centerline is valid? [True, True] Translation: X:100.80, Y:-50.28, Z:-6.78 [[ 7.26513745e-01 6.84532329e-01 5.99438799e-02 1.00796356e+02] [-6.82275144e-01 7.28982301e-01 -5.55466713e-02 -5.02773114e+01] [-8.17215198e-02 -5.42799122e-04 9.96655055e-01 -6.77977167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31864 meters 0.030826485580970293 Centerline is valid? [True, True] Translation: X:100.82, Y:-50.30, Z:-6.78 [[ 7.27177313e-01 6.83971347e-01 5.82782272e-02 1.00821957e+02] [-6.81834201e-01 7.29508736e-01 -5.40289365e-02 -5.02966475e+01] [-7.94687204e-02 -4.47471626e-04 9.96837260e-01 -6.78044110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters 0.030740645712587764 Centerline is valid? [True, True] Translation: X:100.85, Y:-50.32, Z:-6.78 [[ 7.27105328e-01 6.83994027e-01 5.89068212e-02 1.00848334e+02] [-6.81806329e-01 7.29487490e-01 -5.46638126e-02 -5.03169518e+01] [-8.03615104e-02 -4.16694137e-04 9.96765697e-01 -6.78279493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37863999999999 meters 0.030784019102065244 Centerline is valid? [True, True] Translation: X:100.88, Y:-50.34, Z:-6.78 [[ 7.26790104e-01 6.84309657e-01 5.91306931e-02 1.00876495e+02] [-6.82101677e-01 7.29191418e-01 -5.49288396e-02 -5.03356054e+01] [-8.07059293e-02 -4.11407910e-04 9.96737871e-01 -6.78451293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999999 meters 0.0307932294321814 Centerline is valid? [True, True] Translation: X:100.90, Y:-50.36, Z:-6.79 [[ 7.26668414e-01 6.84399508e-01 5.95846389e-02 1.00903083e+02] [-6.82153050e-01 7.29107102e-01 -5.54080287e-02 -5.03557805e+01] [-8.13648110e-02 -3.82578890e-04 9.96684314e-01 -6.78556685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43863999999999 meters 0.03050329022952568 Centerline is valid? [True, True] Translation: X:100.93, Y:-50.37, Z:-6.79 [[ 7.27490208e-01 6.83563913e-01 5.91470556e-02 1.00930726e+02] [-6.81343202e-01 7.29890619e-01 -5.50556600e-02 -5.03738708e+01] [-8.08049434e-02 -2.46990684e-04 9.96729903e-01 -6.78829087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46864 meters 0.03066654126345335 Centerline is valid? [True, True] Translation: X:100.96, Y:-50.39, Z:-6.79 [[ 7.27932755e-01 6.83106833e-01 5.89827049e-02 1.00956671e+02] [-6.80892785e-01 7.30318444e-01 -5.49543987e-02 -5.03944348e+01] [-8.06158825e-02 -1.57791349e-04 9.96745231e-01 -6.79040429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49864 meters 0.03048154040497104 Centerline is valid? [True, True] Translation: X:100.98, Y:-50.41, Z:-6.79 [[ 7.28102509e-01 6.83080134e-01 5.71687574e-02 1.00981370e+02] [-6.80996191e-01 7.30343425e-01 -5.33166886e-02 -5.04148022e+01] [-7.81723968e-02 -1.11691315e-04 9.96939850e-01 -6.79191884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52864 meters 0.03047580483475578 Centerline is valid? [True, True] Translation: X:101.01, Y:-50.43, Z:-6.79 [[ 7.29027359e-01 6.81987202e-01 5.84171839e-02 1.01008527e+02] [-6.79803564e-01 7.31364106e-01 -5.45312723e-02 -5.04324563e+01] [-7.99138613e-02 4.25796078e-05 9.96801772e-01 -6.79393545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55864 meters 0.030484088058679425 Centerline is valid? [True, True] Translation: X:101.03, Y:-50.45, Z:-6.80 [[ 7.29238857e-01 6.81792674e-01 5.80468630e-02 1.01034565e+02] [-6.79632042e-01 7.31545446e-01 -5.42360392e-02 -5.04524113e+01] [-7.94416525e-02 1.00519176e-04 9.96839513e-01 -6.79532318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58864 meters 0.030346203166682587 Centerline is valid? [True, True] Translation: X:101.06, Y:-50.47, Z:-6.80 [[ 7.29807902e-01 6.81243541e-01 5.73381503e-02 1.01060209e+02] [-6.79129466e-01 7.32056827e-01 -5.36280788e-02 -5.04727273e+01] [-7.85085667e-02 1.98168331e-04 9.96913419e-01 -6.79688368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61864 meters 0.03039646313718472 Centerline is valid? [True, True] Translation: X:101.09, Y:-50.49, Z:-6.80 [[ 7.30344223e-01 6.80669163e-01 5.73306764e-02 1.01085167e+02] [-6.78549581e-01 7.32590882e-01 -5.36755563e-02 -5.04948951e+01] [-7.85352268e-02 2.99926001e-04 9.96911294e-01 -6.79875067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64864 meters 0.030535323972949776 Centerline is valid? [True, True] Translation: X:101.11, Y:-50.52, Z:-6.80 [[ 7.30944499e-01 6.80001604e-01 5.76017258e-02 1.01110090e+02] [-6.77855482e-01 7.33210507e-01 -5.39842316e-02 -5.05169410e+01] [-7.89435547e-02 4.13831459e-04 9.96879002e-01 -6.80195566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67864 meters 0.030684565137605983 Centerline is valid? [True, True] Translation: X:101.14, Y:-50.54, Z:-6.80 [[ 7.31561849e-01 6.79337306e-01 5.76028283e-02 1.01135151e+02] [-6.77184723e-01 7.33825966e-01 -5.40398314e-02 -5.05384502e+01] [-7.89817246e-02 5.25723663e-04 9.96875925e-01 -6.80369485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70864 meters 0.030544152191152037 Centerline is valid? [True, True] Translation: X:101.16, Y:-50.56, Z:-6.80 [[ 7.31947480e-01 6.78958083e-01 5.71734902e-02 1.01159756e+02] [-6.76832120e-01 7.34176790e-01 -5.36909950e-02 -5.05610910e+01] [-7.84293846e-02 6.02133941e-04 9.96919490e-01 -6.80486962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73863999999999 meters 0.03065672536557586 Centerline is valid? [True, True] Translation: X:101.18, Y:-50.58, Z:-6.81 [[ 7.31592165e-01 6.79301048e-01 5.76453878e-02 1.01181928e+02] [-6.77136468e-01 7.33859464e-01 -5.41893983e-02 -5.05849251e+01] [-7.91145284e-02 6.10744926e-04 9.96865346e-01 -6.80827104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999999 meters 0.03076947491416494 Centerline is valid? [True, True] Translation: X:101.20, Y:-50.61, Z:-6.81 [[ 7.31068694e-01 6.79847727e-01 5.78414443e-02 1.01204729e+02] [-6.77665677e-01 7.33353063e-01 -5.44289880e-02 -5.06082268e+01] [-7.94216241e-02 5.94167680e-04 9.96840936e-01 -6.81100215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79863999999999 meters 0.0307617627489492 Centerline is valid? [True, True] Translation: X:101.23, Y:-50.63, Z:-6.81 [[ 7.31003570e-01 6.80028908e-01 5.65195978e-02 1.01227366e+02] [-6.77942152e-01 7.33185056e-01 -5.32363907e-02 -5.06308392e+01] [-7.76416091e-02 5.98973893e-04 9.96981154e-01 -6.81255927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82864 meters 0.030699769307333123 Centerline is valid? [True, True] Translation: X:101.25, Y:-50.65, Z:-6.81 [[ 7.30630029e-01 6.80488465e-01 5.58140619e-02 1.01249497e+02] [-6.78451354e-01 7.32758566e-01 -5.26179091e-02 -5.06546215e+01] [-7.67041121e-02 5.77098576e-04 9.97053733e-01 -6.81465041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85864 meters 0.030566638374332603 Centerline is valid? [True, True] Translation: X:101.27, Y:-50.68, Z:-6.82 [[ 7.29156385e-01 6.82133985e-01 5.49926627e-02 1.01272600e+02] [-6.80157701e-01 7.31227079e-01 -5.18889275e-02 -5.06776905e+01] [-7.56073250e-02 4.31459796e-04 9.97137576e-01 -6.81614195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88864 meters 0.030517074328525223 Centerline is valid? [True, True] Translation: X:101.30, Y:-50.70, Z:-6.82 [[ 7.26857830e-01 6.84597293e-01 5.48109617e-02 1.01295784e+02] [-6.82637463e-01 7.28921465e-01 -5.17647825e-02 -5.07019106e+01] [-7.53909164e-02 2.09621609e-04 9.97154033e-01 -6.81753105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91864 meters 0.030409359159095158 Centerline is valid? [True, True] Translation: X:101.32, Y:-50.73, Z:-6.82 [[ 7.25002389e-01 6.86573159e-01 5.46702225e-02 1.01318911e+02] [-6.84624991e-01 7.27060723e-01 -5.16848800e-02 -5.07253260e+01] [-7.52340228e-02 4.30609500e-05 9.97165904e-01 -6.81988283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94864 meters 0.03049153750903901 Centerline is valid? [True, True] Translation: X:101.34, Y:-50.75, Z:-6.82 [[ 7.22766224e-01 6.88833299e-01 5.58361114e-02 1.01340791e+02] [-6.86803642e-01 7.24919762e-01 -5.28402892e-02 -5.07482108e+01] [-7.68748513e-02 -1.57268356e-04 9.97040738e-01 -6.82287181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97864 meters 0.030495146858550683 Centerline is valid? [True, True] Translation: X:101.36, Y:-50.77, Z:-6.82 [[ 7.18866821e-01 6.92925658e-01 5.55385194e-02 1.01364003e+02] [-6.90926161e-01 7.21008823e-01 -5.26052941e-02 -5.07718749e+01] [-7.64953205e-02 -5.56815482e-04 9.97069785e-01 -6.82487570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00864 meters 0.030534449973929186 Centerline is valid? [True, True] Translation: X:101.39, Y:-50.79, Z:-6.83 [[ 7.16467837e-01 6.95373456e-01 5.59427825e-02 1.01387352e+02] [-6.93347999e-01 7.18648134e-01 -5.30416108e-02 -5.07936574e+01] [-7.70869045e-02 -7.85208050e-04 9.97024068e-01 -6.82673780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03864 meters 0.030699222839760787 Centerline is valid? [True, True] Translation: X:101.41, Y:-50.81, Z:-6.83 [[ 7.13944010e-01 6.97918427e-01 5.65138938e-02 1.01411636e+02] [-6.95855463e-01 7.16176513e-01 -5.36318664e-02 -5.08149378e+01] [-7.79045912e-02 -1.03535196e-03 9.96960281e-01 -6.82831962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06864 meters 0.0309611260710573 Centerline is valid? [True, True] Translation: X:101.44, Y:-50.84, Z:-6.83 [[ 7.10789928e-01 7.01023290e-01 5.78275460e-02 1.01436430e+02] [-6.98869320e-01 7.13137061e-01 -5.49291014e-02 -5.08358641e+01] [-7.97455456e-02 -1.37084573e-03 9.96814310e-01 -6.83097027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09863999999999 meters 0.030962246951386625 Centerline is valid? [True, True] Translation: X:101.46, Y:-50.86, Z:-6.83 [[ 7.09743454e-01 7.02066274e-01 5.80273686e-02 1.01460098e+02] [-6.99896817e-01 7.12110120e-01 -5.51690417e-02 -5.08575004e+01] [-8.00542000e-02 -1.45730437e-03 9.96789447e-01 -6.83270981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999999 meters 0.031076846560327526 Centerline is valid? [True, True] Translation: X:101.48, Y:-50.88, Z:-6.83 [[ 7.08459448e-01 7.03389124e-01 5.76970685e-02 1.01484967e+02] [-7.01244629e-01 7.10803281e-01 -5.49059739e-02 -5.08788566e+01] [-7.96315305e-02 -1.56110343e-03 9.96823145e-01 -6.83419625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15863999999999 meters 0.031197630203212853 Centerline is valid? [True, True] Translation: X:101.51, Y:-50.90, Z:-6.84 [[ 7.08257869e-01 7.03558811e-01 5.81015579e-02 1.01510480e+02] [-7.01380048e-01 7.10635347e-01 -5.53482793e-02 -5.09000916e+01] [-8.02297903e-02 -1.55041914e-03 9.96775189e-01 -6.83601306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999999 meters 0.031182710782886185 Centerline is valid? [True, True] Translation: X:101.54, Y:-50.92, Z:-6.84 [[ 7.08236949e-01 7.03593317e-01 5.79384895e-02 1.01535974e+02] [-7.01422298e-01 7.10601271e-01 -5.52502738e-02 -5.09207001e+01] [-8.00448877e-02 -1.50906317e-03 9.96790118e-01 -6.83803901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21864 meters 0.031154353701697043 Centerline is valid? [True, True] Translation: X:101.56, Y:-50.94, Z:-6.84 [[ 7.07434734e-01 7.04408523e-01 5.78336377e-02 1.01562449e+02] [-7.02243477e-01 7.09793073e-01 -5.52077227e-02 -5.09412043e+01] [-7.99387059e-02 -1.55743420e-03 9.96798564e-01 -6.83888854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24864 meters 0.031074520483749167 Centerline is valid? [True, True] Translation: X:101.59, Y:-50.96, Z:-6.84 [[ 7.07371113e-01 7.04514278e-01 5.73213798e-02 1.01587094e+02] [-7.02383484e-01 7.09688193e-01 -5.47732576e-02 -5.09617199e+01] [-7.92688485e-02 -1.51657030e-03 9.96852120e-01 -6.84014647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27864 meters 0.031145193373159973 Centerline is valid? [True, True] Translation: X:101.61, Y:-50.98, Z:-6.84 [[ 7.06667495e-01 7.05266923e-01 5.67416903e-02 1.01613654e+02] [-7.03177531e-01 7.08940173e-01 -5.42696155e-02 -5.09821328e+01] [-7.85010285e-02 -1.54890846e-03 9.96912829e-01 -6.84196783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30864 meters 0.031211245590794724 Centerline is valid? [True, True] Translation: X:101.64, Y:-51.00, Z:-6.84 [[ 7.06160314e-01 7.05749880e-01 5.70501436e-02 1.01638375e+02] [-7.03634747e-01 7.08459342e-01 -5.46214569e-02 -5.10041275e+01] [-7.89667939e-02 -1.57095817e-03 9.96876009e-01 -6.84422220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33864 meters 0.031254326572639615 Centerline is valid? [True, True] Translation: X:101.66, Y:-51.03, Z:-6.84 [[ 7.05815607e-01 7.06168382e-01 5.61297239e-02 1.01662612e+02] [-7.04118198e-01 7.08042233e-01 -5.37936829e-02 -5.10254108e+01] [-7.77296131e-02 -1.55353911e-03 9.96973266e-01 -6.84495455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36864 meters 0.031149652471120164 Centerline is valid? [True, True] Translation: X:101.69, Y:-51.05, Z:-6.85 [[ 7.05133201e-01 7.06729211e-01 5.76280379e-02 1.01688414e+02] [-7.04566468e-01 7.07482274e-01 -5.52713625e-02 -5.10450118e+01] [-7.98327018e-02 -1.62911034e-03 9.96806945e-01 -6.84666027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39864 meters 0.03126720782203341 Centerline is valid? [True, True] Translation: X:101.71, Y:-51.07, Z:-6.85 [[ 7.04995097e-01 7.06937178e-01 5.67603682e-02 1.01713403e+02] [-7.04838741e-01 7.07274493e-01 -5.44531096e-02 -5.10653368e+01] [-7.86400883e-02 -1.61773114e-03 9.96901760e-01 -6.84695181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42864 meters 0.031355187556693635 Centerline is valid? [True, True] Translation: X:101.74, Y:-51.09, Z:-6.85 [[ 7.02639016e-01 7.09241031e-01 5.72326159e-02 1.01738306e+02] [-7.07113940e-01 7.04963561e-01 -5.49204261e-02 -5.10855319e+01] [-7.92987284e-02 -1.88074634e-03 9.96849123e-01 -6.84875715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45864 meters 0.031415610663531476 Centerline is valid? [True, True] Translation: X:101.76, Y:-51.11, Z:-6.85 [[ 7.01019041e-01 7.10809394e-01 5.76394783e-02 1.01762144e+02] [-7.08656027e-01 7.03381654e-01 -5.53252558e-02 -5.11065395e+01] [-7.98682631e-02 -2.06250593e-03 9.96803294e-01 -6.85053741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters 0.03162898138218753 Centerline is valid? [True, True] Translation: X:101.79, Y:-51.13, Z:-6.85 [[ 6.99284714e-01 7.12473885e-01 5.81537000e-02 1.01786476e+02] [-7.10286421e-01 7.01694980e-01 -5.58332748e-02 -5.11275149e+01] [-8.05859096e-02 -2.26242790e-03 9.96745099e-01 -6.85287545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51863999999999 meters 0.03200025341984685 Centerline is valid? [True, True] Translation: X:101.81, Y:-51.15, Z:-6.86 [[ 6.95758356e-01 7.15892731e-01 5.84628758e-02 1.01810578e+02] [-7.13692696e-01 6.98205209e-01 -5.61446512e-02 -5.11484307e+01] [-8.10126322e-02 -2.66141721e-03 9.96709522e-01 -6.85519745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999999 meters 0.032098555640834484 Centerline is valid? [True, True] Translation: X:101.84, Y:-51.17, Z:-6.86 [[ 6.95596576e-01 7.16051943e-01 5.84381642e-02 1.01835274e+02] [-7.13852984e-01 6.98041905e-01 -5.61374746e-02 -5.11707219e+01] [-8.09896352e-02 -2.66722278e-03 9.96711375e-01 -6.85715608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57864 meters 0.032098555640834484 Centerline is valid? [True, True] Translation: X:101.86, Y:-51.19, Z:-6.86 [[ 6.95457828e-01 7.16187594e-01 5.84272089e-02 1.01858755e+02] [-7.13988157e-01 6.97902727e-01 -5.61488750e-02 -5.11932072e+01] [-8.09896361e-02 -2.66716049e-03 9.96711375e-01 -6.85905942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60864 meters 0.03211595627914892 Centerline is valid? [True, True] Translation: X:101.88, Y:-51.21, Z:-6.86 [[ 6.94270671e-01 7.17273969e-01 5.92139303e-02 1.01883306e+02] [-7.15017074e-01 6.96785559e-01 -5.69251135e-02 -5.12140778e+01] [-8.20903136e-02 -2.81753444e-03 9.96620912e-01 -6.86100093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63864 meters 0.03232667297680551 Centerline is valid? [True, True] Translation: X:101.91, Y:-51.24, Z:-6.86 [[ 6.94212758e-01 7.17334919e-01 5.91545452e-02 1.01907036e+02] [-7.15081395e-01 6.96722841e-01 -5.68848098e-02 -5.12365550e+01] [-8.20197832e-02 -2.81015404e-03 9.96626740e-01 -6.86366984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66864 meters 0.03208092715898058 Centerline is valid? [True, True] Translation: X:101.93, Y:-51.26, Z:-6.87 [[ 6.95179750e-01 7.16453841e-01 5.84722900e-02 1.01930310e+02] [-7.14247370e-01 6.97629424e-01 -5.62483908e-02 -5.12586767e+01] [-8.10913656e-02 -2.66093700e-03 9.96703120e-01 -6.86521078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69864 meters 0.03193251338484989 Centerline is valid? [True, True] Translation: X:101.95, Y:-51.28, Z:-6.87 [[ 6.97152230e-01 7.14573597e-01 5.79943419e-02 1.01952152e+02] [-7.12395450e-01 6.99556115e-01 -5.58029128e-02 -5.12819363e+01] [-8.04455846e-02 -2.41178019e-03 9.96756084e-01 -6.86776672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72864 meters 0.03174468477312671 Centerline is valid? [True, True] Translation: X:101.98, Y:-51.30, Z:-6.87 [[ 6.97892017e-01 7.13873010e-01 5.77239874e-02 1.01975729e+02] [-7.11711340e-01 7.00271377e-01 -5.55604859e-02 -5.13042845e+01] [-8.00855874e-02 -2.30759690e-03 9.96785320e-01 -6.86900023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75864 meters 0.03197089639618098 Centerline is valid? [True, True] Translation: X:102.00, Y:-51.33, Z:-6.87 [[ 6.97852590e-01 7.13943175e-01 5.73315374e-02 1.01998292e+02] [-7.11809222e-01 7.00199921e-01 -5.52059984e-02 -5.13267848e+01] [-7.95574837e-02 -2.28346802e-03 9.96827664e-01 -6.87028159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78864 meters 0.03194792936799223 Centerline is valid? [True, True] Translation: X:102.02, Y:-51.35, Z:-6.87 [[ 6.96878158e-01 7.14947410e-01 5.66659852e-02 1.02022047e+02] [-7.12864980e-01 6.99174249e-01 -5.45792106e-02 -5.13485949e+01] [-7.86406629e-02 -2.36013670e-03 9.96900234e-01 -6.87112117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81864 meters 0.0317289300653347 Centerline is valid? [True, True] Translation: X:102.05, Y:-51.37, Z:-6.87 [[ 6.96648380e-01 7.15185806e-01 5.64827242e-02 1.02046651e+02] [-7.13116313e-01 6.98930367e-01 -5.44193521e-02 -5.13699655e+01] [-7.83974393e-02 -2.36759858e-03 9.96919373e-01 -6.87314049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters 0.03195546127088231 Centerline is valid? [True, True] Translation: X:102.07, Y:-51.39, Z:-6.87 [[ 6.95148688e-01 7.16714917e-01 5.55700351e-02 1.02070590e+02] [-7.14715055e-01 6.97361857e-01 -5.35614676e-02 -5.13918677e+01] [-7.71407257e-02 -2.48355670e-03 9.97017121e-01 -6.87482861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87863999999999 meters 0.03213928419834768 Centerline is valid? [True, True] Translation: X:102.09, Y:-51.41, Z:-6.88 [[ 6.94590439e-01 7.17256654e-01 5.55609179e-02 1.02093822e+02] [-7.15258092e-01 6.96804473e-01 -5.35666679e-02 -5.14137731e+01] [-7.71361451e-02 -2.53350072e-03 9.97017350e-01 -6.87595425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999999 meters 0.03208861447009353 Centerline is valid? [True, True] Translation: X:102.12, Y:-51.44, Z:-6.88 [[ 6.94182371e-01 7.17561802e-01 5.67088730e-02 1.02118117e+02] [-7.15479554e-01 6.96489946e-01 -5.46878778e-02 -5.14350450e+01] [-7.87390920e-02 -2.61067850e-03 9.96891840e-01 -6.87756733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93863999999999 meters 0.031818958463499906 Centerline is valid? [True, True] Translation: X:102.14, Y:-51.45, Z:-6.88 [[ 6.95466391e-01 7.16231732e-01 5.77806613e-02 1.02144966e+02] [-7.14064030e-01 6.97858065e-01 -5.57376255e-02 -5.14538507e+01] [-8.02437565e-02 -2.49544667e-03 9.96772147e-01 -6.87939837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96864 meters 0.03182921037720607 Centerline is valid? [True, True] Translation: X:102.17, Y:-51.48, Z:-6.88 [[ 6.97233267e-01 7.14598862e-01 5.66942553e-02 1.02168446e+02] [-7.12505194e-01 6.99530843e-01 -5.47078407e-02 -5.14752743e+01] [-7.87535409e-02 -2.25082490e-03 9.96891576e-01 -6.88213379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99864 meters 0.03142252991470723 Centerline is valid? [True, True] Translation: X:102.19, Y:-51.50, Z:-6.88 [[ 7.01158672e-01 7.10811032e-01 5.58944853e-02 1.02192434e+02] [-7.08763076e-01 7.03380746e-01 -5.39483920e-02 -5.14954336e+01] [-7.76622170e-02 -1.78956444e-03 9.96978123e-01 -6.88421303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02864 meters 0.03142495089977537 Centerline is valid? [True, True] Translation: X:102.22, Y:-51.52, Z:-6.89 [[ 7.02691745e-01 7.09172272e-01 5.74369268e-02 1.02215818e+02] [-7.07003337e-01 7.05033317e-01 -5.54464027e-02 -5.15169956e+01] [-7.98159984e-02 -1.64636945e-03 9.96808254e-01 -6.88675796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05864 meters 0.031233951769077 Centerline is valid? [True, True] Translation: X:102.24, Y:-51.54, Z:-6.89 [[ 7.05197937e-01 7.06844874e-01 5.53732291e-02 1.02240409e+02] [-7.04820996e-01 7.07367354e-01 -5.34676464e-02 -5.15379464e+01] [-7.69625464e-02 -1.32294055e-03 9.97033107e-01 -6.88723413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08864 meters 0.031105228915830035 Centerline is valid? [True, True] Translation: X:102.27, Y:-51.56, Z:-6.89 [[ 7.08572063e-01 7.03366717e-01 5.65764300e-02 1.02265100e+02] [-7.01241554e-01 7.10826526e-01 -5.46436914e-02 -5.15579871e+01] [-7.86505810e-02 -9.54750583e-04 9.96901788e-01 -6.88984386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11864 meters 0.031001862921239676 Centerline is valid? [True, True] Translation: X:102.29, Y:-51.58, Z:-6.89 [[ 7.09528746e-01 7.02564284e-01 5.45195973e-02 1.02288999e+02] [-7.00587675e-01 7.11619805e-01 -5.26703163e-02 -5.15791212e+01] [-7.58015083e-02 -8.24654490e-04 9.97122586e-01 -6.89123666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14864 meters 0.031062588502156603 Centerline is valid? [True, True] Translation: X:102.31, Y:-51.60, Z:-6.89 [[ 7.10813078e-01 7.01297394e-01 5.40992914e-02 1.02314263e+02] [-6.99346627e-01 7.12868508e-01 -5.22760565e-02 -5.15984271e+01] [-7.52267433e-02 -6.75652321e-04 9.97166225e-01 -6.89362382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17864 meters 0.031007507934090243 Centerline is valid? [True, True] Translation: X:102.34, Y:-51.62, Z:-6.90 [[ 7.11846403e-01 7.00186303e-01 5.48984449e-02 1.02338030e+02] [-6.98173567e-01 7.13959961e-01 -5.30551071e-02 -5.16190784e+01] [-7.63437509e-02 -5.61556024e-04 9.97081399e-01 -6.89615909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20864 meters 0.030893304775146613 Centerline is valid? [True, True] Translation: X:102.36, Y:-51.64, Z:-6.90 [[ 7.12749649e-01 6.99266087e-01 5.49079032e-02 1.02361178e+02] [-6.97249408e-01 7.14861336e-01 -5.30710138e-02 -5.16408781e+01] [-7.63622971e-02 -4.58156553e-04 9.97080032e-01 -6.89729401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23863999999999 meters 0.030987640055825005 Centerline is valid? [True, True] Translation: X:102.38, Y:-51.66, Z:-6.90 [[ 7.15800192e-01 6.96109920e-01 5.53268838e-02 1.02384543e+02] [-6.94052318e-01 7.17935210e-01 -5.34828433e-02 -5.16617556e+01] [-7.69510557e-02 -1.16722407e-04 9.97034865e-01 -6.89842605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999999 meters 0.030987365723326325 Centerline is valid? [True, True] Translation: X:102.41, Y:-51.68, Z:-6.90 [[ 7.17618935e-01 6.94317104e-01 5.42846484e-02 1.02406889e+02] [-6.92330882e-01 7.19669197e-01 -5.24804469e-02 -5.16821952e+01] [-7.55050612e-02 7.80239405e-05 9.97145416e-01 -6.89947949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29863999999999 meters 0.03131433838901368 Centerline is valid? [True, True] Translation: X:102.43, Y:-51.70, Z:-6.90 [[ 7.20738919e-01 6.91207486e-01 5.26081872e-02 1.02428733e+02] [-6.89333905e-01 7.22656251e-01 -5.08597045e-02 -5.17038588e+01] [-7.31722439e-02 3.91961315e-04 9.97319241e-01 -6.90076519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32864 meters 0.03132333521347586 Centerline is valid? [True, True] Translation: X:102.45, Y:-51.73, Z:-6.90 [[ 7.22261416e-01 6.89577495e-01 5.31161461e-02 1.02449869e+02] [-6.87663098e-01 7.24211683e-01 -5.13507809e-02 -5.17255483e+01] [-7.38776764e-02 5.62674155e-04 9.97267152e-01 -6.90264453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35864 meters 0.031676887686603705 Centerline is valid? [True, True] Translation: X:102.47, Y:-51.75, Z:-6.91 [[ 7.23819180e-01 6.87937145e-01 5.31815740e-02 1.02470640e+02] [-6.86013492e-01 7.25769900e-01 -5.14153757e-02 -5.17495385e+01] [-7.39681325e-02 7.32157780e-04 9.97260337e-01 -6.90504762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38864 meters 0.031757151035509426 Centerline is valid? [True, True] Translation: X:102.49, Y:-51.77, Z:-6.91 [[ 7.24292738e-01 6.87398848e-01 5.36922194e-02 1.02492598e+02] [-6.85436056e-01 7.26279688e-01 -5.19155797e-02 -5.17724590e+01] [-7.46822780e-02 7.99494202e-04 9.97207059e-01 -6.90774485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41864 meters 0.03167068853234316 Centerline is valid? [True, True] Translation: X:102.51, Y:-51.80, Z:-6.91 [[ 7.24313752e-01 6.87437565e-01 5.29072965e-02 1.02514238e+02] [-6.85531365e-01 7.26243052e-01 -5.11642115e-02 -5.17969178e+01] [-7.35957575e-02 7.89330777e-04 9.97287843e-01 -6.90897228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44864 meters 0.03174486851459613 Centerline is valid? [True, True] Translation: X:102.53, Y:-51.82, Z:-6.91 [[ 7.24651913e-01 6.87149041e-01 5.20173134e-02 1.02532719e+02] [-6.85304878e-01 7.26516024e-01 -5.03159057e-02 -5.18233625e+01] [-7.23659380e-02 8.13798697e-04 9.97377816e-01 -6.91074499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47864 meters 0.031650882502796934 Centerline is valid? [True, True] Translation: X:102.55, Y:-51.85, Z:-6.91 [[ 7.24506929e-01 6.87315277e-01 5.18403330e-02 1.02553699e+02] [-6.85483174e-01 7.26358771e-01 -5.01572885e-02 -5.18484024e+01] [-7.21285512e-02 8.03627049e-04 9.97395020e-01 -6.91216323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50864 meters 0.031402942387890063 Centerline is valid? [True, True] Translation: X:102.57, Y:-51.87, Z:-6.92 [[ 7.22918859e-01 6.89004548e-01 5.15854355e-02 1.02572908e+02] [-6.87193827e-01 7.24756733e-01 -4.99231666e-02 -5.18749145e+01] [-7.17841806e-02 6.41205808e-04 9.97419982e-01 -6.91522831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53864 meters 0.03118878060459248 Centerline is valid? [True, True] Translation: X:102.59, Y:-51.90, Z:-6.92 [[ 7.20893159e-01 6.91058548e-01 5.24512770e-02 1.02594309e+02] [-6.89190811e-01 7.22798642e-01 -5.07754866e-02 -5.18998109e+01] [-7.30005458e-02 4.54762751e-04 9.97331797e-01 -6.91671218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56864 meters 0.03107312580896848 Centerline is valid? [True, True] Translation: X:102.62, Y:-51.92, Z:-6.92 [[ 7.19103318e-01 6.92950413e-01 5.20590378e-02 1.02615685e+02] [-6.91114169e-01 7.20985194e-01 -5.04138462e-02 -5.19238297e+01] [-7.24680910e-02 2.74025481e-04 9.97370694e-01 -6.91876986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59863999999999 meters 0.03108380758243444 Centerline is valid? [True, True] Translation: X:102.64, Y:-51.95, Z:-6.92 [[ 7.17329767e-01 6.94722695e-01 5.28997345e-02 1.02636958e+02] [-6.92830410e-01 7.19277670e-01 -5.12411638e-02 -5.19476827e+01] [-7.36479972e-02 1.06267357e-04 9.97284293e-01 -6.92026679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999999 meters 0.03102353386722181 Centerline is valid? [True, True] Translation: X:102.66, Y:-51.97, Z:-6.92 [[ 7.15583527e-01 6.96458473e-01 5.37197465e-02 1.02656672e+02] [-6.94510843e-01 7.17597095e-01 -5.20489911e-02 -5.19740867e+01] [-7.47990949e-02 -6.35458215e-05 9.97198622e-01 -6.92304962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65863999999999 meters 0.031025951639367406 Centerline is valid? [True, True] Translation: X:102.68, Y:-52.00, Z:-6.92 [[ 7.16713472e-01 6.95291732e-01 5.37699451e-02 1.02679915e+02] [-6.93336051e-01 7.18727628e-01 -5.21125456e-02 -5.19979170e+01] [-7.48793671e-02 6.91221019e-05 9.97192597e-01 -6.92437910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999999 meters 0.031206151693092994 Centerline is valid? [True, True] Translation: X:102.70, Y:-52.02, Z:-6.93 [[ 7.19014129e-01 6.92951534e-01 5.32621150e-02 1.02702344e+02] [-6.91024757e-01 7.20984095e-01 -5.16402897e-02 -5.20221657e+01] [-7.41853558e-02 3.24657845e-04 9.97244417e-01 -6.92625619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71864 meters 0.031331030437467926 Centerline is valid? [True, True] Translation: X:102.73, Y:-52.05, Z:-6.93 [[ 7.20401044e-01 6.91505164e-01 5.33192677e-02 1.02725616e+02] [-6.89568268e-01 7.22371348e-01 -5.17227203e-02 -5.20456687e+01] [-7.42828395e-02 4.93826672e-04 9.97237091e-01 -6.92821235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74864 meters 0.031578961824940646 Centerline is valid? [True, True] Translation: X:102.75, Y:-52.07, Z:-6.93 [[ 7.21046178e-01 6.90792596e-01 5.38330519e-02 1.02747281e+02] [-6.88812226e-01 7.23052706e-01 -5.22733288e-02 -5.20693882e+01] [-7.50341624e-02 6.10619679e-04 9.97180777e-01 -6.93063132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77864 meters 0.03148425550890472 Centerline is valid? [True, True] Translation: X:102.77, Y:-52.10, Z:-6.93 [[ 7.23077451e-01 6.88778407e-01 5.23765803e-02 1.02768403e+02] [-6.86895261e-01 7.24971459e-01 -5.09046605e-02 -5.20952345e+01] [-7.30335568e-02 8.30787331e-04 9.97329138e-01 -6.92982988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80864 meters 0.03179013001352384 Centerline is valid? [True, True] Translation: X:102.79, Y:-52.12, Z:-6.93 [[ 7.23446640e-01 6.88349308e-01 5.29168192e-02 1.02790177e+02] [-6.86422133e-01 7.25378786e-01 -5.14807964e-02 -5.21185418e+01] [-7.38215087e-02 9.20333263e-04 9.97271045e-01 -6.93249314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83864 meters 0.0315991363659172 Centerline is valid? [True, True] Translation: X:102.81, Y:-52.14, Z:-6.93 [[ 7.23919707e-01 6.87796897e-01 5.36254315e-02 1.02811999e+02] [-6.85813013e-01 7.25902464e-01 -5.22122899e-02 -5.21422444e+01] [-7.48382838e-02 1.02048683e-03 9.97195161e-01 -6.93391384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86864 meters 0.031914560109365435 Centerline is valid? [True, True] Translation: X:102.83, Y:-52.17, Z:-6.94 [[ 7.24762412e-01 6.86931558e-01 5.33336627e-02 1.02831738e+02] [-6.84964607e-01 7.26721244e-01 -5.19588443e-02 -5.21689527e+01] [-7.44508755e-02 1.12614602e-03 9.97224047e-01 -6.93637459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89864 meters 0.032033376047579894 Centerline is valid? [True, True] Translation: X:102.85, Y:-52.19, Z:-6.94 [[ 7.25428799e-01 6.86291715e-01 5.25046645e-02 1.02853645e+02] [-6.84380075e-01 7.27325385e-01 -5.12025056e-02 -5.21943781e+01] [-7.33278307e-02 1.21062589e-03 9.97307156e-01 -6.93809605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92864 meters 0.03242333257768157 Centerline is valid? [True, True] Translation: X:102.87, Y:-52.22, Z:-6.94 [[ 7.26794050e-01 6.84865781e-01 5.22424178e-02 1.02873000e+02] [-6.82965904e-01 7.28667926e-01 -5.09963525e-02 -5.22203804e+01] [-7.29930310e-02 1.38405552e-03 9.97331490e-01 -6.94084961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95864 meters 0.03254491781338516 Centerline is valid? [True, True] Translation: X:102.89, Y:-52.24, Z:-6.94 [[ 7.26848717e-01 6.84708799e-01 5.35238624e-02 1.02893781e+02] [-6.82710529e-01 7.28815275e-01 -5.22936777e-02 -5.22449504e+01] [-7.48149497e-02 1.46828811e-03 9.97196354e-01 -6.94377309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters 0.03245906678738351 Centerline is valid? [True, True] Translation: X:102.91, Y:-52.27, Z:-6.95 [[ 7.26798968e-01 6.84631098e-01 5.51681007e-02 1.02913474e+02] [-6.82504057e-01 7.28888082e-01 -5.39479030e-02 -5.22700905e+01] [-7.71457832e-02 1.55682773e-03 9.97018608e-01 -6.94641996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01863999999999 meters 0.03297952648405386 Centerline is valid? [True, True] Translation: X:102.93, Y:-52.30, Z:-6.95 [[ 7.28223341e-01 6.83168222e-01 5.45155492e-02 1.02933592e+02] [-6.81083659e-01 7.30258997e-01 -5.33558495e-02 -5.22959810e+01] [-7.62614912e-02 1.72532529e-03 9.97086359e-01 -6.94747789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999999 meters 0.0326741196093673 Centerline is valid? [True, True] Translation: X:102.95, Y:-52.32, Z:-6.95 [[ 7.28043498e-01 6.83432622e-01 5.35958703e-02 1.02954818e+02] [-6.81415201e-01 7.30011613e-01 -5.25011345e-02 -5.23197176e+01] [-7.50065957e-02 1.70206887e-03 9.97181585e-01 -6.94888818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07864 meters 0.032305347881043174 Centerline is valid? [True, True] Translation: X:102.97, Y:-52.35, Z:-6.95 [[ 7.26141048e-01 6.85454937e-01 5.35789920e-02 1.02972477e+02] [-6.83440841e-01 7.28113453e-01 -5.25301518e-02 -5.23479797e+01] [-7.50186367e-02 1.52622817e-03 9.97180964e-01 -6.95079246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10864 meters 0.03232603547345667 Centerline is valid? [True, True] Translation: X:102.99, Y:-52.37, Z:-6.95 [[ 7.25184505e-01 6.86434220e-01 5.39953241e-02 1.02993647e+02] [-6.84387715e-01 7.27190413e-01 -5.29864048e-02 -5.23739678e+01] [-7.56365636e-02 1.47118323e-03 9.97134367e-01 -6.95193823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13864 meters 0.03204089998323055 Centerline is valid? [True, True] Translation: X:103.01, Y:-52.40, Z:-6.95 [[ 7.24710274e-01 6.86954764e-01 5.37417000e-02 1.03014911e+02] [-6.84924912e-01 7.26698736e-01 -5.27902607e-02 -5.23988944e+01] [-7.53185466e-02 1.44861514e-03 9.97158472e-01 -6.95332086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16864 meters 0.0318216227801876 Centerline is valid? [True, True] Translation: X:103.04, Y:-52.42, Z:-6.95 [[ 7.23953066e-01 6.87804940e-01 5.30690394e-02 1.03035099e+02] [-6.85824193e-01 7.25894249e-01 -5.21796358e-02 -5.24237547e+01] [-7.44119218e-02 1.37957619e-03 9.97226636e-01 -6.95468514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19864 meters 0.03169331957085564 Centerline is valid? [True, True] Translation: X:103.06, Y:-52.45, Z:-6.96 [[ 7.23303243e-01 6.88472727e-01 5.32702820e-02 1.03056335e+02] [-6.86475741e-01 7.25260984e-01 -5.24171899e-02 -5.24486461e+01] [-7.47226629e-02 1.34476708e-03 9.97203447e-01 -6.95729810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22864 meters 0.03145240477728777 Centerline is valid? [True, True] Translation: X:103.08, Y:-52.47, Z:-6.96 [[ 7.22564485e-01 6.89241099e-01 5.33598339e-02 1.03077582e+02] [-6.87237634e-01 7.24530921e-01 -5.25297920e-02 -5.24739040e+01] [-7.48665411e-02 1.28527605e-03 9.97192734e-01 -6.95907574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25864 meters 0.03135812862240622 Centerline is valid? [True, True] Translation: X:103.10, Y:-52.50, Z:-6.96 [[ 7.21929554e-01 6.89880672e-01 5.36877773e-02 1.03099253e+02] [-6.87850189e-01 7.23921996e-01 -5.29061510e-02 -5.24992232e+01] [-7.53646940e-02 1.26536622e-03 9.97155235e-01 -6.96094408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28864 meters 0.030906058990846568 Centerline is valid? [True, True] Translation: X:103.12, Y:-52.53, Z:-6.96 [[ 7.19729359e-01 6.92163736e-01 5.38424896e-02 1.03118318e+02] [-6.90123938e-01 7.21739721e-01 -5.31105070e-02 -5.25260152e+01] [-7.56214304e-02 1.06720021e-03 9.97136029e-01 -6.96245346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31864 meters 0.030889550482044614 Centerline is valid? [True, True] Translation: X:103.14, Y:-52.55, Z:-6.97 [[ 7.19333734e-01 6.92626586e-01 5.31732261e-02 1.03140070e+02] [-6.90634989e-01 7.21295592e-01 -5.24974312e-02 -5.25507251e+01] [-7.47147301e-02 1.03988279e-03 9.97204406e-01 -6.96509099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters 0.030557880606595256 Centerline is valid? [True, True] Translation: X:103.16, Y:-52.58, Z:-6.97 [[ 7.17081741e-01 6.94920154e-01 5.36633596e-02 1.03158426e+02] [-6.92894022e-01 7.19086408e-01 -5.30340552e-02 -5.25778510e+01] [-7.54430263e-02 8.46731536e-04 9.97149754e-01 -6.96600707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37863999999999 meters 0.030276716109856987 Centerline is valid? [True, True] Translation: X:103.18, Y:-52.60, Z:-6.97 [[ 7.15998097e-01 6.96098370e-01 5.28562697e-02 1.03180449e+02] [-6.94132590e-01 7.17946032e-01 -5.22823342e-02 -5.26017237e+01] [-7.43415967e-02 7.44792362e-04 9.97232557e-01 -6.96676344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999999 meters 0.0300539832558018 Centerline is valid? [True, True] Translation: X:103.20, Y:-52.63, Z:-6.97 [[ 7.14410138e-01 6.97708958e-01 5.31071043e-02 1.03202631e+02] [-6.95725233e-01 7.16381066e-01 -5.25791714e-02 -5.26256546e+01] [-7.47298829e-02 6.15140647e-04 9.97203623e-01 -6.96822602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43863999999999 meters 0.03004783550993856 Centerline is valid? [True, True] Translation: X:103.22, Y:-52.65, Z:-6.97 [[ 7.12549574e-01 6.99452208e-01 5.51336018e-02 1.03223310e+02] [-6.97314814e-01 7.14679207e-01 -5.46413855e-02 -5.26498191e+01] [-7.76218766e-02 4.89218698e-04 9.96982751e-01 -6.97091153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46864 meters 0.029792770550290695 Centerline is valid? [True, True] Translation: X:103.24, Y:-52.67, Z:-6.97 [[ 7.11272677e-01 7.00792065e-01 5.46045807e-02 1.03244591e+02] [-6.98695745e-01 7.13365503e-01 -5.41656260e-02 -5.26738308e+01] [-7.69118651e-02 3.74541597e-04 9.97037825e-01 -6.97236215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49864 meters 0.029792770550290695 Centerline is valid? [True, True] Translation: X:103.27, Y:-52.70, Z:-6.97 [[ 7.10909723e-01 7.01162233e-01 5.45791995e-02 1.03267898e+02] [-6.99065039e-01 7.13001673e-01 -5.41911918e-02 -5.26964896e+01] [-7.69118776e-02 3.70634934e-04 9.97037826e-01 -6.97426531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52864 meters 0.02973013624584124 Centerline is valid? [True, True] Translation: X:103.29, Y:-52.72, Z:-6.98 [[ 7.10290570e-01 7.01768246e-01 5.48510235e-02 1.03290645e+02] [-6.99647472e-01 7.12405228e-01 -5.45179433e-02 -5.27205781e+01] [-7.73351173e-02 3.47201116e-04 9.97005095e-01 -6.97637570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55864 meters 0.02957920894316684 Centerline is valid? [True, True] Translation: X:103.31, Y:-52.75, Z:-6.98 [[ 7.08789388e-01 7.03301982e-01 5.46253165e-02 1.03311729e+02] [-7.01198837e-01 7.10891183e-01 -5.43499463e-02 -5.27457583e+01] [-7.70570808e-02 2.19456782e-04 9.97026659e-01 -6.97799665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58864 meters 0.029604935920942783 Centerline is valid? [True, True] Translation: X:103.33, Y:-52.77, Z:-6.98 [[ 7.07678662e-01 7.04454923e-01 5.41680077e-02 1.03334840e+02] [-7.02386000e-01 7.09748719e-01 -5.39505590e-02 -5.27698504e+01] [-7.64514109e-02 1.32809159e-04 9.97073299e-01 -6.97867927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61864 meters 0.02947815406094423 Centerline is valid? [True, True] Translation: X:103.36, Y:-52.79, Z:-6.98 [[ 7.06386979e-01 7.05819943e-01 5.32507702e-02 1.03356706e+02] [-7.03820456e-01 7.08391282e-01 -5.30900863e-02 -5.27940770e+01] [-7.51944230e-02 2.31642538e-05 9.97168892e-01 -6.97968159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64864 meters 0.029407402321558505 Centerline is valid? [True, True] Translation: X:103.38, Y:-52.82, Z:-6.98 [[ 7.05674506e-01 7.06530365e-01 5.32760276e-02 1.03379381e+02] [-7.04527197e-01 7.07682728e-01 -5.31656489e-02 -5.28187202e+01] [-7.52656699e-02 -1.67673138e-05 9.97163517e-01 -6.98205217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67864 meters 0.029369319681788287 Centerline is valid? [True, True] Translation: X:103.40, Y:-52.84, Z:-6.99 [[ 7.04651526e-01 7.07540035e-01 5.34165261e-02 1.03401419e+02] [-7.05524890e-01 7.06673256e-01 -5.33623342e-02 -5.28434041e+01] [-7.55040183e-02 -8.48384571e-05 9.97145494e-01 -6.98579628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70864 meters 0.029145583207614973 Centerline is valid? [True, True] Translation: X:103.42, Y:-52.87, Z:-6.99 [[ 7.03205736e-01 7.09098897e-01 5.17730304e-02 1.03421493e+02] [-7.07206414e-01 7.05109006e-01 -5.17723647e-02 -5.28689333e+01] [-7.32173567e-02 -2.07595341e-04 9.97315986e-01 -6.98718344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73863999999999 meters 0.029159515105274855 Centerline is valid? [True, True] Translation: X:103.44, Y:-53.04, Z:-5.20 [[ 7.57962214e-01 -6.51616681e-01 -2.98158123e-02 1.03442286e+02] [-6.50874415e-01 -7.58535681e-01 3.14024799e-02 -5.30415723e+01] [-4.30787372e-02 -4.39554382e-03 -9.99062011e-01 -5.19729213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999999 meters 0.029088873910322683 Centerline is valid? [True, True] Translation: X:103.45, Y:-52.92, Z:-6.99 [[ 7.48430296e-01 6.60857445e-01 5.58527506e-02 1.03452930e+02] [-6.59088650e-01 7.50511173e-01 -4.83231915e-02 -5.29184676e+01] [-7.38528542e-02 -6.45373448e-04 9.97268940e-01 -6.98917157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79863999999999 meters 0.029166736860826298 Centerline is valid? [True, True] Translation: X:103.48, Y:-52.94, Z:-6.99 [[ 7.46363644e-01 6.63157449e-01 5.62450791e-02 1.03477790e+02] [-6.61366808e-01 7.48479448e-01 -4.87079175e-02 -5.29391083e+01] [-7.43993041e-02 -8.44809656e-04 9.97228173e-01 -6.99109525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82864 meters 0.029132941749176043 Centerline is valid? [True, True] Translation: X:103.50, Y:-52.96, Z:-6.99 [[ 7.44330133e-01 6.65490574e-01 5.56322780e-02 1.03502327e+02] [-6.63742324e-01 7.46405535e-01 -4.82172545e-02 -5.29593462e+01] [-7.36123686e-02 -1.03594208e-03 9.97286391e-01 -6.99190871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85864 meters 0.029582958734925762 Centerline is valid? [True, True] Translation: X:103.53, Y:-52.98, Z:-6.99 [[ 7.40544493e-01 6.69455037e-01 5.85133097e-02 1.03528346e+02] [-6.67531200e-01 7.42851093e-01 -5.07380527e-02 -5.29787923e+01] [-7.74335210e-02 -1.48567431e-03 9.96996411e-01 -6.99395804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88864 meters 0.029431822055751327 Centerline is valid? [True, True] Translation: X:103.55, Y:-53.00, Z:-7.00 [[ 7.39750272e-01 6.70277349e-01 5.91422964e-02 1.03554063e+02] [-6.68312709e-01 7.42109025e-01 -5.13061209e-02 -5.29979542e+01] [-7.82793626e-02 -1.57183144e-03 9.96930224e-01 -6.99500599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91864 meters 0.029490359131975508 Centerline is valid? [True, True] Translation: X:103.58, Y:-53.02, Z:-7.00 [[ 7.39326108e-01 6.70693208e-01 5.97287798e-02 1.03580988e+02] [-6.68686695e-01 7.41733159e-01 -5.18654485e-02 -5.30178418e+01] [-7.90886206e-02 -1.59436025e-03 9.96866314e-01 -6.99737024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94864 meters 0.02934547943842543 Centerline is valid? [True, True] Translation: X:103.61, Y:-53.04, Z:-7.00 [[ 7.40077792e-01 6.69729057e-01 6.12197028e-02 1.03607882e+02] [-6.67612984e-01 7.42604055e-01 -5.32176765e-02 -5.30369773e+01] [-8.11034238e-02 -1.48584797e-03 9.96704584e-01 -6.99996881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97864 meters 0.029061145708917976 Centerline is valid? [True, True] Translation: X:103.63, Y:-53.06, Z:-7.00 [[ 7.42779786e-01 6.66985207e-01 5.83859905e-02 1.03634440e+02] [-6.65048946e-01 7.45070149e-01 -5.07973641e-02 -5.30560603e+01] [-7.73827490e-02 -1.09828624e-03 9.97000855e-01 -7.00192521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00864 meters 0.029043778390561516 Centerline is valid? [True, True] Translation: X:103.66, Y:-53.08, Z:-7.00 [[ 7.43690877e-01 6.66003448e-01 5.79938521e-02 1.03660805e+02] [-6.64088312e-01 7.45948030e-01 -5.04801948e-02 -5.30753914e+01] [-7.68803835e-02 -9.71379077e-04 9.97039850e-01 -7.00382330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03864 meters 0.028986894375519566 Centerline is valid? [True, True] Translation: X:103.69, Y:-53.10, Z:-7.01 [[ 7.43959053e-01 6.65648298e-01 5.86282438e-02 1.03686936e+02] [-6.63685994e-01 7.46265046e-01 -5.10821153e-02 -5.30950449e+01] [-7.77549322e-02 -9.07742108e-04 9.96972089e-01 -7.00590030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06864 meters 0.028888756953341404 Centerline is valid? [True, True] Translation: X:103.71, Y:-53.12, Z:-7.01 [[ 7.43648412e-01 6.65980511e-01 5.87962443e-02 1.03713269e+02] [-6.64003670e-01 7.45968593e-01 -5.12833713e-02 -5.31155596e+01] [-7.80138774e-02 -9.04124369e-04 9.96951863e-01 -7.00716291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09863999999999 meters 0.028943193594834618 Centerline is valid? [True, True] Translation: X:103.74, Y:-53.14, Z:-7.01 [[ 7.41927763e-01 6.67846936e-01 5.93604613e-02 1.03738865e+02] [-6.65833637e-01 7.44297872e-01 -5.18289925e-02 -5.31357398e+01] [-7.87956989e-02 -1.07082338e-03 9.96890210e-01 -7.00929412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999999 meters 0.02916319609896399 Centerline is valid? [True, True] Translation: X:103.76, Y:-53.16, Z:-7.01 [[ 7.41214297e-01 6.68583342e-01 5.99806652e-02 1.03763555e+02] [-6.66526189e-01 7.43636369e-01 -5.24193596e-02 -5.31562173e+01] [-7.96505148e-02 -1.12470536e-03 9.96822216e-01 -7.01267713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15863999999999 meters 0.029209057711949038 Centerline is valid? [True, True] Translation: X:103.79, Y:-53.18, Z:-7.01 [[ 7.40379594e-01 6.69507184e-01 5.99848962e-02 1.03789292e+02] [-6.67448715e-01 7.42804633e-01 -5.24736967e-02 -5.31771592e+01] [-7.96885758e-02 -1.18638768e-03 9.96819103e-01 -7.01364963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999999 meters 0.029161599744870932 Centerline is valid? [True, True] Translation: X:103.81, Y:-53.20, Z:-7.02 [[ 7.39749732e-01 6.70131834e-01 6.07754798e-02 1.03814051e+02] [-6.68016320e-01 7.42241075e-01 -5.32201277e-02 -5.31972643e+01] [-8.07745592e-02 -1.22943714e-03 9.96731638e-01 -7.01561186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21864 meters 0.029283234240757784 Centerline is valid? [True, True] Translation: X:103.84, Y:-53.22, Z:-7.02 [[ 7.38820025e-01 6.71096262e-01 6.14392205e-02 1.03839385e+02] [-6.68933433e-01 7.41369062e-01 -5.38514278e-02 -5.32177970e+01] [-8.16886292e-02 -1.31223545e-03 9.96657035e-01 -7.01808597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24864 meters 0.02915986528345725 Centerline is valid? [True, True] Translation: X:103.86, Y:-53.24, Z:-7.02 [[ 7.38532113e-01 6.71334422e-01 6.22929584e-02 1.03864950e+02] [-6.69107566e-01 7.41153394e-01 -5.46508106e-02 -5.32377585e+01] [-8.28576079e-02 -1.31931120e-03 9.96560523e-01 -7.02093793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27864 meters 0.029239539005180667 Centerline is valid? [True, True] Translation: X:103.89, Y:-53.26, Z:-7.02 [[ 7.38467192e-01 6.71428958e-01 6.20432092e-02 1.03890407e+02] [-6.69215952e-01 7.41067811e-01 -5.44840269e-02 -5.32584584e+01] [-8.25603786e-02 -1.28563893e-03 9.96585235e-01 -7.02303392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30864 meters 0.029173048688471197 Centerline is valid? [True, True] Translation: X:103.92, Y:-53.28, Z:-7.02 [[ 7.38599359e-01 6.71301207e-01 6.18520571e-02 1.03916163e+02] [-6.69096652e-01 7.41183641e-01 -5.43735306e-02 -5.32784982e+01] [-8.23447496e-02 -1.22474953e-03 9.96603152e-01 -7.02430619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33864 meters 0.029027192048585376 Centerline is valid? [True, True] Translation: X:103.94, Y:-53.30, Z:-7.03 [[ 7.39660848e-01 6.70212898e-01 6.09631059e-02 1.03942127e+02] [-6.68063240e-01 7.42168158e-01 -5.36463715e-02 -5.32977599e+01] [-8.11993662e-02 -1.04708938e-03 9.96697329e-01 -7.02681583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36864 meters 0.028981913417498482 Centerline is valid? [True, True] Translation: X:103.97, Y:-53.32, Z:-7.03 [[ 7.40111273e-01 6.69769843e-01 6.03627454e-02 1.03966630e+02] [-6.67656969e-01 7.42568145e-01 -5.31669124e-02 -5.33180390e+01] [-8.04330464e-02 -9.52176449e-04 9.96759559e-01 -7.02805112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39864 meters 0.028918584759425707 Centerline is valid? [True, True] Translation: X:103.99, Y:-53.34, Z:-7.03 [[ 7.40708382e-01 6.69125965e-01 6.01791920e-02 1.03991278e+02] [-6.67019891e-01 7.43148526e-01 -5.30540646e-02 -5.33389308e+01] [-8.02219300e-02 -8.43127739e-04 9.96776671e-01 -7.02990021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42864 meters 0.028939895973733056 Centerline is valid? [True, True] Translation: X:104.02, Y:-53.36, Z:-7.03 [[ 7.40833525e-01 6.68892040e-01 6.12301055e-02 1.04015507e+02] [-6.66706699e-01 7.43359137e-01 -5.40312023e-02 -5.33603837e+01] [-8.16569996e-02 -7.94395474e-04 9.96660174e-01 -7.03237613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45864 meters 0.02880690692798859 Centerline is valid? [True, True] Translation: X:104.04, Y:-53.38, Z:-7.03 [[ 7.40905673e-01 6.68824739e-01 6.10921611e-02 1.04039885e+02] [-6.66644792e-01 7.43419741e-01 -5.39611882e-02 -5.33825457e+01] [-8.15076962e-02 -7.46620527e-04 9.96672433e-01 -7.03363716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999999 meters 0.028806146680875378 Centerline is valid? [True, True] Translation: X:104.06, Y:-53.41, Z:-7.04 [[ 7.40745740e-01 6.68940274e-01 6.17629209e-02 1.04063615e+02] [-6.66707723e-01 7.43315804e-01 -5.46116091e-02 -5.34050449e+01] [-8.24412600e-02 -7.24499539e-04 9.96595662e-01 -7.03599858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51863999999999 meters 0.0290008501335319 Centerline is valid? [True, True] Translation: X:104.09, Y:-53.43, Z:-7.04 [[ 7.40486234e-01 6.69172019e-01 6.23614069e-02 1.04088796e+02] [-6.66891835e-01 7.43107192e-01 -5.51994769e-02 -5.34269405e+01] [-8.32791554e-02 -7.13860277e-04 9.96526002e-01 -7.03872621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999999 meters 0.028964873579516198 Centerline is valid? [True, True] Translation: X:104.11, Y:-53.45, Z:-7.04 [[ 7.39293277e-01 6.70442733e-01 6.28648740e-02 1.04113118e+02] [-6.68125303e-01 7.41960826e-01 -5.57019966e-02 -5.34482408e+01] [-8.39882727e-02 -8.21501325e-04 9.96466404e-01 -7.04063199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57864 meters 0.028873974878389424 Centerline is valid? [True, True] Translation: X:104.14, Y:-53.47, Z:-7.04 [[ 7.37023607e-01 6.72965141e-01 6.25629450e-02 1.04137545e+02] [-6.70674568e-01 7.39673433e-01 -5.54872681e-02 -5.34702166e+01] [-8.36171455e-02 -1.06394964e-03 9.96497386e-01 -7.04162248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60864 meters 0.02896230056876883 Centerline is valid? [True, True] Translation: X:104.16, Y:-53.49, Z:-7.04 [[ 7.35753269e-01 6.74329232e-01 6.28268596e-02 1.04161186e+02] [-6.72019470e-01 7.38429881e-01 -5.57776228e-02 -5.34914699e+01] [-8.40057119e-02 -1.18230458e-03 9.96464572e-01 -7.04296930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63864 meters 0.029216668218071427 Centerline is valid? [True, True] Translation: X:104.18, Y:-53.51, Z:-7.05 [[ 7.34341056e-01 6.75744380e-01 6.41307011e-02 1.04184466e+02] [-6.73338390e-01 7.37134830e-01 -5.69882034e-02 -5.35136184e+01] [-8.57824315e-02 -1.33288558e-03 9.96313002e-01 -7.04595986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66864 meters 0.029032809057339203 Centerline is valid? [True, True] Translation: X:104.21, Y:-53.53, Z:-7.05 [[ 7.34174276e-01 6.75912316e-01 6.42703128e-02 1.04209120e+02] [-6.73491700e-01 7.36980877e-01 -5.71674570e-02 -5.35348613e+01] [-8.60061797e-02 -1.31464589e-03 9.96293736e-01 -7.04767787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69864 meters 0.029104238470333766 Centerline is valid? [True, True] Translation: X:104.23, Y:-53.56, Z:-7.05 [[ 7.33841752e-01 6.76294793e-01 6.40440085e-02 1.04234365e+02] [-6.73887526e-01 7.36629917e-01 -5.70260242e-02 -5.35557510e+01] [-8.57431359e-02 -1.31038092e-03 9.96316414e-01 -7.05019312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72864 meters 0.02911116622524696 Centerline is valid? [True, True] Translation: X:104.26, Y:-53.58, Z:-7.05 [[ 7.33996030e-01 6.76019233e-01 6.51753320e-02 1.04259508e+02] [-6.73519726e-01 7.36882905e-01 -5.80927127e-02 -5.35761878e+01] [-8.72983791e-02 -1.25705124e-03 9.96181416e-01 -7.05214023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75864 meters 0.029023136174762564 Centerline is valid? [True, True] Translation: X:104.28, Y:-53.60, Z:-7.05 [[ 7.33398450e-01 6.76805202e-01 6.37293662e-02 1.04284308e+02] [-6.74414132e-01 7.36161037e-01 -5.68551274e-02 -5.35969322e+01] [-8.53949224e-02 -1.28252288e-03 9.96346357e-01 -7.05349355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78864 meters 0.029017677556005757 Centerline is valid? [True, True] Translation: X:104.31, Y:-53.62, Z:-7.05 [[ 7.32602490e-01 6.77760390e-01 6.27251568e-02 1.04308374e+02] [-6.75443406e-01 7.35281629e-01 -5.60100982e-02 -5.36180748e+01] [-8.40820814e-02 -1.33415619e-03 9.96457939e-01 -7.05422702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81864 meters 0.02923638720202741 Centerline is valid? [True, True] Translation: X:104.33, Y:-53.64, Z:-7.06 [[ 7.31345464e-01 6.79069568e-01 6.32323873e-02 1.04333490e+02] [-6.76715312e-01 7.34072474e-01 -5.65154003e-02 -5.36380843e+01] [-8.47950434e-02 -1.45804305e-03 9.96397348e-01 -7.05607894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters 0.029205861820306576 Centerline is valid? [True, True] Translation: X:104.36, Y:-53.66, Z:-7.06 [[ 7.30212096e-01 6.80235051e-01 6.38010207e-02 1.04358776e+02] [-6.77838081e-01 7.32992370e-01 -5.70764556e-02 -5.36587390e+01] [-8.55910671e-02 -1.56884312e-03 9.96329116e-01 -7.05811290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87863999999999 meters 0.029266078903011146 Centerline is valid? [True, True] Translation: X:104.38, Y:-53.68, Z:-7.06 [[ 7.29411369e-01 6.81054241e-01 6.42197390e-02 1.04384075e+02] [-6.78624241e-01 7.32231139e-01 -5.75039046e-02 -5.36790884e+01] [-8.61869707e-02 -1.63706987e-03 9.96277635e-01 -7.06033907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999999 meters 0.029487255065914358 Centerline is valid? [True, True] Translation: X:104.41, Y:-53.70, Z:-7.06 [[ 7.27739766e-01 6.82685422e-01 6.58441100e-02 1.04409224e+02] [-6.80132494e-01 7.30710094e-01 -5.90131286e-02 -5.36993649e+01] [-8.84003585e-02 -1.83651830e-03 9.96083332e-01 -7.06393075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93863999999999 meters 0.029463832163203973 Centerline is valid? [True, True] Translation: X:104.43, Y:-53.72, Z:-7.06 [[ 7.26042408e-01 6.84587572e-01 6.48249844e-02 1.04434690e+02] [-6.82115926e-01 7.28927895e-01 -5.81548570e-02 -5.37204381e+01] [-8.70648317e-02 -1.99526187e-03 9.96200649e-01 -7.06445233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96864 meters 0.029669637998477248 Centerline is valid? [True, True] Translation: X:104.46, Y:-53.74, Z:-7.07 [[ 7.24712254e-01 6.86027104e-01 6.44900099e-02 1.04459096e+02] [-6.83581713e-01 7.27572909e-01 -5.79111759e-02 -5.37405955e+01] [-8.66498204e-02 -2.11525259e-03 9.96236586e-01 -7.06722679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99864 meters 0.02970070958018438 Centerline is valid? [True, True] Translation: X:104.48, Y:-53.76, Z:-7.07 [[ 7.22503794e-01 6.88409796e-01 6.38766079e-02 1.04484753e+02] [-6.86015730e-01 7.25318187e-01 -5.74103298e-02 -5.37601267e+01] [-8.58526988e-02 -2.34117674e-03 9.96305090e-01 -7.06857880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02864 meters 0.029913455537453674 Centerline is valid? [True, True] Translation: X:104.51, Y:-53.78, Z:-7.07 [[ 7.21398583e-01 6.89486708e-01 6.47469281e-02 1.04509715e+02] [-6.87026446e-01 7.24294145e-01 -5.82464908e-02 -5.37806709e+01] [-8.70560021e-02 -2.46391594e-03 9.96200372e-01 -7.07073043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05864 meters 0.030063936884894116 Centerline is valid? [True, True] Translation: X:104.54, Y:-53.80, Z:-7.07 [[ 7.20537547e-01 6.90305064e-01 6.56091560e-02 1.04535021e+02] [-6.87777258e-01 7.23513910e-01 -5.90767741e-02 -5.38011242e+01] [-8.82501333e-02 -2.55745150e-03 9.96095062e-01 -7.07276456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08864 meters 0.030079750560114745 Centerline is valid? [True, True] Translation: X:104.56, Y:-53.82, Z:-7.07 [[ 7.21524794e-01 6.89262196e-01 6.57236418e-02 1.04561157e+02] [-6.86716406e-01 7.24508034e-01 -5.92341676e-02 -5.38196853e+01] [-8.84451789e-02 -2.39458249e-03 9.96078168e-01 -7.07419592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11864 meters 0.030039088667559225 Centerline is valid? [True, True] Translation: X:104.59, Y:-53.84, Z:-7.08 [[ 7.22305545e-01 6.88523494e-01 6.48852643e-02 1.04585879e+02] [-6.86034729e-01 7.25210589e-01 -5.85316370e-02 -5.38398121e+01] [-8.73558880e-02 -2.23581875e-03 9.96174658e-01 -7.07526470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14864 meters 0.029652626177017128 Centerline is valid? [True, True] Translation: X:104.61, Y:-53.86, Z:-7.08 [[ 7.24641480e-01 6.86135618e-01 6.41298637e-02 1.04610919e+02] [-6.83691611e-01 7.27471185e-01 -5.78917558e-02 -5.38604949e+01] [-8.63742235e-02 -1.89428228e-03 9.96260962e-01 -7.07822255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17864 meters 0.029457884990736382 Centerline is valid? [True, True] Translation: X:104.64, Y:-53.88, Z:-7.08 [[ 7.25428972e-01 6.85307762e-01 6.40786779e-02 1.04635281e+02] [-6.82861835e-01 7.28251419e-01 -5.78755889e-02 -5.38813299e+01] [-8.63279784e-02 -1.77225467e-03 9.96265195e-01 -7.08002224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters 0.02966850611017063 Centerline is valid? [True, True] Translation: X:104.66, Y:-53.90, Z:-7.08 [[ 7.25640762e-01 6.85028292e-01 6.46662515e-02 1.04660737e+02] [-6.82531183e-01 7.28514449e-01 -5.84626528e-02 -5.39027660e+01] [-8.71588697e-02 -1.71384928e-03 9.96192950e-01 -7.08244559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23863999999999 meters 0.029454945580257342 Centerline is valid? [True, True] Translation: X:104.69, Y:-53.92, Z:-7.08 [[ 7.26586623e-01 6.84135330e-01 6.34880240e-02 1.04687221e+02] [-6.81720257e-01 7.29353476e-01 -5.74543177e-02 -5.39214036e+01] [-8.56117395e-02 -1.53553331e-03 9.96327392e-01 -7.08300862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999999 meters 0.029301234229835278 Centerline is valid? [True, True] Translation: X:104.71, Y:-53.94, Z:-7.09 [[ 7.26000316e-01 6.84804959e-01 6.29738783e-02 1.04712883e+02] [-6.82426823e-01 7.28724728e-01 -5.70429865e-02 -5.39415245e+01] [-8.49539423e-02 -1.56183752e-03 9.96383655e-01 -7.08516802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29863999999999 meters 0.029043036907708285 Centerline is valid? [True, True] Translation: X:104.74, Y:-53.96, Z:-7.09 [[ 7.25248186e-01 6.85650246e-01 6.24404427e-02 1.04738686e+02] [-6.83310460e-01 7.27929370e-01 -5.66184399e-02 -5.39622479e+01] [-8.42726794e-02 -1.60378673e-03 9.96441440e-01 -7.08657535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32864 meters 0.029057448985170955 Centerline is valid? [True, True] Translation: X:104.77, Y:-53.98, Z:-7.09 [[ 7.24896683e-01 6.86124431e-01 6.13030521e-02 1.04765074e+02] [-6.83866349e-01 7.27482470e-01 -5.56423731e-02 -5.39807903e+01] [-8.27744874e-02 -1.58812267e-03 9.96567038e-01 -7.08820916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35864 meters 0.02907101535707705 Centerline is valid? [True, True] Translation: X:104.79, Y:-54.00, Z:-7.09 [[ 7.24995224e-01 6.85884605e-01 6.28031299e-02 1.04790780e+02] [-6.83509054e-01 7.27708646e-01 -5.70569908e-02 -5.40007240e+01] [-8.48368922e-02 -1.56046206e-03 9.96393630e-01 -7.09099279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38864 meters 0.02907101535707705 Centerline is valid? [True, True] Translation: X:104.82, Y:-54.02, Z:-7.09 [[ 7.24637157e-01 6.86265374e-01 6.27760072e-02 1.04815073e+02] [-6.83888665e-01 7.27349564e-01 -5.70868209e-02 -5.40223726e+01] [-8.48368100e-02 -1.56456819e-03 9.96393631e-01 -7.09289174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41864 meters 0.029078886985805606 Centerline is valid? [True, True] Translation: X:104.84, Y:-54.04, Z:-7.09 [[ 7.26079102e-01 6.84651074e-01 6.37341709e-02 1.04842461e+02] [-6.82189577e-01 7.28869727e-01 -5.80198319e-02 -5.40418442e+01] [-8.61772480e-02 -1.35179965e-03 9.96278904e-01 -7.09364338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44864 meters 0.02900375001883973 Centerline is valid? [True, True] Translation: X:104.87, Y:-54.06, Z:-7.10 [[ 7.27675931e-01 6.82910599e-01 6.41938701e-02 1.04868598e+02] [-6.80401459e-01 7.30501116e-01 -5.84976362e-02 -5.40612018e+01] [-8.68423495e-02 -1.11028101e-03 9.96221448e-01 -7.09577598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47864 meters 0.028998259921570253 Centerline is valid? [True, True] Translation: X:104.89, Y:-54.08, Z:-7.10 [[ 7.29214278e-01 6.81258670e-01 6.42896712e-02 1.04894814e+02] [-6.78730917e-01 7.32042252e-01 -5.86385882e-02 -5.40805625e+01] [-8.70108023e-02 -8.75291686e-04 9.96206984e-01 -7.09780853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50864 meters 0.02871375121398203 Centerline is valid? [True, True] Translation: X:104.92, Y:-54.10, Z:-7.10 [[ 7.31841785e-01 6.78538963e-01 6.31860581e-02 1.04921017e+02] [-6.76082815e-01 7.34564240e-01 -5.76836656e-02 -5.40993772e+01] [-8.55548333e-02 -5.03691210e-04 9.96333336e-01 -7.09917967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53864 meters 0.028522252885942068 Centerline is valid? [True, True] Translation: X:104.94, Y:-54.12, Z:-7.10 [[ 7.33161237e-01 6.77178455e-01 6.24815285e-02 1.04944796e+02] [-6.74767564e-01 7.35818761e-01 -5.70919019e-02 -5.41207972e+01] [-8.46364868e-02 -3.02939384e-04 9.96411849e-01 -7.10073358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56864 meters 0.02833332511989984 Centerline is valid? [True, True] Translation: X:104.97, Y:-54.14, Z:-7.10 [[ 7.34616264e-01 6.75712186e-01 6.12534640e-02 1.04968617e+02] [-6.73386033e-01 7.37165540e-01 -5.60197930e-02 -5.41427799e+01] [-8.30071996e-02 -9.41760637e-05 9.96548943e-01 -7.10255843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59863999999999 meters 0.028562283418200256 Centerline is valid? [True, True] Translation: X:104.99, Y:-54.16, Z:-7.10 [[ 7.35553365e-01 6.74745523e-01 6.06607486e-02 1.04992140e+02] [-6.72456836e-01 7.38050456e-01 -5.55277153e-02 -5.41649461e+01] [-8.22377705e-02 5.18627841e-05 9.96612736e-01 -7.10454204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999999 meters 0.028386394437028832 Centerline is valid? [True, True] Translation: X:105.01, Y:-54.19, Z:-7.11 [[ 7.36481713e-01 6.73668289e-01 6.13654915e-02 1.05013984e+02] [-6.71318012e-01 7.39033823e-01 -5.62239648e-02 -5.41888545e+01] [-8.32274760e-02 2.12162077e-04 9.96530553e-01 -7.10689380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65863999999999 meters 0.028426621501789272 Centerline is valid? [True, True] Translation: X:105.04, Y:-54.21, Z:-7.11 [[ 7.36371892e-01 6.73750246e-01 6.17822195e-02 1.05037389e+02] [-6.71363648e-01 7.38959097e-01 -5.66595537e-02 -5.42126437e+01] [-8.38289214e-02 2.44166413e-04 9.96480131e-01 -7.10900389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999999 meters 0.02831266512715351 Centerline is valid? [True, True] Translation: X:105.06, Y:-54.24, Z:-7.11 [[ 7.36688470e-01 6.73478105e-01 6.09699927e-02 1.05058352e+02] [-6.71148429e-01 7.39207105e-01 -5.59700161e-02 -5.42374536e+01] [-8.27640322e-02 3.12550693e-04 9.96569123e-01 -7.10987352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71864 meters 0.02826343001823602 Centerline is valid? [True, True] Translation: X:105.08, Y:-54.26, Z:-7.11 [[ 7.36213207e-01 6.74046570e-01 6.04262826e-02 1.05080773e+02] [-6.71756150e-01 7.38688798e-01 -5.55205733e-02 -5.42607661e+01] [-8.20596701e-02 2.83252285e-04 9.96627378e-01 -7.11166006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74864 meters 0.028339572321260928 Centerline is valid? [True, True] Translation: X:105.10, Y:-54.28, Z:-7.11 [[ 7.35067928e-01 6.75197709e-01 6.15076853e-02 1.05102779e+02] [-6.72824108e-01 7.37636778e-01 -5.65659185e-02 -5.42842469e+01] [-8.35635093e-02 1.95939011e-04 9.96502434e-01 -7.11478965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77864 meters 0.02813756290166739 Centerline is valid? [True, True] Translation: X:105.13, Y:-54.31, Z:-7.12 [[ 7.34120884e-01 6.76336814e-01 6.02913108e-02 1.05125243e+02] [-6.74056859e-01 7.36592496e-01 -5.54873474e-02 -5.43081017e+01] [-8.19382629e-02 9.46489613e-05 9.96637403e-01 -7.11565649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80864 meters 0.02806800729914906 Centerline is valid? [True, True] Translation: X:105.15, Y:-54.33, Z:-7.12 [[ 7.30813212e-01 6.79876543e-01 6.06624747e-02 1.05147071e+02] [-6.77578030e-01 7.33326536e-01 -5.58588005e-02 -5.43332159e+01] [-8.24624906e-02 -2.81210705e-04 9.96594129e-01 -7.11717978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83864 meters 0.028059510753046638 Centerline is valid? [True, True] Translation: X:105.17, Y:-54.36, Z:-7.12 [[ 7.29333721e-01 6.81474905e-01 6.05332810e-02 1.05171233e+02] [-6.79186874e-01 7.31841362e-01 -5.57979499e-02 -5.43564347e+01] [-8.23256614e-02 -4.18083452e-04 9.96605394e-01 -7.11925621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86864 meters 0.028260274644928567 Centerline is valid? [True, True] Translation: X:105.19, Y:-54.38, Z:-7.12 [[ 7.26097456e-01 6.84956424e-01 6.01430115e-02 1.05194081e+02] [-6.82704981e-01 7.28583635e-01 -5.54959120e-02 -5.43796947e+01] [-8.18314953e-02 -7.64492998e-04 9.96645886e-01 -7.12103660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89864 meters 0.02814492737712373 Centerline is valid? [True, True] Translation: X:105.22, Y:-54.40, Z:-7.12 [[ 7.25676706e-01 6.85389042e-01 6.02924498e-02 1.05219435e+02] [-6.83123121e-01 7.28176670e-01 -5.56914628e-02 -5.44015207e+01] [-8.20738737e-02 -7.73169270e-04 9.96625949e-01 -7.12287706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92864 meters 0.028307976730346376 Centerline is valid? [True, True] Translation: X:105.24, Y:-54.42, Z:-7.13 [[ 7.24558391e-01 6.86476355e-01 6.13624644e-02 1.05243729e+02] [-6.84128343e-01 7.27151604e-01 -5.67358405e-02 -5.44217669e+01] [-8.35676273e-02 -8.71371812e-04 9.96501727e-01 -7.12556576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95863999999999 meters 0.028258761865623764 Centerline is valid? [True, True] Translation: X:105.27, Y:-54.44, Z:-7.13 [[ 7.24474948e-01 6.86550003e-01 6.15235170e-02 1.05268174e+02] [-6.84185576e-01 7.27082100e-01 -5.69360880e-02 -5.44433150e+01] [-8.38221193e-02 -8.44733500e-04 9.96480376e-01 -7.12762356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999999 meters 0.028221926678699653 Centerline is valid? [True, True] Translation: X:105.29, Y:-54.46, Z:-7.13 [[ 7.24519336e-01 6.86431171e-01 6.23215823e-02 1.05293383e+02] [-6.83999302e-01 7.27194342e-01 -5.77351181e-02 -5.44648368e+01] [-8.49510867e-02 -7.97709340e-04 9.96384803e-01 -7.12991498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01863999999999 meters 0.028185311496508676 Centerline is valid? [True, True] Translation: X:105.32, Y:-54.48, Z:-7.13 [[ 7.24627684e-01 6.86385016e-01 6.15656494e-02 1.05319714e+02] [-6.84006946e-01 7.27237967e-01 -5.70914838e-02 -5.44841787e+01] [-8.39596167e-02 -7.41262132e-04 9.96468882e-01 -7.13106710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999999 meters 0.02819131725470858 Centerline is valid? [True, True] Translation: X:105.35, Y:-54.51, Z:-7.13 [[ 7.23585763e-01 6.87462348e-01 6.17993835e-02 1.05345302e+02] [-6.85065471e-01 7.26219548e-01 -5.73626116e-02 -5.45056321e+01] [-8.43145559e-02 -8.29854726e-04 9.96438843e-01 -7.13337988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07864 meters 0.02823546812299467 Centerline is valid? [True, True] Translation: X:105.37, Y:-54.53, Z:-7.14 [[ 7.23158971e-01 6.87960614e-01 6.12478314e-02 1.05370101e+02] [-6.85603264e-01 7.25747541e-01 -5.69093302e-02 -5.45269785e+01] [-8.36018408e-02 -8.37220432e-04 9.96498887e-01 -7.13514946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10864 meters 0.028072659422150762 Centerline is valid? [True, True] Translation: X:105.40, Y:-54.55, Z:-7.14 [[ 7.22490887e-01 6.88629465e-01 6.16147548e-02 1.05395514e+02] [-6.86241126e-01 7.25112882e-01 -5.73099096e-02 -5.45476562e+01] [-8.41429448e-02 -8.76691211e-04 9.96453309e-01 -7.13649364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13864 meters 0.02822297059778845 Centerline is valid? [True, True] Translation: X:105.42, Y:-54.56, Z:-7.14 [[ 7.20338235e-01 6.90753099e-01 6.30316098e-02 1.05422877e+02] [-6.88256541e-01 7.23089847e-01 -5.86856581e-02 -5.45647303e+01] [-8.61148173e-02 -1.10839438e-03 9.96284603e-01 -7.13829801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16864 meters 0.02824814362161865 Centerline is valid? [True, True] Translation: X:105.45, Y:-54.58, Z:-7.14 [[ 7.19997591e-01 6.91128299e-01 6.28103803e-02 1.05449153e+02] [-6.88646146e-01 7.22731236e-01 -5.85324287e-02 -5.45843405e+01] [-8.58484417e-02 -1.11091865e-03 9.96307589e-01 -7.14000977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19864 meters 0.027995865398781287 Centerline is valid? [True, True] Translation: X:105.48, Y:-54.60, Z:-7.14 [[ 7.20363485e-01 6.90789236e-01 6.23432468e-02 1.05475145e+02] [-6.88337748e-01 7.23055454e-01 -5.81545834e-02 -5.46029960e+01] [-8.52501848e-02 -1.02077170e-03 9.96359054e-01 -7.14196050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22864 meters 0.02793257411244414 Centerline is valid? [True, True] Translation: X:105.50, Y:-54.62, Z:-7.14 [[ 7.20746739e-01 6.90411333e-01 6.20993561e-02 1.05500835e+02] [-6.87973164e-01 7.23416422e-01 -5.79793680e-02 -5.46228719e+01] [-8.49533067e-02 -9.34250028e-04 9.96384496e-01 -7.14345331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25864 meters 0.027898426803257922 Centerline is valid? [True, True] Translation: X:105.53, Y:-54.64, Z:-7.14 [[ 7.22070438e-01 6.89052319e-01 6.18157240e-02 1.05529271e+02] [-6.86627013e-01 7.24711228e-01 -5.77666008e-02 -5.46395775e+01] [-8.46027595e-02 -7.32791165e-04 9.96414490e-01 -7.14475145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28864 meters 0.02787779880473349 Centerline is valid? [True, True] Translation: X:105.56, Y:-54.66, Z:-7.15 [[ 7.23338988e-01 6.87801351e-01 6.09098480e-02 1.05555691e+02] [-6.85438010e-01 7.25898760e-01 -5.69712633e-02 -5.46590427e+01] [-8.33992950e-02 -5.40388998e-04 9.96516064e-01 -7.14623727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31864 meters 0.027803328281485795 Centerline is valid? [True, True] Translation: X:105.58, Y:-54.68, Z:-7.15 [[ 7.23870288e-01 6.87280715e-01 6.04733391e-02 1.05581430e+02] [-6.84945091e-01 7.26391785e-01 -5.66144645e-02 -5.46787325e+01] [-8.28373664e-02 -4.39387984e-04 9.96562982e-01 -7.14798193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters 0.02771073006653207 Centerline is valid? [True, True] Translation: X:105.61, Y:-54.70, Z:-7.15 [[ 7.25730724e-01 6.85501304e-01 5.83342043e-02 1.05609556e+02] [-6.83318622e-01 7.28071374e-01 -5.46601784e-02 -5.46951680e+01] [-7.99410878e-02 -1.92277283e-04 9.96799571e-01 -7.15008215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37863999999999 meters 0.027670410216314823 Centerline is valid? [True, True] Translation: X:105.64, Y:-54.71, Z:-7.15 [[ 7.26243217e-01 6.85035807e-01 5.74171833e-02 1.05635281e+02] [-6.82916043e-01 7.28509391e-01 -5.38492919e-02 -5.47143018e+01] [-7.87176504e-02 -1.03432667e-04 9.96896946e-01 -7.15171954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999999 meters 0.027695020348775103 Centerline is valid? [True, True] Translation: X:105.66, Y:-54.73, Z:-7.15 [[ 7.26914413e-01 6.84315338e-01 5.75148099e-02 1.05663167e+02] [-6.82182093e-01 7.29186202e-01 -5.39914231e-02 -5.47334017e+01] [-7.88861647e-02 1.15702450e-05 9.96883631e-01 -7.15227880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43863999999999 meters 0.02768463839550653 Centerline is valid? [True, True] Translation: X:105.69, Y:-54.75, Z:-7.15 [[ 7.26591311e-01 6.84550415e-01 5.87860230e-02 1.05688164e+02] [-6.82317901e-01 7.28965520e-01 -5.52408714e-02 -5.47537913e+01] [-8.06681453e-02 2.67813583e-05 9.96741014e-01 -7.15476165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46864 meters 0.027810585504755538 Centerline is valid? [True, True] Translation: X:105.71, Y:-54.77, Z:-7.16 [[ 7.26712869e-01 6.84508954e-01 5.77572219e-02 1.05712913e+02] [-6.82350006e-01 7.29004449e-01 -5.43229507e-02 -5.47740637e+01] [-7.92898179e-02 6.65467421e-05 9.96851604e-01 -7.15661584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49864 meters 0.027936551732102455 Centerline is valid? [True, True] Translation: X:105.74, Y:-54.80, Z:-7.16 [[ 7.26676652e-01 6.84513802e-01 5.81540903e-02 1.05738593e+02] [-6.82320898e-01 7.28999893e-01 -5.47480419e-02 -5.47955429e+01] [-7.98701159e-02 1.04372710e-04 9.96805274e-01 -7.16017884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52864 meters 0.02787889649941718 Centerline is valid? [True, True] Translation: X:105.76, Y:-54.82, Z:-7.16 [[ 7.27354769e-01 6.83846957e-01 5.75185079e-02 1.05763671e+02] [-6.81695333e-01 7.29625447e-01 -5.42049892e-02 -5.48167827e+01] [-7.90348839e-02 2.16159023e-04 9.96871827e-01 -7.16193915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55864 meters 0.027913798653911935 Centerline is valid? [True, True] Translation: X:105.79, Y:-54.84, Z:-7.16 [[ 7.27255611e-01 6.83948933e-01 5.75598223e-02 1.05788068e+02] [-6.81790145e-01 7.29529847e-01 -5.42991792e-02 -5.48397031e+01] [-7.91294740e-02 2.45663168e-04 9.96864317e-01 -7.16324074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58864 meters 0.027889820301647335 Centerline is valid? [True, True] Translation: X:105.81, Y:-54.86, Z:-7.17 [[ 7.27109954e-01 6.84027930e-01 5.84543010e-02 1.05810986e+02] [-6.81797953e-01 7.29455766e-01 -5.51890927e-02 -5.48616640e+01] [-8.03907078e-02 2.74515875e-04 9.96763392e-01 -7.16509656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61864 meters 0.027822612370006147 Centerline is valid? [True, True] Translation: X:105.83, Y:-54.88, Z:-7.17 [[ 7.26986320e-01 6.84163445e-01 5.84060781e-02 1.05834701e+02] [-6.81935318e-01 7.29328665e-01 -5.51717356e-02 -5.48841889e+01] [-8.03437117e-02 2.79929612e-04 9.96767179e-01 -7.16746063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64864 meters 0.02780095726906065 Centerline is valid? [True, True] Translation: X:105.86, Y:-54.91, Z:-7.17 [[ 7.26775900e-01 6.84398496e-01 5.82708287e-02 1.05858665e+02] [-6.82176919e-01 7.29108094e-01 -5.51002614e-02 -5.49072180e+01] [-8.01962689e-02 2.94527687e-04 9.96779049e-01 -7.17009353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67864 meters 0.027941777623385372 Centerline is valid? [True, True] Translation: X:105.88, Y:-54.93, Z:-7.17 [[ 7.26897356e-01 6.84400703e-01 5.67090036e-02 1.05882283e+02] [-6.82292765e-01 7.29106009e-01 -5.36750396e-02 -5.49291118e+01] [-7.80821102e-02 3.24101534e-04 9.96946879e-01 -7.17126746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters 0.02795060140155617 Centerline is valid? [True, True] Translation: X:105.91, Y:-54.95, Z:-7.17 [[ 7.26578442e-01 6.84747727e-01 5.66066978e-02 1.05906463e+02] [-6.82644579e-01 7.28780109e-01 -5.36277190e-02 -5.49510399e+01] [-7.79752941e-02 3.22489150e-04 9.96955239e-01 -7.17390763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73863999999999 meters 0.02783699191292779 Centerline is valid? [True, True] Translation: X:105.93, Y:-54.97, Z:-7.18 [[ 7.25812036e-01 6.85531985e-01 5.69454693e-02 1.05931118e+02] [-6.83401611e-01 7.28042457e-01 -5.40038772e-02 -5.49734019e+01] [-7.84801045e-02 2.80038604e-04 9.96915641e-01 -7.17522360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999999 meters 0.027849699142297776 Centerline is valid? [True, True] Translation: X:105.95, Y:-55.00, Z:-7.18 [[ 7.24531947e-01 6.86901740e-01 5.67402635e-02 1.05954643e+02] [-6.84786628e-01 7.26750281e-01 -5.38637511e-02 -5.49967446e+01] [-7.82351067e-02 1.71034733e-04 9.96934922e-01 -7.17781747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79863999999999 meters 0.02776573799183175 Centerline is valid? [True, True] Translation: X:105.98, Y:-55.02, Z:-7.18 [[ 7.23689657e-01 6.87831704e-01 5.62212300e-02 1.05978699e+02] [-6.85753771e-01 7.25870192e-01 -5.34249947e-02 -5.50187249e+01] [-7.75567202e-02 1.09195596e-04 9.96987935e-01 -7.17944159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82864 meters 0.027849231821060822 Centerline is valid? [True, True] Translation: X:106.01, Y:-55.04, Z:-7.18 [[ 7.22351585e-01 6.89242317e-01 5.61535132e-02 1.06005015e+02] [-6.87169425e-01 7.24530903e-01 -5.34149098e-02 -5.50384683e+01] [-7.75007718e-02 -2.63262470e-06 9.96992292e-01 -7.18203672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85864 meters 0.027956409129589178 Centerline is valid? [True, True] Translation: X:106.03, Y:-55.06, Z:-7.18 [[ 7.21773443e-01 6.89860590e-01 5.59952099e-02 1.06030005e+02] [-6.87797647e-01 7.23942239e-01 -5.33107037e-02 -5.50597192e+01] [-7.73142511e-02 -3.51234417e-05 9.97006773e-01 -7.18386174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88864 meters 0.02774782514715173 Centerline is valid? [True, True] Translation: X:106.05, Y:-55.08, Z:-7.19 [[ 7.21540543e-01 6.90033040e-01 5.68651762e-02 1.06054444e+02] [-6.87904392e-01 7.23777868e-01 -5.41585217e-02 -5.50804900e+01] [-7.85289254e-02 -4.02353234e-05 9.96911835e-01 -7.18548510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91864 meters 0.027817734588053717 Centerline is valid? [True, True] Translation: X:106.08, Y:-55.10, Z:-7.19 [[ 7.21729891e-01 6.89762888e-01 5.77332128e-02 1.06079393e+02] [-6.87566651e-01 7.24035330e-01 -5.49994740e-02 -5.51009894e+01] [-7.97374818e-02 -6.67361990e-07 9.96815898e-01 -7.18841282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94864 meters 0.027793455419514272 Centerline is valid? [True, True] Translation: X:106.10, Y:-55.12, Z:-7.19 [[ 7.22341811e-01 6.89120838e-01 5.77475395e-02 1.06104128e+02] [-6.86920172e-01 7.24646440e-01 -5.50292067e-02 -5.51225665e+01] [-7.97683220e-02 8.19470795e-05 9.96813427e-01 -7.19067633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97864 meters 0.027916868733998665 Centerline is valid? [True, True] Translation: X:106.13, Y:-55.14, Z:-7.19 [[ 7.22979480e-01 6.88493155e-01 5.72524826e-02 1.06128694e+02] [-6.86326635e-01 7.25242821e-01 -5.45765568e-02 -5.51439771e+01] [-7.90975378e-02 1.63826922e-04 9.96866868e-01 -7.19234007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00864 meters 0.028003129936292743 Centerline is valid? [True, True] Translation: X:106.15, Y:-55.16, Z:-7.19 [[ 7.24881855e-01 6.86556631e-01 5.64472289e-02 1.06153881e+02] [-6.84443781e-01 7.27076233e-01 -5.38225015e-02 -5.51640407e+01] [-7.79936338e-02 3.79999944e-04 9.96953785e-01 -7.19419668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03864 meters 0.028087921607643684 Centerline is valid? [True, True] Translation: X:106.18, Y:-55.19, Z:-7.20 [[ 7.25744306e-01 6.85714926e-01 5.55899606e-02 1.06177848e+02] [-6.83662369e-01 7.27870055e-01 -5.30183707e-02 -5.51861916e+01] [-7.68177558e-02 4.73016443e-04 9.97045038e-01 -7.19565887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06864 meters 0.028298821461805755 Centerline is valid? [True, True] Translation: X:106.20, Y:-55.21, Z:-7.20 [[ 7.28597951e-01 6.82719953e-01 5.51225142e-02 1.06201834e+02] [-6.80692221e-01 7.30679709e-01 -5.25857615e-02 -5.52077862e+01] [-7.61782512e-02 7.92411440e-04 9.97093900e-01 -7.19720518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09863999999999 meters 0.028556491029401655 Centerline is valid? [True, True] Translation: X:106.23, Y:-55.23, Z:-7.20 [[ 7.29866637e-01 6.81296871e-01 5.59398414e-02 1.06225113e+02] [-6.79203237e-01 7.32006586e-01 -5.33790271e-02 -5.52300690e+01] [-7.73152965e-02 9.65049630e-04 9.97006225e-01 -7.19931265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999999 meters 0.02888346014301006 Centerline is valid? [True, True] Translation: X:106.25, Y:-55.25, Z:-7.20 [[ 7.31593777e-01 6.79506221e-01 5.51528898e-02 1.06247654e+02] [-6.77465076e-01 7.33668848e-01 -5.26411675e-02 -5.52528734e+01] [-7.62339579e-02 1.14779383e-03 9.97089297e-01 -7.20076288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15863999999999 meters 0.029389288229686804 Centerline is valid? [True, True] Translation: X:106.27, Y:-55.28, Z:-7.20 [[ 7.33562236e-01 6.77283178e-01 5.63377594e-02 1.06269376e+02] [-6.75145686e-01 7.35721065e-01 -5.37849197e-02 -5.52758755e+01] [-7.78764977e-02 1.41839078e-03 9.96962005e-01 -7.20326697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999999 meters 0.03005555152084963 Centerline is valid? [True, True] Translation: X:106.29, Y:-55.30, Z:-7.21 [[ 7.36035950e-01 6.74614635e-01 5.60907610e-02 1.06289438e+02] [-6.72487059e-01 7.38168132e-01 -5.35627214e-02 -5.53006994e+01] [-7.75386080e-02 1.70377763e-03 9.96987894e-01 -7.20595814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21864 meters 0.02985173050834209 Centerline is valid? [True, True] Translation: X:106.31, Y:-55.32, Z:-7.21 [[ 7.36670650e-01 6.74110885e-01 5.37668018e-02 1.06310915e+02] [-6.72152843e-01 7.38628196e-01 -5.13706509e-02 -5.53245597e+01] [-7.43431908e-02 1.70374206e-03 9.97231261e-01 -7.20666055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24864 meters 0.029465253131009575 Centerline is valid? [True, True] Translation: X:106.33, Y:-55.35, Z:-7.21 [[ 7.34813800e-01 6.76030813e-01 5.50546930e-02 1.06329090e+02] [-6.73979460e-01 7.36871658e-01 -5.26483286e-02 -5.53533635e+01] [-7.61601353e-02 1.58098611e-03 9.97094346e-01 -7.21065528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27864 meters 0.029397377375669134 Centerline is valid? [True, True] Translation: X:106.35, Y:-55.38, Z:-7.21 [[ 7.33405241e-01 6.77509990e-01 5.56503869e-02 1.06349475e+02] [-6.75414244e-01 7.35512081e-01 -5.32689174e-02 -5.53793112e+01] [-7.70217556e-02 1.48063923e-03 9.97028313e-01 -7.21193598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30864 meters 0.029397377375669134 Centerline is valid? [True, True] Translation: X:106.37, Y:-55.40, Z:-7.21 [[ 7.33071284e-01 6.77873265e-01 5.56267044e-02 1.06373215e+02] [-6.75776688e-01 7.35177296e-01 -5.32936394e-02 -5.54015828e+01] [-7.70218234e-02 1.47680664e-03 9.97028313e-01 -7.21383474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33864 meters 0.02931672614167715 Centerline is valid? [True, True] Translation: X:106.39, Y:-55.43, Z:-7.22 [[ 7.31688885e-01 6.79314589e-01 5.62411204e-02 1.06393974e+02] [-6.77171404e-01 7.33845887e-01 -5.39361086e-02 -5.54272335e+01] [-7.79119003e-02 1.37957274e-03 9.96959293e-01 -7.21673168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36864 meters 0.028534405513165034 Centerline is valid? [True, True] Translation: X:106.41, Y:-55.46, Z:-7.22 [[ 7.28895404e-01 6.82326434e-01 5.60546834e-02 1.06411110e+02] [-6.80202878e-01 7.31046822e-01 -5.38013799e-02 -5.54560874e+01] [-7.76887018e-02 1.08702158e-03 9.96977073e-01 -7.21867363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39864 meters 0.028372713495174326 Centerline is valid? [True, True] Translation: X:106.43, Y:-55.48, Z:-7.22 [[ 7.27405600e-01 6.83888886e-01 5.63656375e-02 1.06432613e+02] [-6.81744267e-01 7.29585566e-01 -5.41262921e-02 -5.54819902e+01] [-7.81399252e-02 9.44817692e-04 9.96941954e-01 -7.22108849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42864 meters 0.0283719744112823 Centerline is valid? [True, True] Translation: X:106.45, Y:-55.51, Z:-7.22 [[ 7.26904645e-01 6.84503082e-01 5.53639490e-02 1.06453636e+02] [-6.82431940e-01 7.29009409e-01 -5.32158649e-02 -5.55069021e+01] [-7.67872633e-02 9.00732293e-04 9.97047093e-01 -7.22305227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45863999999999 meters 0.028188109844737196 Centerline is valid? [True, True] Translation: X:106.47, Y:-55.53, Z:-7.22 [[ 7.25692857e-01 6.85849016e-01 5.45985742e-02 1.06471824e+02] [-6.83835113e-01 7.27743441e-01 -5.25263890e-02 -5.55342133e+01] [-7.57589265e-02 7.81603162e-04 9.97125857e-01 -7.22481270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999999 meters 0.028328770525496677 Centerline is valid? [True, True] Translation: X:106.49, Y:-55.56, Z:-7.23 [[ 7.24624187e-01 6.86811248e-01 5.66577224e-02 1.06492542e+02] [-6.84641333e-01 7.26835440e-01 -5.45571977e-02 -5.55590044e+01] [-7.86513376e-02 7.43246394e-04 9.96901908e-01 -7.22820920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51863999999999 meters 0.028165262130353037 Centerline is valid? [True, True] Translation: X:106.51, Y:-55.59, Z:-7.23 [[ 7.23020940e-01 6.88472968e-01 5.69709800e-02 1.06512798e+02] [-6.86280059e-01 7.25261752e-01 -5.49096688e-02 -5.55855926e+01] [-7.91226954e-02 6.02792793e-04 9.96864703e-01 -7.23030867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999999 meters 0.02805833545011297 Centerline is valid? [True, True] Translation: X:106.53, Y:-55.61, Z:-7.23 [[ 7.21571284e-01 6.89965843e-01 5.72889029e-02 1.06534790e+02] [-6.87748519e-01 7.23841766e-01 -5.52727037e-02 -5.56101853e+01] [-7.96043783e-02 4.82837640e-04 9.96826419e-01 -7.23269768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57864 meters 0.028098694576883493 Centerline is valid? [True, True] Translation: X:106.56, Y:-55.63, Z:-7.23 [[ 7.20267771e-01 6.91347410e-01 5.70359293e-02 1.06557070e+02] [-6.89149515e-01 7.22522403e-01 -5.50846949e-02 -5.56349023e+01] [-7.92923979e-02 3.69447372e-04 9.96851333e-01 -7.23364229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60864 meters 0.027669308660387495 Centerline is valid? [True, True] Translation: X:106.58, Y:-55.66, Z:-7.23 [[ 7.17574957e-01 6.94172160e-01 5.66673942e-02 1.06577482e+02] [-6.92007104e-01 7.19809005e-01 -5.47828908e-02 -5.56604156e+01] [-7.88184582e-02 9.65912178e-05 9.96888981e-01 -7.23444884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63864 meters 0.02771069397427508 Centerline is valid? [True, True] Translation: X:106.60, Y:-55.68, Z:-7.24 [[ 7.15789170e-01 6.95984763e-01 5.70181831e-02 1.06600830e+02] [-6.93794358e-01 7.18056547e-01 -5.51741278e-02 -5.56838339e+01] [-7.93426320e-02 -6.58505975e-05 9.96847402e-01 -7.23700915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66864 meters 0.027581105550028493 Centerline is valid? [True, True] Translation: X:106.63, Y:-55.71, Z:-7.24 [[ 7.14434040e-01 6.97439558e-01 5.62322561e-02 1.06625030e+02] [-6.95309417e-01 7.16643586e-01 -5.44681986e-02 -5.57057895e+01] [-7.82867620e-02 -1.84882064e-04 9.96930865e-01 -7.23880040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69864 meters 0.02750769848501431 Centerline is valid? [True, True] Translation: X:106.65, Y:-55.73, Z:-7.24 [[ 7.10311629e-01 7.01636258e-01 5.62490138e-02 1.06647636e+02] [-6.99513994e-01 7.12535044e-01 -5.45342434e-02 -5.57284582e+01] [-7.83425960e-02 -6.10665029e-04 9.96926309e-01 -7.24023435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72864 meters 0.027629731940154945 Centerline is valid? [True, True] Translation: X:106.67, Y:-55.75, Z:-7.24 [[ 7.08357485e-01 7.03562866e-01 5.68239971e-02 1.06671295e+02] [-7.01399075e-01 7.10632578e-01 -5.51423333e-02 -5.57504763e+01] [-7.91770816e-02 -7.95814516e-04 9.96860249e-01 -7.24217902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75864 meters 0.02788964129517843 Centerline is valid? [True, True] Translation: X:106.70, Y:-55.77, Z:-7.24 [[ 7.04600103e-01 7.07136140e-01 5.91369141e-02 1.06697532e+02] [-7.04800360e-01 7.07076391e-01 -5.74406576e-02 -5.57695944e+01] [-8.24326807e-02 -1.20702506e-03 9.96595904e-01 -7.24456288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78864 meters 0.02794446414231665 Centerline is valid? [True, True] Translation: X:106.72, Y:-55.79, Z:-7.25 [[ 7.04211288e-01 7.07616670e-01 5.80095707e-02 1.06722879e+02] [-7.05366749e-01 7.06595500e-01 -5.63963507e-02 -5.57891359e+01] [-8.08962995e-02 -1.20307554e-03 9.96721797e-01 -7.24623312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81864 meters 0.02775293872603653 Centerline is valid? [True, True] Translation: X:106.75, Y:-55.81, Z:-7.25 [[ 7.04370929e-01 7.07515942e-01 5.72955983e-02 1.06748567e+02] [-7.05316804e-01 7.06696462e-01 -5.57522877e-02 -5.58094545e+01] [-7.99362289e-02 -1.14125759e-03 9.96799326e-01 -7.24779493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999999 meters 0.027722953910592263 Centerline is valid? [True, True] Translation: X:106.78, Y:-55.83, Z:-7.25 [[ 7.06087535e-01 7.05775537e-01 5.76305947e-02 1.06775935e+02] [-7.03540631e-01 7.08434936e-01 -5.61295102e-02 -5.58278319e+01] [-8.04423618e-02 -9.13117488e-04 9.96758844e-01 -7.25113076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87863999999999 meters 0.027806028735337496 Centerline is valid? [True, True] Translation: X:106.80, Y:-55.85, Z:-7.25 [[ 7.06593736e-01 7.05122359e-01 5.93948735e-02 1.06801580e+02] [-7.02741485e-01 7.09085168e-01 -5.79018918e-02 -5.58479599e+01] [-8.29439424e-02 -8.26127631e-04 9.96553872e-01 -7.25477111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999999 meters 0.027862679342748352 Centerline is valid? [True, True] Translation: X:106.83, Y:-55.87, Z:-7.26 [[ 7.09869241e-01 7.01955572e-01 5.78276414e-02 1.06830107e+02] [-6.99684259e-01 7.12220619e-01 -5.64245314e-02 -5.58650612e+01] [-8.07935527e-02 -4.07051184e-04 9.96730774e-01 -7.25614962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93863999999999 meters 0.027794053311396255 Centerline is valid? [True, True] Translation: X:106.86, Y:-55.89, Z:-7.26 [[ 7.11044624e-01 7.00713029e-01 5.84533457e-02 1.06855533e+02] [-6.98383566e-01 7.13443199e-01 -5.70893768e-02 -5.58864087e+01] [-8.17064121e-02 -2.29761576e-04 9.96656415e-01 -7.25895363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96864 meters 0.02788126805134892 Centerline is valid? [True, True] Translation: X:106.88, Y:-55.91, Z:-7.26 [[ 7.12505895e-01 6.99191132e-01 5.88821854e-02 1.06880551e+02] [-6.96817135e-01 7.14934795e-01 -5.75683915e-02 -5.59076639e+01] [-8.23482320e-02 -1.22974349e-05 9.96603617e-01 -7.26097562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99864 meters 0.028204140838464065 Centerline is valid? [True, True] Translation: X:106.91, Y:-55.93, Z:-7.26 [[ 7.16083531e-01 6.95633463e-01 5.76060961e-02 1.06908091e+02] [-6.93345388e-01 7.18396758e-01 -5.63761670e-02 -5.59258449e+01] [-8.06011809e-02 4.29123639e-04 9.96746340e-01 -7.26306514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02864 meters 0.02829744390521356 Centerline is valid? [True, True] Translation: X:106.93, Y:-55.95, Z:-7.27 [[ 7.17286606e-01 6.94431733e-01 5.71357412e-02 1.06934101e+02] [-6.92172917e-01 7.19558344e-01 -5.59682237e-02 -5.59465970e+01] [-7.99786100e-02 5.97444571e-04 9.96796401e-01 -7.26578726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05864 meters 0.028695646294537927 Centerline is valid? [True, True] Translation: X:106.96, Y:-55.97, Z:-7.27 [[ 7.20650323e-01 6.90958280e-01 5.69189452e-02 1.06959133e+02] [-6.88701327e-01 7.22893916e-01 -5.58109954e-02 -5.59665560e+01] [-7.97094286e-02 1.02005876e-03 9.96817619e-01 -7.26835422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08864 meters 0.02905226895607085 Centerline is valid? [True, True] Translation: X:106.98, Y:-55.99, Z:-7.27 [[ 7.22076599e-01 6.89456786e-01 5.70502009e-02 1.06983135e+02] [-6.87180767e-01 7.24325784e-01 -5.59888589e-02 -5.59880077e+01] [-7.99248302e-02 1.22444403e-03 9.96800142e-01 -7.27037857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11864 meters 0.029389864381747094 Centerline is valid? [True, True] Translation: X:107.01, Y:-56.01, Z:-7.27 [[ 7.24414663e-01 6.87095445e-01 5.58860100e-02 1.07008034e+02] [-6.84900811e-01 7.26565643e-01 -5.48930400e-02 -5.60091394e+01] [-7.83216125e-02 1.48894952e-03 9.96927032e-01 -7.27154175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14864 meters 0.03025922423438115 Centerline is valid? [True, True] Translation: X:107.03, Y:-56.03, Z:-7.27 [[ 7.27911138e-01 6.83383819e-01 5.59636663e-02 1.07032339e+02] [-6.81168343e-01 7.30056741e-01 -5.50167653e-02 -5.60303328e+01] [-7.84542190e-02 1.92663840e-03 9.96915856e-01 -7.27326768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17864 meters 0.030661748398613634 Centerline is valid? [True, True] Translation: X:107.06, Y:-56.05, Z:-7.27 [[ 7.28843445e-01 6.82364249e-01 5.62695736e-02 1.07055582e+02] [-6.80117662e-01 7.31009368e-01 -5.53648763e-02 -5.60529078e+01] [-7.89125976e-02 2.08239630e-03 9.96879364e-01 -7.27439948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters 0.03087190145002714 Centerline is valid? [True, True] Translation: X:107.08, Y:-56.08, Z:-7.28 [[ 7.30118296e-01 6.80915484e-01 5.72833037e-02 1.07077695e+02] [-6.78578794e-01 7.32358345e-01 -5.64098805e-02 -5.60754676e+01] [-8.03622667e-02 2.31465072e-03 9.96763035e-01 -7.27744047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23863999999999 meters 0.030930525920481997 Centerline is valid? [True, True] Translation: X:107.10, Y:-56.10, Z:-7.28 [[ 7.30373596e-01 6.80707430e-01 5.64960735e-02 1.07100655e+02] [-6.78430376e-01 7.32551654e-01 -5.56803383e-02 -5.60993973e+01] [-7.92883121e-02 2.33879647e-03 9.96848982e-01 -7.27928449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999999 meters 0.031283011578190044 Centerline is valid? [True, True] Translation: X:107.12, Y:-56.12, Z:-7.28 [[ 7.31080433e-01 6.79990236e-01 5.59881975e-02 1.07122099e+02] [-6.77747887e-01 7.33217132e-01 -5.52307783e-02 -5.61229855e+01] [-7.86078956e-02 2.43225877e-03 9.96902645e-01 -7.28239549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29863999999999 meters 0.03153842653435441 Centerline is valid? [True, True] Translation: X:107.14, Y:-56.15, Z:-7.28 [[ 7.32198008e-01 6.78803282e-01 5.57869202e-02 1.07141304e+02] [-6.76569990e-01 7.34315616e-01 -5.50783483e-02 -5.61491159e+01] [-7.83525703e-02 2.58450092e-03 9.96922362e-01 -7.28425798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32864 meters 0.03185217906657056 Centerline is valid? [True, True] Translation: X:107.16, Y:-56.17, Z:-7.29 [[ 7.32786140e-01 6.78189171e-01 5.55330633e-02 1.07162714e+02] [-6.75970855e-01 7.34882515e-01 -5.48734214e-02 -5.61731970e+01] [-7.80248374e-02 2.67175041e-03 9.96947835e-01 -7.28603665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35864 meters 0.03187340828306298 Centerline is valid? [True, True] Translation: X:107.18, Y:-56.20, Z:-7.29 [[ 7.33083115e-01 6.77889255e-01 5.52748171e-02 1.07184213e+02] [-6.75687181e-01 7.35158987e-01 -5.46634910e-02 -5.61976790e+01] [-7.76915717e-02 2.72439691e-03 9.96973719e-01 -7.28830752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38864 meters 0.031994059110905464 Centerline is valid? [True, True] Translation: X:107.20, Y:-56.22, Z:-7.29 [[ 7.33045148e-01 6.77902968e-01 5.56091375e-02 1.07202327e+02] [-6.75670571e-01 7.35146158e-01 -5.50400374e-02 -5.62245546e+01] [-7.81926485e-02 2.77337468e-03 9.96934410e-01 -7.29098157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41864 meters 0.03168917460425204 Centerline is valid? [True, True] Translation: X:107.22, Y:-56.25, Z:-7.29 [[ 7.33072936e-01 6.77851043e-01 5.58751614e-02 1.07221919e+02] [-6.75593395e-01 7.35193835e-01 -5.53497084e-02 -5.62505357e+01] [-7.85979318e-02 2.82648331e-03 9.96902390e-01 -7.29298331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44864 meters 0.032281658774171156 Centerline is valid? [True, True] Translation: X:107.24, Y:-56.28, Z:-7.30 [[ 7.33703110e-01 6.77111699e-01 5.65640620e-02 1.07239465e+02] [-6.74791986e-01 7.35874233e-01 -5.60793068e-02 -5.62780233e+01] [-7.95959905e-02 2.97658612e-03 9.96822762e-01 -7.29590827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47864 meters 0.03207654814248144 Centerline is valid? [True, True] Translation: X:107.26, Y:-56.30, Z:-7.30 [[ 7.32652556e-01 6.78241957e-01 5.66399242e-02 1.07260420e+02] [-6.75915594e-01 7.34832962e-01 -5.62016803e-02 -5.63026185e+01] [-7.97392208e-02 2.89249673e-03 9.96811562e-01 -7.29746740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50864 meters 0.03170259174768329 Centerline is valid? [True, True] Translation: X:107.28, Y:-56.33, Z:-7.30 [[ 7.31425634e-01 6.79614769e-01 5.60384395e-02 1.07281113e+02] [-6.77338002e-01 7.33564051e-01 -5.56508201e-02 -5.63276718e+01] [-7.89289039e-02 2.74747173e-03 9.96876462e-01 -7.29822961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53864 meters 0.030423032235448292 Centerline is valid? [True, True] Translation: X:107.30, Y:-56.36, Z:-7.30 [[ 7.26501446e-01 6.84714904e-01 5.79754163e-02 1.07298268e+02] [-6.82289774e-01 7.28807365e-01 -5.76236945e-02 -5.63558311e+01] [-8.17087128e-02 2.30766375e-03 9.96653581e-01 -7.30031492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56864 meters 0.030106170278003545 Centerline is valid? [True, True] Translation: X:107.32, Y:-56.38, Z:-7.30 [[ 7.23845009e-01 6.87430286e-01 5.90593375e-02 1.07319098e+02] [-6.84918236e-01 7.26247404e-01 -5.87513255e-02 -5.63810055e+01] [-8.32791310e-02 2.07603654e-03 9.96524097e-01 -7.30254354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59863999999999 meters 0.028974351721766864 Centerline is valid? [True, True] Translation: X:107.34, Y:-56.41, Z:-7.30 [[ 7.18323265e-01 6.93232070e-01 5.86599123e-02 1.07338077e+02] [-6.90769919e-01 7.20713029e-01 -5.83922000e-02 -5.64059755e+01] [-8.27563087e-02 1.42397285e-03 9.96568796e-01 -7.30422615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999999 meters 0.028706482302318644 Centerline is valid? [True, True] Translation: X:107.36, Y:-56.43, Z:-7.31 [[ 7.15692957e-01 6.95982150e-01 5.82446452e-02 1.07359855e+02] [-6.93561998e-01 7.18058218e-01 -5.80012998e-02 -5.64300833e+01] [-8.21909154e-02 1.11484923e-03 9.96615979e-01 -7.30684192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65863999999999 meters 0.02840759355447053 Centerline is valid? [True, True] Translation: X:107.38, Y:-56.45, Z:-7.31 [[ 7.13611019e-01 6.98075167e-01 5.87398904e-02 1.07380866e+02] [-6.95617168e-01 7.16023903e-01 -5.85365354e-02 -5.64541629e+01] [-8.29220673e-02 9.11840548e-04 9.96555618e-01 -7.30913063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999999 meters 0.02833662009301075 Centerline is valid? [True, True] Translation: X:107.40, Y:-56.48, Z:-7.31 [[ 7.10150893e-01 7.01462195e-01 6.03033840e-02 1.07402509e+02] [-6.98880792e-01 7.12706449e-01 -6.01261674e-02 -5.64784590e+01] [-8.51548440e-02 5.53774670e-04 9.96367576e-01 -7.31152660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71864 meters 0.02842578655943928 Centerline is valid? [True, True] Translation: X:107.43, Y:-56.50, Z:-7.31 [[ 7.08658836e-01 7.02941699e-01 6.06269093e-02 1.07426118e+02] [-7.00332750e-01 7.11247348e-01 -6.05082568e-02 -5.65017155e+01] [-8.56545053e-02 4.20700677e-04 9.96324811e-01 -7.31302897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74864 meters 0.0284272971531925 Centerline is valid? [True, True] Translation: X:107.45, Y:-56.53, Z:-7.31 [[ 7.06663477e-01 7.04963802e-01 6.04381299e-02 1.07449817e+02] [-7.02373186e-01 7.09243251e-01 -6.03814376e-02 -5.65252008e+01] [-8.54320636e-02 2.19234850e-04 9.96343974e-01 -7.31495525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77864 meters 0.02822197357258439 Centerline is valid? [True, True] Translation: X:107.47, Y:-56.55, Z:-7.32 [[ 7.04679922e-01 7.07005282e-01 5.97472853e-02 1.07473121e+02] [-7.04475981e-01 7.07208266e-01 -5.97499867e-02 -5.65476960e+01] [-8.44973302e-02 1.40885603e-05 9.96423706e-01 -7.31671041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80864 meters 0.028299038858653754 Centerline is valid? [True, True] Translation: X:107.43, Y:-56.77, Z:-5.51 [[ 7.55378085e-01 -6.54951811e-01 -2.10255582e-02 1.07431338e+02] [-6.54534694e-01 -7.55659135e-01 2.37403958e-02 -5.67651259e+01] [-3.14369704e-02 -4.17101741e-03 -9.99497033e-01 -5.50552796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83864 meters 0.028322296454900243 Centerline is valid? [True, True] Translation: X:107.50, Y:-56.58, Z:-7.32 [[ 7.51228115e-01 6.56914161e-01 6.41880362e-02 1.07497310e+02] [-6.54551140e-01 7.53965349e-01 -5.56691808e-02 -5.65778377e+01] [-8.49654283e-02 -1.94098482e-04 9.96383881e-01 -7.31986937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86864 meters 0.02817621360469989 Centerline is valid? [True, True] Translation: X:107.52, Y:-56.60, Z:-7.32 [[ 7.50497671e-01 6.57775343e-01 6.39127845e-02 1.07524050e+02] [-6.55430779e-01 7.53214137e-01 -5.54883550e-02 -5.65977203e+01] [-8.46388846e-02 -2.46524942e-04 9.96411661e-01 -7.32084247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89864 meters 0.028500019224624244 Centerline is valid? [True, True] Translation: X:107.55, Y:-56.62, Z:-7.32 [[ 7.49311671e-01 6.59049273e-01 6.46998874e-02 1.07549929e+02] [-6.56646303e-01 7.52099682e-01 -5.62289971e-02 -5.66174176e+01] [-8.57184444e-02 -3.51898134e-04 9.96319339e-01 -7.32346379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92864 meters 0.028555789960645447 Centerline is valid? [True, True] Translation: X:107.58, Y:-56.63, Z:-7.33 [[ 7.47937094e-01 6.60577322e-01 6.50208113e-02 1.07578142e+02] [-6.58151440e-01 7.50757860e-01 -5.65625176e-02 -5.66349744e+01] [-8.61788015e-02 -4.88335578e-04 9.96279567e-01 -7.32601850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95863999999999 meters 0.028565469769299776 Centerline is valid? [True, True] Translation: X:107.61, Y:-56.65, Z:-7.33 [[ 7.47064339e-01 6.61552235e-01 6.51422645e-02 1.07605311e+02] [-6.59115795e-01 7.49898880e-01 -5.67277529e-02 -5.66535284e+01] [-8.63784829e-02 -5.57014216e-04 9.96262238e-01 -7.32747537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999999 meters 0.02859772973827327 Centerline is valid? [True, True] Translation: X:107.63, Y:-56.67, Z:-7.33 [[ 7.47341253e-01 6.61360120e-01 6.39049550e-02 1.07633820e+02] [-6.59010121e-01 7.50068369e-01 -5.57054914e-02 -5.66693568e+01] [-8.47744759e-02 -4.83000410e-04 9.96400048e-01 -7.33005115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01863999999999 meters 0.028455959099969768 Centerline is valid? [True, True] Translation: X:107.66, Y:-56.69, Z:-7.33 [[ 7.48156490e-01 6.60519405e-01 6.30553977e-02 1.07659727e+02] [-6.58224389e-01 7.50808895e-01 -5.50150597e-02 -5.66884692e+01] [-8.36810680e-02 -3.44726674e-04 9.96492529e-01 -7.33163148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999999 meters 0.02870094331908098 Centerline is valid? [True, True] Translation: X:107.69, Y:-56.71, Z:-7.33 [[ 7.49488161e-01 6.59075298e-01 6.23477973e-02 1.07685663e+02] [-6.56822464e-01 7.52076944e-01 -5.44474058e-02 -5.67073504e+01] [-8.27752811e-02 -1.43747806e-04 9.96568228e-01 -7.33405841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07864 meters 0.028650335003744264 Centerline is valid? [True, True] Translation: X:107.71, Y:-56.73, Z:-7.34 [[ 7.52536931e-01 6.55593684e-01 6.23304917e-02 1.07713669e+02] [-6.53325836e-01 7.55113796e-01 -5.44840149e-02 -5.67254489e+01] [-8.27859902e-02 2.79112804e-04 9.96567309e-01 -7.33626947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10864 meters 0.02886039697237166 Centerline is valid? [True, True] Translation: X:107.74, Y:-56.75, Z:-7.34 [[ 7.53921297e-01 6.54001060e-01 6.23321114e-02 1.07739415e+02] [-6.51723032e-01 7.56493468e-01 -5.45410165e-02 -5.67454072e+01] [-8.28237177e-02 4.96361267e-04 9.96564090e-01 -7.33820526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13864 meters 0.028734680058458213 Centerline is valid? [True, True] Translation: X:107.76, Y:-56.77, Z:-7.34 [[ 7.55911367e-01 6.51705957e-01 6.22683823e-02 1.07764294e+02] [-6.49420494e-01 7.58471309e-01 -5.45370975e-02 -5.67652410e+01] [-8.27709328e-02 7.86848260e-04 9.96568288e-01 -7.33920351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16864 meters 0.02887480383195076 Centerline is valid? [True, True] Translation: X:107.79, Y:-56.79, Z:-7.34 [[ 7.56282847e-01 6.51331231e-01 6.16756243e-02 1.07790400e+02] [-6.49083772e-01 7.58793049e-01 -5.40681562e-02 -5.67857241e+01] [-8.20153137e-02 8.58172230e-04 9.96630700e-01 -7.34126055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19864 meters 0.02887480383195076 Centerline is valid? [True, True] Translation: X:107.82, Y:-56.81, Z:-7.34 [[ 7.55956439e-01 6.51712647e-01 6.16481081e-02 1.07815088e+02] [-6.49463897e-01 7.58465483e-01 -5.40995165e-02 -5.68069208e+01] [-8.20153012e-02 8.58657275e-04 9.96630700e-01 -7.34315379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22864 meters 0.028718260229688278 Centerline is valid? [True, True] Translation: X:107.84, Y:-56.83, Z:-7.34 [[ 7.56223225e-01 6.51412113e-01 6.15523663e-02 1.07840297e+02] [-6.49165593e-01 7.58723536e-01 -5.40613479e-02 -5.68282759e+01] [-8.19174458e-02 9.24768489e-04 9.96638689e-01 -7.34454105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25864 meters 0.028868419383881794 Centerline is valid? [True, True] Translation: X:107.87, Y:-56.85, Z:-7.35 [[ 7.56515863e-01 6.51050687e-01 6.17798641e-02 1.07866618e+02] [-6.48783535e-01 7.59033607e-01 -5.42946435e-02 -5.68490333e+01] [-8.22415580e-02 9.93000501e-04 9.96611931e-01 -7.34708266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28864 meters 0.028864619613726872 Centerline is valid? [True, True] Translation: X:107.89, Y:-56.87, Z:-7.35 [[ 7.56102498e-01 6.51483384e-01 6.22769015e-02 1.07892337e+02] [-6.49176323e-01 7.58662249e-01 -5.47877237e-02 -5.68704434e+01] [-8.29404258e-02 9.96444875e-04 9.96554009e-01 -7.34932221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31864 meters 0.028984048788782368 Centerline is valid? [True, True] Translation: X:107.92, Y:-56.89, Z:-7.35 [[ 7.57839043e-01 6.49529549e-01 6.15739325e-02 1.07919193e+02] [-6.47263443e-01 7.60335341e-01 -5.42236431e-02 -5.68898747e+01] [-8.20366954e-02 1.23823827e-03 9.96628540e-01 -7.34885629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999999 meters 0.02906045862556784 Centerline is valid? [True, True] Translation: X:107.94, Y:-56.91, Z:-7.35 [[ 7.58217672e-01 6.49090401e-01 6.15435943e-02 1.07944325e+02] [-6.46820568e-01 7.60710123e-01 -5.42518427e-02 -5.69118701e+01] [-8.20311855e-02 1.32704328e-03 9.96628880e-01 -7.35059460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37863999999999 meters 0.02928429723403451 Centerline is valid? [True, True] Translation: X:107.97, Y:-56.93, Z:-7.35 [[ 7.59979872e-01 6.47104319e-01 6.07173353e-02 1.07969177e+02] [-6.44884620e-01 7.62399873e-01 -5.35748114e-02 -5.69330331e+01] [-8.09593806e-02 1.56010255e-03 9.96716181e-01 -7.35197074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999999 meters 0.030087928341788077 Centerline is valid? [True, True] Translation: X:107.99, Y:-56.95, Z:-7.35 [[ 7.63580334e-01 6.42877549e-01 6.04444457e-02 1.07993767e+02] [-6.40660791e-01 7.65966261e-01 -5.33801222e-02 -5.69537211e+01] [-8.06152882e-02 2.03562511e-03 9.96743212e-01 -7.35345837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43863999999999 meters 0.030616329492299574 Centerline is valid? [True, True] Translation: X:108.02, Y:-56.97, Z:-7.36 [[ 7.65329669e-01 6.40773910e-01 6.06571797e-02 1.08018376e+02] [-6.38531176e-01 7.67726190e-01 -5.36137503e-02 -5.69739667e+01] [-8.09223979e-02 2.30069349e-03 9.96717750e-01 -7.35621681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46864 meters 0.03094601290854076 Centerline is valid? [True, True] Translation: X:108.04, Y:-57.00, Z:-7.36 [[ 7.66774369e-01 6.39058304e-01 6.05107551e-02 1.08042073e+02] [-6.36817366e-01 7.69154197e-01 -5.35300311e-02 -5.69952735e+01] [-8.07509121e-02 2.51115615e-03 9.96731149e-01 -7.35762437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49864 meters 0.031694888284365536 Centerline is valid? [True, True] Translation: X:108.06, Y:-57.02, Z:-7.36 [[ 7.69295118e-01 6.36018826e-01 6.05398606e-02 1.08063276e+02] [-6.33762727e-01 7.71668217e-01 -5.36000937e-02 -5.70189317e+01] [-8.08073550e-02 2.86638322e-03 9.96725617e-01 -7.35962070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52864 meters 0.03177317080786381 Centerline is valid? [True, True] Translation: X:108.08, Y:-57.04, Z:-7.36 [[ 7.69693558e-01 6.35642151e-01 5.94212332e-02 1.08084946e+02] [-6.33464236e-01 7.71978452e-01 -5.26529252e-02 -5.70441525e+01] [-7.93403302e-02 2.88539121e-03 9.96843411e-01 -7.36055571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55864 meters 0.031654751150582056 Centerline is valid? [True, True] Translation: X:108.11, Y:-57.07, Z:-7.36 [[ 7.69212622e-01 6.36270955e-01 5.89170013e-02 1.08108063e+02] [-6.34127945e-01 7.71460460e-01 -5.22542564e-02 -5.70672685e+01] [-7.87000026e-02 2.83371661e-03 9.96894317e-01 -7.36186811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58864 meters 0.03139546825391721 Centerline is valid? [True, True] Translation: X:108.13, Y:-57.09, Z:-7.36 [[ 7.69586449e-01 6.35837606e-01 5.87131713e-02 1.08130111e+02] [-6.33705314e-01 7.71817434e-01 -5.21097226e-02 -5.70911229e+01] [-7.84491704e-02 2.89608771e-03 9.96913908e-01 -7.36367595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61864 meters 0.0316319577900165 Centerline is valid? [True, True] Translation: X:108.15, Y:-57.12, Z:-7.37 [[ 7.69492565e-01 6.35990863e-01 5.82822039e-02 1.08153251e+02] [-6.33888359e-01 7.71691221e-01 -5.17514003e-02 -5.71154392e+01] [-7.78892828e-02 2.87790712e-03 9.96957861e-01 -7.36647001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64864 meters 0.031547294621158455 Centerline is valid? [True, True] Translation: X:108.17, Y:-57.14, Z:-7.37 [[ 7.69733949e-01 6.35722742e-01 5.80193341e-02 1.08172652e+02] [-6.33634695e-01 7.71911923e-01 -5.15660485e-02 -5.71425733e+01] [-7.75675255e-02 2.92907510e-03 9.96982798e-01 -7.36868774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67864 meters 0.031178657938869928 Centerline is valid? [True, True] Translation: X:108.19, Y:-57.17, Z:-7.37 [[ 7.68613913e-01 6.37126008e-01 5.74726271e-02 1.08193018e+02] [-6.35077814e-01 7.70754593e-01 -5.11226619e-02 -5.71679901e+01] [-7.68688688e-02 2.79399882e-03 9.97037296e-01 -7.36971916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters 0.030810278980824616 Centerline is valid? [True, True] Translation: X:108.22, Y:-57.19, Z:-7.37 [[ 7.67732205e-01 6.38278382e-01 5.64621068e-02 1.08215830e+02] [-6.36301612e-01 7.69801021e-01 -5.02657644e-02 -5.71910978e+01] [-7.55481382e-02 2.66371656e-03 9.97138598e-01 -7.37130050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73863999999999 meters 0.030701922682301003 Centerline is valid? [True, True] Translation: X:108.24, Y:-57.21, Z:-7.37 [[ 7.66044755e-01 6.40217347e-01 5.74210861e-02 1.08238280e+02] [-6.38174774e-01 7.68189594e-01 -5.11635230e-02 -5.72145743e+01] [-7.68660558e-02 2.54885986e-03 9.97038170e-01 -7.37377105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999999 meters 0.03033816842247286 Centerline is valid? [True, True] Translation: X:108.26, Y:-57.24, Z:-7.38 [[ 7.64744183e-01 6.41780980e-01 5.73019102e-02 1.08259991e+02] [-6.39747907e-01 7.66884161e-01 -5.11008769e-02 -5.72384778e+01] [-7.67394982e-02 2.42032130e-03 9.97048239e-01 -7.37541075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79863999999999 meters 0.029679576991283523 Centerline is valid? [True, True] Translation: X:108.28, Y:-57.26, Z:-7.38 [[ 7.62327084e-01 6.44504033e-01 5.89234191e-02 1.08279529e+02] [-6.42358546e-01 7.64597621e-01 -5.25925523e-02 -5.72643620e+01] [-7.89488182e-02 2.24276517e-03 9.96876148e-01 -7.37791630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82864 meters 0.02969840413139451 Centerline is valid? [True, True] Translation: X:108.30, Y:-57.29, Z:-7.38 [[ 7.61566962e-01 6.45454906e-01 5.83414656e-02 1.08301955e+02] [-6.43350953e-01 7.63795334e-01 -5.21175444e-02 -5.72872682e+01] [-7.82004639e-02 2.15696243e-03 9.96935321e-01 -7.37930308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85864 meters 0.029676071022799407 Centerline is valid? [True, True] Translation: X:108.32, Y:-57.31, Z:-7.38 [[ 7.60851392e-01 6.46332510e-01 5.79607233e-02 1.08322792e+02] [-6.44255030e-01 7.63053032e-01 -5.18220665e-02 -5.73117747e+01] [-7.77213920e-02 2.08740391e-03 9.96972932e-01 -7.38089333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88864 meters 0.029408524944628162 Centerline is valid? [True, True] Translation: X:108.35, Y:-57.34, Z:-7.38 [[ 7.60044508e-01 6.47264276e-01 5.81489754e-02 1.08346230e+02] [-6.45172325e-01 7.62262959e-01 -5.20370265e-02 -5.73353179e+01] [-7.80065184e-02 2.03434653e-03 9.96950773e-01 -7.38298891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91864 meters 0.0291606869457248 Centerline is valid? [True, True] Translation: X:108.37, Y:-57.36, Z:-7.38 [[ 7.59089279e-01 6.48533205e-01 5.64636842e-02 1.08369561e+02] [-6.46560819e-01 7.61184031e-01 -5.05764570e-02 -5.73579240e+01] [-7.57797665e-02 1.88484032e-03 9.97122798e-01 -7.38492370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94864 meters 0.028762879237683742 Centerline is valid? [True, True] Translation: X:108.39, Y:-57.38, Z:-7.39 [[ 7.57389160e-01 6.50490195e-01 5.67817481e-02 1.08391539e+02] [-6.48497562e-01 7.59512675e-01 -5.09058811e-02 -5.73819060e+01] [-7.62402339e-02 1.73273731e-03 9.97087972e-01 -7.38674533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97864 meters 0.028669879076579485 Centerline is valid? [True, True] Translation: X:108.42, Y:-57.41, Z:-7.39 [[ 7.56865816e-01 6.51121471e-01 5.65240337e-02 1.08415333e+02] [-6.49145191e-01 7.58971641e-01 -5.07205052e-02 -5.74050732e+01] [-7.59253485e-02 1.69631189e-03 9.97112062e-01 -7.38895545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00864 meters 0.02870667639987491 Centerline is valid? [True, True] Translation: X:108.44, Y:-57.43, Z:-7.39 [[ 7.57028648e-01 6.50986604e-01 5.58933533e-02 1.08438197e+02] [-6.49050095e-01 7.59087249e-01 -5.02047977e-02 -5.74294881e+01] [-7.51105826e-02 1.72888385e-03 9.97173712e-01 -7.39161889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03864 meters 0.028844372617287905 Centerline is valid? [True, True] Translation: X:108.46, Y:-57.45, Z:-7.39 [[ 7.56752302e-01 6.51275703e-01 5.62664478e-02 1.08461111e+02] [-6.49310120e-01 7.58839176e-01 -5.05912440e-02 -5.74528438e+01] [-7.56460329e-02 1.75066642e-03 9.97133197e-01 -7.39481688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06864 meters 0.02873046599426977 Centerline is valid? [True, True] Translation: X:108.48, Y:-57.48, Z:-7.40 [[ 7.56425734e-01 6.51702755e-01 5.57102090e-02 1.08484086e+02] [-6.49773291e-01 7.58472497e-01 -5.01412097e-02 -5.74766785e+01] [-7.49318259e-02 1.72909554e-03 9.97187160e-01 -7.39602852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09863999999999 meters 0.028662587571620757 Centerline is valid? [True, True] Translation: X:108.51, Y:-57.50, Z:-7.40 [[ 7.54750716e-01 6.53527131e-01 5.70407384e-02 1.08505513e+02] [-6.51505398e-01 7.56901346e-01 -5.13913327e-02 -5.75024446e+01] [-7.67598419e-02 1.62529617e-03 9.97048286e-01 -7.39764700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999999 meters 0.02845676960107305 Centerline is valid? [True, True] Translation: X:108.53, Y:-57.53, Z:-7.40 [[ 7.53738320e-01 6.54736813e-01 5.65530844e-02 1.08528446e+02] [-6.52749159e-01 7.55855393e-01 -5.10015809e-02 -5.75255769e+01] [-7.61385664e-02 1.52686763e-03 9.97096077e-01 -7.39904437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15863999999999 meters 0.02831593389659716 Centerline is valid? [True, True] Translation: X:108.55, Y:-57.55, Z:-7.40 [[ 7.52263661e-01 6.56373612e-01 5.72107132e-02 1.08551373e+02] [-6.54340420e-01 7.54434679e-01 -5.16423359e-02 -5.75488512e+01] [-7.70584126e-02 1.41337054e-03 9.97025578e-01 -7.40104852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999999 meters 0.027828139557509794 Centerline is valid? [True, True] Translation: X:108.57, Y:-57.57, Z:-7.40 [[ 7.48909338e-01 6.60235339e-01 5.67811733e-02 1.08572494e+02] [-6.58240336e-01 7.51058062e-01 -5.12976377e-02 -5.75734034e+01] [-7.65144712e-02 1.04162127e-03 9.97067927e-01 -7.40233070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21864 meters 0.027719085010091734 Centerline is valid? [True, True] Translation: X:108.60, Y:-57.60, Z:-7.40 [[ 7.47248590e-01 6.62078886e-01 5.71934672e-02 1.08595583e+02] [-6.60058162e-01 7.49433637e-01 -5.16957062e-02 -5.75966512e+01] [-7.70893437e-02 8.78528811e-04 9.97023802e-01 -7.40486098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24864 meters 0.027475435153240364 Centerline is valid? [True, True] Translation: X:108.62, Y:-57.62, Z:-7.41 [[ 7.43748963e-01 6.65893314e-01 5.85113166e-02 1.08617253e+02] [-6.63785568e-01 7.46046785e-01 -5.29425509e-02 -5.76224890e+01] [-7.89062703e-02 5.36999771e-04 9.96881895e-01 -7.40727379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27864 meters 0.02758309012065933 Centerline is valid? [True, True] Translation: X:108.64, Y:-57.64, Z:-7.41 [[ 7.41954930e-01 6.67748527e-01 6.01230978e-02 1.08639673e+02] [-6.65524405e-01 7.44386830e-01 -5.44565376e-02 -5.76449939e+01] [-8.11181149e-02 3.90907653e-04 9.96704419e-01 -7.40928363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30864 meters 0.027491251778482217 Centerline is valid? [True, True] Translation: X:108.66, Y:-57.67, Z:-7.41 [[ 7.40770922e-01 6.69062604e-01 6.01138368e-02 1.08663632e+02] [-6.66839269e-01 7.43205994e-01 -5.44999040e-02 -5.76677783e+01] [-8.11408116e-02 2.85677155e-04 9.96702607e-01 -7.40991712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33864 meters 0.027386989314102852 Centerline is valid? [True, True] Translation: X:108.69, Y:-57.69, Z:-7.41 [[ 7.37853403e-01 6.72267611e-01 6.02379832e-02 1.08688230e+02] [-6.70040999e-01 7.40308219e-01 -5.46699252e-02 -5.76890882e+01] [-8.13474940e-02 -2.35280488e-05 9.96685800e-01 -7.41121132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36864 meters 0.02749718955101677 Centerline is valid? [True, True] Translation: X:108.71, Y:-57.71, Z:-7.41 [[ 7.36004832e-01 6.74294150e-01 6.02020479e-02 1.08712582e+02] [-6.72072241e-01 7.38462834e-01 -5.46950290e-02 -5.77105730e+01] [-8.13375130e-02 -2.04319648e-04 9.96686594e-01 -7.41349482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39864 meters 0.027543331917297978 Centerline is valid? [True, True] Translation: X:108.74, Y:-57.73, Z:-7.42 [[ 7.33782539e-01 6.76709152e-01 6.02321218e-02 1.08737171e+02] [-6.74488381e-01 7.36250324e-01 -5.47803250e-02 -5.77320014e+01] [-8.14162665e-02 -4.29020298e-04 9.96680093e-01 -7.41545943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42864 meters 0.027500657091793168 Centerline is valid? [True, True] Translation: X:108.76, Y:-57.75, Z:-7.42 [[ 7.32496350e-01 6.78091223e-01 6.03439299e-02 1.08762782e+02] [-6.75862079e-01 7.34977551e-01 -5.49404117e-02 -5.77534307e+01] [-8.16060448e-02 -5.40522890e-04 9.96664518e-01 -7.41745902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45863999999999 meters 0.027538623591031177 Centerline is valid? [True, True] Translation: X:108.79, Y:-57.77, Z:-7.42 [[ 7.31293553e-01 6.79402535e-01 6.01825164e-02 1.08788157e+02] [-6.77185014e-01 7.33765483e-01 -5.48513742e-02 -5.77741825e+01] [-8.14260158e-02 -6.42241864e-04 9.96679182e-01 -7.41971585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999999 meters 0.02734287683889507 Centerline is valid? [True, True] Translation: X:108.81, Y:-57.79, Z:-7.42 [[ 7.30802982e-01 6.79887495e-01 6.06629765e-02 1.08814454e+02] [-6.77631205e-01 7.33316140e-01 -5.53478977e-02 -5.77946214e+01] [-8.21154833e-02 -6.58717210e-04 9.96622603e-01 -7.42089069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51863999999999 meters 0.027562145635165975 Centerline is valid? [True, True] Translation: X:108.84, Y:-57.82, Z:-7.42 [[ 7.30545633e-01 6.80168610e-01 6.06113885e-02 1.08839937e+02] [-6.77912326e-01 7.33055417e-01 -5.53591426e-02 -5.78159894e+01] [-8.20850577e-02 -6.46827496e-04 9.96625118e-01 -7.42213141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999999 meters 0.02738417425700371 Centerline is valid? [True, True] Translation: X:108.87, Y:-57.83, Z:-7.42 [[ 7.29545629e-01 6.81292427e-01 6.00316980e-02 1.08867195e+02] [-6.79078236e-01 7.32011002e-01 -5.48875510e-02 -5.78348496e+01] [-8.13383362e-02 -7.23246669e-04 9.96686286e-01 -7.42224984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57864 meters 0.027422687601854404 Centerline is valid? [True, True] Translation: X:108.89, Y:-57.86, Z:-7.42 [[ 7.28630664e-01 6.82246217e-01 6.03113214e-02 1.08893152e+02] [-6.80009748e-01 7.31122066e-01 -5.52020559e-02 -5.78555687e+01] [-8.17563317e-02 -7.90375916e-04 9.96652034e-01 -7.42485223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60864 meters 0.027579473710078694 Centerline is valid? [True, True] Translation: X:108.92, Y:-57.88, Z:-7.43 [[ 7.27836357e-01 6.83043138e-01 6.08794702e-02 1.08917348e+02] [-6.80762301e-01 7.30377544e-01 -5.57793259e-02 -5.78767297e+01] [-8.25646836e-02 -8.46226874e-04 9.96585349e-01 -7.42682159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63864 meters 0.027532670992844507 Centerline is valid? [True, True] Translation: X:108.94, Y:-57.90, Z:-7.43 [[ 7.27907166e-01 6.82921498e-01 6.13953207e-02 1.08941629e+02] [-6.80596824e-01 7.30491333e-01 -5.63060844e-02 -5.78987628e+01] [-8.33013852e-02 -7.99857998e-04 9.96524079e-01 -7.42844405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66864 meters 0.02769019775432319 Centerline is valid? [True, True] Translation: X:108.97, Y:-57.92, Z:-7.43 [[ 7.27866224e-01 6.82939696e-01 6.16776457e-02 1.08966664e+02] [-6.80588595e-01 7.30474360e-01 -5.66248460e-02 -5.79208087e+01] [-8.37252939e-02 -7.61789429e-04 9.96488582e-01 -7.43067627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69864 meters 0.02757231168797614 Centerline is valid? [True, True] Translation: X:108.99, Y:-57.94, Z:-7.43 [[ 7.29263232e-01 6.81464607e-01 6.14908719e-02 1.08990397e+02] [-6.79117731e-01 7.31850865e-01 -5.65103545e-02 -5.79425140e+01] [-8.35119543e-02 -5.48617606e-04 9.96506624e-01 -7.43265691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72864 meters 0.027570831990799426 Centerline is valid? [True, True] Translation: X:109.01, Y:-57.97, Z:-7.43 [[ 7.29508651e-01 6.81157460e-01 6.19809872e-02 1.09013315e+02] [-6.78767772e-01 7.32136792e-01 -5.70090283e-02 -5.79656188e+01] [-8.42106861e-02 -4.82117303e-04 9.96447855e-01 -7.43400332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75864 meters 0.027657151317100444 Centerline is valid? [True, True] Translation: X:109.04, Y:-57.99, Z:-7.44 [[ 7.29523106e-01 6.81268184e-01 6.05780490e-02 1.09036833e+02] [-6.78982667e-01 7.32033780e-01 -5.57591426e-02 -5.79875673e+01] [-8.23321080e-02 -4.53862418e-04 9.96604845e-01 -7.43645897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78864 meters 0.027531702959955193 Centerline is valid? [True, True] Translation: X:109.06, Y:-58.01, Z:-7.44 [[ 7.28212522e-01 6.82577517e-01 6.15991602e-02 1.09061690e+02] [-6.80214405e-01 7.30812976e-01 -5.67517274e-02 -5.80083224e+01] [-8.37549187e-02 -5.73317562e-04 9.96486219e-01 -7.43889918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81864 meters 0.027794691101232318 Centerline is valid? [True, True] Translation: X:109.09, Y:-58.03, Z:-7.44 [[ 7.27347311e-01 6.83495647e-01 6.16408117e-02 1.09086925e+02] [-6.81128042e-01 7.29954308e-01 -5.68445155e-02 -5.80296879e+01] [-8.38479549e-02 -6.39579857e-04 9.96478355e-01 -7.44117717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999999 meters 0.027928050153252604 Centerline is valid? [True, True] Translation: X:109.11, Y:-58.05, Z:-7.44 [[ 7.24656161e-01 6.86305237e-01 6.21173883e-02 1.09111117e+02] [-6.83906141e-01 7.27313041e-01 -5.73422355e-02 -5.80513157e+01] [-8.45330631e-02 -9.29059048e-04 9.96420242e-01 -7.44312516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87863999999999 meters 0.02812774554133738 Centerline is valid? [True, True] Translation: X:109.14, Y:-58.07, Z:-7.44 [[ 7.23039241e-01 6.87976661e-01 6.24689498e-02 1.09135287e+02] [-6.85551968e-01 7.25731990e-01 -5.77198196e-02 -5.80730526e+01] [-8.50456040e-02 -1.09201691e-03 9.96376461e-01 -7.44444283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999999 meters 0.028169078829008105 Centerline is valid? [True, True] Translation: X:109.16, Y:-58.09, Z:-7.45 [[ 7.21318721e-01 6.89840978e-01 6.17958468e-02 1.09161462e+02] [-6.87470553e-01 7.23959835e-01 -5.71523931e-02 -5.80937374e+01] [-8.41637738e-02 -1.25773386e-03 9.96451141e-01 -7.44691502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93863999999999 meters 0.02824130246128102 Centerline is valid? [True, True] Translation: X:109.19, Y:-58.11, Z:-7.45 [[ 7.20080556e-01 6.91224792e-01 6.07641263e-02 1.09186577e+02] [-6.88933032e-01 7.22638538e-01 -5.62567420e-02 -5.81147926e+01] [-8.27965542e-02 -1.35302774e-03 9.96565552e-01 -7.44827613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96864 meters 0.028146228436381704 Centerline is valid? [True, True] Translation: X:109.21, Y:-58.14, Z:-7.45 [[ 7.19799884e-01 6.91647402e-01 5.92621184e-02 1.09211425e+02] [-6.89464715e-01 7.22234111e-01 -5.49208164e-02 -5.81353427e+01] [-8.07869633e-02 -1.32714231e-03 9.96730508e-01 -7.44954459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99864 meters 0.02838632597033521 Centerline is valid? [True, True] Translation: X:109.24, Y:-58.16, Z:-7.45 [[ 7.19742509e-01 6.91725132e-01 5.90513528e-02 1.09237512e+02] [-6.89553979e-01 7.22159726e-01 -5.47781009e-02 -5.81551572e+01] [-8.05358978e-02 -1.29296750e-03 9.96750870e-01 -7.45189665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02864 meters 0.028609877986783994 Centerline is valid? [True, True] Translation: X:109.26, Y:-58.18, Z:-7.45 [[ 7.19319682e-01 6.92131039e-01 5.94459373e-02 1.09262609e+02] [-6.89927332e-01 7.21770685e-01 -5.52028476e-02 -5.81762507e+01] [-8.11139392e-02 -1.30488219e-03 9.96703981e-01 -7.45450280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05864 meters 0.02865825386186088 Centerline is valid? [True, True] Translation: X:109.29, Y:-58.20, Z:-7.46 [[ 7.18917795e-01 6.92546759e-01 5.94658707e-02 1.09288471e+02] [-6.90338236e-01 7.21371798e-01 -5.52797379e-02 -5.81964335e+01] [-8.11808054e-02 -1.30997705e-03 9.96698531e-01 -7.45585051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08864 meters 0.028668635641166264 Centerline is valid? [True, True] Translation: X:109.31, Y:-58.22, Z:-7.46 [[ 7.18215809e-01 6.93238979e-01 5.98812991e-02 1.09313828e+02] [-6.90996970e-01 7.20706516e-01 -5.57252735e-02 -5.82170248e+01] [-8.17877741e-02 -1.35502386e-03 9.96648847e-01 -7.45764355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11864 meters 0.028668635641166264 Centerline is valid? [True, True] Translation: X:109.34, Y:-58.24, Z:-7.46 [[ 7.17848980e-01 6.93621374e-01 5.98517392e-02 1.09337840e+02] [-6.91378046e-01 7.20338499e-01 -5.57570091e-02 -5.82389452e+01] [-8.17877652e-02 -1.35506638e-03 9.96648848e-01 -7.45953697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14864 meters 0.028688316118690722 Centerline is valid? [True, True] Translation: X:109.36, Y:-58.26, Z:-7.46 [[ 7.17115099e-01 6.94365904e-01 6.00160554e-02 1.09363239e+02] [-6.92107910e-01 7.19620754e-01 -5.59697368e-02 -5.82594750e+01] [-8.20522759e-02 -1.40084338e-03 9.96627042e-01 -7.46125361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17864 meters 0.02885879498281999 Centerline is valid? [True, True] Translation: X:109.39, Y:-58.28, Z:-7.46 [[ 7.16226544e-01 6.95272047e-01 6.01358387e-02 1.09388615e+02] [-6.93003260e-01 7.18745182e-01 -5.61413048e-02 -5.82804141e+01] [-8.22558242e-02 -1.46443961e-03 9.96610172e-01 -7.46420454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999999 meters 0.029067287971314682 Centerline is valid? [True, True] Translation: X:109.41, Y:-58.30, Z:-7.47 [[ 7.15179849e-01 6.96312410e-01 6.05542081e-02 1.09414029e+02] [-6.94010760e-01 7.17737150e-01 -5.65901854e-02 -5.82996954e+01] [-8.28664531e-02 -1.55311178e-03 9.96559451e-01 -7.46618044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23863999999999 meters 0.02910041104427345 Centerline is valid? [True, True] Translation: X:109.44, Y:-58.32, Z:-7.47 [[ 7.14819402e-01 6.96595067e-01 6.15510839e-02 1.09439415e+02] [-6.94213375e-01 7.17462778e-01 -5.75756242e-02 -5.83197165e+01] [-8.42675074e-02 -1.57341250e-03 9.96441926e-01 -7.46887430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999999 meters 0.02894593683613402 Centerline is valid? [True, True] Translation: X:109.47, Y:-58.34, Z:-7.47 [[ 7.15782506e-01 6.95752394e-01 5.98666072e-02 1.09465916e+02] [-6.93492366e-01 7.18280346e-01 -5.60507198e-02 -5.83379736e+01] [-8.19984298e-02 -1.39691042e-03 9.96631480e-01 -7.46984111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29863999999999 meters 0.02904887968246706 Centerline is valid? [True, True] Translation: X:109.49, Y:-58.36, Z:-7.47 [[ 7.15836361e-01 6.95665977e-01 6.02258525e-02 1.09491152e+02] [-6.93373901e-01 7.18364120e-01 -5.64413384e-02 -5.83592126e+01] [-8.25284104e-02 -1.35627204e-03 9.96587789e-01 -7.47273789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32864 meters 0.029006491100255195 Centerline is valid? [True, True] Translation: X:109.52, Y:-58.38, Z:-7.47 [[ 7.16807051e-01 6.94694359e-01 5.98949001e-02 1.09516166e+02] [-6.92419382e-01 7.19304050e-01 -5.61879333e-02 -5.83799416e+01] [-8.21160846e-02 -1.19648290e-03 9.96622053e-01 -7.47350936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35864 meters 0.029027091313237698 Centerline is valid? [True, True] Translation: X:109.54, Y:-58.40, Z:-7.48 [[ 7.16502963e-01 6.94959722e-01 6.04523668e-02 1.09541290e+02] [-6.92638514e-01 7.19047667e-01 -5.67656672e-02 -5.84008158e+01] [-8.29179856e-02 -1.19886877e-03 9.96555653e-01 -7.47539856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38864 meters 0.029163377149697915 Centerline is valid? [True, True] Translation: X:109.57, Y:-58.42, Z:-7.48 [[ 7.16158248e-01 6.95287081e-01 6.07720320e-02 1.09566326e+02] [-6.92937362e-01 7.18731129e-01 -5.71259738e-02 -5.84218588e+01] [-8.33977027e-02 -1.19997425e-03 9.96515621e-01 -7.47768169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41864 meters 0.029216498496833852 Centerline is valid? [True, True] Translation: X:109.59, Y:-58.44, Z:-7.48 [[ 7.14888589e-01 6.96558101e-01 6.11646758e-02 1.09590673e+02] [-6.94177604e-01 7.17499187e-01 -5.75532048e-02 -5.84430464e+01] [-8.39747562e-02 -1.31501869e-03 9.96467015e-01 -7.47980973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44864 meters 0.029059365969686283 Centerline is valid? [True, True] Translation: X:109.62, Y:-58.47, Z:-7.48 [[ 7.14416504e-01 6.97016697e-01 6.14555356e-02 1.09615638e+02] [-6.94610463e-01 7.17053653e-01 -5.78823312e-02 -5.84650530e+01] [-8.44118675e-02 -1.33556535e-03 9.96430054e-01 -7.48109734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47864 meters 0.029280120039072592 Centerline is valid? [True, True] Translation: X:109.64, Y:-58.49, Z:-7.48 [[ 7.13700999e-01 6.97797910e-01 6.09012413e-02 1.09640728e+02] [-6.95432777e-01 7.16293372e-01 -5.74200101e-02 -5.84865461e+01] [-8.36907185e-02 -1.37200081e-03 9.96490834e-01 -7.48242322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50864 meters 0.029272318494821207 Centerline is valid? [True, True] Translation: X:109.67, Y:-58.51, Z:-7.48 [[ 7.13574560e-01 6.97870413e-01 6.15486326e-02 1.09666000e+02] [-6.95449687e-01 7.16222773e-01 -5.80919321e-02 -5.85078392e+01] [-8.46231730e-02 -1.35105234e-03 9.96412110e-01 -7.48466793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53864 meters 0.029219372502132284 Centerline is valid? [True, True] Translation: X:109.69, Y:-58.53, Z:-7.49 [[ 7.13219375e-01 6.98284552e-01 6.09656223e-02 1.09689992e+02] [-6.95906224e-01 7.15819023e-01 -5.75990795e-02 -5.85287855e+01] [-8.38608997e-02 -1.34557646e-03 9.96476562e-01 -7.48613991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56864 meters 0.029217187159513807 Centerline is valid? [True, True] Translation: X:109.72, Y:-58.55, Z:-7.49 [[ 7.12835627e-01 6.98704538e-01 6.06410531e-02 1.09715995e+02] [-6.96348493e-01 7.15409079e-01 -5.73465551e-02 -5.85496784e+01] [-8.34514582e-02 -1.34863836e-03 9.96510931e-01 -7.48688555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59863999999999 meters 0.029265106624875536 Centerline is valid? [True, True] Translation: X:109.74, Y:-58.57, Z:-7.49 [[ 7.11772403e-01 6.99840299e-01 6.00300156e-02 1.09741869e+02] [-6.97530714e-01 7.14297926e-01 -5.68275968e-02 -5.85707166e+01] [-8.26495580e-02 -1.42446456e-03 9.96577655e-01 -7.48867687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999999 meters 0.029425732873618275 Centerline is valid? [True, True] Translation: X:109.77, Y:-58.59, Z:-7.49 [[ 7.10403137e-01 7.01202102e-01 6.03572290e-02 1.09769316e+02] [-6.98867312e-01 7.12960875e-01 -5.71950207e-02 -5.85889848e+01] [-8.31376115e-02 -1.55017222e-03 9.96536871e-01 -7.49064634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65863999999999 meters 0.02953903397029392 Centerline is valid? [True, True] Translation: X:109.79, Y:-58.61, Z:-7.49 [[ 7.09840563e-01 7.01794473e-01 6.00907047e-02 1.09794531e+02] [-6.99477922e-01 7.12377737e-01 -5.69964566e-02 -5.86099351e+01] [-8.28070785e-02 -1.57372442e-03 9.96564354e-01 -7.49261440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999999 meters 0.02927087418898691 Centerline is valid? [True, True] Translation: X:109.82, Y:-58.63, Z:-7.49 [[ 7.10138220e-01 7.01495570e-01 6.00639169e-02 1.09820438e+02] [-6.99175087e-01 7.12672244e-01 -5.70304351e-02 -5.86306765e+01] [-8.28124841e-02 -1.49570264e-03 9.96564025e-01 -7.49392418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71864 meters 0.029180217977936736 Centerline is valid? [True, True] Translation: X:109.85, Y:-58.65, Z:-7.50 [[ 7.10748590e-01 7.01059782e-01 5.78932084e-02 1.09848012e+02] [-6.98899179e-01 7.13101208e-01 -5.50145958e-02 -5.86491170e+01] [-7.98522374e-02 -1.35996941e-03 9.96805784e-01 -7.49541498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74864 meters 0.029035847575628375 Centerline is valid? [True, True] Translation: X:109.87, Y:-58.67, Z:-7.50 [[ 7.11266525e-01 7.00565783e-01 5.75109845e-02 1.09873286e+02] [-6.98429933e-01 7.13586682e-01 -5.46779237e-02 -5.86690026e+01] [-7.93445551e-02 -1.27681631e-03 9.96846433e-01 -7.49695381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77864 meters 0.029204285879627805 Centerline is valid? [True, True] Translation: X:109.90, Y:-58.69, Z:-7.50 [[ 7.12384962e-01 6.99294971e-01 5.91118422e-02 1.09898939e+02] [-6.97029495e-01 7.14832339e-01 -5.62548671e-02 -5.86895478e+01] [-8.15938021e-02 -1.12757615e-03 9.96665029e-01 -7.50056227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80864 meters 0.02910107600249705 Centerline is valid? [True, True] Translation: X:109.92, Y:-58.71, Z:-7.50 [[ 7.12602504e-01 6.99108033e-01 5.86994841e-02 1.09923281e+02] [-6.96868922e-01 7.15015271e-01 -5.59184021e-02 -5.87102708e+01] [-8.10640317e-02 -1.05825286e-03 9.96708334e-01 -7.50137980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83864 meters 0.029208844043378528 Centerline is valid? [True, True] Translation: X:109.95, Y:-58.73, Z:-7.50 [[ 7.13674712e-01 6.97995634e-01 5.89109606e-02 1.09948589e+02] [-6.95732223e-01 7.16101453e-01 -5.61727989e-02 -5.87310347e+01] [-8.13945928e-02 -8.97147499e-04 9.96681552e-01 -7.50419932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86864 meters 0.0288745757187895 Centerline is valid? [True, True] Translation: X:109.97, Y:-58.75, Z:-7.51 [[ 7.15910419e-01 6.95831189e-01 5.73692200e-02 1.09974514e+02] [-6.93673628e-01 7.18205126e-01 -5.47566972e-02 -5.87510042e+01] [-7.93042856e-02 -5.94624889e-04 9.96850278e-01 -7.50570547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89864 meters 0.028820044666055977 Centerline is valid? [True, True] Translation: X:110.00, Y:-58.77, Z:-7.51 [[ 7.16141347e-01 6.95577966e-01 5.75574931e-02 1.09999189e+02] [-6.93401230e-01 7.18450424e-01 -5.49883821e-02 -5.87734065e+01] [-7.96009123e-02 -5.30982518e-04 9.96826671e-01 -7.50745521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92864 meters 0.028644325157245826 Centerline is valid? [True, True] Translation: X:110.02, Y:-58.79, Z:-7.51 [[ 7.18041838e-01 6.93720633e-01 5.62814501e-02 1.10023557e+02] [-6.91629614e-01 7.20244129e-01 -5.38225876e-02 -5.87945836e+01] [-7.78742235e-02 -2.79047836e-04 9.96963153e-01 -7.50779375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95863999999999 meters 0.028703649615165083 Centerline is valid? [True, True] Translation: X:110.05, Y:-58.82, Z:-7.51 [[ 7.18341352e-01 6.93472098e-01 5.55171318e-02 1.10047446e+02] [-6.91433134e-01 7.20483451e-01 -5.31396049e-02 -5.88165970e+01] [-7.68500080e-02 -2.14008823e-04 9.97042642e-01 -7.51054135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999999 meters 0.028574046617522674 Centerline is valid? [True, True] Translation: X:110.07, Y:-58.84, Z:-7.51 [[ 7.18688806e-01 6.93164105e-01 5.48627770e-02 1.10070871e+02] [-6.91168493e-01 7.20779788e-01 -5.25605486e-02 -5.88381607e+01] [-7.59770664e-02 -1.44745010e-04 9.97109555e-01 -7.51185213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01863999999999 meters 0.028786536820380147 Centerline is valid? [True, True] Translation: X:110.09, Y:-58.86, Z:-7.51 [[ 7.19596413e-01 6.92293395e-01 5.39523595e-02 1.10094394e+02] [-6.90357643e-01 7.21616141e-01 -5.17346087e-02 -5.88605685e+01] [-7.47484214e-02 -1.83849125e-05 9.97202423e-01 -7.51300409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999999 meters 0.02844864871961838 Centerline is valid? [True, True] Translation: X:110.12, Y:-58.88, Z:-7.51 [[ 7.19576576e-01 6.92326407e-01 5.37931023e-02 1.10117864e+02] [-6.90398554e-01 7.21584469e-01 -5.16303322e-02 -5.88832092e+01] [-7.45613095e-02 1.32975897e-05 9.97216431e-01 -7.51455944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07864 meters 0.028829506762834446 Centerline is valid? [True, True] Translation: X:110.14, Y:-58.91, Z:-7.52 [[ 7.18686586e-01 6.93102963e-01 5.56585438e-02 1.10141407e+02] [-6.91036892e-01 7.20838596e-01 -5.34764584e-02 -5.89057158e+01] [-7.71855184e-02 -2.92937697e-05 9.97016748e-01 -7.51551456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10864 meters 0.028923072044431418 Centerline is valid? [True, True] Translation: X:110.17, Y:-58.93, Z:-7.52 [[ 7.18240058e-01 6.93668347e-01 5.43639968e-02 1.10165285e+02] [-6.91695491e-01 7.20294538e-01 -5.22793100e-02 -5.89280127e+01] [-7.54225925e-02 -5.42368450e-05 9.97151658e-01 -7.51617156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13864 meters 0.029035605700028447 Centerline is valid? [True, True] Translation: X:110.19, Y:-58.95, Z:-7.52 [[ 7.17477382e-01 6.94419424e-01 5.48440428e-02 1.10189644e+02] [-6.92409909e-01 7.19570465e-01 -5.27907584e-02 -5.89506361e+01] [-7.61230814e-02 -9.83835581e-05 9.97098424e-01 -7.51884620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16864 meters 0.028871819617502452 Centerline is valid? [True, True] Translation: X:110.21, Y:-58.97, Z:-7.52 [[ 7.18036818e-01 6.94002838e-01 5.27559251e-02 1.10212811e+02] [-6.92138837e-01 7.19972263e-01 -5.08308031e-02 -5.89733944e+01] [-7.32595244e-02 -1.60365513e-05 9.97312911e-01 -7.51925858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19864 meters 0.02878671301339992 Centerline is valid? [True, True] Translation: X:110.24, Y:-59.00, Z:-7.52 [[ 7.18502717e-01 6.93518059e-01 5.27877600e-02 1.10236617e+02] [-6.91646964e-01 7.20439239e-01 -5.09095179e-02 -5.89965662e+01] [-7.33370437e-02 6.81329442e-05 9.97307211e-01 -7.52140002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22864 meters 0.029145157547062674 Centerline is valid? [True, True] Translation: X:110.26, Y:-59.02, Z:-7.52 [[ 7.19884864e-01 6.92142646e-01 5.20032726e-02 1.10260613e+02] [-6.90319470e-01 7.21760694e-01 -5.02048832e-02 -5.90193008e+01] [-7.22828588e-02 2.42863929e-04 9.97384143e-01 -7.52208996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25864 meters 0.028878204731196833 Centerline is valid? [True, True] Translation: X:110.28, Y:-59.04, Z:-7.53 [[ 7.19706933e-01 6.92279324e-01 5.26428401e-02 1.10283670e+02] [-6.90407411e-01 7.21629590e-01 -5.08757512e-02 -5.90427532e+01] [-7.32088617e-02 2.70623983e-04 9.97316594e-01 -7.52511028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28864 meters 0.028825037265236005 Centerline is valid? [True, True] Translation: X:110.31, Y:-59.07, Z:-7.53 [[ 7.20647551e-01 6.91400116e-01 5.13126300e-02 1.10306524e+02] [-6.89615898e-01 7.22471957e-01 -4.96405475e-02 -5.90664121e+01] [-7.13934166e-02 3.87333556e-04 9.97448159e-01 -7.52645809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31864 meters 0.029345704734874287 Centerline is valid? [True, True] Translation: X:110.33, Y:-59.09, Z:-7.53 [[ 7.22344078e-01 6.89574980e-01 5.20132647e-02 1.10327269e+02] [-6.87733196e-01 7.24214037e-01 -5.03694364e-02 -5.90906440e+01] [-7.24022395e-02 6.12815349e-04 9.97375326e-01 -7.52914254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999999 meters 0.02914435005544785 Centerline is valid? [True, True] Translation: X:110.35, Y:-59.11, Z:-7.53 [[ 7.22720453e-01 6.89213041e-01 5.15803360e-02 1.10350307e+02] [-6.87397619e-01 7.24558435e-01 -4.99958776e-02 -5.91139722e+01] [-7.18307784e-02 6.76843129e-04 9.97416604e-01 -7.52918442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37863999999999 meters 0.029030700723471067 Centerline is valid? [True, True] Translation: X:110.37, Y:-59.14, Z:-7.53 [[ 7.22199611e-01 6.89739718e-01 5.18347659e-02 1.10373623e+02] [-6.87903953e-01 7.24057096e-01 -5.02938609e-02 -5.91376190e+01] [-7.22210035e-02 6.64866412e-04 9.97388432e-01 -7.53090818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999999 meters 0.02878052615978679 Centerline is valid? [True, True] Translation: X:110.39, Y:-59.16, Z:-7.53 [[ 7.19955909e-01 6.92068681e-01 5.20041323e-02 1.10393689e+02] [-6.90223280e-01 7.21831504e-01 -5.05084521e-02 -5.91637764e+01] [-7.24935389e-02 4.69395792e-04 9.97368772e-01 -7.53227360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43863999999999 meters 0.028763469876365706 Centerline is valid? [True, True] Translation: X:110.42, Y:-59.19, Z:-7.53 [[ 7.18471513e-01 6.93580305e-01 5.23931821e-02 1.10415777e+02] [-6.91707691e-01 7.20379230e-01 -5.09336310e-02 -5.91891281e+01] [-7.30695236e-02 3.53595935e-04 9.97326787e-01 -7.53422817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46864 meters 0.02865839821246754 Centerline is valid? [True, True] Translation: X:110.44, Y:-59.22, Z:-7.54 [[ 7.15715394e-01 6.96405072e-01 5.26445610e-02 1.10436058e+02] [-6.94518106e-01 7.17648914e-01 -5.12311984e-02 -5.92151768e+01] [-7.34579785e-02 1.04356524e-04 9.97298308e-01 -7.53531071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49864 meters 0.028788986940109906 Centerline is valid? [True, True] Translation: X:110.46, Y:-59.24, Z:-7.54 [[ 7.13984247e-01 6.98145863e-01 5.30928249e-02 1.10459407e+02] [-6.96227357e-01 7.15955552e-01 -5.17215159e-02 -5.92390011e+01] [-7.41212652e-02 -3.63295897e-05 9.97249235e-01 -7.53750963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52864 meters 0.02842422461518723 Centerline is valid? [True, True] Translation: X:110.48, Y:-59.26, Z:-7.54 [[ 7.12178795e-01 7.00030001e-01 5.25296308e-02 1.10482600e+02] [-6.98153207e-01 7.14113409e-01 -5.12263350e-02 -5.92628861e+01] [-7.33720851e-02 -1.91420641e-04 9.97304618e-01 -7.53809297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55864 meters 0.0286580087798944 Centerline is valid? [True, True] Translation: X:110.50, Y:-59.29, Z:-7.54 [[ 7.08510145e-01 7.03702909e-01 5.30621446e-02 1.10504201e+02] [-7.01794086e-01 7.10494142e-01 -5.17989861e-02 -5.92863579e+01] [-7.41514401e-02 -5.38592127e-04 9.97246847e-01 -7.53952916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58864 meters 0.028825123397190133 Centerline is valid? [True, True] Translation: X:110.53, Y:-59.31, Z:-7.54 [[ 7.07004992e-01 7.05163871e-01 5.37387833e-02 1.10527758e+02] [-7.03206554e-01 7.09044055e-01 -5.25078159e-02 -5.93084801e+01] [-7.51297795e-02 -6.66176617e-04 9.97173542e-01 -7.54143703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61864 meters 0.029261166185628185 Centerline is valid? [True, True] Translation: X:110.55, Y:-59.33, Z:-7.54 [[ 7.03949130e-01 7.08174710e-01 5.42605062e-02 1.10552276e+02] [-7.06184318e-01 7.06036582e-01 -5.30665044e-02 -5.93287496e+01] [-7.58902587e-02 -9.61798899e-04 9.97115712e-01 -7.54389717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64864 meters 0.029231744886849646 Centerline is valid? [True, True] Translation: X:110.58, Y:-59.35, Z:-7.55 [[ 7.02333298e-01 7.09746003e-01 5.46676351e-02 1.10576294e+02] [-7.07726550e-01 7.04456805e-01 -5.35139220e-02 -5.93498157e+01] [-7.64922798e-02 -1.10512754e-03 9.97069561e-01 -7.54651311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67864 meters 0.029394330369957797 Centerline is valid? [True, True] Translation: X:110.60, Y:-59.37, Z:-7.55 [[ 7.01750883e-01 7.10372337e-01 5.40077848e-02 1.10601232e+02] [-7.08399508e-01 7.03825176e-01 -5.29174667e-02 -5.93712107e+01] [-7.56031431e-02 -1.12420918e-03 9.97137353e-01 -7.54784097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999999 meters 0.02945389710031533 Centerline is valid? [True, True] Translation: X:110.63, Y:-59.39, Z:-7.55 [[ 7.00240400e-01 7.11820071e-01 5.45487720e-02 1.10626710e+02] [-7.09807635e-01 7.02360742e-01 -5.35024281e-02 -5.93917386e+01] [-7.63970181e-02 -1.25457314e-03 9.97076688e-01 -7.55041285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73863999999999 meters 0.029408623261104407 Centerline is valid? [True, True] Translation: X:110.65, Y:-59.41, Z:-7.55 [[ 6.99416164e-01 7.12590820e-01 5.50577206e-02 1.10651855e+02] [-7.10538983e-01 7.01578644e-01 -5.40532966e-02 -5.94128966e+01] [-7.71452039e-02 -1.31490748e-03 9.97019001e-01 -7.55165472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999999 meters 0.029411616420768744 Centerline is valid? [True, True] Translation: X:110.68, Y:-59.43, Z:-7.55 [[ 6.98788215e-01 7.13129968e-01 5.60417687e-02 1.10679216e+02] [-7.11001295e-01 7.01030528e-01 -5.50759256e-02 -5.94305647e+01] [-7.85632838e-02 -1.35936238e-03 9.96908202e-01 -7.55399271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79863999999999 meters 0.02971411383499171 Centerline is valid? [True, True] Translation: X:110.71, Y:-59.45, Z:-7.56 [[ 6.98668180e-01 7.13206982e-01 5.65559534e-02 1.10705006e+02] [-7.11035048e-01 7.00952207e-01 -5.56341954e-02 -5.94511320e+01] [-7.93217169e-02 -1.34342297e-03 9.96848163e-01 -7.55629129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82864 meters 0.029764903359845517 Centerline is valid? [True, True] Translation: X:110.73, Y:-59.47, Z:-7.56 [[ 6.98835560e-01 7.13033626e-01 5.66737036e-02 1.10731570e+02] [-7.10847417e-01 7.01128659e-01 -5.58081937e-02 -5.94717913e+01] [-7.95286765e-02 -1.28560550e-03 9.96831750e-01 -7.55863288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85864 meters 0.029509964410418983 Centerline is valid? [True, True] Translation: X:110.76, Y:-59.49, Z:-7.56 [[ 6.99463948e-01 7.12379233e-01 5.71490506e-02 1.10756895e+02] [-7.10149210e-01 7.01793727e-01 -5.63352729e-02 -5.94934880e+01] [-8.02389238e-02 -1.17986078e-03 9.96774961e-01 -7.55946440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88864 meters 0.029612661571737774 Centerline is valid? [True, True] Translation: X:110.78, Y:-59.52, Z:-7.56 [[ 7.00117009e-01 7.11674585e-01 5.79263228e-02 1.10781884e+02] [-7.09376080e-01 7.02508460e-01 -5.71615336e-02 -5.95152051e+01] [-8.13741425e-02 -1.07178583e-03 9.96683049e-01 -7.56161687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91864 meters 0.029405292967756378 Centerline is valid? [True, True] Translation: X:110.81, Y:-59.54, Z:-7.56 [[ 7.02604128e-01 7.09213089e-01 5.80020114e-02 1.10805028e+02] [-7.06895439e-01 7.04993785e-01 -5.72939854e-02 -5.95371952e+01] [-8.15247019e-02 -7.46366664e-04 9.96671042e-01 -7.56442128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94864 meters 0.02931193785723264 Centerline is valid? [True, True] Translation: X:110.83, Y:-59.56, Z:-7.57 [[ 7.04017758e-01 7.07827096e-01 5.77909948e-02 1.10828111e+02] [-7.05517397e-01 7.06385520e-01 -5.71375497e-02 -5.95594460e+01] [-8.12662278e-02 -5.46702600e-04 9.96692280e-01 -7.56659897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97864 meters 0.029201607347653147 Centerline is valid? [True, True] Translation: X:110.85, Y:-59.58, Z:-7.57 [[ 7.05060316e-01 7.06777109e-01 5.79315874e-02 1.10852028e+02] [-7.04448148e-01 7.07436193e-01 -5.73309700e-02 -5.95819659e+01] [-8.15031188e-02 -3.88007606e-04 9.96673011e-01 -7.56963735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00864 meters 0.029201607347653147 Centerline is valid? [True, True] Translation: X:110.88, Y:-59.60, Z:-7.57 [[ 7.04695342e-01 7.07143456e-01 5.79017005e-02 1.10875389e+02] [-7.04813250e-01 7.07069998e-01 -5.73611430e-02 -5.96046176e+01] [-8.15031122e-02 -3.87755418e-04 9.96673012e-01 -7.57153052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03864 meters 0.02907483632970628 Centerline is valid? [True, True] Translation: X:110.90, Y:-59.63, Z:-7.57 [[ 7.04564631e-01 7.07292974e-01 5.76656727e-02 1.10898880e+02] [-7.04977445e-01 7.06920447e-01 -5.71863958e-02 -5.96284215e+01] [-8.12125791e-02 -3.61486763e-04 9.96696737e-01 -7.57279544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06864 meters 0.029245332343788382 Centerline is valid? [True, True] Translation: X:110.92, Y:-59.65, Z:-7.58 [[ 7.03664198e-01 7.08160925e-01 5.80069006e-02 1.10919937e+02] [-7.05815885e-01 7.06050937e-01 -5.75848106e-02 -5.96536216e+01] [-8.17351393e-02 -4.21822345e-04 9.96653997e-01 -7.57581205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09863999999999 meters 0.029475357762523652 Centerline is valid? [True, True] Translation: X:110.94, Y:-59.68, Z:-7.58 [[ 7.03200682e-01 7.08555978e-01 5.87981878e-02 1.10942401e+02] [-7.06142879e-01 7.05654475e-01 -5.84294107e-02 -5.96774258e+01] [-8.28917126e-02 -4.32320186e-04 9.96558466e-01 -7.57674904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999999 meters 0.02926441792884795 Centerline is valid? [True, True] Translation: X:110.96, Y:-59.70, Z:-7.58 [[ 7.02381675e-01 7.09322805e-01 5.93392017e-02 1.10964374e+02] [-7.06863233e-01 7.04883620e-01 -5.90207710e-02 -5.97012585e+01] [-8.36920102e-02 -4.89591922e-04 9.96491549e-01 -7.57899690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15863999999999 meters 0.029213131337597533 Centerline is valid? [True, True] Translation: X:110.99, Y:-59.73, Z:-7.58 [[ 7.02315265e-01 7.09383085e-01 5.94046127e-02 1.10985553e+02] [-7.06913610e-01 7.04822977e-01 -5.91415098e-02 -5.97274036e+01] [-8.38237226e-02 -4.57944121e-04 9.96480493e-01 -7.58082485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999999 meters 0.029434580985249103 Centerline is valid? [True, True] Translation: X:111.01, Y:-59.75, Z:-7.58 [[ 7.01896976e-01 7.09749145e-01 5.99732165e-02 1.11007706e+02] [-7.07228133e-01 7.04454354e-01 -5.97698113e-02 -5.97520224e+01] [-8.46699660e-02 -4.62496115e-04 9.96408944e-01 -7.58311943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21864 meters 0.029219603850543667 Centerline is valid? [True, True] Translation: X:111.03, Y:-59.78, Z:-7.59 [[ 7.01076332e-01 7.10540078e-01 6.02060879e-02 1.11029492e+02] [-7.07997010e-01 7.03656543e-01 -6.00641618e-02 -5.97767884e+01] [-8.50424019e-02 -5.16167914e-04 9.96377199e-01 -7.58567577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24864 meters 0.029334432070454948 Centerline is valid? [True, True] Translation: X:111.05, Y:-59.80, Z:-7.59 [[ 6.99763793e-01 7.11763304e-01 6.10215716e-02 1.11052012e+02] [-7.09150115e-01 7.02419106e-01 -6.09386093e-02 -5.97993401e+01] [-8.62365836e-02 -6.30822097e-04 9.96274487e-01 -7.58718183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27864 meters 0.02945953584364065 Centerline is valid? [True, True] Translation: X:111.07, Y:-59.82, Z:-7.59 [[ 6.98386387e-01 7.13078967e-01 6.14397354e-02 1.11074668e+02] [-7.10430001e-01 7.01083311e-01 -6.14117570e-02 -5.98220664e+01] [-8.68658053e-02 -7.59496215e-04 9.96219732e-01 -7.58833666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30864 meters 0.02966348648554772 Centerline is valid? [True, True] Translation: X:111.01, Y:-60.07, Z:-5.80 [[ 7.63287122e-01 -6.45806200e-01 -1.80864809e-02 1.11007466e+02] [-6.45474713e-01 -7.63488209e-01 2.11695471e-02 -6.00725408e+01] [-2.74802397e-02 -4.48407664e-03 -9.99612290e-01 -5.80184493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33864 meters 0.02985101886543303 Centerline is valid? [True, True] Translation: X:111.10, Y:-59.86, Z:-7.59 [[ 7.43305382e-01 6.65634767e-01 6.65392124e-02 1.11098239e+02] [-6.63132563e-01 7.46276614e-01 -5.76751132e-02 -5.98598725e+01] [-8.80472187e-02 -1.25409644e-03 9.96115513e-01 -7.59223286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36864 meters 0.029926686473980744 Centerline is valid? [True, True] Translation: X:111.12, Y:-59.88, Z:-7.59 [[ 7.41160551e-01 6.67942601e-01 6.73329003e-02 1.11124169e+02] [-6.65384462e-01 7.44211276e-01 -5.84216870e-02 -5.98790867e+01] [-8.91322373e-02 -1.50241598e-03 9.96018668e-01 -7.59369696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39864 meters 0.029946439922329315 Centerline is valid? [True, True] Translation: X:111.15, Y:-59.90, Z:-7.60 [[ 7.39983237e-01 6.69217418e-01 6.76228988e-02 1.11149841e+02] [-6.66637654e-01 7.43064878e-01 -5.87266937e-02 -5.98992968e+01] [-8.95491274e-02 -1.62320175e-03 9.95981084e-01 -7.59520321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42864 meters 0.029986576243552724 Centerline is valid? [True, True] Translation: X:111.17, Y:-59.92, Z:-7.60 [[ 7.39251122e-01 6.69980768e-01 6.80701803e-02 1.11174874e+02] [-6.67365059e-01 7.42376538e-01 -5.91688538e-02 -5.99198537e+01] [-9.01756989e-02 -1.68701835e-03 9.95924444e-01 -7.59745606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45863999999999 meters 0.029921351664482385 Centerline is valid? [True, True] Translation: X:111.20, Y:-59.94, Z:-7.60 [[ 7.38943942e-01 6.70358194e-01 6.76885692e-02 1.11202959e+02] [-6.67768331e-01 7.42035757e-01 -5.88930527e-02 -5.99385909e+01] [-8.97067791e-02 -1.68161842e-03 9.95966800e-01 -7.59963848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999999 meters 0.02977714894440821 Centerline is valid? [True, True] Translation: X:111.23, Y:-59.96, Z:-7.60 [[ 7.38390403e-01 6.70994311e-01 6.74258637e-02 1.11231048e+02] [-6.68421731e-01 7.41460533e-01 -5.87253650e-02 -5.99561244e+01] [-8.93980026e-02 -1.70666659e-03 9.95994520e-01 -7.60236786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51863999999999 meters 0.02995981142052464 Centerline is valid? [True, True] Translation: X:111.26, Y:-59.98, Z:-7.60 [[ 7.37815049e-01 6.71607830e-01 6.76156535e-02 1.11257170e+02] [-6.69017737e-01 7.40904781e-01 -5.89522918e-02 -5.99763725e+01] [-8.96895817e-02 -1.74018343e-03 9.95968248e-01 -7.60420496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999999 meters 0.0297880697545505 Centerline is valid? [True, True] Translation: X:111.28, Y:-60.00, Z:-7.61 [[ 7.37915318e-01 6.71547762e-01 6.71162183e-02 1.11281544e+02] [-6.68990438e-01 7.40959373e-01 -5.85747552e-02 -5.99968022e+01] [-8.90661367e-02 -1.67689915e-03 9.96024303e-01 -7.60652433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57864 meters 0.029889405323543245 Centerline is valid? [True, True] Translation: X:111.31, Y:-60.02, Z:-7.61 [[ 7.37515990e-01 6.71841824e-01 6.85472641e-02 1.11306125e+02] [-6.69170302e-01 7.40692679e-01 -5.98787308e-02 -6.00174876e+01] [-9.10014924e-02 -1.70827190e-03 9.95849291e-01 -7.60934470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60864 meters 0.02981040214638721 Centerline is valid? [True, True] Translation: X:111.33, Y:-60.04, Z:-7.61 [[ 7.37341476e-01 6.71943331e-01 6.94241193e-02 1.11332280e+02] [-6.69198199e-01 7.40600611e-01 -6.07001344e-02 -6.00368089e+01] [-9.22025956e-02 -1.70176890e-03 9.95738814e-01 -7.61118124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63864 meters 0.02994028931358193 Centerline is valid? [True, True] Translation: X:111.36, Y:-60.06, Z:-7.61 [[ 7.37041822e-01 6.72192262e-01 7.01919945e-02 1.11357611e+02] [-6.69381811e-01 7.40374660e-01 -6.14276253e-02 -6.00565484e+01] [-9.32595484e-02 -1.71051550e-03 9.95640362e-01 -7.61386654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66864 meters 0.029833275449206297 Centerline is valid? [True, True] Translation: X:111.38, Y:-60.08, Z:-7.62 [[ 7.37614207e-01 6.71555652e-01 7.02729528e-02 1.11384039e+02] [-6.68730584e-01 7.40952412e-01 -6.15542780e-02 -6.00758187e+01] [-9.34060372e-02 -1.59036279e-03 9.95626829e-01 -7.61541452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69864 meters 0.029821743666282662 Centerline is valid? [True, True] Translation: X:111.41, Y:-60.10, Z:-7.62 [[ 7.37594229e-01 6.71634357e-01 6.97283511e-02 1.11409207e+02] [-6.68848241e-01 7.40881162e-01 -6.11320982e-02 -6.00953679e+01] [-9.27188393e-02 -1.54700213e-03 9.95691129e-01 -7.61779400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72864 meters 0.029649613745927148 Centerline is valid? [True, True] Translation: X:111.43, Y:-60.12, Z:-7.62 [[ 7.37199660e-01 6.72121010e-01 6.92098995e-02 1.11434736e+02] [-6.69373348e-01 7.40439686e-01 -6.07321345e-02 -6.01151308e+01] [-9.20650998e-02 -1.55555328e-03 9.95751775e-01 -7.61884233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75864 meters 0.029029655834688993 Centerline is valid? [True, True] Translation: X:111.46, Y:-60.13, Z:-7.62 [[ 7.38132937e-01 6.71293665e-01 6.72650228e-02 1.11460811e+02] [-6.68690411e-01 7.41190214e-01 -5.90779314e-02 -6.01336986e+01] [-8.95148177e-02 -1.37210866e-03 9.95984545e-01 -7.62112668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78864 meters 0.02899593072512704 Centerline is valid? [True, True] Translation: X:111.49, Y:-60.15, Z:-7.62 [[ 7.38562012e-01 6.70849720e-01 6.69836396e-02 1.11486613e+02] [-6.68262738e-01 7.41592212e-01 -5.88719262e-02 -6.01538272e+01] [-8.91687607e-02 -1.28210211e-03 9.96015707e-01 -7.62277725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81864 meters 0.028750572987176624 Centerline is valid? [True, True] Translation: X:111.51, Y:-60.17, Z:-7.63 [[ 7.39599048e-01 6.69802978e-01 6.60092275e-02 1.11514091e+02] [-6.67284019e-01 7.42538029e-01 -5.80457908e-02 -6.01710076e+01] [-8.78936053e-02 -1.11629103e-03 9.96129243e-01 -7.62538706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999999 meters 0.028787827579367042 Centerline is valid? [True, True] Translation: X:111.54, Y:-60.19, Z:-7.63 [[ 7.38877687e-01 6.70636149e-01 6.56271280e-02 1.11540709e+02] [-6.68144780e-01 7.41785544e-01 -5.77646987e-02 -6.01913970e+01] [-8.74203499e-02 -1.16737605e-03 9.96170829e-01 -7.62817940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87863999999999 meters 0.028886703008136786 Centerline is valid? [True, True] Translation: X:111.57, Y:-60.21, Z:-7.63 [[ 7.39431285e-01 6.69965473e-01 6.62392591e-02 1.11567352e+02] [-6.67419245e-01 7.42391511e-01 -5.83643316e-02 -6.02106537e+01] [-8.82775507e-02 -1.05294360e-03 9.96095360e-01 -7.63003455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999999 meters 0.028857473696042607 Centerline is valid? [True, True] Translation: X:111.60, Y:-60.23, Z:-7.63 [[ 7.40767608e-01 6.68455673e-01 6.65609745e-02 1.11596365e+02] [-6.65873082e-01 7.43751518e-01 -5.87087542e-02 -6.02278492e+01] [-8.87490256e-02 -8.31617790e-04 9.96053673e-01 -7.63204955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93863999999999 meters 0.02867843692079919 Centerline is valid? [True, True] Translation: X:111.62, Y:-60.25, Z:-7.63 [[ 7.41390872e-01 6.67776017e-01 6.64436989e-02 1.11623575e+02] [-6.65194422e-01 7.44361939e-01 -5.86658836e-02 -6.02474533e+01] [-8.86338306e-02 -7.03627220e-04 9.96064029e-01 -7.63481940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96864 meters 0.02858670949162719 Centerline is valid? [True, True] Translation: X:111.65, Y:-60.26, Z:-7.64 [[ 7.45194353e-01 6.63664770e-01 6.50726492e-02 1.11651806e+02] [-6.61168208e-01 7.48030110e-01 -5.75113577e-02 -6.02642038e+01] [-8.68445629e-02 -1.66827875e-04 9.96221860e-01 -7.63751819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99864 meters 0.028733373600090158 Centerline is valid? [True, True] Translation: X:111.68, Y:-60.28, Z:-7.64 [[ 7.46862870e-01 6.61754002e-01 6.54025621e-02 1.11678688e+02] [-6.59219879e-01 7.49721036e-01 -5.78577493e-02 -6.02837226e+01] [-8.73212737e-02 9.71355902e-05 9.96180197e-01 -7.64002763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02864 meters 0.028966355627183984 Centerline is valid? [True, True] Translation: X:111.71, Y:-60.30, Z:-7.64 [[ 7.51423693e-01 6.56543212e-01 6.56768208e-02 1.11706514e+02] [-6.53962729e-01 7.54288040e-01 -5.81575605e-02 -6.03006674e+01] [-8.77221920e-02 7.50775954e-04 9.96144695e-01 -7.64168898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05864 meters 0.028968729402376634 Centerline is valid? [True, True] Translation: X:111.73, Y:-60.32, Z:-7.64 [[ 7.53023391e-01 6.54699989e-01 6.57548277e-02 1.11731610e+02] [-6.52101817e-01 7.55888162e-01 -5.82778375e-02 -6.03212719e+01] [-8.78577954e-02 1.00573220e-03 9.96132519e-01 -7.64232686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08864 meters 0.02934953953438094 Centerline is valid? [True, True] Translation: X:111.76, Y:-60.34, Z:-7.64 [[ 7.54339361e-01 6.53136564e-01 6.62174976e-02 1.11756288e+02] [-6.50491062e-01 7.57239132e-01 -5.87390433e-02 -6.03421018e+01] [-8.85070973e-02 1.23528205e-03 9.96074780e-01 -7.64488031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11864 meters 0.029251020235452355 Centerline is valid? [True, True] Translation: X:111.78, Y:-60.36, Z:-7.65 [[ 7.55061042e-01 6.52414728e-01 6.50987400e-02 1.11781204e+02] [-6.49851040e-01 7.57860964e-01 -5.77960739e-02 -6.03632354e+01] [-8.70428037e-02 1.33507994e-03 9.96203678e-01 -7.64520292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14864 meters 0.0294485641614265 Centerline is valid? [True, True] Translation: X:111.81, Y:-60.38, Z:-7.65 [[ 7.54460321e-01 6.53105274e-01 6.51392727e-02 1.11805714e+02] [-6.50536380e-01 7.57266018e-01 -5.78843378e-02 -6.03849821e+01] [-8.71323240e-02 1.29596947e-03 9.96195904e-01 -7.64839575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17864 meters 0.02936897944121768 Centerline is valid? [True, True] Translation: X:111.83, Y:-60.41, Z:-7.65 [[ 7.53795442e-01 6.53887416e-01 6.49898298e-02 1.11829478e+02] [-6.51328268e-01 7.56590837e-01 -5.78082436e-02 -6.04080621e+01] [-8.69707928e-02 1.24587728e-03 9.96210083e-01 -7.65008968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999999 meters 0.02919426104824464 Centerline is valid? [True, True] Translation: X:111.85, Y:-60.43, Z:-7.65 [[ 7.52851657e-01 6.54982840e-01 6.48988674e-02 1.11851543e+02] [-6.52429985e-01 7.55642860e-01 -5.77839249e-02 -6.04325725e+01] [-8.68878450e-02 1.16075651e-03 9.96217424e-01 -7.65140485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23863999999999 meters 0.028934723964638025 Centerline is valid? [True, True] Translation: X:111.88, Y:-60.46, Z:-7.65 [[ 7.52215816e-01 6.55746196e-01 6.45623152e-02 1.11875249e+02] [-6.53217906e-01 7.54980595e-01 -5.75384118e-02 -6.04550260e+01] [-8.64738898e-02 1.10804303e-03 9.96253501e-01 -7.65318234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999999 meters 0.02871917327242326 Centerline is valid? [True, True] Translation: X:111.90, Y:-60.48, Z:-7.65 [[ 7.51682955e-01 6.56390687e-01 6.42183821e-02 1.11898899e+02] [-6.53888302e-01 7.54420405e-01 -5.72707787e-02 -6.04776173e+01] [-8.60396636e-02 1.05781942e-03 9.96291151e-01 -7.65424085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29863999999999 meters 0.02889542668061786 Centerline is valid? [True, True] Translation: X:111.92, Y:-60.50, Z:-7.66 [[ 7.51376697e-01 6.56699947e-01 6.46392965e-02 1.11922033e+02] [-6.54163031e-01 7.54151226e-01 -5.76771802e-02 -6.05015535e+01] [-8.66244059e-02 1.05265105e-03 9.96240485e-01 -7.65720949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32864 meters 0.029053953787816444 Centerline is valid? [True, True] Translation: X:111.94, Y:-60.52, Z:-7.66 [[ 7.51631123e-01 6.56372183e-01 6.50093255e-02 1.11944313e+02] [-6.53800003e-01 7.54436386e-01 -5.80628639e-02 -6.05242586e+01] [-8.71562493e-02 1.13875842e-03 9.96194003e-01 -7.65982654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35864 meters 0.029030802805345524 Centerline is valid? [True, True] Translation: X:111.97, Y:-60.55, Z:-7.66 [[ 7.51674955e-01 6.56371839e-01 6.45040450e-02 1.11967564e+02] [-6.53835063e-01 7.54436639e-01 -5.76634021e-02 -6.05476540e+01] [-8.65128482e-02 1.16912880e-03 9.96250049e-01 -7.66160613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38864 meters 0.028767605781844847 Centerline is valid? [True, True] Translation: X:111.99, Y:-60.57, Z:-7.66 [[ 7.50414533e-01 6.57963625e-01 6.29436046e-02 1.11989580e+02] [-6.55549443e-01 7.53049046e-01 -5.63210656e-02 -6.05710351e+01] [-8.44568339e-02 1.00150119e-03 9.96426636e-01 -7.66242233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41864 meters 0.028673802770095833 Centerline is valid? [True, True] Translation: X:112.01, Y:-60.59, Z:-7.66 [[ 7.48757184e-01 6.59855650e-01 6.28744793e-02 1.12013060e+02] [-6.57449280e-01 7.51391936e-01 -5.63080998e-02 -6.05933416e+01] [-8.43985945e-02 8.24313087e-04 9.96431733e-01 -7.66460724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44864 meters 0.028415912281527882 Centerline is valid? [True, True] Translation: X:112.04, Y:-60.62, Z:-7.67 [[ 7.46806676e-01 6.62038695e-01 6.31233408e-02 1.12036126e+02] [-6.59617590e-01 7.49469409e-01 -5.65706703e-02 -6.06159120e+01] [-8.47609856e-02 6.10088310e-04 9.96401126e-01 -7.66545089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47864 meters 0.028277953162972443 Centerline is valid? [True, True] Translation: X:112.06, Y:-60.64, Z:-7.67 [[ 7.42752163e-01 6.66525566e-01 6.37408361e-02 1.12059238e+02] [-6.64070506e-01 7.45482163e-01 -5.71551255e-02 -6.06402719e+01] [-8.56130087e-02 1.23683820e-04 9.96328459e-01 -7.66782964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50864 meters 0.0283211402512054 Centerline is valid? [True, True] Translation: X:112.08, Y:-60.66, Z:-7.67 [[ 7.41048606e-01 6.68383004e-01 6.41180368e-02 1.12083476e+02] [-6.65900565e-01 7.43817288e-01 -5.75524126e-02 -6.06625316e+01] [-8.61591587e-02 -4.71018118e-05 9.96281385e-01 -7.66961776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53864 meters 0.028168252502906287 Centerline is valid? [True, True] Translation: X:112.11, Y:-60.68, Z:-7.67 [[ 7.39364817e-01 6.70143776e-01 6.51689095e-02 1.12107209e+02] [-6.67581566e-01 7.42231279e-01 -5.85455567e-02 -6.06842520e+01] [-8.76043435e-02 -2.19037844e-04 9.96155325e-01 -7.67105260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56864 meters 0.028193122688594346 Centerline is valid? [True, True] Translation: X:112.13, Y:-60.70, Z:-7.67 [[ 7.36728872e-01 6.73095650e-01 6.45973217e-02 1.12132930e+02] [-6.70586193e-01 7.39555244e-01 -5.80706410e-02 -6.07049937e+01] [-8.68603839e-02 -5.35754198e-04 9.96220350e-01 -7.67199880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59863999999999 meters 0.028445196565554866 Centerline is valid? [True, True] Translation: X:112.16, Y:-60.72, Z:-7.67 [[ 7.34604515e-01 6.75377067e-01 6.49771005e-02 1.12157601e+02] [-6.72841731e-01 7.37472189e-01 -5.84702956e-02 -6.07249747e+01] [-8.74083013e-02 -7.66761655e-04 9.96172275e-01 -7.67496827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999999 meters 0.028468497364652335 Centerline is valid? [True, True] Translation: X:112.18, Y:-60.74, Z:-7.68 [[ 7.33668878e-01 6.76438364e-01 6.45067172e-02 1.12184370e+02] [-6.73938996e-01 7.36498760e-01 -5.81016820e-02 -6.07449434e+01] [-8.68113239e-02 -8.46196372e-04 9.96224411e-01 -7.67668381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65863999999999 meters 0.02842748450171388 Centerline is valid? [True, True] Translation: X:112.21, Y:-60.76, Z:-7.68 [[ 7.32575744e-01 6.77664068e-01 6.40639632e-02 1.12212458e+02] [-6.75198505e-01 7.35371013e-01 -5.77620362e-02 -6.07629618e+01] [-8.62540379e-02 -9.40825498e-04 9.96272732e-01 -7.67847198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999999 meters 0.02863862587403372 Centerline is valid? [True, True] Translation: X:112.24, Y:-60.78, Z:-7.68 [[ 7.32965013e-01 6.77213633e-01 6.43737921e-02 1.12238934e+02] [-6.74717158e-01 7.35785959e-01 -5.81014595e-02 -6.07828867e+01] [-8.67124328e-02 -8.47765053e-04 9.96233023e-01 -7.68057681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71864 meters 0.02856917632198883 Centerline is valid? [True, True] Translation: X:112.27, Y:-60.80, Z:-7.68 [[ 7.33165670e-01 6.76945870e-01 6.49029147e-02 1.12265886e+02] [-6.74401727e-01 7.36032393e-01 -5.86398121e-02 -6.08024716e+01] [-8.74666262e-02 -7.77940598e-04 9.96167147e-01 -7.68208005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74864 meters 0.028407464528560168 Centerline is valid? [True, True] Translation: X:112.30, Y:-60.82, Z:-7.68 [[ 7.34632687e-01 6.75394724e-01 6.44731199e-02 1.12295343e+02] [-6.72873298e-01 7.37456214e-01 -5.83082964e-02 -6.08185308e+01] [-8.69272187e-02 -5.47060406e-04 9.96214515e-01 -7.68446848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77864 meters 0.02836779538881353 Centerline is valid? [True, True] Translation: X:112.32, Y:-60.84, Z:-7.69 [[ 7.35970538e-01 6.74069045e-01 6.30736842e-02 1.12321015e+02] [-6.71647912e-01 7.38668259e-01 -5.70813862e-02 -6.08380053e+01] [-8.50673240e-02 -3.53089794e-04 9.96375143e-01 -7.68579111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80864 meters 0.0282126445583203 Centerline is valid? [True, True] Translation: X:112.35, Y:-60.86, Z:-7.69 [[ 7.37830967e-01 6.72106336e-01 6.22779064e-02 1.12346944e+02] [-6.69737812e-01 7.40454631e-01 -5.63755532e-02 -6.08577283e+01] [-8.40043307e-02 -1.14239816e-04 9.96465383e-01 -7.68810770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83864 meters 0.028262249195609632 Centerline is valid? [True, True] Translation: X:112.37, Y:-60.88, Z:-7.69 [[ 7.41366618e-01 6.68205180e-01 6.22685727e-02 1.12374939e+02] [-6.65822152e-01 7.43976963e-01 -5.63838661e-02 -6.08760509e+01] [-8.40023749e-02 3.41321061e-04 9.96465496e-01 -7.69008858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86864 meters 0.02830354712954049 Centerline is valid? [True, True] Translation: X:112.40, Y:-60.90, Z:-7.69 [[ 7.42731040e-01 6.66603823e-01 6.31660112e-02 1.12400836e+02] [-6.64143985e-01 7.45411997e-01 -5.72164456e-02 -6.08950185e+01] [-8.52254039e-02 5.45103810e-04 9.96361548e-01 -7.69162032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89864 meters 0.028463773800108123 Centerline is valid? [True, True] Translation: X:112.43, Y:-60.91, Z:-7.69 [[ 7.45216567e-01 6.63875878e-01 6.26185789e-02 1.12427722e+02] [-6.61447713e-01 7.47842281e-01 -5.67348699e-02 -6.09135827e+01] [-8.44937325e-02 8.60849189e-04 9.96423639e-01 -7.69440068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92864 meters 0.028463773800108123 Centerline is valid? [True, True] Translation: X:112.45, Y:-60.94, Z:-7.70 [[ 7.45092740e-01 6.64015626e-01 6.26103552e-02 1.12451850e+02] [-6.61587191e-01 7.47718204e-01 -5.67439443e-02 -6.09353572e+01] [-8.44937681e-02 8.57291976e-04 9.96423639e-01 -7.69628923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95863999999999 meters 0.028738590857164324 Centerline is valid? [True, True] Translation: X:112.48, Y:-60.96, Z:-7.70 [[ 7.46229500e-01 6.62743585e-01 6.25497761e-02 1.12475475e+02] [-6.60313774e-01 7.48845719e-01 -5.67080959e-02 -6.09564212e+01] [-8.44230589e-02 1.01477529e-03 9.96429484e-01 -7.69864842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999999 meters 0.02898424203144484 Centerline is valid? [True, True] Translation: X:112.50, Y:-60.98, Z:-7.70 [[ 7.47845613e-01 6.60953341e-01 6.21901865e-02 1.12499591e+02] [-6.58544073e-01 7.50426006e-01 -5.63960348e-02 -6.09777726e+01] [-8.39442809e-02 1.22054850e-03 9.96469702e-01 -7.70097371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01863999999999 meters 0.02944914537614705 Centerline is valid? [True, True] Translation: X:112.52, Y:-61.00, Z:-7.70 [[ 7.50202330e-01 6.58288722e-01 6.20678908e-02 1.12524881e+02] [-6.55878642e-01 7.52763992e-01 -5.62990148e-02 -6.09976299e+01] [-8.37834798e-02 1.52664807e-03 9.96482814e-01 -7.70155034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999999 meters 0.029574057224477805 Centerline is valid? [True, True] Translation: X:112.55, Y:-61.02, Z:-7.70 [[ 7.51567617e-01 6.56789650e-01 6.14285946e-02 1.12549524e+02] [-6.54422912e-01 7.54071953e-01 -5.57327756e-02 -6.10186357e+01] [-8.29262905e-02 1.68666962e-03 9.96554256e-01 -7.70256126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07864 meters 0.02985680189634001 Centerline is valid? [True, True] Translation: X:112.57, Y:-61.04, Z:-7.70 [[ 7.52757537e-01 6.55410743e-01 6.15861059e-02 1.12573801e+02] [-6.53026075e-01 7.55270363e-01 -5.58893874e-02 -6.10398664e+01] [-8.31446654e-02 1.85382457e-03 9.96535764e-01 -7.70461509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10864 meters 0.029866458054078445 Centerline is valid? [True, True] Translation: X:112.60, Y:-61.06, Z:-7.71 [[ 7.53383940e-01 6.54671690e-01 6.17868687e-02 1.12596840e+02] [-6.52267876e-01 7.55910822e-01 -5.60842864e-02 -6.10616122e+01] [-8.34221572e-02 1.95141109e-03 9.96512386e-01 -7.70632497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13864 meters 0.03003774243579463 Centerline is valid? [True, True] Translation: X:112.62, Y:-61.08, Z:-7.71 [[ 7.54561966e-01 6.53358101e-01 6.13141997e-02 1.12621009e+02] [-6.50985742e-01 7.57046120e-01 -5.56662862e-02 -6.10833944e+01] [-8.27876960e-02 2.08899257e-03 9.96565017e-01 -7.70914241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16864 meters 0.03005261091207694 Centerline is valid? [True, True] Translation: X:112.64, Y:-61.11, Z:-7.71 [[ 7.54975902e-01 6.52839201e-01 6.17443516e-02 1.12644578e+02] [-6.50430506e-01 7.57493407e-01 -5.60704417e-02 -6.11052112e+01] [-8.33759217e-02 2.17142238e-03 9.96515800e-01 -7.71193117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19864 meters 0.030433555131834506 Centerline is valid? [True, True] Translation: X:112.67, Y:-61.13, Z:-7.71 [[ 7.56165952e-01 6.51359612e-01 6.27989512e-02 1.12666483e+02] [-6.48861500e-01 7.58765422e-01 -5.70419814e-02 -6.11283543e+01] [-8.48045156e-02 2.38538254e-03 9.96394753e-01 -7.71387234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22864 meters 0.030601486052439324 Centerline is valid? [True, True] Translation: X:112.69, Y:-61.15, Z:-7.72 [[ 7.57057301e-01 6.50275397e-01 6.32941647e-02 1.12689347e+02] [-6.47732692e-01 7.59694326e-01 -5.75055655e-02 -6.11505788e+01] [-8.54786723e-02 2.53730852e-03 9.96336770e-01 -7.71540073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25864 meters 0.030812260922930334 Centerline is valid? [True, True] Translation: X:112.71, Y:-61.17, Z:-7.72 [[ 7.57897843e-01 6.49258064e-01 6.36775080e-02 1.12712005e+02] [-6.46679290e-01 7.60563458e-01 -5.78715998e-02 -6.11727396e+01] [-8.60043886e-02 2.68183499e-03 9.96291149e-01 -7.71630936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28864 meters 0.030888493358699254 Centerline is valid? [True, True] Translation: X:112.73, Y:-61.20, Z:-7.72 [[ 7.58557589e-01 6.48515060e-01 6.33924376e-02 1.12732421e+02] [-6.45954911e-01 7.61196784e-01 -5.76342713e-02 -6.11981877e+01] [-8.56308125e-02 2.77025746e-03 9.96323085e-01 -7.71868415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31864 meters 0.030542448640191875 Centerline is valid? [True, True] Translation: X:112.75, Y:-61.22, Z:-7.72 [[ 7.57919005e-01 6.49294676e-01 6.30492294e-02 1.12753975e+02] [-6.46763757e-01 7.60532216e-01 -5.73357651e-02 -6.12218354e+01] [-8.51787772e-02 2.67790951e-03 9.96362085e-01 -7.72064908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999999 meters 0.030503479947140758 Centerline is valid? [True, True] Translation: X:112.78, Y:-61.24, Z:-7.72 [[ 7.56853482e-01 6.50587463e-01 6.25200781e-02 1.12777007e+02] [-6.48102179e-01 7.59427150e-01 -5.68679938e-02 -6.12447051e+01] [-8.44770486e-02 2.52134024e-03 9.96422235e-01 -7.72339710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37863999999999 meters 0.02977094716139961 Centerline is valid? [True, True] Translation: X:112.80, Y:-61.27, Z:-7.73 [[ 7.54083059e-01 6.53787002e-01 6.26202598e-02 1.12798900e+02] [-6.51302627e-01 7.56675479e-01 -5.69833994e-02 -6.12679672e+01] [-8.46382209e-02 2.18547642e-03 9.96409351e-01 -7.72569243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999999 meters 0.029432884251626594 Centerline is valid? [True, True] Translation: X:112.82, Y:-61.29, Z:-7.73 [[ 7.51955296e-01 6.56098089e-01 6.40197662e-02 1.12822026e+02] [-6.53505033e-01 7.54672952e-01 -5.83087232e-02 -6.12919598e+01] [-8.65702278e-02 2.00831375e-03 9.96243726e-01 -7.72816613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43863999999999 meters 0.02922264198206918 Centerline is valid? [True, True] Translation: X:112.85, Y:-61.31, Z:-7.73 [[ 7.50771897e-01 6.57422158e-01 6.43246768e-02 1.12845343e+02] [-6.54804385e-01 7.53520055e-01 -5.86408021e-02 -6.13148825e+01] [-8.70216967e-02 1.90578585e-03 9.96204594e-01 -7.73001291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46864 meters 0.028517066923601477 Centerline is valid? [True, True] Translation: X:112.87, Y:-61.34, Z:-7.73 [[ 7.48333997e-01 6.60293982e-01 6.33094455e-02 1.12868973e+02] [-6.57765278e-01 7.51005575e-01 -5.77534896e-02 -6.13365159e+01] [-8.56800281e-02 1.57614470e-03 9.96321458e-01 -7.73015225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49864 meters 0.028644992247547005 Centerline is valid? [True, True] Translation: X:112.89, Y:-61.36, Z:-7.73 [[ 7.47438750e-01 6.61301321e-01 6.33709505e-02 1.12894110e+02] [-6.58769777e-01 7.50118914e-01 -5.78272915e-02 -6.13573184e+01] [-8.57770128e-02 1.47549157e-03 9.96313268e-01 -7.73280163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52864 meters 0.028644197078460637 Centerline is valid? [True, True] Translation: X:112.92, Y:-61.38, Z:-7.74 [[ 7.46612902e-01 6.62187607e-01 6.38494125e-02 1.12919407e+02] [-6.59618161e-01 7.49336768e-01 -5.82948489e-02 -6.13783609e+01] [-8.64468390e-02 1.40745429e-03 9.96255471e-01 -7.73574618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55864 meters 0.02868189582433313 Centerline is valid? [True, True] Translation: X:112.94, Y:-61.40, Z:-7.74 [[ 7.46317108e-01 6.62496756e-01 6.41000959e-02 1.12944284e+02] [-6.59903179e-01 7.49063436e-01 -5.85812566e-02 -6.13999285e+01] [-8.68249305e-02 1.42033693e-03 9.96222573e-01 -7.73770540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58864 meters 0.02885763475995874 Centerline is valid? [True, True] Translation: X:112.97, Y:-61.42, Z:-7.74 [[ 7.46970592e-01 6.61694609e-01 6.47702108e-02 1.12969262e+02] [-6.59039547e-01 7.49771834e-01 -5.92374140e-02 -6.14203328e+01] [-8.77599572e-02 1.56247577e-03 9.96140426e-01 -7.73927039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61864 meters 0.029328330203611034 Centerline is valid? [True, True] Translation: X:112.99, Y:-61.44, Z:-7.74 [[ 7.49391485e-01 6.58936973e-01 6.49189335e-02 1.12994955e+02] [-6.56258027e-01 7.52195753e-01 -5.93881430e-02 -6.14401137e+01] [-8.79647892e-02 1.90139750e-03 9.96121770e-01 -7.74044877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64864 meters 0.02961771046561612 Centerline is valid? [True, True] Translation: X:113.02, Y:-61.46, Z:-7.74 [[ 7.51447702e-01 6.56601466e-01 6.48140878e-02 1.13018537e+02] [-6.53921218e-01 7.54234547e-01 -5.93067426e-02 -6.14618476e+01] [-8.78259183e-02 2.18260824e-03 9.96133447e-01 -7.74250155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67864 meters 0.02999904150806519 Centerline is valid? [True, True] Translation: X:113.04, Y:-61.48, Z:-7.75 [[ 7.53397800e-01 6.54392077e-01 6.45194864e-02 1.13041624e+02] [-6.51726840e-01 7.56151477e-01 -5.90514162e-02 -6.14841835e+01] [-8.74292838e-02 2.44012607e-03 9.96167740e-01 -7.74543044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999999 meters 0.030658455521921004 Centerline is valid? [True, True] Translation: X:113.07, Y:-61.51, Z:-7.75 [[ 7.55692329e-01 6.51939646e-01 6.24804202e-02 1.13065672e+02] [-6.49431001e-01 7.58266238e-01 -5.71986736e-02 -6.15050475e+01] [-8.46668761e-02 2.64787708e-03 9.96405795e-01 -7.74659696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73863999999999 meters 0.03145052818792582 Centerline is valid? [True, True] Translation: X:113.09, Y:-61.53, Z:-7.75 [[ 7.58518238e-01 6.48748912e-01 6.14404799e-02 1.13089175e+02] [-6.46311653e-01 7.60996755e-01 -5.62599899e-02 -6.15264876e+01] [-8.32546130e-02 2.96453036e-03 9.96523899e-01 -7.74818795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999999 meters 0.03197216876091844 Centerline is valid? [True, True] Translation: X:113.11, Y:-61.55, Z:-7.75 [[ 7.59519692e-01 6.47547090e-01 6.17462882e-02 1.13111989e+02] [-6.45080372e-01 7.62019041e-01 -5.65534723e-02 -6.15490243e+01] [-8.36728837e-02 3.12215734e-03 9.96488385e-01 -7.75058859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79863999999999 meters 0.032898527479754226 Centerline is valid? [True, True] Translation: X:113.13, Y:-61.57, Z:-7.75 [[ 7.61771274e-01 6.44723879e-01 6.35267430e-02 1.13131174e+02] [-6.42101743e-01 7.64407338e-01 -5.81959813e-02 -6.15747953e+01] [-8.60806473e-02 3.54139432e-03 9.96281878e-01 -7.75232850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82864 meters 0.03319782507075804 Centerline is valid? [True, True] Translation: X:113.15, Y:-61.60, Z:-7.75 [[ 7.62175113e-01 6.44304946e-01 6.29303913e-02 1.13153806e+02] [-6.41728636e-01 7.64760343e-01 -5.76712766e-02 -6.15992243e+01] [-8.52845564e-02 3.57137762e-03 9.96350234e-01 -7.75429485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85864 meters 0.03329459207072092 Centerline is valid? [True, True] Translation: X:113.18, Y:-61.62, Z:-7.76 [[ 7.62141501e-01 6.44358236e-01 6.27916864e-02 1.13175667e+02] [-6.41788926e-01 7.64715316e-01 -5.75973934e-02 -6.16241290e+01] [-8.51311191e-02 3.59835492e-03 9.96363259e-01 -7.75679562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88864 meters 0.03299689401284622 Centerline is valid? [True, True] Translation: X:113.19, Y:-61.65, Z:-7.76 [[ 7.62324157e-01 6.44310388e-01 6.10410035e-02 1.13193423e+02] [-6.41878398e-01 7.64755904e-01 -5.60404343e-02 -6.16529448e+01] [-8.27889017e-02 3.54007526e-03 9.96560819e-01 -7.75842591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91864 meters 0.032986219927965264 Centerline is valid? [True, True] Translation: X:113.21, Y:-61.68, Z:-7.76 [[ 7.61826650e-01 6.44850651e-01 6.15450449e-02 1.13214479e+02] [-6.42375975e-01 7.64300369e-01 -5.65513258e-02 -6.16789198e+01] [-8.35060598e-02 3.54724894e-03 9.96500956e-01 -7.76144672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94864 meters 0.03239485511753781 Centerline is valid? [True, True] Translation: X:113.24, Y:-61.70, Z:-7.76 [[ 7.60978671e-01 6.45889292e-01 6.11431533e-02 1.13235770e+02] [-6.43446042e-01 7.63423294e-01 -5.62322412e-02 -6.17038108e+01] [-8.29979099e-02 3.44921616e-03 9.96543752e-01 -7.76236853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97864 meters 0.032145823013031045 Centerline is valid? [True, True] Translation: X:113.25, Y:-61.73, Z:-7.76 [[ 7.58886873e-01 6.48311539e-01 6.15049731e-02 1.13254453e+02] [-6.45843217e-01 7.61368278e-01 -5.66116911e-02 -6.17311388e+01] [-8.35299481e-02 3.23929954e-03 9.96500002e-01 -7.76467079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00864 meters 0.03165736475414085 Centerline is valid? [True, True] Translation: X:113.27, Y:-61.76, Z:-7.77 [[ 7.57801690e-01 6.49630273e-01 6.09680879e-02 1.13274537e+02] [-6.47205351e-01 7.60243965e-01 -5.61635721e-02 -6.17569005e+01] [-8.28361776e-02 3.10197712e-03 9.96558350e-01 -7.76626499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03864 meters 0.0311632079677169 Centerline is valid? [True, True] Translation: X:113.29, Y:-61.79, Z:-7.77 [[ 7.56012325e-01 6.51603880e-01 6.21107751e-02 1.13290337e+02] [-6.49089607e-01 7.58553572e-01 -5.72639486e-02 -6.17875868e+01] [-8.44277614e-02 2.97679236e-03 9.96425156e-01 -7.76887975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06864 meters 0.030427860571849666 Centerline is valid? [True, True] Translation: X:113.31, Y:-61.81, Z:-7.77 [[ 7.55305330e-01 6.52456006e-01 6.17658315e-02 1.13310508e+02] [-6.49969302e-01 7.57821077e-01 -5.69835237e-02 -6.18136708e+01] [-8.39866912e-02 2.89406482e-03 9.96462674e-01 -7.76949132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09863999999999 meters 0.030619684514694438 Centerline is valid? [True, True] Translation: X:113.33, Y:-61.84, Z:-7.77 [[ 7.54329893e-01 6.53514376e-01 6.24929852e-02 1.13332389e+02] [-6.50969720e-01 7.56908806e-01 -5.76843380e-02 -6.18391488e+01] [-8.49990349e-02 2.83197944e-03 9.96377009e-01 -7.77265597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999999 meters 0.030415584080868027 Centerline is valid? [True, True] Translation: X:113.35, Y:-61.86, Z:-7.77 [[ 7.53698505e-01 6.54309383e-01 6.17883043e-02 1.13352735e+02] [-6.51820083e-01 7.56221965e-01 -5.70869496e-02 -6.18641259e+01] [-8.40781997e-02 2.75149098e-03 9.96455361e-01 -7.77486076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15863999999999 meters 0.030098819432299178 Centerline is valid? [True, True] Translation: X:113.37, Y:-61.89, Z:-7.78 [[ 7.52529512e-01 6.55599870e-01 6.23549870e-02 1.13368412e+02] [-6.53064857e-01 7.55103760e-01 -5.76593741e-02 -6.18943514e+01] [-8.48859633e-02 2.66852991e-03 9.96387100e-01 -7.77686857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999999 meters 0.02993628366866171 Centerline is valid? [True, True] Translation: X:113.39, Y:-61.92, Z:-7.78 [[ 7.51588212e-01 6.56712914e-01 6.19944192e-02 1.13388921e+02] [-6.54206882e-01 7.54136309e-01 -5.73740713e-02 -6.19201363e+01] [-8.44305360e-02 2.56450005e-03 9.96426067e-01 -7.77841378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21864 meters 0.0290281232871656 Centerline is valid? [True, True] Translation: X:113.41, Y:-61.95, Z:-7.78 [[ 7.48976044e-01 6.59712140e-01 6.17638822e-02 1.13407018e+02] [-6.57230783e-01 7.51515007e-01 -5.72091985e-02 -6.19484252e+01] [-8.41580872e-02 2.25519456e-03 9.96449864e-01 -7.77932892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24864 meters 0.028838154289588542 Centerline is valid? [True, True] Translation: X:113.43, Y:-61.97, Z:-7.78 [[ 7.47397083e-01 6.61530160e-01 6.14446741e-02 1.13428376e+02] [-6.59076450e-01 7.49915686e-01 -5.69622501e-02 -6.19727070e+01] [-8.37605713e-02 2.07668188e-03 9.96483745e-01 -7.78145561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27864 meters 0.02823592385604258 Centerline is valid? [True, True] Translation: X:113.45, Y:-62.00, Z:-7.78 [[ 7.45166239e-01 6.64073527e-01 6.11034190e-02 1.13445846e+02] [-6.61651455e-01 7.47665063e-01 -5.66948428e-02 -6.20006726e+01] [-8.33344358e-02 1.81791665e-03 9.96519978e-01 -7.78246808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30864 meters 0.028168645999736532 Centerline is valid? [True, True] Translation: X:113.47, Y:-62.03, Z:-7.78 [[ 7.43902471e-01 6.65524147e-01 6.07184050e-02 1.13466823e+02] [-6.63133318e-01 7.46374425e-01 -5.63863494e-02 -6.20257456e+01] [-8.28451417e-02 1.68154724e-03 9.96561014e-01 -7.78390547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33864 meters 0.02778998629921942 Centerline is valid? [True, True] Translation: X:113.49, Y:-62.05, Z:-7.79 [[ 7.41950600e-01 6.67688861e-01 6.08349597e-02 1.13487487e+02] [-6.65291950e-01 7.44438980e-01 -5.65440239e-02 -6.20510982e+01] [-8.30417302e-02 1.47986350e-03 9.96544972e-01 -7.78605258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36864 meters 0.02768368434950427 Centerline is valid? [True, True] Translation: X:113.51, Y:-62.08, Z:-7.79 [[ 7.40718204e-01 6.69026888e-01 6.11519927e-02 1.13509532e+02] [-6.66605040e-01 7.43236927e-01 -5.68910391e-02 -6.20762365e+01] [-8.35120540e-02 1.37600177e-03 9.96505817e-01 -7.78823526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39864 meters 0.027057206784079968 Centerline is valid? [True, True] Translation: X:113.53, Y:-62.10, Z:-7.79 [[ 7.37902359e-01 6.72148577e-01 6.09622779e-02 1.13527799e+02] [-6.69748560e-01 7.40415545e-01 -5.67599084e-02 -6.21033997e+01] [-8.32885099e-02 1.05387251e-03 9.96524919e-01 -7.78969240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42864 meters 0.02704401661253487 Centerline is valid? [True, True] Translation: X:113.55, Y:-62.13, Z:-7.79 [[ 7.35467512e-01 6.74755134e-01 6.15877255e-02 1.13550176e+02] [-6.72311992e-01 7.38041249e-01 -5.73733427e-02 -6.21276572e+01] [-8.41672394e-02 7.90063176e-04 9.96451329e-01 -7.79157074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45863999999999 meters 0.02672887381776846 Centerline is valid? [True, True] Translation: X:113.57, Y:-62.15, Z:-7.79 [[ 7.29800274e-01 6.80774601e-01 6.27495210e-02 1.13571762e+02] [-6.78254989e-01 7.32492950e-01 -5.85170776e-02 -6.21534653e+01] [-8.58005219e-02 1.45603567e-04 9.96312325e-01 -7.79233723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999999 meters 0.02672414399523444 Centerline is valid? [True, True] Translation: X:113.59, Y:-62.18, Z:-7.79 [[ 7.26777564e-01 6.84029586e-01 6.24331445e-02 1.13594710e+02] [-6.81542109e-01 7.29454240e-01 -5.82826285e-02 -6.21765767e+01] [-8.54091642e-02 -1.92310233e-04 9.96345943e-01 -7.79401247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51863999999999 meters 0.026564712103858752 Centerline is valid? [True, True] Translation: X:113.62, Y:-62.20, Z:-7.79 [[ 7.23971303e-01 6.87120356e-01 6.10832930e-02 1.13617599e+02] [-6.84745635e-01 7.26543436e-01 -5.70793361e-02 -6.21998050e+01] [-8.36000393e-02 -5.02716980e-04 9.96499263e-01 -7.79480846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999999 meters 0.026785244437031053 Centerline is valid? [True, True] Translation: X:113.64, Y:-62.22, Z:-7.80 [[ 7.19178797e-01 6.92111820e-01 6.13440034e-02 1.13640809e+02] [-6.89730268e-01 7.21789535e-01 -5.73761702e-02 -6.22217636e+01] [-8.39881853e-02 -1.04709086e-03 9.96466200e-01 -7.79627119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57864 meters 0.026833035874182863 Centerline is valid? [True, True] Translation: X:113.67, Y:-62.24, Z:-7.80 [[ 7.17669110e-01 6.93824245e-01 5.96570652e-02 1.13665258e+02] [-6.91573825e-01 7.20143412e-01 -5.58490060e-02 -6.22431215e+01] [-8.17110369e-02 -1.17615828e-03 9.96655368e-01 -7.79734290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60864 meters 0.02726739811774037 Centerline is valid? [True, True] Translation: X:113.69, Y:-62.26, Z:-7.80 [[ 7.13865127e-01 6.97736070e-01 5.96737562e-02 1.13691687e+02] [-6.95493706e-01 7.16353168e-01 -5.59163976e-02 -6.22625127e+01] [-8.17623718e-02 -1.58595554e-03 9.96650590e-01 -7.79967234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63864 meters 0.027354972877993933 Centerline is valid? [True, True] Translation: X:113.72, Y:-62.28, Z:-7.80 [[ 7.12931538e-01 6.98686675e-01 5.97122470e-02 1.13717734e+02] [-6.96440295e-01 7.15425876e-01 -5.60065292e-02 -6.22830721e+01] [-8.18507022e-02 -1.65719394e-03 9.96643224e-01 -7.80223337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66864 meters 0.027558403171878784 Centerline is valid? [True, True] Translation: X:113.74, Y:-62.30, Z:-7.80 [[ 7.11632844e-01 7.00008110e-01 5.97272297e-02 1.13743175e+02] [-6.97760543e-01 7.14132704e-01 -5.60776748e-02 -6.23032957e+01] [-8.19079952e-02 -1.76858906e-03 9.96638326e-01 -7.80431734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69864 meters 0.02738736271847642 Centerline is valid? [True, True] Translation: X:113.77, Y:-62.32, Z:-7.81 [[ 7.11745597e-01 6.99804554e-01 6.07601128e-02 1.13771061e+02] [-6.97473065e-01 7.14332257e-01 -5.71029873e-02 -6.23220561e+01] [-8.33638390e-02 -1.73574234e-03 9.96517665e-01 -7.80604156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72864 meters 0.027432086716995718 Centerline is valid? [True, True] Translation: X:113.80, Y:-62.34, Z:-7.81 [[ 7.12399063e-01 6.99164460e-01 6.04700999e-02 1.13796769e+02] [-6.96848107e-01 7.14959062e-01 -5.68880909e-02 -6.23416912e+01] [-8.30077773e-02 -1.61145206e-03 9.96547597e-01 -7.80759238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75864 meters 0.027297530610138752 Centerline is valid? [True, True] Translation: X:113.82, Y:-62.36, Z:-7.81 [[ 7.13572692e-01 6.97938303e-01 6.07958699e-02 1.13822514e+02] [-6.95587976e-01 7.16156447e-01 -5.72478128e-02 -6.23618209e+01] [-8.34947955e-02 -1.43840023e-03 9.96507175e-01 -7.81003008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78864 meters 0.0270464161607704 Centerline is valid? [True, True] Translation: X:113.85, Y:-62.38, Z:-7.81 [[ 7.17052847e-01 6.94432703e-01 5.99869686e-02 1.13850118e+02] [-6.92128017e-01 7.19556992e-01 -5.65379759e-02 -6.23793976e+01] [-8.24258621e-02 -9.77945076e-04 9.96596719e-01 -7.81316723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81864 meters 0.0270464161607704 Centerline is valid? [True, True] Translation: X:113.87, Y:-62.40, Z:-7.82 [[ 7.16692253e-01 6.94807189e-01 5.99598668e-02 1.13873994e+02] [-6.92501408e-01 7.19195389e-01 -5.65667075e-02 -6.24014602e+01] [-8.24258147e-02 -9.81371154e-04 9.96596720e-01 -7.81505594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999999 meters 0.026790263465510607 Centerline is valid? [True, True] Translation: X:113.90, Y:-62.42, Z:-7.82 [[ 7.19001089e-01 6.92372570e-01 6.04785695e-02 1.13899512e+02] [-6.90013216e-01 7.21539867e-01 -5.71137564e-02 -6.24216878e+01] [-8.31816973e-02 -6.66159152e-04 9.96534175e-01 -7.81713899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87863999999999 meters 0.026724530624002332 Centerline is valid? [True, True] Translation: X:113.93, Y:-62.44, Z:-7.82 [[ 7.23458442e-01 6.87647282e-01 6.12298873e-02 1.13926512e+02] [-6.85207106e-01 7.26044909e-01 -5.78792925e-02 -6.24407738e+01] [-8.42561861e-02 -8.18911220e-05 9.96444122e-01 -7.81993352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999999 meters 0.026599743174449717 Centerline is valid? [True, True] Translation: X:113.95, Y:-62.46, Z:-7.82 [[ 7.25376206e-01 6.85664309e-01 6.07767670e-02 1.13951850e+02] [-6.83248945e-01 7.27917867e-01 -5.75018120e-02 -6.24615353e+01] [-8.36674348e-02 1.84784356e-04 9.96493716e-01 -7.82093019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93863999999999 meters 0.0265897977623868 Centerline is valid? [True, True] Translation: X:113.98, Y:-62.48, Z:-7.82 [[ 7.27215785e-01 6.83697973e-01 6.09449261e-02 1.13976815e+02] [-6.81259048e-01 7.29764953e-01 -5.76994193e-02 -6.24834568e+01] [-8.39244472e-02 4.40646201e-04 9.96472023e-01 -7.82355273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96864 meters 0.0268712518720367 Centerline is valid? [True, True] Translation: X:114.00, Y:-62.51, Z:-7.83 [[ 7.30109318e-01 6.80657175e-01 6.03837311e-02 1.14000582e+02] [-6.78247677e-01 7.32601615e-01 -5.72272810e-02 -6.25056933e+01] [-8.31893784e-02 8.27045692e-04 9.96533413e-01 -7.82557902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99864 meters 0.026925292958611874 Centerline is valid? [True, True] Translation: X:114.02, Y:-62.53, Z:-7.83 [[ 7.31235829e-01 6.79472982e-01 6.00885088e-02 1.14024365e+02] [-6.77078185e-01 7.33699848e-01 -5.70058272e-02 -6.25288310e+01] [-8.28208491e-02 1.00008482e-03 9.96563950e-01 -7.82616470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02864 meters 0.027099140489285044 Centerline is valid? [True, True] Translation: X:114.05, Y:-62.55, Z:-7.83 [[ 7.32347579e-01 6.78240379e-01 6.04732396e-02 1.14046810e+02] [-6.75805836e-01 7.34839150e-01 -5.74273080e-02 -6.25514276e+01] [-8.33876231e-02 1.18858170e-03 9.96516478e-01 -7.82856016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05864 meters 0.02719035722705388 Centerline is valid? [True, True] Translation: X:114.07, Y:-62.58, Z:-7.83 [[ 7.34209309e-01 6.76262417e-01 6.00485914e-02 1.14067351e+02] [-6.73851226e-01 7.36659398e-01 -5.70741347e-02 -6.25763737e+01] [-8.28324514e-02 1.44054411e-03 9.96562447e-01 -7.83019811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08864 meters 0.027371528338704477 Centerline is valid? [True, True] Translation: X:114.09, Y:-62.60, Z:-7.83 [[ 7.34875764e-01 6.75512089e-01 6.03409405e-02 1.14089368e+02] [-6.73070573e-01 7.37347240e-01 -5.74025378e-02 -6.25995746e+01] [-8.32683342e-02 1.57002233e-03 9.96525925e-01 -7.83191445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11864 meters 0.02755817250930137 Centerline is valid? [True, True] Translation: X:114.11, Y:-62.62, Z:-7.83 [[ 7.35307934e-01 6.75007559e-01 6.07209744e-02 1.14110892e+02] [-6.72529135e-01 7.37808911e-01 -5.78149995e-02 -6.26230188e+01] [-8.38260377e-02 1.67520347e-03 9.96478996e-01 -7.83441218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14864 meters 0.027354054840510206 Centerline is valid? [True, True] Translation: X:114.13, Y:-62.65, Z:-7.83 [[ 7.34816919e-01 6.75578712e-01 6.03116826e-02 1.14127780e+02] [-6.73132215e-01 7.37286071e-01 -5.74653824e-02 -6.26514750e+01] [-8.32893526e-02 1.62879875e-03 9.96524074e-01 -7.83454040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17864 meters 0.027237172933935842 Centerline is valid? [True, True] Translation: X:114.15, Y:-62.68, Z:-7.84 [[ 7.33890399e-01 6.76549494e-01 6.07096776e-02 1.14148906e+02] [-6.74071260e-01 7.36395529e-01 -5.78753896e-02 -6.26770097e+01] [-8.38619007e-02 1.55154388e-03 9.96476179e-01 -7.83621914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999999 meters 0.027063410240155128 Centerline is valid? [True, True] Translation: X:114.17, Y:-62.70, Z:-7.84 [[ 7.32229985e-01 6.78316798e-01 6.10374460e-02 1.14169646e+02] [-6.75812971e-01 7.34768239e-01 -5.82448549e-02 -6.27011470e+01] [-8.43568402e-02 1.39873147e-03 9.96434628e-01 -7.83836974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23863999999999 meters 0.026765995532450442 Centerline is valid? [True, True] Translation: X:114.19, Y:-62.73, Z:-7.84 [[ 7.28762201e-01 6.82119010e-01 6.01607080e-02 1.14187975e+02] [-6.79695413e-01 7.31240515e-01 -5.74582884e-02 -6.27282011e+01] [-8.31853379e-02 9.82471495e-04 9.96533609e-01 -7.84123468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999999 meters 0.0264905821813207 Centerline is valid? [True, True] Translation: X:114.21, Y:-62.75, Z:-7.84 [[ 7.26726985e-01 6.84304802e-01 5.99568759e-02 1.14208592e+02] [-6.81900819e-01 7.29195686e-01 -5.73142578e-02 -6.27535819e+01] [-8.29407171e-02 7.67175013e-04 9.96554188e-01 -7.84316376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29863999999999 meters 0.02633387883747162 Centerline is valid? [True, True] Translation: X:114.23, Y:-62.78, Z:-7.85 [[ 7.23684392e-01 6.87581804e-01 5.92635168e-02 1.14226928e+02] [-6.85239974e-01 7.26106799e-01 -5.67018091e-02 -6.27803877e+01] [-8.20187746e-02 4.24483567e-04 9.96630694e-01 -7.84504964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32864 meters 0.026290188407910083 Centerline is valid? [True, True] Translation: X:114.25, Y:-62.80, Z:-7.85 [[ 7.21457976e-01 6.89874070e-01 5.97675092e-02 1.14248854e+02] [-6.87495505e-01 7.23929365e-01 -5.72381440e-02 -6.28047935e+01] [-8.27545663e-02 2.05021628e-04 9.96569937e-01 -7.84624807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35864 meters 0.02621012103628205 Centerline is valid? [True, True] Translation: X:114.27, Y:-62.83, Z:-7.85 [[ 7.20097525e-01 6.91425909e-01 5.82217034e-02 1.14270911e+02] [-6.89169593e-01 7.22447374e-01 -5.58127652e-02 -6.28282855e+01] [-8.06525086e-02 6.60064883e-05 9.96742278e-01 -7.84773254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38864 meters 0.026252910884511545 Centerline is valid? [True, True] Translation: X:114.29, Y:-62.85, Z:-7.85 [[ 7.17111828e-01 6.94525242e-01 5.81834570e-02 1.14292175e+02] [-6.92277746e-01 7.19468296e-01 -5.58291512e-02 -6.28532246e+01] [-8.06359074e-02 -2.43367782e-04 9.96743594e-01 -7.85008082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41864 meters 0.026375280976878263 Centerline is valid? [True, True] Translation: X:114.32, Y:-62.88, Z:-7.85 [[ 7.15086305e-01 6.96601614e-01 5.82903825e-02 1.14316172e+02] [-6.94347934e-01 7.17458014e-01 -5.59905683e-02 -6.28760437e+01] [-8.08240223e-02 -4.35718059e-04 9.96728292e-01 -7.85178564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44864 meters 0.02665355745799719 Centerline is valid? [True, True] Translation: X:114.34, Y:-62.90, Z:-7.85 [[ 7.11787234e-01 6.99920872e-01 5.89042158e-02 1.14339802e+02] [-6.97625971e-01 7.14219971e-01 -5.66377797e-02 -6.28973768e+01] [-8.17125315e-02 -7.79062197e-04 9.96655635e-01 -7.85269140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47864 meters 0.02671289118970717 Centerline is valid? [True, True] Translation: X:114.36, Y:-62.92, Z:-7.85 [[ 7.10349910e-01 7.01342317e-01 5.93461026e-02 1.14362998e+02] [-6.99013390e-01 7.12824048e-01 -5.71153000e-02 -6.29196063e+01] [-8.23607059e-02 -9.11872208e-04 9.96602169e-01 -7.85493354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50864 meters 0.026908405407871774 Centerline is valid? [True, True] Translation: X:114.39, Y:-62.94, Z:-7.86 [[ 7.09236644e-01 7.02433576e-01 5.97532836e-02 1.14386073e+02] [-7.00071945e-01 7.11748591e-01 -5.75605378e-02 -6.29415446e+01] [-8.29617698e-02 -1.00755486e-03 9.96552221e-01 -7.85774457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53864 meters 0.026741846398892422 Centerline is valid? [True, True] Translation: X:114.41, Y:-62.96, Z:-7.86 [[ 7.09168491e-01 7.02613892e-01 5.84274666e-02 1.14411898e+02] [-7.00353293e-01 7.11570633e-01 -5.63249408e-02 -6.29617666e+01] [-8.11499552e-02 -9.75995348e-04 9.96701426e-01 -7.85929122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56864 meters 0.026813406986806843 Centerline is valid? [True, True] Translation: X:114.44, Y:-62.98, Z:-7.86 [[ 7.09469761e-01 7.02338325e-01 5.80821512e-02 1.14436076e+02] [-7.00101227e-01 7.11842703e-01 -5.60199838e-02 -6.29827135e+01] [-8.06903371e-02 -9.18900876e-04 9.96738795e-01 -7.86201856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59863999999999 meters 0.026642576622321976 Centerline is valid? [True, True] Translation: X:114.46, Y:-63.00, Z:-7.86 [[ 7.10525413e-01 7.01213664e-01 5.87625221e-02 1.14461424e+02] [-6.98915368e-01 7.12950783e-01 -5.67317336e-02 -6.30037230e+01] [-8.16758529e-02 -7.60691273e-04 9.96658656e-01 -7.86348736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999999 meters 0.02680242409954907 Centerline is valid? [True, True] Translation: X:114.49, Y:-63.02, Z:-7.87 [[ 7.10605861e-01 7.01044008e-01 5.98047617e-02 1.14485716e+02] [-6.98657735e-01 7.13117657e-01 -5.77977184e-02 -6.30249541e+01] [-8.31665757e-02 -7.11661908e-04 9.96535405e-01 -7.86551143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65863999999999 meters 0.02686502875060834 Centerline is valid? [True, True] Translation: X:114.51, Y:-63.05, Z:-7.87 [[ 7.11320892e-01 7.00304038e-01 5.99736938e-02 1.14510752e+02] [-6.97896899e-01 7.13844458e-01 -5.80173061e-02 -6.30465911e+01] [-8.34416427e-02 -5.86533030e-04 9.96512493e-01 -7.86785952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999999 meters 0.026928099959262937 Centerline is valid? [True, True] Translation: X:114.53, Y:-63.07, Z:-7.87 [[ 7.12198193e-01 6.99439059e-01 5.96551427e-02 1.14534812e+02] [-6.97049535e-01 7.14692108e-01 -5.77679627e-02 -6.30673836e+01] [-8.30402292e-02 -4.40350800e-04 9.96546099e-01 -7.87074793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71864 meters 0.026792139039024325 Centerline is valid? [True, True] Translation: X:114.56, Y:-63.09, Z:-7.87 [[ 7.12430793e-01 6.99231262e-01 5.93127883e-02 1.14558861e+02] [-6.96863844e-01 7.14895448e-01 -5.74915705e-02 -6.30895026e+01] [-8.26023458e-02 -3.74172511e-04 9.96582517e-01 -7.87253059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74864 meters 0.026957184683860266 Centerline is valid? [True, True] Translation: X:114.58, Y:-63.11, Z:-7.88 [[ 7.13811880e-01 6.97859093e-01 5.88666861e-02 1.14582793e+02] [-6.95517788e-01 7.16235057e-01 -5.71169789e-02 -6.31113559e+01] [-8.20219874e-02 -1.72049250e-04 9.96630505e-01 -7.87525731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77864 meters 0.026971925968217656 Centerline is valid? [True, True] Translation: X:114.61, Y:-63.13, Z:-7.88 [[ 7.14558839e-01 6.96989344e-01 6.00959232e-02 1.14605162e+02] [-6.94541373e-01 7.17081483e-01 -5.83646107e-02 -6.31337920e+01] [-8.37731855e-02 -3.41565652e-05 9.96484848e-01 -7.87781043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80864 meters 0.027032060288708182 Centerline is valid? [True, True] Translation: X:114.63, Y:-63.16, Z:-7.88 [[ 7.15346274e-01 6.96243207e-01 5.93726008e-02 1.14627958e+02] [-6.93846948e-01 7.17805955e-01 -5.77150213e-02 -6.31567766e+01] [-8.28016979e-02 9.07275342e-05 9.96566039e-01 -7.88048019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83864 meters 0.027042531695588873 Centerline is valid? [True, True] Translation: X:114.65, Y:-63.18, Z:-7.88 [[ 7.16375335e-01 6.95236505e-01 5.87586735e-02 1.14650810e+02] [-6.92881791e-01 7.18781012e-01 -5.71723829e-02 -6.31806115e+01] [-8.19829465e-02 2.44070067e-04 9.96633702e-01 -7.88258569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86864 meters 0.027351770420455015 Centerline is valid? [True, True] Translation: X:114.67, Y:-63.20, Z:-7.89 [[ 7.17877187e-01 6.93497462e-01 6.09394416e-02 1.14673335e+02] [-6.90952920e-01 7.20458893e-01 -5.93552498e-02 -6.32035012e+01] [-8.50670778e-02 5.03494628e-04 9.96375099e-01 -7.88608921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89864 meters 0.02742757463257079 Centerline is valid? [True, True] Translation: X:114.70, Y:-63.23, Z:-7.89 [[ 7.18361954e-01 6.93066966e-01 6.01189052e-02 1.14696436e+02] [-6.90584663e-01 7.20872969e-01 -5.86087445e-02 -6.32255777e+01] [-8.39578784e-02 5.85098322e-04 9.96469133e-01 -7.88728103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92864 meters 0.027390177140656356 Centerline is valid? [True, True] Translation: X:114.72, Y:-63.25, Z:-7.89 [[ 7.18549878e-01 6.92778754e-01 6.11855459e-02 1.14719035e+02] [-6.90201695e-01 7.21149881e-01 -5.97031764e-02 -6.32489449e+01] [-8.54850413e-02 6.69342598e-04 9.96339229e-01 -7.88987208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95863999999999 meters 0.027459604061518914 Centerline is valid? [True, True] Translation: X:114.74, Y:-63.27, Z:-7.89 [[ 7.18160849e-01 6.93184299e-01 6.11598176e-02 1.14741418e+02] [-6.90606038e-01 7.20760078e-01 -5.97344957e-02 -6.32727881e+01] [-8.54885694e-02 6.61636819e-04 9.96338932e-01 -7.89151738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999999 meters 0.027343271665700497 Centerline is valid? [True, True] Translation: X:114.76, Y:-63.30, Z:-7.89 [[ 7.17724908e-01 6.93689495e-01 6.05461923e-02 1.14764023e+02] [-6.91159649e-01 7.20273891e-01 -5.91934203e-02 -6.32956140e+01] [-8.46716954e-02 6.37507086e-04 9.96408700e-01 -7.89316245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01864 meters 0.027522748170161256 Centerline is valid? [True, True] Translation: X:114.79, Y:-63.32, Z:-7.90 [[ 7.17011545e-01 6.94444833e-01 6.03391923e-02 1.14787754e+02] [-6.91930228e-01 7.19545711e-01 -5.90468465e-02 -6.33181255e+01] [-8.44215845e-02 5.86759645e-04 9.96429953e-01 -7.89572295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters 0.02774974962176062 Centerline is valid? [True, True] Translation: X:114.81, Y:-63.34, Z:-7.90 [[ 7.16395085e-01 6.94999139e-01 6.12721783e-02 1.14810511e+02] [-6.92402830e-01 7.19010340e-01 -6.00204350e-02 -6.33400969e+01] [-8.57694804e-02 5.73314969e-04 9.96314844e-01 -7.89918070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07864 meters 0.02798694997843168 Centerline is valid? [True, True] Translation: X:114.83, Y:-63.36, Z:-7.90 [[ 7.15777565e-01 6.95602641e-01 6.16396273e-02 1.14832906e+02] [-6.92972284e-01 7.18426523e-01 -6.04379477e-02 -6.33638410e+01] [-8.63243392e-02 5.45573737e-04 9.96266938e-01 -7.90159667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters 0.027986662408544145 Centerline is valid? [True, True] Translation: X:114.86, Y:-63.39, Z:-7.90 [[ 7.15622992e-01 6.95764521e-01 6.16073434e-02 1.14856432e+02] [-6.93132125e-01 7.18269730e-01 -6.04686052e-02 -6.33867233e+01] [-8.63226001e-02 5.70695362e-04 9.96267074e-01 -7.90328972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13864 meters 0.028245202880127405 Centerline is valid? [True, True] Translation: X:114.88, Y:-63.41, Z:-7.91 [[ 7.16344262e-01 6.94956220e-01 6.23438080e-02 1.14880521e+02] [-6.92251981e-01 7.19051691e-01 -6.12524334e-02 -6.34077799e+01] [-8.73961801e-02 7.20204644e-04 9.96173373e-01 -7.90543819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16864 meters 0.028546909540158507 Centerline is valid? [True, True] Translation: X:114.90, Y:-63.43, Z:-7.91 [[ 7.15955726e-01 6.95364672e-01 6.22524846e-02 1.14904873e+02] [-6.92664846e-01 7.18656711e-01 -6.12204464e-02 -6.34306508e+01] [-8.73087014e-02 7.11021444e-04 9.96181050e-01 -7.90741379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19864 meters 0.02859701828076546 Centerline is valid? [True, True] Translation: X:114.93, Y:-63.45, Z:-7.91 [[ 7.15109041e-01 6.96193567e-01 6.27182330e-02 1.14928452e+02] [-6.93450628e-01 7.17853801e-01 -6.17425840e-02 -6.34536177e+01] [-8.80073118e-02 6.60681980e-04 9.96119610e-01 -7.90985356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22864 meters 0.028740918456578165 Centerline is valid? [True, True] Translation: X:114.95, Y:-63.48, Z:-7.91 [[ 7.14602114e-01 6.96637665e-01 6.35592848e-02 1.14951710e+02] [-6.93816693e-01 7.17422839e-01 -6.26327973e-02 -6.34754294e+01] [-8.92312482e-02 6.59036587e-04 9.96010718e-01 -7.91208312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25864 meters 0.02885232474450238 Centerline is valid? [True, True] Translation: X:114.98, Y:-63.50, Z:-7.91 [[ 7.13173748e-01 6.98095920e-01 6.36026103e-02 1.14976070e+02] [-6.95271546e-01 7.16004062e-01 -6.27348423e-02 -6.34983275e+01] [-8.93346647e-02 5.19757379e-04 9.96001530e-01 -7.91397630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864000000002 meters 0.028942600392323863 Centerline is valid? [True, True] Translation: X:115.00, Y:-63.52, Z:-7.92 [[ 7.13072651e-01 6.98214215e-01 6.34374035e-02 1.14999929e+02] [-6.95399203e-01 7.15888683e-01 -6.26365773e-02 -6.35210762e+01] [-8.91478680e-02 5.50110326e-04 9.96018250e-01 -7.91635787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31864000000002 meters 0.028788285604615122 Centerline is valid? [True, True] Translation: X:115.02, Y:-63.54, Z:-7.92 [[ 7.13306939e-01 6.98034861e-01 6.27737518e-02 1.15022481e+02] [-6.95272461e-01 7.16063517e-01 -6.20422892e-02 -6.35444869e+01] [-8.82576742e-02 6.10334543e-04 9.96097490e-01 -7.91729301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864000000002 meters 0.028959797451479218 Centerline is valid? [True, True] Translation: X:115.05, Y:-63.57, Z:-7.92 [[ 7.13528892e-01 6.97760786e-01 6.32961735e-02 1.15045109e+02] [-6.94945972e-01 7.16330517e-01 -6.26153919e-02 -6.35675432e+01] [-8.90315457e-02 6.90470487e-04 9.96028567e-01 -7.92015371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37864000000002 meters 0.02887157723828803 Centerline is valid? [True, True] Translation: X:115.07, Y:-63.59, Z:-7.92 [[ 7.13564571e-01 6.97751683e-01 6.29935888e-02 1.15068169e+02] [-6.94958496e-01 7.16339343e-01 -6.23749524e-02 -6.35914751e+01] [-8.86470141e-02 7.30626400e-04 9.96062836e-01 -7.92096384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864000000002 meters 0.028942997015792706 Centerline is valid? [True, True] Translation: X:115.09, Y:-63.61, Z:-7.92 [[ 7.14239627e-01 6.97243682e-01 6.09344108e-02 1.15090844e+02] [-6.94623606e-01 7.16833727e-01 -6.03941485e-02 -6.36141684e+01] [-8.57892793e-02 8.09413924e-04 9.96312975e-01 -7.92236315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43864000000002 meters 0.02898314195185566 Centerline is valid? [True, True] Translation: X:115.11, Y:-63.64, Z:-7.92 [[ 7.14582141e-01 6.96864070e-01 6.12603585e-02 1.15113554e+02] [-6.94210406e-01 7.17202670e-01 -6.07638208e-02 -6.36361716e+01] [-8.62802162e-02 8.93162752e-04 9.96270509e-01 -7.92424291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864000000002 meters 0.029080728374531687 Centerline is valid? [True, True] Translation: X:115.14, Y:-63.66, Z:-7.93 [[ 7.14609372e-01 6.96807324e-01 6.15873200e-02 1.15137007e+02] [-6.94121411e-01 7.17257750e-01 -6.11292715e-02 -6.36590650e+01] [-8.67693067e-02 9.34472957e-04 9.96227993e-01 -7.92711779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49864000000002 meters 0.029344422479559783 Centerline is valid? [True, True] Translation: X:115.16, Y:-63.68, Z:-7.93 [[ 7.15914405e-01 6.95364426e-01 6.27286214e-02 1.15159606e+02] [-6.92566794e-01 7.18656339e-01 -6.23241718e-02 -6.36818233e+01] [-8.84183334e-02 1.17501211e-03 9.96082736e-01 -7.92858238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters 0.029518813804157537 Centerline is valid? [True, True] Translation: X:115.18, Y:-63.70, Z:-7.93 [[ 7.16860765e-01 6.94450731e-01 6.20388991e-02 1.15183529e+02] [-6.91705959e-01 7.19539056e-01 -6.16961414e-02 -6.37041284e+01] [-8.74843414e-02 1.31486700e-03 9.96165027e-01 -7.93051064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55864 meters 0.02959482186813821 Centerline is valid? [True, True] Translation: X:115.21, Y:-63.73, Z:-7.93 [[ 7.17837466e-01 6.93405659e-01 6.24336787e-02 1.15206865e+02] [-6.90616467e-01 7.20545873e-01 -6.21493316e-02 -6.37268091e+01] [-8.80810278e-02 1.49539206e-03 9.96112191e-01 -7.93290130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters 0.029967870475194853 Centerline is valid? [True, True] Translation: X:115.23, Y:-63.75, Z:-7.93 [[ 7.20549032e-01 6.90673769e-01 6.14722506e-02 1.15229681e+02] [-6.87955372e-01 7.23164129e-01 -6.12458085e-02 -6.37499984e+01] [-8.67554000e-02 1.84044294e-03 9.96227942e-01 -7.93469964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61864 meters 0.030247284675792553 Centerline is valid? [True, True] Translation: X:115.25, Y:-63.77, Z:-7.94 [[ 7.21146133e-01 6.89988484e-01 6.21622580e-02 1.15252335e+02] [-6.87201211e-01 7.23817624e-01 -6.19882444e-02 -6.37729966e+01] [-8.77653127e-02 1.98460378e-03 9.96139203e-01 -7.93644444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters 0.03062185902501697 Centerline is valid? [True, True] Translation: X:115.27, Y:-63.80, Z:-7.94 [[ 7.22065379e-01 6.88992629e-01 6.25359479e-02 1.15274538e+02] [-6.86163104e-01 7.24765133e-01 -6.24155130e-02 -6.37964230e+01] [-8.83277031e-02 2.15822093e-03 9.96089132e-01 -7.93980585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67864 meters 0.030602789972026374 Centerline is valid? [True, True] Translation: X:115.30, Y:-63.82, Z:-7.94 [[ 7.22491111e-01 6.88664186e-01 6.12228266e-02 1.15296324e+02] [-6.85946765e-01 7.25077130e-01 -6.11571047e-02 -6.38198972e+01] [-8.65079791e-02 2.18986462e-03 9.96248751e-01 -7.94133640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters 0.030650315022842968 Centerline is valid? [True, True] Translation: X:115.32, Y:-63.84, Z:-7.94 [[ 7.22644909e-01 6.88584365e-01 6.02984873e-02 1.15317678e+02] [-6.85943851e-01 7.25152892e-01 -6.02852908e-02 -6.38434929e+01] [-8.52371311e-02 2.20348191e-03 9.96358257e-01 -7.94233766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73864 meters 0.030650315022842968 Centerline is valid? [True, True] Translation: X:115.40, Y:-63.97, Z:-6.13 [[ 7.40066694e-01 -6.72224444e-01 -2.03859295e-02 1.15400067e+02] [-6.71830794e-01 -7.40339021e-01 2.32705614e-02 -6.39718008e+01] [-3.07355393e-02 -3.52587222e-03 -9.99521333e-01 -6.13006481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters 0.030677040906861346 Centerline is valid? [True, True] Translation: X:115.36, Y:-63.91, Z:-7.95 [[ 7.71642074e-01 6.32740843e-01 6.48655186e-02 1.15362165e+02] [-6.30273661e-01 7.74360427e-01 -5.58662756e-02 -6.39057838e+01] [-8.55781650e-02 2.22574080e-03 9.96328974e-01 -7.94579679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79864 meters 0.03080681065731128 Centerline is valid? [True, True] Translation: X:115.38, Y:-63.93, Z:-7.95 [[ 7.71298837e-01 6.33209597e-01 6.43716588e-02 1.15384875e+02] [-6.30776992e-01 7.73977243e-01 -5.54942654e-02 -6.39292362e+01] [-8.49617004e-02 2.19850105e-03 9.96381792e-01 -7.94685960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters 0.030648263265831692 Centerline is valid? [True, True] Translation: X:115.41, Y:-63.95, Z:-7.95 [[ 7.70674378e-01 6.33995339e-01 6.41164064e-02 1.15408195e+02] [-6.31580624e-01 7.73333903e-01 -5.53225975e-02 -6.39520037e+01] [-8.46576598e-02 2.14102841e-03 9.96407796e-01 -7.94947102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85864 meters 0.030803130413941875 Centerline is valid? [True, True] Translation: X:115.43, Y:-63.98, Z:-7.95 [[ 7.70614548e-01 6.34099901e-01 6.38007344e-02 1.15429975e+02] [-6.31705033e-01 7.73248122e-01 -5.51007513e-02 -6.39773804e+01] [-8.42731790e-02 2.15819554e-03 9.96440351e-01 -7.95089399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88864 meters 0.030847104440285423 Centerline is valid? [True, True] Translation: X:115.45, Y:-64.00, Z:-7.95 [[ 7.70158044e-01 6.34547608e-01 6.48530631e-02 1.15453198e+02] [-6.32069802e-01 7.72880684e-01 -5.60643728e-02 -6.40001653e+01] [-8.56991934e-02 2.18676494e-03 9.96318657e-01 -7.95284043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91864 meters 0.03053727440489949 Centerline is valid? [True, True] Translation: X:115.48, Y:-64.02, Z:-7.95 [[ 7.68600656e-01 6.36510665e-01 6.40874812e-02 1.15475140e+02] [-6.34093808e-01 7.71265353e-01 -5.54508650e-02 -6.40241170e+01] [-8.47235208e-02 1.98209621e-03 9.96402527e-01 -7.95247176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94864 meters 0.030296683836737993 Centerline is valid? [True, True] Translation: X:115.50, Y:-64.05, Z:-7.95 [[ 7.67386414e-01 6.38032256e-01 6.35053742e-02 1.15498085e+02] [-6.35660307e-01 7.70007451e-01 -5.49954528e-02 -6.40464336e+01] [-8.39884840e-02 1.83491763e-03 9.96465036e-01 -7.95393594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97864 meters 0.029991970239222777 Centerline is valid? [True, True] Translation: X:115.52, Y:-64.07, Z:-7.95 [[ 7.65896791e-01 6.39897285e-01 6.27181777e-02 1.15520964e+02] [-6.37586114e-01 7.68458685e-01 -5.43617162e-02 -6.40689477e+01] [-8.29822430e-02 1.64722477e-03 9.96549665e-01 -7.95398168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00864 meters 0.02987440876108613 Centerline is valid? [True, True] Translation: X:115.54, Y:-64.09, Z:-7.95 [[ 7.65061475e-01 6.40900847e-01 6.26661261e-02 1.15544252e+02] [-6.38592834e-01 7.67622059e-01 -5.43651271e-02 -6.40910118e+01] [-8.29465568e-02 1.57452530e-03 9.96552753e-01 -7.95481719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03864000000002 meters 0.029731757879183234 Centerline is valid? [True, True] Translation: X:115.57, Y:-64.11, Z:-7.96 [[ 7.63360130e-01 6.42850569e-01 6.34386136e-02 1.15568172e+02] [-6.40487503e-01 7.65990294e-01 -5.50874614e-02 -6.41137405e+01] [-8.40063681e-02 1.41993254e-03 9.96464206e-01 -7.95621279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864000000002 meters 0.029569533913790694 Centerline is valid? [True, True] Translation: X:115.59, Y:-64.14, Z:-7.96 [[ 7.60985207e-01 6.45690180e-01 6.31324546e-02 1.15590584e+02] [-6.43355072e-01 7.63598641e-01 -5.48759172e-02 -6.41370206e+01] [-8.36406974e-02 1.14317628e-03 9.96495322e-01 -7.95992579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09864000000002 meters 0.029424692941631032 Centerline is valid? [True, True] Translation: X:115.61, Y:-64.16, Z:-7.96 [[ 7.59848416e-01 6.47042508e-01 6.29791836e-02 1.15614224e+02] [-6.44719219e-01 7.62453233e-01 -5.47922991e-02 -6.41590645e+01] [-8.34716288e-02 1.02995163e-03 9.96509622e-01 -7.96165109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864000000002 meters 0.029270623524683275 Centerline is valid? [True, True] Translation: X:115.64, Y:-64.18, Z:-7.96 [[ 7.58526606e-01 6.48620745e-01 6.26778855e-02 1.15637946e+02] [-6.46320926e-01 7.61111251e-01 -5.45795230e-02 -6.41805391e+01] [-8.31062547e-02 8.89991348e-04 9.96540294e-01 -7.96225729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15864000000002 meters 0.029341770418025617 Centerline is valid? [True, True] Translation: X:115.66, Y:-64.20, Z:-7.96 [[ 7.57593933e-01 6.49750180e-01 6.22586276e-02 1.15663424e+02] [-6.47480803e-01 7.60147398e-01 -5.42636459e-02 -6.42001170e+01] [-8.25835474e-02 7.98542662e-04 9.96583825e-01 -7.96321203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864000000002 meters 0.028930047292049756 Centerline is valid? [True, True] Translation: X:115.69, Y:-64.22, Z:-7.96 [[ 7.54162641e-01 6.53868822e-01 6.07805539e-02 1.15689207e+02] [-6.51715909e-01 7.56607841e-01 -5.30183783e-02 -6.42200717e+01] [-8.06541082e-02 3.72826225e-04 9.96742081e-01 -7.96473563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21864000000002 meters 0.028963186694021977 Centerline is valid? [True, True] Translation: X:115.71, Y:-64.24, Z:-7.97 [[ 7.52830142e-01 6.55387314e-01 6.09446217e-02 1.15714420e+02] [-6.53224557e-01 7.55292931e-01 -5.32002519e-02 -6.42408007e+01] [-8.08978121e-02 2.40229690e-04 9.96722372e-01 -7.96773051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864000000002 meters 0.028810500186757848 Centerline is valid? [True, True] Translation: X:115.74, Y:-64.26, Z:-7.97 [[ 7.51633501e-01 6.56858057e-01 5.98713035e-02 1.15739579e+02] [-6.54771308e-01 7.54014243e-01 -5.23168828e-02 -6.42612805e+01] [-7.95085815e-02 1.21110081e-04 9.96834174e-01 -7.96916184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27864 meters 0.02878873514607913 Centerline is valid? [True, True] Translation: X:115.77, Y:-64.28, Z:-7.97 [[ 7.50263994e-01 6.58310568e-01 6.10830269e-02 1.15767258e+02] [-6.56139027e-01 7.52746436e-01 -5.34264119e-02 -6.42780844e+01] [-8.11512023e-02 4.95540985e-06 9.96701802e-01 -7.97128550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters 0.028901337012106693 Centerline is valid? [True, True] Translation: X:115.79, Y:-64.30, Z:-7.97 [[ 7.50672003e-01 6.57773812e-01 6.18478490e-02 1.15793146e+02] [-6.55541431e-01 7.53215508e-01 -5.41463790e-02 -6.42966173e+01] [-8.22008291e-02 1.02343268e-04 9.96615780e-01 -7.97348049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33864 meters 0.028582832382341907 Centerline is valid? [True, True] Translation: X:115.82, Y:-64.32, Z:-7.97 [[ 7.51754618e-01 6.56592539e-01 6.12473027e-02 1.15818708e+02] [-6.54395923e-01 7.54245430e-01 -5.36638344e-02 -6.43159365e+01] [-8.14307714e-02 2.62050148e-04 9.96678966e-01 -7.97441755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters 0.02833945398632597 Centerline is valid? [True, True] Translation: X:115.85, Y:-64.33, Z:-7.98 [[ 7.53685721e-01 6.54401594e-01 6.09621803e-02 1.15846611e+02] [-6.52215330e-01 7.56146996e-01 -5.34498228e-02 -6.43339220e+01] [-8.10740188e-02 5.23899665e-04 9.96707946e-01 -7.97694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39864 meters 0.02841114068189379 Centerline is valid? [True, True] Translation: X:115.87, Y:-64.35, Z:-7.98 [[ 7.54573831e-01 6.53407029e-01 6.06431209e-02 1.15873421e+02] [-6.51235823e-01 7.57006476e-01 -5.32268484e-02 -6.43539238e+01] [-8.06860321e-02 6.70614190e-04 9.96739341e-01 -7.97857813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters 0.028137436063102178 Centerline is valid? [True, True] Translation: X:115.90, Y:-64.37, Z:-7.98 [[ 7.55325408e-01 6.52555782e-01 6.04522819e-02 1.15899916e+02] [-6.50391022e-01 7.57740264e-01 -5.31150680e-02 -6.43731606e+01] [-8.04676728e-02 8.01539021e-04 9.96756897e-01 -7.98074031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45864 meters 0.027969157162880846 Centerline is valid? [True, True] Translation: X:115.92, Y:-64.39, Z:-7.98 [[ 7.54863110e-01 6.53047917e-01 6.09106218e-02 1.15924864e+02] [-6.50847136e-01 7.57316170e-01 -5.35744749e-02 -6.43943909e+01] [-8.11152981e-02 7.97891012e-04 9.96704405e-01 -7.98229233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters 0.02810274767593727 Centerline is valid? [True, True] Translation: X:115.95, Y:-64.41, Z:-7.98 [[ 7.54547423e-01 6.53253560e-01 6.25937146e-02 1.15949587e+02] [-6.50925188e-01 7.57138745e-01 -5.51118888e-02 -6.44149953e+01] [-8.33941641e-02 8.40708226e-04 9.96516285e-01 -7.98498308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51864 meters 0.027877514851831302 Centerline is valid? [True, True] Translation: X:115.98, Y:-64.44, Z:-7.99 [[ 7.53151329e-01 6.54859267e-01 6.26291945e-02 1.15975727e+02] [-6.52529357e-01 7.55750518e-01 -5.51959491e-02 -6.44358434e+01] [-8.34776250e-02 7.03514377e-04 9.96509403e-01 -7.98515273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters 0.02774392839556497 Centerline is valid? [True, True] Translation: X:116.00, Y:-64.46, Z:-7.99 [[ 7.52159883e-01 6.55983032e-01 6.27835350e-02 1.16001623e+02] [-6.53640650e-01 7.54775378e-01 -5.53897916e-02 -6.44569265e+01] [-8.37222298e-02 6.24108534e-04 9.96488936e-01 -7.98669724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57864 meters 0.027746839996110245 Centerline is valid? [True, True] Translation: X:116.03, Y:-64.48, Z:-7.99 [[ 7.51448732e-01 6.56754072e-01 6.32367902e-02 1.16026810e+02] [-6.54375435e-01 7.54104598e-01 -5.58484138e-02 -6.44779777e+01] [-8.43658274e-02 5.86617629e-04 9.96434676e-01 -7.98961284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters 0.02756344776007806 Centerline is valid? [True, True] Translation: X:116.05, Y:-64.50, Z:-7.99 [[ 7.50857666e-01 6.57524563e-01 6.22431812e-02 1.16051638e+02] [-6.55218283e-01 7.53432919e-01 -5.50257997e-02 -6.44990569e+01] [-8.30768766e-02 5.33673277e-04 9.96542998e-01 -7.99094328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63864 meters 0.02757508469128172 Centerline is valid? [True, True] Translation: X:116.08, Y:-64.52, Z:-7.99 [[ 7.50680298e-01 6.57667955e-01 6.28645445e-02 1.16076272e+02] [-6.55311498e-01 7.53307736e-01 -5.56264006e-02 -6.45197091e+01] [-8.39400488e-02 5.61784157e-04 9.96470648e-01 -7.99341149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66864 meters 0.027516330864618195 Centerline is valid? [True, True] Translation: X:116.10, Y:-64.54, Z:-8.00 [[ 7.51329279e-01 6.56886678e-01 6.32788052e-02 1.16100772e+02] [-6.54491875e-01 7.53989000e-01 -5.60443824e-02 -6.45398048e+01] [-8.45263313e-02 6.92321497e-04 9.96421005e-01 -7.99563520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69864 meters 0.027689002679442756 Centerline is valid? [True, True] Translation: X:116.13, Y:-64.56, Z:-8.00 [[ 7.51954147e-01 6.56187435e-01 6.31111009e-02 1.16125486e+02] [-6.53798371e-01 7.54597506e-01 -5.59490281e-02 -6.45616458e+01] [-8.43365286e-02 8.09168730e-04 9.96437000e-01 -7.99827464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72864 meters 0.02767089466546587 Centerline is valid? [True, True] Translation: X:116.15, Y:-64.58, Z:-8.00 [[ 7.51952384e-01 6.56185565e-01 6.31515372e-02 1.16150066e+02] [-6.53788478e-01 7.54599082e-01 -5.60433011e-02 -6.45834612e+01] [-8.44288972e-02 8.54146464e-04 9.96429140e-01 -7.99974821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75864 meters 0.02749788864222954 Centerline is valid? [True, True] Translation: X:116.18, Y:-64.60, Z:-8.00 [[ 7.51992292e-01 6.56189352e-01 6.26348680e-02 1.16175228e+02] [-6.53826562e-01 7.54595747e-01 -5.56424761e-02 -6.46047995e+01] [-8.37760054e-02 8.90372726e-04 9.96484214e-01 -8.00153582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864000000002 meters 0.027525454294526804 Centerline is valid? [True, True] Translation: X:116.20, Y:-64.62, Z:-8.00 [[ 7.52098434e-01 6.55987448e-01 6.34697876e-02 1.16200509e+02] [-6.53555556e-01 7.54771178e-01 -5.64411530e-02 -6.46245288e+01] [-8.49298543e-02 9.68270455e-04 9.96386462e-01 -8.00314026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81864000000002 meters 0.02757443418818417 Centerline is valid? [True, True] Translation: X:116.23, Y:-64.65, Z:-8.01 [[ 7.51313340e-01 6.56887914e-01 6.34549773e-02 1.16225804e+02] [-6.54455784e-01 7.53987696e-01 -5.64816793e-02 -6.46462769e+01] [-8.49464047e-02 9.06962218e-04 9.96385109e-01 -8.00525982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864000000002 meters 0.027499079148618353 Centerline is valid? [True, True] Translation: X:116.25, Y:-64.67, Z:-8.01 [[ 7.50305170e-01 6.57996958e-01 6.38917524e-02 1.16250747e+02] [-6.55530072e-01 7.53020127e-01 -5.69298984e-02 -6.46679635e+01] [-8.55714755e-02 8.31832041e-04 9.96331687e-01 -8.00726703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87864000000002 meters 0.02736984412487431 Centerline is valid? [True, True] Translation: X:116.28, Y:-64.69, Z:-8.01 [[ 7.49450267e-01 6.58949553e-01 6.41075993e-02 1.16276176e+02] [-6.56464279e-01 7.52186740e-01 -5.71817939e-02 -6.46893349e+01] [-8.59008037e-02 7.70561737e-04 9.96303397e-01 -8.00957104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864000000002 meters 0.02734789354786227 Centerline is valid? [True, True] Translation: X:116.30, Y:-64.71, Z:-8.01 [[ 7.48099806e-01 6.60367887e-01 6.52758243e-02 1.16301518e+02] [-6.57791263e-01 7.50941951e-01 -5.82824254e-02 -6.47097687e+01] [-8.75061970e-02 6.63204258e-04 9.96163754e-01 -8.01270831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93864000000002 meters 0.027139405778440664 Centerline is valid? [True, True] Translation: X:116.33, Y:-64.73, Z:-8.01 [[ 7.47497124e-01 6.61160596e-01 6.41460497e-02 1.16327303e+02] [-6.58671009e-01 7.50244165e-01 -5.73253441e-02 -6.47289556e+01] [-8.60264582e-02 5.99386555e-04 9.96292672e-01 -8.01367284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864000000002 meters 0.0271854446310594 Centerline is valid? [True, True] Translation: X:116.35, Y:-64.75, Z:-8.02 [[ 7.46869532e-01 6.61788652e-01 6.49744729e-02 1.16351615e+02] [-6.59231927e-01 7.49690237e-01 -5.81189775e-02 -6.47494199e+01] [-8.71732077e-02 5.74046512e-04 9.96193005e-01 -8.01554787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99864000000002 meters 0.027132389781231357 Centerline is valid? [True, True] Translation: X:116.38, Y:-64.77, Z:-8.02 [[ 7.46732456e-01 6.62029610e-01 6.40892708e-02 1.16376730e+02] [-6.59538626e-01 7.49477460e-01 -5.73788954e-02 -6.47700915e+01] [-8.60199916e-02 5.77333914e-04 9.96293244e-01 -8.01617790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters 0.02746004244351991 Centerline is valid? [True, True] Translation: X:116.40, Y:-64.79, Z:-8.02 [[ 7.47618259e-01 6.61014561e-01 6.42393113e-02 1.16403110e+02] [-6.58503384e-01 7.50372712e-01 -5.75681045e-02 -6.47899328e+01] [-8.62567815e-02 7.37162216e-04 9.96272666e-01 -8.01771301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05864 meters 0.027451496007874644 Centerline is valid? [True, True] Translation: X:116.43, Y:-64.81, Z:-8.02 [[ 7.48314214e-01 6.60250298e-01 6.39951706e-02 1.16428237e+02] [-6.57750289e-01 7.51045134e-01 -5.74087549e-02 -6.48112732e+01] [-8.59674089e-02 8.66945333e-04 9.96297573e-01 -8.02030677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters 0.027810906014740323 Centerline is valid? [True, True] Translation: X:116.45, Y:-64.83, Z:-8.02 [[ 7.50344183e-01 6.57931239e-01 6.41100016e-02 1.16452347e+02] [-6.55408848e-01 7.53077086e-01 -5.75686113e-02 -6.48318714e+01] [-8.61559609e-02 1.17801033e-03 9.96280966e-01 -8.02268981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11864 meters 0.02778066228569002 Centerline is valid? [True, True] Translation: X:116.48, Y:-64.85, Z:-8.02 [[ 7.50420380e-01 6.57824880e-01 6.43092650e-02 1.16477096e+02] [-6.55281644e-01 7.53169903e-01 -5.78019386e-02 -6.48538337e+01] [-8.64593562e-02 1.23507182e-03 9.96254613e-01 -8.02460414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters 0.027761423348579364 Centerline is valid? [True, True] Translation: X:116.50, Y:-64.88, Z:-8.03 [[ 7.51026411e-01 6.57139218e-01 6.42446788e-02 1.16501620e+02] [-6.54593477e-01 7.53768005e-01 -5.78028829e-02 -6.48754991e+01] [-8.64101246e-02 1.35734397e-03 9.96258725e-01 -8.02629048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17864 meters 0.027897419853027676 Centerline is valid? [True, True] Translation: X:116.52, Y:-64.90, Z:-8.03 [[ 7.50496089e-01 6.57776708e-01 6.39173212e-02 1.16524836e+02] [-6.55254354e-01 7.53211830e-01 -5.75644855e-02 -6.48976515e+01] [-8.60078602e-02 1.31981818e-03 9.96293584e-01 -8.02790364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters 0.027878173792300034 Centerline is valid? [True, True] Translation: X:116.55, Y:-64.92, Z:-8.03 [[ 7.49960351e-01 6.58363867e-01 6.41598807e-02 1.16548405e+02] [-6.55819740e-01 7.52698700e-01 -5.78371461e-02 -6.49205217e+01] [-8.63709460e-02 1.29825017e-03 9.96262202e-01 -8.02958170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23864 meters 0.027949513313324188 Centerline is valid? [True, True] Translation: X:116.57, Y:-64.94, Z:-8.03 [[ 7.49431645e-01 6.58941354e-01 6.44088563e-02 1.16572178e+02] [-6.56374334e-01 7.52193226e-01 -5.81212848e-02 -6.49437705e+01] [-8.67464235e-02 1.28160991e-03 9.96229600e-01 -8.03246143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters 0.028066138570969054 Centerline is valid? [True, True] Translation: X:116.59, Y:-64.97, Z:-8.03 [[ 7.48846392e-01 6.59665020e-01 6.38054978e-02 1.16593528e+02] [-6.57143691e-01 7.51558747e-01 -5.76334928e-02 -6.49678392e+01] [-8.59723792e-02 1.22925286e-03 9.96296763e-01 -8.03460688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29864 meters 0.028123689852121967 Centerline is valid? [True, True] Translation: X:116.62, Y:-64.99, Z:-8.04 [[ 7.48268725e-01 6.60257386e-01 6.44522995e-02 1.16617361e+02] [-6.57681966e-01 7.51038420e-01 -5.82728272e-02 -6.49906731e+01] [-8.68812177e-02 1.21461911e-03 9.96217937e-01 -8.03661998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters 0.02808779061933253 Centerline is valid? [True, True] Translation: X:116.64, Y:-65.01, Z:-8.04 [[ 7.47877007e-01 6.60753777e-01 6.39095247e-02 1.16640792e+02] [-6.58218578e-01 7.50601779e-01 -5.78383403e-02 -6.50124589e+01] [-8.61875048e-02 1.18952837e-03 9.96278224e-01 -8.03853025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35864 meters 0.027992376146129632 Centerline is valid? [True, True] Translation: X:116.66, Y:-65.04, Z:-8.04 [[ 7.47061294e-01 6.61757080e-01 6.30633821e-02 1.16662757e+02] [-6.59287948e-01 7.49717522e-01 -5.71230095e-02 -6.50358235e+01] [-8.50812785e-02 1.09746163e-03 9.96373410e-01 -8.03886636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38864 meters 0.02815928548971511 Centerline is valid? [True, True] Translation: X:116.69, Y:-65.06, Z:-8.04 [[ 7.46448266e-01 6.62413625e-01 6.34285044e-02 1.16685373e+02] [-6.59913454e-01 7.49137534e-01 -5.75081624e-02 -6.50593703e+01] [-8.56108637e-02 1.06954470e-03 9.96328077e-01 -8.04196074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41864 meters 0.027938297220582435 Centerline is valid? [True, True] Translation: X:116.71, Y:-65.08, Z:-8.04 [[ 7.45405572e-01 6.63702594e-01 6.22045020e-02 1.16707715e+02] [-6.61297956e-01 7.47995972e-01 -5.64538766e-02 -6.50831653e+01] [-8.39973013e-02 9.45324137e-04 9.96465534e-01 -8.04302140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44864 meters 0.027839530823595242 Centerline is valid? [True, True] Translation: X:116.73, Y:-65.11, Z:-8.04 [[ 7.44238576e-01 6.65028802e-01 6.20131871e-02 1.16729519e+02] [-6.62639269e-01 7.46817248e-01 -5.63311446e-02 -6.51068283e+01] [-8.37743513e-02 8.31437844e-04 9.96484404e-01 -8.04449131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47864 meters 0.02803648298347657 Centerline is valid? [True, True] Translation: X:116.75, Y:-65.13, Z:-8.05 [[ 7.43231928e-01 6.65949099e-01 6.41724208e-02 1.16752236e+02] [-6.63388641e-01 7.45996761e-01 -5.83467458e-02 -6.51289430e+01] [-8.67283809e-02 7.93909303e-04 9.96231679e-01 -8.04765374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50864 meters 0.027914390529968375 Centerline is valid? [True, True] Translation: X:116.78, Y:-65.15, Z:-8.05 [[ 7.42021555e-01 6.67301930e-01 6.41260207e-02 1.16775055e+02] [-6.64745378e-01 7.44787000e-01 -5.83601474e-02 -6.51525297e+01] [-8.67040656e-02 6.77011439e-04 9.96233882e-01 -8.04836587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53864000000002 meters 0.027699615855763252 Centerline is valid? [True, True] Translation: X:116.80, Y:-65.18, Z:-8.05 [[ 7.40098735e-01 6.69656368e-01 6.17593086e-02 1.16796163e+02] [-6.67288917e-01 7.42670968e-01 -5.62613083e-02 -6.51775456e+01] [-8.35425888e-02 4.27620955e-04 9.96504116e-01 -8.04891027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864000000002 meters 0.027821127387780278 Centerline is valid? [True, True] Translation: X:116.82, Y:-65.20, Z:-8.05 [[ 7.38769153e-01 6.71189027e-01 6.10362915e-02 1.16819361e+02] [-6.68877803e-01 7.41286184e-01 -5.56531969e-02 -6.51991866e+01] [-8.25991747e-02 2.89044523e-04 9.96582808e-01 -8.05090550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59864000000002 meters 0.027663259037892456 Centerline is valid? [True, True] Translation: X:116.84, Y:-65.22, Z:-8.05 [[ 7.36893083e-01 6.73135181e-01 6.22704787e-02 1.16842958e+02] [-6.70731798e-01 7.39519449e-01 -5.68316761e-02 -6.52213594e+01] [-8.43056306e-02 1.12078901e-04 9.96439937e-01 -8.05354472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864000000002 meters 0.027625584783370776 Centerline is valid? [True, True] Translation: X:116.87, Y:-65.24, Z:-8.06 [[ 7.35819483e-01 6.74372143e-01 6.15784215e-02 1.16866473e+02] [-6.72021974e-01 7.38391639e-01 -5.62516911e-02 -6.52438351e+01] [-8.34035651e-02 9.03787620e-06 9.96515853e-01 -8.05520185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65864000000002 meters 0.027625584783370776 Centerline is valid? [True, True] Translation: X:116.89, Y:-65.27, Z:-8.06 [[ 7.35464620e-01 6.74761598e-01 6.15514295e-02 1.16890666e+02] [-6.72410321e-01 7.38035762e-01 -5.62812150e-02 -6.52654915e+01] [-8.34035587e-02 5.02596400e-06 9.96515854e-01 -8.05708493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864000000002 meters 0.027507586484799885 Centerline is valid? [True, True] Translation: X:116.91, Y:-65.29, Z:-8.06 [[ 7.34688021e-01 6.75701053e-01 6.05111480e-02 1.16914513e+02] [-6.73427299e-01 7.37175748e-01 -5.53858249e-02 -6.52874088e+01] [-8.20316110e-02 -5.85568344e-05 9.96629726e-01 -8.05663864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71864000000002 meters 0.027903549242159126 Centerline is valid? [True, True] Translation: X:116.94, Y:-65.31, Z:-8.06 [[ 7.33248951e-01 6.77197815e-01 6.12298553e-02 1.16938765e+02] [-6.74870457e-01 7.35800981e-01 -5.60961869e-02 -6.53083242e+01] [-8.30412027e-02 -1.89750237e-04 9.96546097e-01 -8.05851872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864000000002 meters 0.027795201506389595 Centerline is valid? [True, True] Translation: X:116.97, Y:-65.33, Z:-8.06 [[ 7.31062005e-01 6.79608218e-01 6.06713760e-02 1.16965226e+02] [-6.77327025e-01 7.33575146e-01 -5.56381723e-02 -6.53289152e+01] [-8.23191726e-02 -4.19408859e-04 9.96605929e-01 -8.06038648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77864 meters 0.02792927683284692 Centerline is valid? [True, True] Translation: X:116.99, Y:-65.35, Z:-8.06 [[ 7.29893277e-01 6.80750516e-01 6.19236588e-02 1.16989836e+02] [-6.78373164e-01 7.32515166e-01 -5.68452526e-02 -6.53496167e+01] [-8.40574542e-02 -5.16380645e-04 9.96460776e-01 -8.06294483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters 0.028090146408636853 Centerline is valid? [True, True] Translation: X:117.02, Y:-65.37, Z:-8.06 [[ 7.28809899e-01 6.81826277e-01 6.28415403e-02 1.17016166e+02] [-6.79377150e-01 7.31513879e-01 -5.77419441e-02 -6.53685255e+01] [-8.53394337e-02 -6.10206136e-04 9.96351749e-01 -8.06473541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83864 meters 0.02806977591897369 Centerline is valid? [True, True] Translation: X:117.04, Y:-65.39, Z:-8.07 [[ 7.27898019e-01 6.82889486e-01 6.18580908e-02 1.17041485e+02] [-6.80515998e-01 7.30521376e-01 -5.68902144e-02 -6.53884707e+01] [-8.40383869e-02 -6.85146040e-04 9.96462282e-01 -8.06548536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters 0.02818128579720999 Centerline is valid? [True, True] Translation: X:117.07, Y:-65.41, Z:-8.07 [[ 7.27148839e-01 6.83773020e-01 6.09017491e-02 1.17066820e+02] [-6.81471309e-01 7.29694397e-01 -5.60619430e-02 -6.54084112e+01] [-8.27733091e-02 -7.37417958e-04 9.96568129e-01 -8.06839473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89864 meters 0.028058461093151958 Centerline is valid? [True, True] Translation: X:117.09, Y:-65.43, Z:-8.07 [[ 7.26774849e-01 6.84232857e-01 6.01973093e-02 1.17091903e+02] [-6.81981525e-01 7.29263221e-01 -5.54648907e-02 -6.54294057e+01] [-8.18505843e-02 -7.42965226e-04 9.96644335e-01 -8.06899464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters 0.028055680737543644 Centerline is valid? [True, True] Translation: X:117.12, Y:-65.45, Z:-8.07 [[ 7.26704390e-01 6.84274810e-01 6.05699038e-02 1.17118354e+02] [-6.81991083e-01 7.29223887e-01 -5.58630984e-02 -6.54495974e+01] [-8.23947318e-02 -7.12175414e-04 9.96599519e-01 -8.07141031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95864 meters 0.028185631244881063 Centerline is valid? [True, True] Translation: X:117.15, Y:-65.47, Z:-8.07 [[ 7.24841009e-01 6.86170180e-01 6.14491343e-02 1.17146577e+02] [-6.83821362e-01 7.27440499e-01 -5.67332829e-02 -6.54667258e+01] [-8.36292758e-02 -8.97620721e-04 9.96496532e-01 -8.07335254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters 0.02843201437370431 Centerline is valid? [True, True] Translation: X:117.17, Y:-65.49, Z:-8.08 [[ 7.23504202e-01 6.87534021e-01 6.19567510e-02 1.17171648e+02] [-6.85146602e-01 7.26151444e-01 -5.72556977e-02 -6.54871348e+01] [-8.43552243e-02 -1.02471953e-03 9.96435219e-01 -8.07552181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01864 meters 0.028382722764017917 Centerline is valid? [True, True] Translation: X:117.20, Y:-65.51, Z:-8.08 [[ 7.21674121e-01 6.89568953e-01 6.06722559e-02 1.17198590e+02] [-6.87282397e-01 7.24219045e-01 -5.61220260e-02 -6.55062810e+01] [-8.26400100e-02 -1.19715969e-03 9.96578745e-01 -8.07587342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters 0.02866490545921554 Centerline is valid? [True, True] Translation: X:117.22, Y:-65.53, Z:-8.08 [[ 7.21290042e-01 6.89970013e-01 6.06799538e-02 1.17224884e+02] [-6.87679342e-01 7.23836958e-01 -5.61888020e-02 -6.55265837e+01] [-8.26909816e-02 -1.19992737e-03 9.96574514e-01 -8.07905650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07864 meters 0.028675446740758 Centerline is valid? [True, True] Translation: X:117.25, Y:-65.55, Z:-8.08 [[ 7.20925473e-01 6.90344128e-01 6.07572907e-02 1.17251481e+02] [-6.88043936e-01 7.23480161e-01 -5.63205007e-02 -6.55465488e+01] [-8.28372214e-02 -1.20080187e-03 9.96562368e-01 -8.08077671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10864 meters 0.028636899267083942 Centerline is valid? [True, True] Translation: X:117.28, Y:-65.57, Z:-8.08 [[ 7.20860482e-01 6.90455584e-01 6.02598714e-02 1.17277417e+02] [-6.88188690e-01 7.23373855e-01 -5.59159423e-02 -6.55665619e+01] [-8.21978901e-02 -1.16256887e-03 9.96615350e-01 -8.08245842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13864 meters 0.028443639344924547 Centerline is valid? [True, True] Translation: X:117.31, Y:-65.58, Z:-8.08 [[ 7.23268917e-01 6.87871994e-01 6.09441766e-02 1.17305041e+02] [-6.85539652e-01 7.25831533e-01 -5.66036345e-02 -6.55844827e+01] [-8.31712601e-02 -8.40000171e-04 9.96534915e-01 -8.08299700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16864 meters 0.028447671780956727 Centerline is valid? [True, True] Translation: X:117.33, Y:-65.60, Z:-8.08 [[ 7.24873436e-01 6.86245795e-01 6.02097234e-02 1.17330938e+02] [-6.83960381e-01 7.27369460e-01 -5.59630821e-02 -6.56045069e+01] [-8.21991438e-02 -6.14913692e-04 9.96615735e-01 -8.08492568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19864 meters 0.028364837630147615 Centerline is valid? [True, True] Translation: X:117.36, Y:-65.62, Z:-8.09 [[ 7.26439210e-01 6.84575652e-01 6.03510587e-02 1.17359818e+02] [-6.82271174e-01 7.28941707e-01 -5.61251516e-02 -6.56222321e+01] [-8.24143160e-02 -4.04276871e-04 9.96598072e-01 -8.08761961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22864 meters 0.02829404094413133 Centerline is valid? [True, True] Translation: X:117.39, Y:-65.64, Z:-8.09 [[ 7.27381028e-01 6.83633561e-01 5.96824517e-02 1.17385502e+02] [-6.81372201e-01 7.29825383e-01 -5.55592821e-02 -6.56422680e+01] [-8.15399581e-02 -2.53195737e-04 9.96670041e-01 -8.08909608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25864 meters 0.028321751271921127 Centerline is valid? [True, True] Translation: X:117.41, Y:-65.66, Z:-8.09 [[ 7.27018916e-01 6.83958629e-01 6.03662950e-02 1.17410874e+02] [-6.81641666e-01 7.29520754e-01 -5.62504147e-02 -6.56631461e+01] [-8.25114216e-02 -2.53066360e-04 9.96590087e-01 -8.09201060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864000000002 meters 0.028255078429541218 Centerline is valid? [True, True] Translation: X:117.44, Y:-65.68, Z:-8.09 [[ 7.27554023e-01 6.83483073e-01 5.92961372e-02 1.17436540e+02] [-6.81241579e-01 7.29966345e-01 -5.53086479e-02 -6.56835164e+01] [-8.10867092e-02 -1.54964840e-04 9.96707039e-01 -8.09254999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31864000000002 meters 0.028238578075936584 Centerline is valid? [True, True] Translation: X:117.46, Y:-65.70, Z:-8.09 [[ 7.27553260e-01 6.83481358e-01 5.93252671e-02 1.17461750e+02] [-6.81233332e-01 7.29967958e-01 -5.53888815e-02 -6.57047576e+01] [-8.11628121e-02 -1.15988124e-04 9.96700850e-01 -8.09414430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864000000002 meters 0.027949708466174762 Centerline is valid? [True, True] Translation: X:117.49, Y:-65.73, Z:-8.10 [[ 7.28234869e-01 6.82835874e-01 5.83878820e-02 1.17487089e+02] [-6.80651964e-01 7.30571810e-01 -5.45686177e-02 -6.57254247e+01] [-7.99179504e-02 -3.05637779e-06 9.96801445e-01 -8.09536063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37864000000002 meters 0.02820671501837107 Centerline is valid? [True, True] Translation: X:117.51, Y:-65.75, Z:-8.10 [[ 7.28509772e-01 6.82478023e-01 5.91376406e-02 1.17511150e+02] [-6.80232213e-01 7.30906111e-01 -5.53208277e-02 -6.57467228e+01] [-8.09793120e-02 7.44354344e-05 9.96715780e-01 -8.09803546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864000000002 meters 0.028197453130989664 Centerline is valid? [True, True] Translation: X:117.54, Y:-65.77, Z:-8.10 [[ 7.28587910e-01 6.82368368e-01 5.94396085e-02 1.17536409e+02] [-6.80094808e-01 7.31008477e-01 -5.56566097e-02 -6.57684132e+01] [-8.14291676e-02 1.26163826e-04 9.96679123e-01 -8.09887149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43864000000002 meters 0.028370282555240895 Centerline is valid? [True, True] Translation: X:117.56, Y:-65.79, Z:-8.10 [[ 7.28321638e-01 6.82648717e-01 5.94837836e-02 1.17562373e+02] [-6.80367919e-01 7.30746680e-01 -5.57564726e-02 -6.57882668e+01] [-8.15296619e-02 1.37787428e-04 9.96670906e-01 -8.10059955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864000000002 meters 0.02820280592347839 Centerline is valid? [True, True] Translation: X:117.59, Y:-65.81, Z:-8.10 [[ 7.27676103e-01 6.83376255e-01 5.90286685e-02 1.17587450e+02] [-6.81127980e-01 7.30066356e-01 -5.53876314e-02 -6.58096075e+01] [-8.09454371e-02 9.81780077e-05 9.96718529e-01 -8.10177283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49864000000002 meters 0.0282084804850753 Centerline is valid? [True, True] Translation: X:117.61, Y:-65.83, Z:-8.11 [[ 7.26673860e-01 6.84439571e-01 5.90556844e-02 1.17613518e+02] [-6.82187990e-01 7.29069594e-01 -5.54713789e-02 -6.58292952e+01] [-8.10225106e-02 2.25224778e-05 9.96712272e-01 -8.10533021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters 0.028328440710304225 Centerline is valid? [True, True] Translation: X:117.64, Y:-65.85, Z:-8.11 [[ 7.26011582e-01 6.85116258e-01 5.93539813e-02 1.17639130e+02] [-6.82839251e-01 7.28433739e-01 -5.58107979e-02 -6.58502939e+01] [-8.14723276e-02 -9.94245871e-06 9.96675604e-01 -8.10686685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55864 meters 0.028381892707773606 Centerline is valid? [True, True] Translation: X:117.66, Y:-65.87, Z:-8.11 [[ 7.25300213e-01 6.85912951e-01 5.88474790e-02 1.17664562e+02] [-6.83672632e-01 7.27683599e-01 -5.53923415e-02 -6.58711391e+01] [-8.08166698e-02 -5.63337828e-05 9.96728982e-01 -8.10841435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters 0.028381341714257925 Centerline is valid? [True, True] Translation: X:117.69, Y:-65.89, Z:-8.11 [[ 7.24740755e-01 6.86523138e-01 5.86243944e-02 1.17689633e+02] [-6.84297113e-01 7.27107953e-01 -5.52402579e-02 -6.58924395e+01] [-8.05499785e-02 -8.16376080e-05 9.96750568e-01 -8.11001894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61864 meters 0.02846234898616645 Centerline is valid? [True, True] Translation: X:117.72, Y:-65.91, Z:-8.11 [[ 7.23799342e-01 6.87528884e-01 5.84683356e-02 1.17717637e+02] [-6.85313327e-01 7.26157015e-01 -5.51510055e-02 -6.59115565e+01] [-8.03751013e-02 -1.50868072e-04 9.96764677e-01 -8.11058380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters 0.0284808705089819 Centerline is valid? [True, True] Translation: X:117.74, Y:-65.93, Z:-8.11 [[ 7.23402469e-01 6.88051973e-01 5.72132036e-02 1.17742889e+02] [-6.85928034e-01 7.25661392e-01 -5.40210738e-02 -6.59312278e+01] [-7.86867193e-02 -1.65162093e-04 9.96899380e-01 -8.11284726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67864 meters 0.02844007083544235 Centerline is valid? [True, True] Translation: X:117.77, Y:-65.95, Z:-8.11 [[ 7.22291056e-01 6.89291068e-01 5.63334232e-02 1.17769096e+02] [-6.87232038e-01 7.24484476e-01 -5.32387979e-02 -6.59508942e+01] [-7.75097185e-02 -2.60225714e-04 9.96991563e-01 -8.11412982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters 0.028683146237637864 Centerline is valid? [True, True] Translation: X:117.79, Y:-65.97, Z:-8.11 [[ 7.21614139e-01 6.90024303e-01 5.60311987e-02 1.17793974e+02] [-6.87985652e-01 7.23786136e-01 -5.30035136e-02 -6.59725049e+01] [-7.71283173e-02 -3.00575965e-04 9.97021129e-01 -8.11498177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73864 meters 0.028606628875983694 Centerline is valid? [True, True] Translation: X:117.82, Y:-65.99, Z:-8.12 [[ 7.21420717e-01 6.90154178e-01 5.69153690e-02 1.17819224e+02] [-6.88046469e-01 7.23662306e-01 -5.38973446e-02 -6.59932371e+01] [-7.83849848e-02 -2.77757704e-04 9.96923125e-01 -8.11717454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters 0.02875705267562768 Centerline is valid? [True, True] Translation: X:117.85, Y:-66.01, Z:-8.12 [[ 7.21834960e-01 6.89702831e-01 5.71340099e-02 1.17845993e+02] [-6.87572943e-01 7.24092515e-01 -5.41615911e-02 -6.60135509e+01] [-7.87257116e-02 -1.88069425e-04 9.96896297e-01 -8.12035961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79864 meters 0.02866841161793134 Centerline is valid? [True, True] Translation: X:117.87, Y:-66.04, Z:-8.12 [[ 7.22565509e-01 6.88999796e-01 5.63770031e-02 1.17869597e+02] [-6.86919710e-01 7.24761531e-01 -5.34980036e-02 -6.60350464e+01] [-7.77199967e-02 -7.06623797e-05 9.96975224e-01 -8.12227649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters 0.028628044245370892 Centerline is valid? [True, True] Translation: X:117.89, Y:-66.06, Z:-8.12 [[ 7.23219557e-01 6.88362495e-01 5.57722819e-02 1.17894093e+02] [-6.86321115e-01 7.25366855e-01 -5.29740787e-02 -6.60578223e+01] [-7.69207337e-02 3.41950285e-05 9.97037211e-01 -8.12402164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85864 meters 0.028489157654552077 Centerline is valid? [True, True] Translation: X:117.92, Y:-66.08, Z:-8.12 [[ 7.25543541e-01 6.85995330e-01 5.47446528e-02 1.17919638e+02] [-6.84018419e-01 7.27605875e-01 -5.20431809e-02 -6.60784006e+01] [-7.55339101e-02 3.13242893e-04 9.97143184e-01 -8.12469490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88864 meters 0.02837090257457578 Centerline is valid? [True, True] Translation: X:117.94, Y:-66.10, Z:-8.13 [[ 7.25916827e-01 6.85605947e-01 5.46739929e-02 1.17944911e+02] [-6.83631108e-01 7.27972765e-01 -5.20015457e-02 -6.60996384e+01] [-7.54537468e-02 3.71954681e-04 9.97149233e-01 -8.12621877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91864 meters 0.028548238391430086 Centerline is valid? [True, True] Translation: X:117.97, Y:-66.12, Z:-8.13 [[ 7.26336472e-01 6.85179962e-01 5.44403375e-02 1.17969740e+02] [-6.83216737e-01 7.28373678e-01 -5.18331538e-02 -6.61219059e+01] [-7.51679472e-02 4.53760304e-04 9.97170785e-01 -8.12843453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94864 meters 0.02860528264591534 Centerline is valid? [True, True] Translation: X:117.99, Y:-66.14, Z:-8.13 [[ 7.27568276e-01 6.83759347e-01 5.58351082e-02 1.17992559e+02] [-6.81685674e-01 7.29707288e-01 -5.32157582e-02 -6.61443693e+01] [-7.71300574e-02 6.56104094e-04 9.97020824e-01 -8.13070950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97864 meters 0.028510684386320748 Centerline is valid? [True, True] Translation: X:118.02, Y:-66.17, Z:-8.13 [[ 7.27630495e-01 6.83671157e-01 5.61035801e-02 1.18016887e+02] [-6.81573310e-01 7.29789868e-01 -5.35216967e-02 -6.61668723e+01] [-7.75350646e-02 7.05315839e-04 9.96989376e-01 -8.13215931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00864 meters 0.028312863849110147 Centerline is valid? [True, True] Translation: X:118.04, Y:-66.19, Z:-8.13 [[ 7.27084068e-01 6.84306049e-01 5.54435689e-02 1.18041579e+02] [-6.82255174e-01 7.29194614e-01 -5.29442434e-02 -6.61875843e+01] [-7.66592178e-02 6.68254158e-04 9.97057129e-01 -8.13231585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03864000000002 meters 0.028353852562499542 Centerline is valid? [True, True] Translation: X:118.07, Y:-66.21, Z:-8.13 [[ 7.26490209e-01 6.84846531e-01 5.65438415e-02 1.18065355e+02] [-6.82711116e-01 7.28687035e-01 -5.40438447e-02 -6.62094776e+01] [-7.82145037e-02 6.59214889e-04 9.96936335e-01 -8.13470772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864000000002 meters 0.02831439546044097 Centerline is valid? [True, True] Translation: X:118.09, Y:-66.23, Z:-8.14 [[ 7.25222404e-01 6.86154566e-01 5.69594364e-02 1.18088555e+02] [-6.83987649e-01 7.27455566e-01 -5.44912423e-02 -6.62322652e+01] [-7.88248737e-02 5.58718702e-04 9.96888322e-01 -8.13641032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09864000000002 meters 0.02792630865365118 Centerline is valid? [True, True] Translation: X:118.11, Y:-66.25, Z:-8.14 [[ 7.23430816e-01 6.88087307e-01 5.64243965e-02 1.18112822e+02] [-6.85962831e-01 7.25627806e-01 -5.40303805e-02 -6.62536027e+01] [-7.81207300e-02 3.82203492e-04 9.96943833e-01 -8.13695170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864000000002 meters 0.02796812020775243 Centerline is valid? [True, True] Translation: X:118.14, Y:-66.27, Z:-8.14 [[ 7.23427880e-01 6.88180878e-01 5.53098753e-02 1.18137970e+02] [-6.86136862e-01 7.25539058e-01 -5.30026612e-02 -6.62745148e+01] [-7.66048928e-02 3.93458549e-04 9.97061450e-01 -8.13860325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15864000000002 meters 0.02783946703376243 Centerline is valid? [True, True] Translation: X:118.16, Y:-66.30, Z:-8.14 [[ 7.22544132e-01 6.89223138e-01 5.38650435e-02 1.18162682e+02] [-6.87285824e-01 7.24549087e-01 -5.16412221e-02 -6.62954018e+01] [-7.46201933e-02 2.92381118e-04 9.97211984e-01 -8.13942276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864000000002 meters 0.027714784741597238 Centerline is valid? [True, True] Translation: X:118.19, Y:-66.32, Z:-8.14 [[ 7.22006004e-01 6.89759075e-01 5.42194577e-02 1.18186683e+02] [-6.87793972e-01 7.24038911e-01 -5.20298763e-02 -6.63183139e+01] [-7.51450764e-02 2.74066896e-04 9.97172574e-01 -8.14075049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21864000000002 meters 0.027848735331665632 Centerline is valid? [True, True] Translation: X:118.21, Y:-66.34, Z:-8.14 [[ 7.22488394e-01 6.89283725e-01 5.38374206e-02 1.18211078e+02] [-6.87340935e-01 7.24491420e-01 -5.17167427e-02 -6.63405573e+01] [-7.46522583e-02 3.60083327e-04 9.97209562e-01 -8.14183332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864000000002 meters 0.027911416831992216 Centerline is valid? [True, True] Translation: X:118.24, Y:-66.36, Z:-8.14 [[ 7.22498710e-01 6.89119929e-01 5.57614386e-02 1.18235696e+02] [-6.87030781e-01 7.24647182e-01 -5.36205925e-02 -6.63617800e+01] [-7.73583882e-02 4.30984135e-04 9.97003257e-01 -8.14418583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27864 meters 0.027678011353680445 Centerline is valid? [True, True] Translation: X:118.26, Y:-66.38, Z:-8.15 [[ 7.23071567e-01 6.88631537e-01 5.43517680e-02 1.18260646e+02] [-6.86641958e-01 7.25111268e-01 -5.23112789e-02 -6.63820447e+01] [-7.54342758e-02 5.04593952e-04 9.97150648e-01 -8.14570607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters 0.02752117209143836 Centerline is valid? [True, True] Translation: X:118.28, Y:-66.40, Z:-8.15 [[ 7.23123198e-01 6.88671718e-01 5.31423221e-02 1.18283726e+02] [-6.86766589e-01 7.25073095e-01 -5.11923701e-02 -6.64041656e+01] [-7.37868054e-02 5.22019103e-04 9.97273902e-01 -8.14676725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33864 meters 0.027400959689027955 Centerline is valid? [True, True] Translation: X:118.31, Y:-66.43, Z:-8.15 [[ 7.23096741e-01 6.88731575e-01 5.27249521e-02 1.18306900e+02] [-6.86853028e-01 7.25016221e-01 -5.08369662e-02 -6.64269882e+01] [-7.32394694e-02 5.45751583e-04 9.97314234e-01 -8.14860698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters 0.027406571726318094 Centerline is valid? [True, True] Translation: X:118.33, Y:-66.45, Z:-8.15 [[ 7.22525251e-01 6.89290225e-01 5.32564344e-02 1.18331229e+02] [-6.87371104e-01 7.24485129e-01 -5.14029463e-02 -6.64493784e+01] [-7.40150431e-02 5.32992587e-04 9.97256983e-01 -8.15036074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39864 meters 0.0274033915179782 Centerline is valid? [True, True] Translation: X:118.36, Y:-66.47, Z:-8.15 [[ 7.21249644e-01 6.90593509e-01 5.36614966e-02 1.18355600e+02] [-6.88644618e-01 7.23242981e-01 -5.18476633e-02 -6.64712120e+01] [-7.46159605e-02 4.41407933e-04 9.97212246e-01 -8.15187157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters 0.027140216234112915 Centerline is valid? [True, True] Translation: X:118.38, Y:-66.49, Z:-8.15 [[ 7.20814182e-01 6.91069799e-01 5.33802222e-02 1.18379570e+02] [-6.89138664e-01 7.22787900e-01 -5.16289938e-02 -6.64934783e+01] [-7.42618171e-02 4.28535948e-04 9.97238687e-01 -8.15345626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45864 meters 0.027207290391111808 Centerline is valid? [True, True] Translation: X:118.40, Y:-66.52, Z:-8.16 [[ 7.20411885e-01 6.91435620e-01 5.40693988e-02 1.18403272e+02] [-6.89451114e-01 7.22437952e-01 -5.23504265e-02 -6.65163592e+01] [-7.52587354e-02 4.35662206e-04 9.97163945e-01 -8.15555554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters 0.027281382890480523 Centerline is valid? [True, True] Translation: X:118.43, Y:-66.54, Z:-8.16 [[ 7.21026360e-01 6.90759851e-01 5.45143663e-02 1.18427313e+02] [-6.88736396e-01 7.23084038e-01 -5.28360838e-02 -6.65391189e+01] [-7.59155134e-02 5.50181023e-04 9.97114102e-01 -8.15797983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51864 meters 0.027254649552081178 Centerline is valid? [True, True] Translation: X:118.45, Y:-66.56, Z:-8.16 [[ 7.22251871e-01 6.89491838e-01 5.43437280e-02 1.18451127e+02] [-6.87473334e-01 7.24293094e-01 -5.27250280e-02 -6.65617957e+01] [-7.57142633e-02 7.20886234e-04 9.97129295e-01 -8.16081580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters 0.02735718897560332 Centerline is valid? [True, True] Translation: X:118.47, Y:-66.58, Z:-8.16 [[ 7.23789681e-01 6.87865216e-01 5.44971786e-02 1.18473813e+02] [-6.85826646e-01 7.25837844e-01 -5.29267034e-02 -6.65845237e+01] [-7.59625529e-02 9.32184532e-04 9.97110235e-01 -8.16238317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57864 meters 0.02735718897560332 Centerline is valid? [True, True] Translation: X:118.50, Y:-66.61, Z:-8.16 [[ 7.23440031e-01 6.88234865e-01 5.44728651e-02 1.18497368e+02] [-6.86195458e-01 7.25487360e-01 -5.29517182e-02 -6.66069470e+01] [-7.59625936e-02 9.28360022e-04 9.97110236e-01 -8.16426649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60864 meters 0.027218463689401444 Centerline is valid? [True, True] Translation: X:118.52, Y:-66.63, Z:-8.17 [[ 7.23366984e-01 6.88321345e-01 5.43500901e-02 1.18521018e+02] [-6.86287288e-01 7.25405274e-01 -5.28861760e-02 -6.66304132e+01] [-7.58285258e-02 9.56337692e-04 9.97120414e-01 -8.16616969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63864 meters 0.0272290627449585 Centerline is valid? [True, True] Translation: X:118.54, Y:-66.65, Z:-8.17 [[ 7.22949226e-01 6.88750851e-01 5.44672494e-02 1.18544815e+02] [-6.86705096e-01 7.24997488e-01 -5.30542546e-02 -6.66532093e+01] [-7.60297820e-02 9.52594568e-04 9.97105092e-01 -8.16666231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66864 meters 0.027018300443254456 Centerline is valid? [True, True] Translation: X:118.57, Y:-66.68, Z:-8.17 [[ 7.22305300e-01 6.89427222e-01 5.44532716e-02 1.18569072e+02] [-6.87380324e-01 7.24354374e-01 -5.30945493e-02 -6.66757794e+01] [-7.60482931e-02 9.20366876e-04 9.97103711e-01 -8.16830923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69864 meters 0.026763835758908387 Centerline is valid? [True, True] Translation: X:118.59, Y:-66.70, Z:-8.17 [[ 7.19916277e-01 6.91890203e-01 5.48498029e-02 1.18592776e+02] [-6.89816391e-01 7.22002391e-01 -5.35340570e-02 -6.66979141e+01] [-7.66413784e-02 7.03746019e-04 9.97058476e-01 -8.16988033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72864 meters 0.02677966888078183 Centerline is valid? [True, True] Translation: X:118.62, Y:-66.72, Z:-8.17 [[ 7.18435497e-01 6.93407563e-01 5.51034389e-02 1.18616011e+02] [-6.91315099e-01 7.20545359e-01 -5.38313930e-02 -6.67213125e+01] [-7.70316222e-02 5.80544258e-04 9.97028481e-01 -8.17216896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75864 meters 0.026746342400473945 Centerline is valid? [True, True] Translation: X:118.64, Y:-66.74, Z:-8.17 [[ 7.15531475e-01 6.96359124e-01 5.56657832e-02 1.18640199e+02] [-6.94228154e-01 7.17693442e-01 -5.44370576e-02 -6.67444450e+01] [-7.78587093e-02 3.06674157e-04 9.96964356e-01 -8.17461723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864000000002 meters 0.026606504376008477 Centerline is valid? [True, True] Translation: X:118.66, Y:-66.77, Z:-8.18 [[ 7.14671481e-01 6.97262015e-01 5.54108028e-02 1.18664699e+02] [-6.95149668e-01 7.16816312e-01 -5.42338915e-02 -6.67661105e+01] [-7.75345997e-02 2.40614408e-04 9.96989633e-01 -8.17606484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81864000000002 meters 0.026624566763081815 Centerline is valid? [True, True] Translation: X:118.69, Y:-66.79, Z:-8.18 [[ 7.13217100e-01 6.98668746e-01 5.64211896e-02 1.18690252e+02] [-6.96480807e-01 7.15445296e-01 -5.52495699e-02 -6.67858513e+01] [-7.89674225e-02 1.08662413e-04 9.96877191e-01 -8.17847330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864000000002 meters 0.026487577458270805 Centerline is valid? [True, True] Translation: X:118.72, Y:-66.81, Z:-8.18 [[ 7.12113852e-01 6.99818767e-01 5.61030774e-02 1.18715183e+02] [-6.97654966e-01 7.14320441e-01 -5.49895979e-02 -6.68079819e+01] [-7.85583276e-02 1.82638612e-05 9.96909519e-01 -8.18023727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87864000000002 meters 0.02642843011959996 Centerline is valid? [True, True] Translation: X:118.74, Y:-66.83, Z:-8.18 [[ 7.10979300e-01 7.00935140e-01 5.65540811e-02 1.18739859e+02] [-6.98735268e-01 7.13225017e-01 -5.54896422e-02 -6.68293812e+01] [-7.92304256e-02 -6.43440376e-05 9.96856326e-01 -8.18201882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864000000002 meters 0.026463755065292124 Centerline is valid? [True, True] Translation: X:118.77, Y:-66.85, Z:-8.18 [[ 7.09665619e-01 7.02231016e-01 5.69763960e-02 1.18765129e+02] [-6.99997570e-01 7.11949136e-01 -5.59627527e-02 -6.68502375e+01] [-7.98630766e-02 -1.68497161e-04 9.96805829e-01 -8.18407727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93864000000002 meters 0.02625506406887615 Centerline is valid? [True, True] Translation: X:118.79, Y:-66.87, Z:-8.19 [[ 7.08272927e-01 7.03611615e-01 5.72726451e-02 1.18793871e+02] [-7.01354597e-01 7.10584699e-01 -5.63126492e-02 -6.68685718e+01] [-8.03192993e-02 -2.83708045e-04 9.96769146e-01 -8.18547206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864000000002 meters 0.026522370204465528 Centerline is valid? [True, True] Translation: X:118.82, Y:-66.89, Z:-8.19 [[ 7.07212364e-01 7.04625699e-01 5.79076551e-02 1.18819258e+02] [-7.02316965e-01 7.09579096e-01 -5.69946286e-02 -6.68885197e+01] [-8.12499416e-02 -3.62222502e-04 9.96693692e-01 -8.18765320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99864000000002 meters 0.02642041916154963 Centerline is valid? [True, True] Translation: X:118.85, Y:-66.91, Z:-8.19 [[ 7.07409422e-01 7.04336791e-01 5.90050332e-02 1.18846399e+02] [-7.01934144e-01 7.09865900e-01 -5.81279728e-02 -6.69062534e+01] [-8.28273308e-02 -2.97371790e-04 9.96563869e-01 -8.19087381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters 0.026210878313096916 Centerline is valid? [True, True] Translation: X:118.87, Y:-66.93, Z:-8.19 [[ 7.07981885e-01 7.03794720e-01 5.86058169e-02 1.18872187e+02] [-7.01418207e-01 7.10403374e-01 -5.77887979e-02 -6.69266701e+01] [-8.23052209e-02 -1.93764946e-04 9.96607151e-01 -8.19356678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05864 meters 0.026292110361741502 Centerline is valid? [True, True] Translation: X:118.90, Y:-66.95, Z:-8.20 [[ 7.08743182e-01 7.03023627e-01 5.86590329e-02 1.18898066e+02] [-7.00635199e-01 7.11166490e-01 -5.79011412e-02 -6.69473569e+01] [-8.24222088e-02 -6.15441601e-05 9.96597499e-01 -8.19605233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters 0.02620108924604572 Centerline is valid? [True, True] Translation: X:118.93, Y:-66.97, Z:-8.20 [[ 7.11760398e-01 6.99965891e-01 5.86931714e-02 1.18925533e+02] [-6.97559282e-01 7.14176196e-01 -5.79949077e-02 -6.69666300e+01] [-8.25117231e-02 3.36512008e-04 9.96590037e-01 -8.19831459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11864 meters 0.02602382142059982 Centerline is valid? [True, True] Translation: X:118.95, Y:-66.99, Z:-8.20 [[ 7.12479668e-01 6.99216866e-01 5.88939412e-02 1.18949983e+02] [-6.96786236e-01 7.14909473e-01 -5.82527812e-02 -6.69885671e+01] [-8.28351637e-02 4.67434603e-04 9.96563153e-01 -8.19918139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters 0.026299763452008223 Centerline is valid? [True, True] Translation: X:118.97, Y:-67.01, Z:-8.20 [[ 7.13686018e-01 6.97933285e-01 5.95096414e-02 1.18974285e+02] [-6.95442159e-01 7.16162474e-01 -5.89195686e-02 -6.70104380e+01] [-8.37405000e-02 6.64558808e-04 9.96487374e-01 -8.20093892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17864 meters 0.02621885652938698 Centerline is valid? [True, True] Translation: X:119.00, Y:-67.03, Z:-8.20 [[ 7.14117378e-01 6.97531779e-01 5.90405689e-02 1.18998392e+02] [-6.95073960e-01 7.16553461e-01 -5.85092129e-02 -6.70329966e+01] [-8.31177593e-02 7.44883697e-04 9.96539454e-01 -8.20371016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters 0.026147110341215894 Centerline is valid? [True, True] Translation: X:119.02, Y:-67.06, Z:-8.21 [[ 7.13975746e-01 6.97725159e-01 5.84656828e-02 1.19021849e+02] [-6.95311041e-01 7.16365152e-01 -5.79959091e-02 -6.70556747e+01] [-8.23479827e-02 7.55837701e-04 9.96603351e-01 -8.20616638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23864 meters 0.026140630058872714 Centerline is valid? [True, True] Translation: X:119.05, Y:-67.08, Z:-8.21 [[ 7.12953471e-01 6.98683432e-01 5.94879049e-02 1.19045296e+02] [-6.96182889e-01 7.15430625e-01 -5.90627230e-02 -6.70781849e+01] [-8.38256150e-02 6.94511817e-04 9.96480197e-01 -8.20950472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters 0.026103308043422754 Centerline is valid? [True, True] Translation: X:119.07, Y:-67.10, Z:-8.21 [[ 7.12175977e-01 6.99384033e-01 6.05586639e-02 1.19068531e+02] [-6.96791077e-01 7.14745789e-01 -6.01718508e-02 -6.71007731e+01] [-8.53672818e-02 6.56210046e-04 9.96349335e-01 -8.21167214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29864 meters 0.026124469727727275 Centerline is valid? [True, True] Translation: X:119.09, Y:-67.12, Z:-8.21 [[ 7.10805779e-01 7.00765809e-01 6.06830010e-02 1.19092496e+02] [-6.98163792e-01 7.13391205e-01 -6.03349632e-02 -6.71237940e+01] [-8.55713985e-02 5.19766344e-04 9.96331905e-01 -8.21346573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters 0.026167139757926602 Centerline is valid? [True, True] Translation: X:119.12, Y:-67.15, Z:-8.22 [[ 7.09111073e-01 7.02480505e-01 6.06846488e-02 1.19116427e+02] [-6.99879294e-01 7.11702896e-01 -6.03983607e-02 -6.71459847e+01] [-8.56181113e-02 3.57217202e-04 9.96327964e-01 -8.21579571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35864 meters 0.025992598114857685 Centerline is valid? [True, True] Translation: X:119.14, Y:-67.17, Z:-8.22 [[ 7.08479193e-01 7.03114274e-01 6.07252128e-02 1.19140874e+02] [-7.00506615e-01 7.11076798e-01 -6.05001622e-02 -6.71681454e+01] [-8.57188174e-02 3.24692811e-04 9.96319316e-01 -8.21810235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38864 meters 0.026134744077441284 Centerline is valid? [True, True] Translation: X:119.16, Y:-67.19, Z:-8.22 [[ 7.07529875e-01 7.03996435e-01 6.15669948e-02 1.19164853e+02] [-7.01313915e-01 7.10203456e-01 -6.13990480e-02 -6.71897390e+01] [-8.69498035e-02 2.63870572e-04 9.96212659e-01 -8.22067156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41864 meters 0.026273361125386353 Centerline is valid? [True, True] Translation: X:119.19, Y:-67.21, Z:-8.22 [[ 7.08598881e-01 7.02779073e-01 6.31601122e-02 1.19190230e+02] [-6.99945720e-01 7.11408011e-01 -6.30446739e-02 -6.72099246e+01] [-8.92390873e-02 4.64735206e-04 9.96010125e-01 -8.22457639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44864 meters 0.02632768041650383 Centerline is valid? [True, True] Translation: X:119.21, Y:-67.23, Z:-8.23 [[ 7.09017612e-01 7.02351806e-01 6.32136655e-02 1.19213349e+02] [-6.99508045e-01 7.11829782e-01 -6.31415543e-02 -6.72316981e+01] [-8.93449544e-02 5.50006413e-04 9.96000591e-01 -8.22577622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47864 meters 0.02643783787209484 Centerline is valid? [True, True] Translation: X:119.24, Y:-67.25, Z:-8.23 [[ 7.09413330e-01 7.01967304e-01 6.30446762e-02 1.19238247e+02] [-6.99134068e-01 7.12208900e-01 -6.30082355e-02 -6.72536209e+01] [-8.91307007e-02 6.22201220e-04 9.96019744e-01 -8.22742496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50864 meters 0.0265401909336404 Centerline is valid? [True, True] Translation: X:119.12, Y:-67.55, Z:-6.45 [[ 7.49782550e-01 -6.61458847e-01 -1.72719861e-02 1.19115959e+02] [-6.61154778e-01 -7.49971332e-01 2.04294053e-02 -6.75524036e+01] [-2.64667053e-02 -3.89815547e-03 -9.99642095e-01 -6.44552190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53864000000002 meters 0.026388948241005728 Centerline is valid? [True, True] Translation: X:119.25, Y:-67.28, Z:-8.23 [[ 7.58268719e-01 6.48515135e-01 6.67582939e-02 1.19254746e+02] [-6.45928226e-01 7.61201379e-01 -5.78721578e-02 -6.72849940e+01] [-8.83474756e-02 7.61580550e-04 9.96089425e-01 -8.22928145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864000000002 meters 0.026731019139518697 Centerline is valid? [True, True] Translation: X:119.28, Y:-67.31, Z:-8.23 [[ 7.58908444e-01 6.47642161e-01 6.79529646e-02 1.19278976e+02] [-6.44952899e-01 7.61944079e-01 -5.89659186e-02 -6.73062900e+01] [-8.99651739e-02 9.23272080e-04 9.95944484e-01 -8.23169325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59864000000002 meters 0.02687094526369133 Centerline is valid? [True, True] Translation: X:119.30, Y:-67.33, Z:-8.24 [[ 7.59680455e-01 6.46699021e-01 6.83080011e-02 1.19302778e+02] [-6.43973034e-01 7.62744525e-01 -5.93255517e-02 -6.73270873e+01] [-9.04673300e-02 1.07995132e-03 9.95898838e-01 -8.23502662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864000000002 meters 0.026878971104013414 Centerline is valid? [True, True] Translation: X:119.33, Y:-67.35, Z:-8.24 [[ 7.60649072e-01 6.45755770e-01 6.64264653e-02 1.19325918e+02] [-6.43170396e-01 7.63543094e-01 -5.77389398e-02 -6.73494144e+01] [-8.80047223e-02 1.19553502e-03 9.96119340e-01 -8.23682800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65864000000002 meters 0.02693550021338857 Centerline is valid? [True, True] Translation: X:119.35, Y:-67.37, Z:-8.24 [[ 7.61098937e-01 6.45373373e-01 6.49739688e-02 1.19349817e+02] [-6.42894454e-01 7.63866250e-01 -5.65249832e-02 -6.73715997e+01] [-8.61111410e-02 1.24970046e-03 9.96284753e-01 -8.23814734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864000000002 meters 0.026958319142162818 Centerline is valid? [True, True] Translation: X:119.37, Y:-67.39, Z:-8.24 [[ 7.60930141e-01 6.45559788e-01 6.50990020e-02 1.19373642e+02] [-6.43067474e-01 7.63708678e-01 -5.66858008e-02 -6.73947556e+01] [-8.63107463e-02 1.27088363e-03 9.96267454e-01 -8.24013708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71864000000002 meters 0.02690695118330335 Centerline is valid? [True, True] Translation: X:119.40, Y:-67.42, Z:-8.24 [[ 7.60149267e-01 6.46473194e-01 6.51575086e-02 1.19396363e+02] [-6.43974773e-01 7.62935738e-01 -5.67939394e-02 -6.74193783e+01] [-8.64267513e-02 1.21207957e-03 9.96257471e-01 -8.24256596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864000000002 meters 0.026867753173458787 Centerline is valid? [True, True] Translation: X:119.42, Y:-67.44, Z:-8.24 [[ 7.58655120e-01 6.48187906e-01 6.55350869e-02 1.19420427e+02] [-6.45661682e-01 7.61479677e-01 -5.71812276e-02 -6.74425420e+01] [-8.69678170e-02 1.06733664e-03 9.96210550e-01 -8.24462617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77864 meters 0.026724356749339505 Centerline is valid? [True, True] Translation: X:119.44, Y:-67.47, Z:-8.25 [[ 7.55554819e-01 6.51824337e-01 6.52836123e-02 1.19442020e+02] [-6.49326188e-01 7.58369672e-01 -5.70170380e-02 -6.74662960e+01] [-8.66742046e-02 6.89138778e-04 9.96236472e-01 -8.24728024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters 0.026705426836583206 Centerline is valid? [True, True] Translation: X:119.47, Y:-67.49, Z:-8.25 [[ 7.54288228e-01 6.53301296e-01 6.51665979e-02 1.19465527e+02] [-6.50812985e-01 7.57097817e-01 -5.69680097e-02 -6.74890756e+01] [-8.65547636e-02 5.59030907e-04 9.96246937e-01 -8.25002258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83864 meters 0.026785731706805826 Centerline is valid? [True, True] Translation: X:119.49, Y:-67.51, Z:-8.25 [[ 7.53301302e-01 6.54461074e-01 6.49449903e-02 1.19489425e+02] [-6.51988992e-01 7.56095552e-01 -5.68319533e-02 -6.75116624e+01] [-8.62989195e-02 4.68165673e-04 9.96269179e-01 -8.25117692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters 0.026769935920199363 Centerline is valid? [True, True] Translation: X:119.51, Y:-67.54, Z:-8.25 [[ 7.52148866e-01 6.55781448e-01 6.49828945e-02 1.19512320e+02] [-6.53306323e-01 7.54950702e-01 -5.69235045e-02 -6.75353926e+01] [-8.63882600e-02 3.61213490e-04 9.96261481e-01 -8.25372689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89864 meters 0.02663941825953583 Centerline is valid? [True, True] Translation: X:119.54, Y:-67.56, Z:-8.25 [[ 7.51808451e-01 6.56220418e-01 6.44888830e-02 1.19535770e+02] [-6.53779680e-01 7.54569175e-01 -5.65463549e-02 -6.75569334e+01] [-8.57681959e-02 3.50506155e-04 9.96315057e-01 -8.25495277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters 0.026876893127974824 Centerline is valid? [True, True] Translation: X:119.56, Y:-67.58, Z:-8.26 [[ 7.51737187e-01 6.56278913e-01 6.47239567e-02 1.19559598e+02] [-6.53815875e-01 7.54518283e-01 -5.68063523e-02 -6.75791410e+01] [-8.61162198e-02 3.85897063e-04 9.96285023e-01 -8.25672213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95864 meters 0.026955121967534405 Centerline is valid? [True, True] Translation: X:119.58, Y:-67.60, Z:-8.26 [[ 7.51459893e-01 6.56598754e-01 6.47001227e-02 1.19584808e+02] [-6.54133638e-01 7.54239963e-01 -5.68441944e-02 -6.76009523e+01] [-8.61232453e-02 3.93605618e-04 9.96284413e-01 -8.25823899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters 0.027100883830870025 Centerline is valid? [True, True] Translation: X:119.61, Y:-67.62, Z:-8.26 [[ 7.50421285e-01 6.57696121e-01 6.56026469e-02 1.19608967e+02] [-6.55160758e-01 7.53283289e-01 -5.76946142e-02 -6.76225598e+01] [-8.73629016e-02 3.14986681e-04 9.96176503e-01 -8.26074053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01864 meters 0.02724207740122816 Centerline is valid? [True, True] Translation: X:119.63, Y:-67.64, Z:-8.26 [[ 7.50120531e-01 6.57869872e-01 6.72786795e-02 1.19632180e+02] [-6.55199643e-01 7.53131541e-01 -5.92141034e-02 -6.76439602e+01] [-8.96248702e-02 3.36747877e-04 9.95975536e-01 -8.26309803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters 0.027074890646763355 Centerline is valid? [True, True] Translation: X:119.66, Y:-67.67, Z:-8.26 [[ 7.50211614e-01 6.57880105e-01 6.61536116e-02 1.19656646e+02] [-6.55295452e-01 7.53122592e-01 -5.82600355e-02 -6.76653145e+01] [-8.81498978e-02 3.57194502e-04 9.96107157e-01 -8.26437018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07864 meters 0.027378142770331414 Centerline is valid? [True, True] Translation: X:119.68, Y:-67.69, Z:-8.27 [[ 7.50290380e-01 6.57730912e-01 6.67412357e-02 1.19680828e+02] [-6.55094712e-01 7.53252861e-01 -5.88306566e-02 -6.76866233e+01] [-8.89677681e-02 4.18245225e-04 9.96034418e-01 -8.26733674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10864 meters 0.027284639091587383 Centerline is valid? [True, True] Translation: X:119.70, Y:-67.71, Z:-8.27 [[ 7.51344732e-01 6.56720345e-01 6.48034022e-02 1.19704002e+02] [-6.54228128e-01 7.54133996e-01 -5.71618153e-02 -6.77096634e+01] [-8.64097757e-02 5.52020293e-04 9.96259527e-01 -8.26891781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13864 meters 0.027370449322475388 Centerline is valid? [True, True] Translation: X:119.73, Y:-67.73, Z:-8.27 [[ 7.51895006e-01 6.56096322e-01 6.47419189e-02 1.19728224e+02] [-6.53603794e-01 7.54676883e-01 -5.71391606e-02 -6.77316933e+01] [-8.63480227e-02 6.47085649e-04 9.96264824e-01 -8.27041901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16864 meters 0.02737442101123312 Centerline is valid? [True, True] Translation: X:119.75, Y:-67.75, Z:-8.27 [[ 7.52257824e-01 6.55738717e-01 6.41474943e-02 1.19753842e+02] [-6.53285568e-01 7.54987555e-01 -5.66723784e-02 -6.77530218e+01] [-8.55928326e-02 7.25607829e-04 9.96329936e-01 -8.27074514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19864 meters 0.02742661027354009 Centerline is valid? [True, True] Translation: X:119.78, Y:-67.77, Z:-8.27 [[ 7.52513388e-01 6.55567622e-01 6.28863607e-02 1.19778526e+02] [-6.53204975e-01 7.55136079e-01 -5.56126102e-02 -6.77743432e+01] [-8.39455864e-02 7.71550028e-04 9.96470041e-01 -8.27265455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22864 meters 0.027339649688219943 Centerline is valid? [True, True] Translation: X:119.80, Y:-67.80, Z:-8.27 [[ 7.52060455e-01 6.56084378e-01 6.29155084e-02 1.19802652e+02] [-6.53716942e-01 7.54687168e-01 -5.56905645e-02 -6.77970831e+01] [-8.40192361e-02 7.53737536e-04 9.96463848e-01 -8.27453351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25864 meters 0.0274859569380791 Centerline is valid? [True, True] Translation: X:119.83, Y:-67.82, Z:-8.28 [[ 7.51484859e-01 6.56661375e-01 6.37679021e-02 1.19825935e+02] [-6.54226521e-01 7.54185183e-01 -5.65010563e-02 -6.78198895e+01] [-8.51948682e-02 7.41035611e-04 9.96364033e-01 -8.27673607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864000000002 meters 0.027832715129907117 Centerline is valid? [True, True] Translation: X:119.85, Y:-67.84, Z:-8.28 [[ 7.50833942e-01 6.57282735e-01 6.50215179e-02 1.19849102e+02] [-6.54748768e-01 7.53643738e-01 -5.76642706e-02 -6.78428053e+01] [-8.69047892e-02 7.23532947e-04 9.96216359e-01 -8.27964047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31864000000002 meters 0.027762110768899513 Centerline is valid? [True, True] Translation: X:119.87, Y:-67.87, Z:-8.28 [[ 7.50028533e-01 6.58216376e-01 6.48721931e-02 1.19873402e+02] [-6.55692815e-01 7.52828515e-01 -5.75860993e-02 -6.78654735e+01] [-8.67417505e-02 6.54986686e-04 9.96230616e-01 -8.28253563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864000000002 meters 0.02757150610481995 Centerline is valid? [True, True] Translation: X:119.90, Y:-67.89, Z:-8.28 [[ 7.49239421e-01 6.59350569e-01 6.24269001e-02 1.19895308e+02] [-6.57013476e-01 7.51835442e-01 -5.54685636e-02 -6.78896917e+01] [-8.35079850e-02 5.43919859e-04 9.96506960e-01 -8.28446397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37864000000002 meters 0.02747042864270687 Centerline is valid? [True, True] Translation: X:119.92, Y:-67.91, Z:-8.28 [[ 7.48478961e-01 6.60252973e-01 6.20101389e-02 1.19918403e+02] [-6.57946041e-01 7.51043131e-01 -5.51472828e-02 -6.79120366e+01] [-8.29834462e-02 4.77255512e-04 9.96550812e-01 -8.28488008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864000000002 meters 0.027557989883973982 Centerline is valid? [True, True] Translation: X:119.94, Y:-67.93, Z:-8.29 [[ 7.48269533e-01 6.60337616e-01 6.36155589e-02 1.19942291e+02] [-6.57905331e-01 7.50968684e-01 -5.66269500e-02 -6.79338892e+01] [-8.51661976e-02 5.19206087e-04 9.96366624e-01 -8.28754502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43864000000002 meters 0.02757103244308891 Centerline is valid? [True, True] Translation: X:119.97, Y:-67.96, Z:-8.29 [[ 7.48552774e-01 6.59903865e-01 6.47737127e-02 1.19965346e+02] [-6.57375850e-01 7.51349790e-01 -5.77103608e-02 -6.79564984e+01] [-8.67510055e-02 6.18576180e-04 9.96229833e-01 -8.28933307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864000000002 meters 0.02757103244308891 Centerline is valid? [True, True] Translation: X:119.99, Y:-67.98, Z:-8.29 [[ 7.48218115e-01 6.60285924e-01 6.47468270e-02 1.19989856e+02] [-6.57756728e-01 7.51014061e-01 -5.77405136e-02 -6.79778900e+01] [-8.67510259e-02 6.14837183e-04 9.96229834e-01 -8.29121198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49864000000002 meters 0.027809941204809938 Centerline is valid? [True, True] Translation: X:120.01, Y:-68.00, Z:-8.29 [[ 7.48738587e-01 6.59695256e-01 6.47510415e-02 1.20013551e+02] [-6.57158369e-01 7.51532860e-01 -5.78034511e-02 -6.80004165e+01] [-8.67951979e-02 7.27985439e-04 9.96225910e-01 -8.29278882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters 0.02781841403731929 Centerline is valid? [True, True] Translation: X:120.04, Y:-68.03, Z:-8.29 [[ 7.48727583e-01 6.59706533e-01 6.47633865e-02 1.20036135e+02] [-6.57163555e-01 7.51522917e-01 -5.78737163e-02 -6.80253807e+01] [-8.68508379e-02 7.71510378e-04 9.96221028e-01 -8.29466310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55864 meters 0.027881210843773215 Centerline is valid? [True, True] Translation: X:120.06, Y:-68.05, Z:-8.30 [[ 7.48598283e-01 6.59834190e-01 6.49573177e-02 1.20060042e+02] [-6.57271206e-01 7.51410804e-01 -5.81064975e-02 -6.80486655e+01] [-8.71502840e-02 8.03849645e-04 9.96194851e-01 -8.29687797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters 0.027721842095714155 Centerline is valid? [True, True] Translation: X:120.08, Y:-68.07, Z:-8.30 [[ 7.48323642e-01 6.60166333e-01 6.47467392e-02 1.20083486e+02] [-6.57616078e-01 7.51119006e-01 -5.79770020e-02 -6.80714025e+01] [-8.69069712e-02 8.07064626e-04 9.96216105e-01 -8.29800202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61864 meters 0.02763337168667577 Centerline is valid? [True, True] Translation: X:120.11, Y:-68.10, Z:-8.30 [[ 7.47308980e-01 6.61352856e-01 6.43559575e-02 1.20105038e+02] [-6.58832865e-01 7.50074596e-01 -5.76832365e-02 -6.80957666e+01] [-8.64207420e-02 7.07380776e-04 9.96258478e-01 -8.29895197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters 0.0275413248148738 Centerline is valid? [True, True] Translation: X:120.13, Y:-68.12, Z:-8.30 [[ 7.46855502e-01 6.61939160e-01 6.35877973e-02 1.20128123e+02] [-6.59476875e-01 7.49557270e-01 -5.70451726e-02 -6.81179315e+01] [-8.54231294e-02 6.69819175e-04 9.96344539e-01 -8.29990193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67864 meters 0.027634064876947768 Centerline is valid? [True, True] Translation: X:120.15, Y:-68.14, Z:-8.30 [[ 7.46526400e-01 6.62320012e-01 6.34864971e-02 1.20151285e+02] [-6.59862396e-01 7.49220768e-01 -5.70075359e-02 -6.81417768e+01] [-8.53226340e-02 6.65278503e-04 9.96353153e-01 -8.30202658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters 0.027683438870022767 Centerline is valid? [True, True] Translation: X:120.17, Y:-68.16, Z:-8.30 [[ 7.47170247e-01 6.61643241e-01 6.29670088e-02 1.20174983e+02] [-6.59218465e-01 7.49818388e-01 -5.65985992e-02 -6.81649897e+01] [-8.46619016e-02 7.79774430e-04 9.96409431e-01 -8.30454321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73864 meters 0.02765510358174762 Centerline is valid? [True, True] Translation: X:120.20, Y:-68.19, Z:-8.31 [[ 7.46389877e-01 6.62419830e-01 6.40477980e-02 1.20197027e+02] [-6.59908827e-01 7.49132439e-01 -5.76275062e-02 -6.81884606e+01] [-8.61538860e-02 7.46879965e-04 9.96281562e-01 -8.30721925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters 0.02782028453147288 Centerline is valid? [True, True] Translation: X:120.22, Y:-68.21, Z:-8.31 [[ 7.46793648e-01 6.61920789e-01 6.44989654e-02 1.20219462e+02] [-6.59367801e-01 7.49573310e-01 -5.80857540e-02 -6.82113459e+01] [-8.67948711e-02 8.49531159e-04 9.96225842e-01 -8.30924257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79864 meters 0.027736275474793393 Centerline is valid? [True, True] Translation: X:120.24, Y:-68.24, Z:-8.31 [[ 7.47240646e-01 6.61457489e-01 6.40734474e-02 1.20241385e+02] [-6.58931771e-01 7.49982073e-01 -5.77564749e-02 -6.82356850e+01] [-8.62573898e-02 9.37955482e-04 9.96272444e-01 -8.30989523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters 0.027702786686088124 Centerline is valid? [True, True] Translation: X:120.26, Y:-68.26, Z:-8.31 [[ 7.47830943e-01 6.60917365e-01 6.27464523e-02 1.20262074e+02] [-6.58488846e-01 7.50457990e-01 -5.66148722e-02 -6.82614271e+01] [-8.45063286e-02 1.02051434e-03 9.96422420e-01 -8.31159556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85864 meters 0.0276931299511316 Centerline is valid? [True, True] Translation: X:120.28, Y:-68.28, Z:-8.31 [[ 7.47269967e-01 6.61712142e-01 6.10298106e-02 1.20284188e+02] [-6.59413603e-01 7.49757398e-01 -5.51139206e-02 -6.82847410e+01] [-8.22271024e-02 9.41090292e-04 9.96613174e-01 -8.31292672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88864 meters 0.027446361085831646 Centerline is valid? [True, True] Translation: X:120.31, Y:-68.31, Z:-8.31 [[ 7.46261791e-01 6.62965552e-01 5.97496116e-02 1.20306711e+02] [-6.60762762e-01 7.48649451e-01 -5.40052870e-02 -6.83080157e+01] [-8.05351588e-02 8.21763784e-04 9.96751430e-01 -8.31473104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91864 meters 0.02750478155393991 Centerline is valid? [True, True] Translation: X:120.33, Y:-68.33, Z:-8.32 [[ 7.45534270e-01 6.63750675e-01 6.01140011e-02 1.20330612e+02] [-6.61519296e-01 7.47953497e-01 -5.43855459e-02 -6.83310426e+01] [-8.10609201e-02 7.79716575e-04 9.96708844e-01 -8.31754935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94864 meters 0.02728757029346182 Centerline is valid? [True, True] Translation: X:120.35, Y:-68.36, Z:-8.32 [[ 7.43657468e-01 6.65843283e-01 6.02187027e-02 1.20353454e+02] [-6.63606387e-01 7.46091394e-01 -5.45361792e-02 -6.83553636e+01] [-8.12412045e-02 5.94721251e-04 9.96694293e-01 -8.31851486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97864 meters 0.027451708395073424 Centerline is valid? [True, True] Translation: X:120.38, Y:-68.38, Z:-8.32 [[ 7.42846991e-01 6.66664895e-01 6.11250072e-02 1.20376238e+02] [-6.64358234e-01 7.45357372e-01 -5.54123259e-02 -6.83785130e+01] [-8.25014271e-02 5.53977738e-04 9.96590792e-01 -8.32116335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00864 meters 0.02732780099284807 Centerline is valid? [True, True] Translation: X:120.40, Y:-68.40, Z:-8.32 [[ 7.42410099e-01 6.67191070e-01 6.06903806e-02 1.20397947e+02] [-6.64914677e-01 7.44886431e-01 -5.50697468e-02 -6.84041432e+01] [-8.19494843e-02 5.30411324e-04 9.96636343e-01 -8.32286302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03864000000002 meters 0.02735033995643528 Centerline is valid? [True, True] Translation: X:120.42, Y:-68.43, Z:-8.32 [[ 7.42286636e-01 6.67313846e-01 6.08504808e-02 1.20421804e+02] [-6.65021112e-01 7.44776421e-01 -5.52720850e-02 -6.84276769e+01] [-8.22038309e-02 5.60875640e-04 9.96615380e-01 -8.32447308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864000000002 meters 0.027343979755385415 Centerline is valid? [True, True] Translation: X:120.44, Y:-68.45, Z:-8.33 [[ 7.42844783e-01 6.66622042e-01 6.16172251e-02 1.20443876e+02] [-6.64263974e-01 7.45395587e-01 -5.60249297e-02 -6.84516890e+01] [-8.32766606e-02 6.87723944e-04 9.96526229e-01 -8.32586938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09864000000002 meters 0.027510875389334836 Centerline is valid? [True, True] Translation: X:120.47, Y:-68.48, Z:-8.33 [[ 7.42228027e-01 6.67273047e-01 6.20019125e-02 1.20467349e+02] [-6.64883172e-01 7.44812894e-01 -5.64280152e-02 -6.84755247e+01] [-8.38327175e-02 6.58426110e-04 9.96479624e-01 -8.32886186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864000000002 meters 0.02761280347219655 Centerline is valid? [True, True] Translation: X:120.49, Y:-68.50, Z:-8.33 [[ 7.41828453e-01 6.67670466e-01 6.25035516e-02 1.20490708e+02] [-6.65238090e-01 7.44456654e-01 -5.69436084e-02 -6.84989131e+01] [-8.45507505e-02 6.62645694e-04 9.96418954e-01 -8.33066226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15864000000002 meters 0.027622168093175803 Centerline is valid? [True, True] Translation: X:120.51, Y:-68.52, Z:-8.33 [[ 7.42363836e-01 6.67138208e-01 6.18267478e-02 1.20512974e+02] [-6.64751616e-01 7.44933578e-01 -5.63848705e-02 -6.85238153e+01] [-8.36733219e-02 7.58658280e-04 9.96492950e-01 -8.33180279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864000000002 meters 0.02759555267696681 Centerline is valid? [True, True] Translation: X:120.54, Y:-68.55, Z:-8.33 [[ 7.42270141e-01 6.67165907e-01 6.26473485e-02 1.20536283e+02] [-6.64710631e-01 7.44908718e-01 -5.71907253e-02 -6.85465798e+01] [-8.48222582e-02 8.08609183e-04 9.96395770e-01 -8.33422847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21864000000002 meters 0.02759725810730399 Centerline is valid? [True, True] Translation: X:120.56, Y:-68.57, Z:-8.34 [[ 7.42931843e-01 6.66399972e-01 6.29551788e-02 1.20558334e+02] [-6.63913260e-01 7.45593854e-01 -5.75238070e-02 -6.85704667e+01] [-8.52728578e-02 9.39489882e-04 9.96357194e-01 -8.33590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864000000002 meters 0.027543383977642936 Centerline is valid? [True, True] Translation: X:120.58, Y:-68.59, Z:-8.34 [[ 7.43266606e-01 6.66140502e-01 6.17380230e-02 1.20581027e+02] [-6.63744102e-01 7.45825620e-01 -5.64615975e-02 -6.85931267e+01] [-8.36571562e-02 9.87771326e-04 9.96494107e-01 -8.33787283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27864 meters 0.027529202644326557 Centerline is valid? [True, True] Translation: X:120.60, Y:-68.62, Z:-8.34 [[ 7.43870510e-01 6.65503700e-01 6.13309826e-02 1.20604375e+02] [-6.63132322e-01 7.46393753e-01 -5.61416958e-02 -6.86163364e+01] [-8.31395685e-02 1.09159498e-03 9.96537315e-01 -8.33938406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters 0.02777865750794727 Centerline is valid? [True, True] Translation: X:120.63, Y:-68.64, Z:-8.34 [[ 7.45049138e-01 6.64204996e-01 6.11024133e-02 1.20626206e+02] [-6.61842338e-01 7.47549397e-01 -5.59876578e-02 -6.86407775e+01] [-8.28643543e-02 1.27339208e-03 9.96560022e-01 -8.34046949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33864 meters 0.027971886689636946 Centerline is valid? [True, True] Translation: X:120.65, Y:-68.66, Z:-8.34 [[ 7.45586640e-01 6.63642263e-01 6.06589513e-02 1.20649109e+02] [-6.61307713e-01 7.48048851e-01 -5.56329567e-02 -6.86640641e+01] [-8.22962401e-02 1.36495691e-03 9.96606977e-01 -8.34269446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36864 meters 0.027930372633516182 Centerline is valid? [True, True] Translation: X:120.67, Y:-68.69, Z:-8.35 [[ 7.45482871e-01 6.63681532e-01 6.14988870e-02 1.20669944e+02] [-6.61277213e-01 7.48013906e-01 -5.64592221e-02 -6.86882306e+01] [-8.34729657e-02 1.42157042e-03 9.96509028e-01 -8.34548517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39864 meters 0.02795383009536832 Centerline is valid? [True, True] Translation: X:120.69, Y:-68.71, Z:-8.35 [[ 7.44584071e-01 6.64711485e-01 6.12633853e-02 1.20692656e+02] [-6.62324902e-01 7.47098956e-01 -5.62927602e-02 -6.87107332e+01] [-8.31882554e-02 1.33842698e-03 9.96532951e-01 -8.34688298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters 0.027779460156027613 Centerline is valid? [True, True] Translation: X:120.72, Y:-68.73, Z:-8.35 [[ 7.43395646e-01 6.66035551e-01 6.13152409e-02 1.20715618e+02] [-6.63645210e-01 7.45918986e-01 -5.63906115e-02 -6.87330941e+01] [-8.32943543e-02 1.22896913e-03 9.96524230e-01 -8.34895796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45864 meters 0.027560991982396237 Centerline is valid? [True, True] Translation: X:120.74, Y:-68.76, Z:-8.35 [[ 7.41979387e-01 6.67827987e-01 5.89268181e-02 1.20737892e+02] [-6.65622403e-01 7.44314943e-01 -5.42409602e-02 -6.87560708e+01] [-8.00837425e-02 1.02266413e-03 9.96787614e-01 -8.34987687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters 0.027479377084771835 Centerline is valid? [True, True] Translation: X:120.76, Y:-68.78, Z:-8.35 [[ 7.40809894e-01 6.69108829e-01 5.91107177e-02 1.20761990e+02] [-6.66889403e-01 7.43163858e-01 -5.44610339e-02 -6.87792084e+01] [-8.03693076e-02 9.24961522e-04 9.96764726e-01 -8.35161253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51864 meters 0.027456174718235152 Centerline is valid? [True, True] Translation: X:120.79, Y:-68.80, Z:-8.35 [[ 7.40884236e-01 6.69079860e-01 5.85037581e-02 1.20785326e+02] [-6.66901363e-01 7.43189895e-01 -5.39569422e-02 -6.88023812e+01] [-7.95809052e-02 9.59611864e-04 9.96827948e-01 -8.35211581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters 0.02756033742631866 Centerline is valid? [True, True] Translation: X:120.81, Y:-68.83, Z:-8.35 [[ 7.41079124e-01 6.68767962e-01 5.95914771e-02 1.20808596e+02] [-6.66502029e-01 7.43470446e-01 -5.50158386e-02 -6.88251122e+01] [-8.10973323e-02 1.05324916e-03 9.96705630e-01 -8.35466439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57864 meters 0.027701584702612643 Centerline is valid? [True, True] Translation: X:120.83, Y:-68.85, Z:-8.36 [[ 7.41262196e-01 6.68561569e-01 5.96304137e-02 1.20832379e+02] [-6.66287747e-01 7.43655958e-01 -5.51040209e-02 -6.88482454e+01] [-8.11849431e-02 1.11551348e-03 9.96698430e-01 -8.35680949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60864 meters 0.02781116623345488 Centerline is valid? [True, True] Translation: X:120.86, Y:-68.87, Z:-8.36 [[ 7.41119490e-01 6.68739078e-01 5.94133535e-02 1.20856379e+02] [-6.66477746e-01 7.43496307e-01 -5.49604923e-02 -6.88707507e+01] [-8.09278378e-02 1.13461413e-03 9.96719317e-01 -8.35872649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63864 meters 0.02774775399232379 Centerline is valid? [True, True] Translation: X:120.88, Y:-68.89, Z:-8.36 [[ 7.40892668e-01 6.68918637e-01 6.02155511e-02 1.20879678e+02] [-6.66591689e-01 7.43334705e-01 -5.57587352e-02 -6.88921924e+01] [-8.20583660e-02 1.17205221e-03 9.96626836e-01 -8.36079545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66864 meters 0.027610911208488645 Centerline is valid? [True, True] Translation: X:120.90, Y:-68.91, Z:-8.36 [[ 7.39717993e-01 6.70333858e-01 5.89051017e-02 1.20902942e+02] [-6.68107812e-01 7.42058933e-01 -5.45938762e-02 -6.89144295e+01] [-8.03071806e-02 1.02911394e-03 9.96769631e-01 -8.36288724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69864 meters 0.027397704134378986 Centerline is valid? [True, True] Translation: X:120.93, Y:-68.94, Z:-8.36 [[ 7.39565558e-01 6.70613857e-01 5.76180519e-02 1.20926339e+02] [-6.68481284e-01 7.41805925e-01 -5.34485009e-02 -6.89362697e+01] [-7.85847176e-02 1.01208111e-03 9.96906925e-01 -8.36361310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72864 meters 0.027563864938135653 Centerline is valid? [True, True] Translation: X:120.95, Y:-68.96, Z:-8.37 [[ 7.38494443e-01 6.71620756e-01 5.95946199e-02 1.20949983e+02] [-6.69338213e-01 7.40894467e-01 -5.53330400e-02 -6.89585480e+01] [-8.13161423e-02 9.74186113e-04 9.96687883e-01 -8.36624243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75864 meters 0.02759352277552799 Centerline is valid? [True, True] Translation: X:120.97, Y:-68.98, Z:-8.37 [[ 7.37895078e-01 6.72301503e-01 5.93425889e-02 1.20974167e+02] [-6.70036251e-01 7.40276852e-01 -5.51507544e-02 -6.89816461e+01] [-8.10078800e-02 9.33784500e-04 9.96713024e-01 -8.36785424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864000000002 meters 0.027318922260602688 Centerline is valid? [True, True] Translation: X:121.00, Y:-69.00, Z:-8.37 [[ 7.36316446e-01 6.73979394e-01 5.99155103e-02 1.20997173e+02] [-6.71670906e-01 7.38749712e-01 -5.57409755e-02 -6.90048078e+01] [-8.18308349e-02 7.99491871e-04 9.96645913e-01 -8.36944343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81864000000002 meters 0.027502401882709075 Centerline is valid? [True, True] Translation: X:121.02, Y:-69.03, Z:-8.37 [[ 7.35054764e-01 6.75281266e-01 6.07429456e-02 1.21022505e+02] [-6.72907983e-01 7.37559971e-01 -5.65697412e-02 -6.90264766e+01] [-8.30020517e-02 7.07444756e-04 9.96549125e-01 -8.37206926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84864000000002 meters 0.027107258859262608 Centerline is valid? [True, True] Translation: X:121.05, Y:-69.05, Z:-8.37 [[ 7.33187552e-01 6.77508226e-01 5.84689368e-02 1.21048712e+02] [-6.75312384e-01 7.35515041e-01 -5.45051209e-02 -6.90451057e+01] [-7.99324502e-02 4.77679011e-04 9.96800168e-01 -8.37335981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87864000000002 meters 0.02724034145007629 Centerline is valid? [True, True] Translation: X:121.07, Y:-69.07, Z:-8.38 [[ 7.31631625e-01 6.79088595e-01 5.96141349e-02 1.21073164e+02] [-6.76806779e-01 7.34056236e-01 -5.56239713e-02 -6.90664785e+01] [-8.15337320e-02 3.49005868e-04 9.96670522e-01 -8.37618045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864000000002 meters 0.02731340577142007 Centerline is valid? [True, True] Translation: X:121.10, Y:-69.09, Z:-8.38 [[ 7.30492044e-01 6.80231648e-01 6.05498031e-02 1.21097617e+02] [-6.77877095e-01 7.32997160e-01 -5.65491650e-02 -6.90879035e+01] [-8.28493654e-02 2.63390476e-04 9.96562047e-01 -8.37775985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93864000000002 meters 0.027403572208529393 Centerline is valid? [True, True] Translation: X:121.12, Y:-69.11, Z:-8.38 [[ 7.28592529e-01 6.82200218e-01 6.12844956e-02 1.21124767e+02] [-6.79790349e-01 7.31165410e-01 -5.72907097e-02 -6.91071196e+01] [-8.38928379e-02 8.09744786e-05 9.96474779e-01 -8.37963253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864000000002 meters 0.027319362698990414 Centerline is valid? [True, True] Translation: X:121.15, Y:-69.13, Z:-8.38 [[ 7.28345836e-01 6.82435876e-01 6.15923595e-02 1.21150676e+02] [-6.79997368e-01 7.30945460e-01 -5.76395173e-02 -6.91272931e+01] [-8.43559300e-02 9.88600076e-05 9.96435681e-01 -8.38210184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99864000000002 meters 0.027168990090252525 Centerline is valid? [True, True] Translation: X:121.18, Y:-69.15, Z:-8.38 [[ 7.28260730e-01 6.82583757e-01 6.09567395e-02 1.21175385e+02] [-6.80191110e-01 7.30807361e-01 -5.71021417e-02 -6.91474493e+01] [-8.35246283e-02 1.23015075e-04 9.96505706e-01 -8.38355450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters 0.027330517235595375 Centerline is valid? [True, True] Translation: X:121.20, Y:-69.17, Z:-8.39 [[ 7.29340207e-01 6.81463488e-01 6.05836448e-02 1.21201440e+02] [-6.79091712e-01 7.31852055e-01 -5.68068232e-02 -6.91673481e+01] [-8.30500408e-02 2.89649107e-04 9.96545336e-01 -8.38584313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05864 meters 0.027434709098551214 Centerline is valid? [True, True] Translation: X:121.23, Y:-69.19, Z:-8.39 [[ 7.29652206e-01 6.81154429e-01 6.03017597e-02 1.21227275e+02] [-6.78798731e-01 7.32139679e-01 -5.66018849e-02 -6.91883236e+01] [-8.27039356e-02 3.66932177e-04 9.96574094e-01 -8.38862406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters 0.02749516675224284 Centerline is valid? [True, True] Translation: X:121.25, Y:-69.21, Z:-8.39 [[ 7.30332305e-01 6.80433324e-01 6.02097611e-02 1.21254465e+02] [-6.78077458e-01 7.32809832e-01 -5.65748276e-02 -6.92073177e+01] [-8.26177030e-02 4.91542488e-04 9.96581193e-01 -8.38961345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11864 meters 0.027418696925484935 Centerline is valid? [True, True] Translation: X:121.28, Y:-69.23, Z:-8.39 [[ 7.29453214e-01 6.81318013e-01 6.08586362e-02 1.21279710e+02] [-6.78909042e-01 7.31987412e-01 -5.72445777e-02 -6.92289923e+01] [-8.35495176e-02 4.39762804e-04 9.96503530e-01 -8.39189915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters 0.027211791983326024 Centerline is valid? [True, True] Translation: X:121.31, Y:-69.25, Z:-8.39 [[ 7.28283668e-01 6.82647119e-01 5.99650757e-02 1.21305017e+02] [-6.80308358e-01 7.30748114e-01 -5.64600054e-02 -6.92488579e+01] [-8.23616259e-02 3.24157663e-04 9.96602457e-01 -8.39416603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17864 meters 0.027291396425194157 Centerline is valid? [True, True] Translation: X:121.33, Y:-69.27, Z:-8.40 [[ 7.28088322e-01 6.82896799e-01 5.94924974e-02 1.21330720e+02] [-6.80591314e-01 7.30514786e-01 -5.60679140e-02 -6.92692911e+01] [-8.17487480e-02 3.32316408e-04 9.96652914e-01 -8.39626202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters 0.027293078618157558 Centerline is valid? [True, True] Translation: X:121.36, Y:-69.29, Z:-8.40 [[ 7.28714172e-01 6.82207989e-01 5.97320312e-02 1.21356839e+02] [-6.79876694e-01 7.31158022e-01 -5.63527100e-02 -6.92899012e+01] [-8.21178227e-02 4.54602491e-04 9.96622525e-01 -8.39883467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23864 meters 0.02738054405062558 Centerline is valid? [True, True] Translation: X:121.38, Y:-69.31, Z:-8.40 [[ 7.29814915e-01 6.81139404e-01 5.84747919e-02 1.21381844e+02] [-6.78897535e-01 7.32153501e-01 -5.52212701e-02 -6.93106601e+01] [-8.04259066e-02 6.02914547e-04 9.96760408e-01 -8.40034774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters 0.027750016697724138 Centerline is valid? [True, True] Translation: X:121.41, Y:-69.33, Z:-8.40 [[ 7.32013360e-01 6.78646728e-01 5.99588136e-02 1.21406123e+02] [-6.76276739e-01 7.34464252e-01 -5.66748161e-02 -6.93321356e+01] [-8.24997838e-02 9.37971602e-04 9.96590641e-01 -8.40230339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29864 meters 0.02794282678192865 Centerline is valid? [True, True] Translation: X:121.43, Y:-69.35, Z:-8.40 [[ 7.33132298e-01 6.77447640e-01 5.98475451e-02 1.21430253e+02] [-6.75078267e-01 7.35570165e-01 -5.66203688e-02 -6.93535018e+01] [-8.23794038e-02 1.10844407e-03 9.96600424e-01 -8.40369666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters 0.02831069120008549 Centerline is valid? [True, True] Translation: X:121.45, Y:-69.37, Z:-8.40 [[ 7.34676553e-01 6.75728667e-01 6.03417745e-02 1.21454899e+02] [-6.73309868e-01 7.37149202e-01 -5.71390972e-02 -6.93746441e+01] [-8.30914169e-02 1.35004279e-03 9.96541015e-01 -8.40486775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35864 meters 0.028210057118203947 Centerline is valid? [True, True] Translation: X:121.48, Y:-69.40, Z:-8.41 [[ 7.34908654e-01 6.75558208e-01 5.94169782e-02 1.21478169e+02] [-6.73208503e-01 7.37305358e-01 -5.63127096e-02 -6.93974746e+01] [-8.18509696e-02 1.38468270e-03 9.96643618e-01 -8.40677657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38864 meters 0.028210057118203947 Centerline is valid? [True, True] Translation: X:121.50, Y:-69.42, Z:-8.41 [[ 7.34568724e-01 6.75930086e-01 5.93911480e-02 1.21501981e+02] [-6.73579393e-01 7.36964458e-01 -5.63399425e-02 -6.94195964e+01] [-8.18510273e-02 1.38090624e-03 9.96643619e-01 -8.40865526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41864 meters 0.02812186479858335 Centerline is valid? [True, True] Translation: X:121.52, Y:-69.44, Z:-8.41 [[ 7.34280680e-01 6.76291844e-01 5.88321815e-02 1.21524660e+02] [-6.73982029e-01 7.36632521e-01 -5.58637031e-02 -6.94426483e+01] [-8.11178650e-02 1.36780484e-03 9.96703577e-01 -8.41035915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44864 meters 0.028207164617697626 Centerline is valid? [True, True] Translation: X:121.55, Y:-69.47, Z:-8.41 [[ 7.33212869e-01 6.77412719e-01 5.92528254e-02 1.21547827e+02] [-6.75069075e-01 7.35602026e-01 -5.63152049e-02 -6.94660980e+01] [-8.17351345e-02 1.29128291e-03 9.96653250e-01 -8.41333925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47864 meters 0.028043262252608496 Centerline is valid? [True, True] Translation: X:121.57, Y:-69.49, Z:-8.42 [[ 7.31422694e-01 6.79346132e-01 5.92425183e-02 1.21571007e+02] [-6.77005113e-01 7.33817135e-01 -5.63603548e-02 -6.94888140e+01] [-8.17613641e-02 1.11575479e-03 9.96651310e-01 -8.41525560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50864 meters 0.02783693350950811 Centerline is valid? [True, True] Translation: X:121.59, Y:-69.51, Z:-8.42 [[ 7.28029558e-01 6.82818426e-01 6.10897746e-02 1.21591264e+02] [-6.80337438e-01 7.30587700e-01 -5.81599754e-02 -6.95145150e+01] [-8.43441408e-02 7.80520443e-04 9.96436379e-01 -8.41739928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53864000000002 meters 0.02760011073960654 Centerline is valid? [True, True] Translation: X:121.61, Y:-69.54, Z:-8.42 [[ 7.26203459e-01 6.84824288e-01 6.03674587e-02 1.21613338e+02] [-6.82406233e-01 7.28708020e-01 -5.75009199e-02 -6.95380758e+01] [-8.33682778e-02 5.62236872e-04 9.96518647e-01 -8.41907233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864000000002 meters 0.02762399147166914 Centerline is valid? [True, True] Translation: X:121.64, Y:-69.56, Z:-8.42 [[ 7.23742664e-01 6.87481479e-01 5.97140938e-02 1.21636467e+02] [-6.85120321e-01 7.26201853e-01 -5.69299084e-02 -6.95610308e+01] [-8.25027432e-02 2.91264502e-04 9.96590795e-01 -8.42048134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59864000000002 meters 0.02735459901765823 Centerline is valid? [True, True] Translation: X:121.66, Y:-69.58, Z:-8.42 [[ 7.21459269e-01 6.89934931e-01 5.90450123e-02 1.21661223e+02] [-6.87630488e-01 7.23871389e-01 -5.63429151e-02 -6.95815695e+01] [-8.16139404e-02 4.79677668e-05 9.96664017e-01 -8.42215412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62864000000002 meters 0.027570131236664363 Centerline is valid? [True, True] Translation: X:121.68, Y:-69.60, Z:-8.43 [[ 7.19791441e-01 6.91533474e-01 6.06773058e-02 1.21684507e+02] [-6.89100751e-01 7.22344409e-01 -5.79543758e-02 -6.96033282e+01] [-8.39073034e-02 -9.77133358e-05 9.96473560e-01 -8.42563266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65864000000002 meters 0.02754744583100907 Centerline is valid? [True, True] Translation: X:121.71, Y:-69.63, Z:-8.43 [[ 7.19242111e-01 6.92164606e-01 5.99911936e-02 1.21707850e+02] [-6.89784527e-01 7.21739662e-01 -5.73512483e-02 -6.96251616e+01] [-8.29945281e-02 -1.31564230e-04 9.96549994e-01 -8.42686384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68864000000002 meters 0.02759070582441334 Centerline is valid? [True, True] Translation: X:121.73, Y:-69.65, Z:-8.43 [[ 7.17662146e-01 6.93821639e-01 5.97710429e-02 1.21732692e+02] [-6.91460213e-01 7.20146828e-01 -5.71954537e-02 -6.96470375e+01] [-8.27273703e-02 -2.82286018e-04 9.96572176e-01 -8.42864562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71864000000002 meters 0.027411037506840534 Centerline is valid? [True, True] Translation: X:121.76, Y:-69.67, Z:-8.43 [[ 7.16459706e-01 6.95073648e-01 5.96499186e-02 1.21757937e+02] [-6.92721139e-01 7.18938438e-01 -5.71397117e-02 -6.96686077e+01] [-8.26009271e-02 -3.82458554e-04 9.96582631e-01 -8.43000978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74864000000002 meters 0.027674071111948244 Centerline is valid? [True, True] Translation: X:121.78, Y:-69.69, Z:-8.43 [[ 7.14410314e-01 6.97061817e-01 6.10141424e-02 1.21783835e+02] [-6.94602386e-01 7.17010797e-01 -5.85067637e-02 -6.96881791e+01] [-8.45306299e-02 -5.82733446e-04 9.96420711e-01 -8.43278428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77864 meters 0.02762019253655459 Centerline is valid? [True, True] Translation: X:121.81, Y:-69.71, Z:-8.43 [[ 7.12979756e-01 6.98582639e-01 6.03503463e-02 1.21808507e+02] [-6.96177309e-01 7.15529025e-01 -5.79255438e-02 -6.97100142e+01] [-8.36482037e-02 -7.14801615e-04 9.96495091e-01 -8.43478250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80864 meters 0.027750416684782626 Centerline is valid? [True, True] Translation: X:121.83, Y:-69.73, Z:-8.44 [[ 7.11317776e-01 7.00239980e-01 6.07535326e-02 1.21833047e+02] [-6.97803364e-01 7.13907002e-01 -5.83717099e-02 -6.97312282e+01] [-8.42465773e-02 -8.73184533e-04 9.96444555e-01 -8.43635490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83864 meters 0.028061285728462785 Centerline is valid? [True, True] Translation: X:121.86, Y:-69.75, Z:-8.44 [[ 7.08397997e-01 7.03162278e-01 6.11153697e-02 1.21860522e+02] [-7.00702721e-01 7.11028409e-01 -5.87732888e-02 -6.97490696e+01] [-8.47819237e-02 -1.18882576e-03 9.96398822e-01 -8.43751412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters 0.02827300061698192 Centerline is valid? [True, True] Translation: X:121.89, Y:-69.77, Z:-8.44 [[ 7.07100753e-01 7.04380777e-01 6.20986834e-02 1.21886419e+02] [-7.01841202e-01 7.09821094e-01 -5.97740802e-02 -6.97688997e+01] [-8.61826685e-02 -1.31711752e-03 9.96278482e-01 -8.43973600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89864 meters 0.02842306511364822 Centerline is valid? [True, True] Translation: X:121.91, Y:-69.79, Z:-8.44 [[ 7.05935786e-01 7.05649765e-01 6.09350170e-02 1.21912016e+02] [-7.03204829e-01 7.08559406e-01 -5.87072048e-02 -6.97888872e+01] [-8.46028048e-02 -1.40628149e-03 9.96413763e-01 -8.44156008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters 0.028595465923715136 Centerline is valid? [True, True] Translation: X:121.94, Y:-69.81, Z:-8.44 [[ 7.05147056e-01 7.06448084e-01 6.08172222e-02 1.21937117e+02] [-7.04010787e-01 7.07763362e-01 -5.86501113e-02 -6.98097700e+01] [-8.44774603e-02 -1.45902714e-03 9.96424322e-01 -8.44325309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95864 meters 0.028487891177977658 Centerline is valid? [True, True] Translation: X:121.96, Y:-69.83, Z:-8.44 [[ 7.04893249e-01 7.06858261e-01 5.89652889e-02 1.21963254e+02] [-7.04564181e-01 7.07353784e-01 -5.69204621e-02 -6.98292265e+01] [-8.19440191e-02 -1.42198093e-03 9.96635919e-01 -8.44434070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters 0.028536506584229657 Centerline is valid? [True, True] Translation: X:121.99, Y:-69.85, Z:-8.45 [[ 7.04273411e-01 7.07437058e-01 5.94287149e-02 1.21993335e+02] [-7.05104173e-01 7.06774839e-01 -5.74232761e-02 -6.98460632e+01] [-8.26260739e-02 -1.46174835e-03 9.96579548e-01 -8.44653193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01864 meters 0.028647880456222297 Centerline is valid? [True, True] Translation: X:122.02, Y:-69.87, Z:-8.45 [[ 7.04079476e-01 7.07562124e-01 6.02323213e-02 1.22019008e+02] [-7.05161073e-01 7.06649648e-01 -5.82592167e-02 -6.98658703e+01] [-8.37851638e-02 -1.45436959e-03 9.96482780e-01 -8.44876066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04864 meters 0.028773210195825488 Centerline is valid? [True, True] Translation: X:122.04, Y:-69.89, Z:-8.45 [[ 7.03853847e-01 7.07700792e-01 6.12319518e-02 1.22044523e+02] [-7.05215048e-01 7.06510770e-01 -5.92812620e-02 -6.98859220e+01] [-8.52144294e-02 -1.45634951e-03 9.96361571e-01 -8.45100833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07864 meters 0.02894080027502107 Centerline is valid? [True, True] Translation: X:122.07, Y:-69.90, Z:-8.45 [[ 7.03899589e-01 7.07683551e-01 6.09045129e-02 1.22073294e+02] [-7.05219703e-01 7.06528137e-01 -5.90183220e-02 -6.99018845e+01] [-8.47970477e-02 -1.40808984e-03 9.96397249e-01 -8.45189080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10864 meters 0.028752678325261273 Centerline is valid? [True, True] Translation: X:122.10, Y:-69.92, Z:-8.45 [[ 7.04115717e-01 7.07529299e-01 6.01942540e-02 1.22099483e+02] [-7.05117668e-01 7.06682749e-01 -5.83829270e-02 -6.99206413e+01] [-8.38458723e-02 -1.33569547e-03 9.96477840e-01 -8.45380212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13864 meters 0.028766745605836468 Centerline is valid? [True, True] Translation: X:122.13, Y:-69.94, Z:-8.46 [[ 7.04270599e-01 7.07428565e-01 5.95629783e-02 1.22125026e+02] [-7.05062623e-01 7.06783705e-01 -5.78229411e-02 -6.99405645e+01] [-8.30037427e-02 -1.27263234e-03 9.96548423e-01 -8.45649588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16864 meters 0.028597640334975787 Centerline is valid? [True, True] Translation: X:122.15, Y:-69.96, Z:-8.46 [[ 7.06051630e-01 7.05604437e-01 6.01121857e-02 1.22153111e+02] [-7.03183445e-01 7.08605192e-01 -5.84099626e-02 -6.99573989e+01] [-8.38101357e-02 -1.02944459e-03 9.96481210e-01 -8.45959509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19864 meters 0.02848747369328358 Centerline is valid? [True, True] Translation: X:122.18, Y:-69.98, Z:-8.46 [[ 7.06874099e-01 7.04827514e-01 5.95582340e-02 1.22180210e+02] [-7.02443869e-01 7.09378165e-01 -5.79243480e-02 -6.99762600e+01] [-8.30759849e-02 -8.91095014e-04 9.96542817e-01 -8.46040324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22864 meters 0.028420198291256277 Centerline is valid? [True, True] Translation: X:122.21, Y:-70.00, Z:-8.46 [[ 7.07706785e-01 7.04032684e-01 5.90684842e-02 1.22206349e+02] [-7.01681067e-01 7.10167171e-01 -5.75001644e-02 -6.99951585e+01] [-8.24304934e-02 -7.53980610e-04 9.96596531e-01 -8.46231404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25864 meters 0.028121409109744554 Centerline is valid? [True, True] Translation: X:122.23, Y:-70.01, Z:-8.46 [[ 7.10562366e-01 7.01253868e-01 5.78285112e-02 1.22234261e+02] [-6.98986780e-01 7.12911540e-01 -5.63437419e-02 -7.00120844e+01] [-8.07378799e-02 -3.85622234e-04 9.96735294e-01 -8.46308645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864000000002 meters 0.027999929620745736 Centerline is valid? [True, True] Translation: X:122.26, Y:-70.03, Z:-8.46 [[ 7.12937948e-01 6.98959511e-01 5.63478940e-02 1.22262548e+02] [-6.96796148e-01 7.15161237e-01 -5.49502733e-02 -7.00287220e+01] [-7.87058457e-02 -8.68603768e-05 9.96897880e-01 -8.46354841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31864000000002 meters 0.02814244799185707 Centerline is valid? [True, True] Translation: X:122.29, Y:-70.05, Z:-8.47 [[ 7.12914597e-01 6.98913165e-01 5.72115846e-02 1.22288029e+02] [-6.96678611e-01 7.15206534e-01 -5.58437815e-02 -7.00482096e+01] [-7.99480532e-02 -4.62403289e-05 9.96799030e-01 -8.46577757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864000000002 meters 0.028215561887786296 Centerline is valid? [True, True] Translation: X:122.31, Y:-70.07, Z:-8.47 [[ 7.13447262e-01 6.98335939e-01 5.76187525e-02 1.22313851e+02] [-6.96063233e-01 7.15770153e-01 -5.62944369e-02 -7.00690159e+01] [-8.05542118e-02 5.68167474e-05 9.96750227e-01 -8.46784670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37864000000002 meters 0.028044242527957303 Centerline is valid? [True, True] Translation: X:122.34, Y:-70.09, Z:-8.47 [[ 7.13284284e-01 6.98501541e-01 5.76292207e-02 1.22340653e+02] [-6.96223819e-01 7.15608545e-01 -5.63631446e-02 -7.00882022e+01] [-8.06097062e-02 8.01091898e-05 9.96745739e-01 -8.46939285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864000000002 meters 0.0279462544345383 Centerline is valid? [True, True] Translation: X:122.37, Y:-70.11, Z:-8.47 [[ 7.13113294e-01 6.98759370e-01 5.66107199e-02 1.22366284e+02] [-6.96558049e-01 7.15356789e-01 -5.54215596e-02 -7.01087624e+01] [-7.92231969e-02 8.91982612e-05 9.96856899e-01 -8.47040193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43864000000002 meters 0.027924136780919533 Centerline is valid? [True, True] Translation: X:122.39, Y:-70.13, Z:-8.47 [[ 7.12350229e-01 6.99434830e-01 5.78625093e-02 1.22390533e+02] [-6.97133043e-01 7.14696380e-01 -5.66974844e-02 -7.01291299e+01] [-8.10103213e-02 5.05988403e-05 9.96713261e-01 -8.47364270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864000000002 meters 0.028048512629271508 Centerline is valid? [True, True] Translation: X:122.42, Y:-70.15, Z:-8.48 [[ 7.12140293e-01 6.99667676e-01 5.76311270e-02 1.22415870e+02] [-6.97380975e-01 7.14468432e-01 -5.65211106e-02 -7.01504970e+01] [-8.07216150e-02 6.01087344e-05 9.96736684e-01 -8.47631388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49864000000002 meters 0.028064680817950324 Centerline is valid? [True, True] Translation: X:122.44, Y:-70.17, Z:-8.48 [[ 7.12175651e-01 6.99663841e-01 5.72394301e-02 1.22440464e+02] [-6.97403524e-01 7.14472183e-01 -5.61945241e-02 -7.01732110e+01] [-8.02132571e-02 1.01391495e-04 9.96777720e-01 -8.47836782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters 0.0280366970668337 Centerline is valid? [True, True] Translation: X:122.47, Y:-70.19, Z:-8.48 [[ 7.12394516e-01 6.99424504e-01 5.74405430e-02 1.22466809e+02] [-6.97142771e-01 7.14706467e-01 -5.64501789e-02 -7.01936536e+01] [-8.05357659e-02 1.70538604e-04 9.96751705e-01 -8.47911487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55864 meters 0.027900758961643395 Centerline is valid? [True, True] Translation: X:122.49, Y:-70.22, Z:-8.48 [[ 7.12414569e-01 6.99431146e-01 5.71100179e-02 1.22491530e+02] [-6.97171046e-01 7.14699957e-01 -5.61827814e-02 -7.02151396e+01] [-8.01125145e-02 2.09981078e-04 9.96785805e-01 -8.48058411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters 0.028041117211096787 Centerline is valid? [True, True] Translation: X:122.52, Y:-70.24, Z:-8.48 [[ 7.12305784e-01 6.99519718e-01 5.73814778e-02 1.22516002e+02] [-6.97233635e-01 7.14613255e-01 -5.65079911e-02 -7.02377790e+01] [-8.05340187e-02 2.42672524e-04 9.96751831e-01 -8.48322374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61864 meters 0.02801529406110531 Centerline is valid? [True, True] Translation: X:122.54, Y:-70.26, Z:-8.48 [[ 7.12948346e-01 6.98918272e-01 5.67265812e-02 1.22540598e+02] [-6.96677687e-01 7.15201460e-01 -5.59202291e-02 -7.02601612e+01] [-7.96546036e-02 3.48091424e-04 9.96822463e-01 -8.48457228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters 0.028034128894034314 Centerline is valid? [True, True] Translation: X:122.57, Y:-70.28, Z:-8.49 [[ 7.14749798e-01 6.97100229e-01 5.64269229e-02 1.22565812e+02] [-6.94873122e-01 7.16973448e-01 -5.56814104e-02 -7.02822553e+01] [-7.92721294e-02 5.88724686e-04 9.96852839e-01 -8.48578205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67864 meters 0.0285136311413832 Centerline is valid? [True, True] Translation: X:122.59, Y:-70.30, Z:-8.49 [[ 7.16017059e-01 6.95727200e-01 5.72995187e-02 1.22589122e+02] [-6.93421603e-01 7.18305669e-01 -5.65989939e-02 -7.03043255e+01] [-8.05360286e-02 7.93120959e-04 9.96751383e-01 -8.48972661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70864 meters 0.028899584063135957 Centerline is valid? [True, True] Translation: X:122.61, Y:-70.33, Z:-8.49 [[ 7.19587169e-01 6.92036290e-01 5.72719793e-02 1.22611683e+02] [-6.89717150e-01 7.21861641e-01 -5.66217589e-02 -7.03276767e+01] [-8.05267569e-02 1.24282478e-03 9.96751673e-01 -8.49187110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73864 meters 0.029243742222975294 Centerline is valid? [True, True] Translation: X:122.64, Y:-70.35, Z:-8.49 [[ 7.21410838e-01 6.90216991e-01 5.62752810e-02 1.22635191e+02] [-6.87968515e-01 7.23600983e-01 -5.56860857e-02 -7.03512247e+01] [-7.91563311e-02 1.45692424e-03 9.96861150e-01 -8.49247225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters 0.029470290048983633 Centerline is valid? [True, True] Translation: X:122.66, Y:-70.37, Z:-8.49 [[ 7.22981593e-01 6.88481348e-01 5.73676644e-02 1.22657282e+02] [-6.86134682e-01 7.25252010e-01 -5.68218258e-02 -7.03747053e+01] [-8.07267812e-02 1.71919000e-03 9.96734785e-01 -8.49435104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79864 meters 0.02994493016991795 Centerline is valid? [True, True] Translation: X:122.68, Y:-70.40, Z:-8.49 [[ 7.25798465e-01 6.85533646e-01 5.70982339e-02 1.22677988e+02] [-6.83196008e-01 7.28037995e-01 -5.66029398e-02 -7.03992193e+01] [-8.03729034e-02 2.07304135e-03 9.96762709e-01 -8.49494631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82864 meters 0.030289507637738407 Centerline is valid? [True, True] Translation: X:122.70, Y:-70.42, Z:-8.50 [[ 7.26385105e-01 6.84937565e-01 5.67909368e-02 1.22699206e+02] [-6.82619430e-01 7.28598556e-01 -5.63458736e-02 -7.04234814e+01] [-7.99712001e-02 2.16220641e-03 9.96794829e-01 -8.49779081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85864 meters 0.030076916913955285 Centerline is valid? [True, True] Translation: X:122.72, Y:-70.45, Z:-8.50 [[ 7.25959091e-01 6.85493983e-01 5.55103385e-02 1.22718215e+02] [-6.83277413e-01 7.28075302e-01 -5.51210694e-02 -7.04497619e+01] [-7.82008678e-02 2.08668097e-03 9.96935439e-01 -8.49912010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88864 meters 0.029654053327897133 Centerline is valid? [True, True] Translation: X:122.74, Y:-70.47, Z:-8.50 [[ 7.24769632e-01 6.86736526e-01 5.56949234e-02 1.22739214e+02] [-6.84505141e-01 7.26903687e-01 -5.53510817e-02 -7.04744983e+01] [-7.84964548e-02 1.99332173e-03 9.96912400e-01 -8.50017927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91864 meters 0.029060277680269964 Centerline is valid? [True, True] Translation: X:122.76, Y:-70.50, Z:-8.50 [[ 7.20146515e-01 6.91427541e-01 5.75929905e-02 1.22757596e+02] [-6.89052017e-01 7.22444107e-01 -5.72872505e-02 -7.05012482e+01] [-8.12176993e-02 1.57064746e-03 9.96695148e-01 -8.50221419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94864 meters 0.028586097521305368 Centerline is valid? [True, True] Translation: X:122.78, Y:-70.53, Z:-8.50 [[ 7.17967754e-01 6.93731923e-01 5.70817213e-02 1.22778733e+02] [-6.91401795e-01 7.20232074e-01 -5.68270825e-02 -7.05257577e+01] [-8.05348477e-02 1.33360824e-03 9.96750902e-01 -8.50289298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97864 meters 0.028307979945500047 Centerline is valid? [True, True] Translation: X:122.80, Y:-70.55, Z:-8.50 [[ 7.15829806e-01 6.95975647e-01 5.66179114e-02 1.22800472e+02] [-6.93686389e-01 7.18064532e-01 -5.64138399e-02 -7.05496753e+01] [-7.99179728e-02 1.10763358e-03 9.96800828e-01 -8.50470838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00864 meters 0.028162773482280874 Centerline is valid? [True, True] Translation: X:122.82, Y:-70.57, Z:-8.51 [[ 7.13810607e-01 6.98062378e-01 5.64210318e-02 1.22822303e+02] [-6.95791597e-01 7.16036378e-01 -5.62668619e-02 -7.05736737e+01] [-7.96772907e-02 9.06603118e-04 9.96820298e-01 -8.50735187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03864000000002 meters 0.028039004853094105 Centerline is valid? [True, True] Translation: X:122.84, Y:-70.60, Z:-8.51 [[ 7.11484942e-01 7.00483312e-01 5.57880605e-02 1.22844378e+02] [-6.98266833e-01 7.13668473e-01 -5.56842995e-02 -7.05967186e+01] [-7.88201024e-02 6.63588273e-04 9.96888635e-01 -8.50876343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864000000002 meters 0.028045665446025717 Centerline is valid? [True, True] Translation: X:122.87, Y:-70.62, Z:-8.51 [[ 7.09017576e-01 7.02835568e-01 5.75868143e-02 1.22868107e+02] [-7.00477069e-01 7.11352205e-01 -5.75318740e-02 -7.06187574e+01] [-8.13999547e-02 4.52866989e-04 9.96681415e-01 -8.51185128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09864000000002 meters 0.027881846641020135 Centerline is valid? [True, True] Translation: X:122.89, Y:-70.64, Z:-8.51 [[ 7.07804316e-01 7.04112216e-01 5.69125435e-02 1.22891542e+02] [-7.01808775e-01 7.10088637e-01 -5.69084499e-02 -7.06415344e+01] [-8.04828852e-02 3.38324019e-04 9.96755933e-01 -8.51295359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864000000002 meters 0.027908889451548135 Centerline is valid? [True, True] Translation: X:122.80, Y:-70.90, Z:-6.74 [[ 7.52408265e-01 -6.58272102e-01 -2.36567538e-02 1.22804303e+02] [-6.57771977e-01 -7.52769592e-01 2.59608834e-02 -7.09017871e+01] [-3.48974102e-02 -3.97243352e-03 -9.99383005e-01 -6.73697747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15864000000002 meters 0.027821656819923008 Centerline is valid? [True, True] Translation: X:122.91, Y:-70.67, Z:-8.52 [[ 7.55090673e-01 6.52784859e-01 6.09097957e-02 1.22910003e+02] [-6.50644080e-01 7.57543307e-01 -5.28244208e-02 -7.06742801e+01] [-8.06247901e-02 2.56629554e-04 9.96744490e-01 -8.51531609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864000000002 meters 0.02775322663521029 Centerline is valid? [True, True] Translation: X:122.94, Y:-70.69, Z:-8.52 [[ 7.53879434e-01 6.54119768e-01 6.15883793e-02 1.22936253e+02] [-6.51930804e-01 7.56390973e-01 -5.34688926e-02 -7.06938479e+01] [-8.15599538e-02 1.57736844e-04 9.96668425e-01 -8.51728911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21864000000002 meters 0.02801045530005944 Centerline is valid? [True, True] Translation: X:122.96, Y:-70.71, Z:-8.52 [[ 7.51660108e-01 6.56569150e-01 6.26421098e-02 1.22961361e+02] [-6.54308379e-01 7.54265833e-01 -5.44389370e-02 -7.07141181e+01] [-8.29917297e-02 -6.76800209e-05 9.96550234e-01 -8.51931366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864000000002 meters 0.027915296146781093 Centerline is valid? [True, True] Translation: X:122.99, Y:-70.74, Z:-8.52 [[ 7.50370587e-01 6.58089450e-01 6.21470695e-02 1.22986725e+02] [-6.55865293e-01 7.52939730e-01 -5.40599642e-02 -7.07350853e+01] [-8.23692899e-02 -1.95098898e-04 9.96601857e-01 -8.52105855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27864 meters 0.027915296146781093 Centerline is valid? [True, True] Translation: X:123.01, Y:-70.76, Z:-8.52 [[ 7.50033281e-01 6.58476491e-01 6.21191387e-02 1.23011496e+02] [-6.56251002e-01 7.52601271e-01 -5.40920449e-02 -7.07561875e+01] [-8.23692827e-02 -1.94913115e-04 9.96601858e-01 -8.52293206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30864 meters 0.0277623913436849 Centerline is valid? [True, True] Translation: X:123.04, Y:-70.78, Z:-8.52 [[ 7.49124301e-01 6.59584189e-01 6.13308989e-02 1.23036365e+02] [-6.57414297e-01 7.51630643e-01 -5.34585699e-02 -7.07763638e+01] [-8.13586104e-02 -2.72695925e-04 9.96684856e-01 -8.52400793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.33864 meters 0.027685798466125077 Centerline is valid? [True, True] Translation: X:123.06, Y:-70.80, Z:-8.53 [[ 7.48056622e-01 6.60794833e-01 6.13308972e-02 1.23062597e+02] [-6.58624867e-01 7.50566489e-01 -5.35091607e-02 -7.07971545e+01] [-8.13914931e-02 -3.66172070e-04 9.96682141e-01 -8.52615811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters 0.028018058845395766 Centerline is valid? [True, True] Translation: X:123.09, Y:-70.82, Z:-8.53 [[ 7.46807234e-01 6.62220384e-01 6.11810222e-02 1.23088661e+02] [-6.60061259e-01 7.49308971e-01 -5.34340690e-02 -7.08171603e+01] [-8.12286185e-02 -4.78273315e-04 9.96695381e-01 -8.52866499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39864 meters 0.027809662964637237 Centerline is valid? [True, True] Translation: X:123.11, Y:-70.84, Z:-8.53 [[ 7.46322152e-01 6.62705723e-01 6.18414879e-02 1.23114825e+02] [-6.60496631e-01 7.48879750e-01 -5.40677330e-02 -7.08381066e+01] [-8.21428341e-02 -4.94147556e-04 9.96620445e-01 -8.53032590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters 0.028004436326870958 Centerline is valid? [True, True] Translation: X:123.14, Y:-70.86, Z:-8.53 [[ 7.45199714e-01 6.63937974e-01 6.21590855e-02 1.23142275e+02] [-6.61705658e-01 7.47787415e-01 -5.44022516e-02 -7.08573882e+01] [-8.26015025e-02 -5.90476162e-04 9.96582482e-01 -8.53336574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45864 meters 0.027883474016863388 Centerline is valid? [True, True] Translation: X:123.17, Y:-70.88, Z:-8.54 [[ 7.44654112e-01 6.64608179e-01 6.15322822e-02 1.23168650e+02] [-6.62418448e-01 7.47191802e-01 -5.39092869e-02 -7.08776294e+01] [-8.18049698e-02 -6.16346680e-04 9.96648166e-01 -8.53521098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters 0.02755891835326154 Centerline is valid? [True, True] Translation: X:123.20, Y:-70.90, Z:-8.54 [[ 7.45206838e-01 6.64134923e-01 5.99297384e-02 1.23196308e+02] [-6.62052957e-01 7.47612558e-01 -5.25484979e-02 -7.08955599e+01] [-7.97035177e-02 -5.17160579e-04 9.96818480e-01 -8.53644366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51864 meters 0.027593729056678118 Centerline is valid? [True, True] Translation: X:123.22, Y:-70.91, Z:-8.54 [[ 7.45967120e-01 6.63308777e-01 5.96198202e-02 1.23221880e+02] [-6.61243663e-01 7.48345709e-01 -5.23021818e-02 -7.09146813e+01] [-7.93087328e-02 -4.07520337e-04 9.96850018e-01 -8.53698903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters 0.027637301129984956 Centerline is valid? [True, True] Translation: X:123.25, Y:-70.93, Z:-8.54 [[ 7.46984281e-01 6.62147321e-01 5.97947302e-02 1.23247845e+02] [-6.60062320e-01 7.49373648e-01 -5.25058999e-02 -7.09344291e+01] [-7.95752361e-02 -2.47166498e-04 9.96828832e-01 -8.53966563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57864 meters 0.02749743661292738 Centerline is valid? [True, True] Translation: X:123.27, Y:-70.95, Z:-8.54 [[ 7.50389467e-01 6.58366519e-01 5.88996969e-02 1.23274369e+02] [-6.56327773e-01 7.52697475e-01 -5.17722453e-02 -7.09527040e+01] [-7.84187661e-02 1.91840662e-04 9.96920488e-01 -8.54066617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60864 meters 0.02747195512299227 Centerline is valid? [True, True] Translation: X:123.30, Y:-70.97, Z:-8.54 [[ 7.52575628e-01 6.55900645e-01 5.85172412e-02 1.23300046e+02] [-6.53877078e-01 7.54847078e-01 -5.14845298e-02 -7.09739223e+01] [-7.79403048e-02 4.82919703e-04 9.96957911e-01 -8.54207856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63864 meters 0.02762095799043645 Centerline is valid? [True, True] Translation: X:123.32, Y:-70.99, Z:-8.54 [[ 7.54958093e-01 6.53135644e-01 5.87546542e-02 1.23324317e+02] [-6.51083114e-01 7.57240498e-01 -5.17455923e-02 -7.09945201e+01] [-7.82882943e-02 8.11590462e-04 9.96930431e-01 -8.54443009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66864 meters 0.027842361188046373 Centerline is valid? [True, True] Translation: X:123.35, Y:-71.02, Z:-8.55 [[ 7.56099686e-01 6.51866177e-01 5.81700249e-02 1.23349359e+02] [-6.49846906e-01 7.58333401e-01 -5.12781754e-02 -7.10154501e+01] [-7.75387809e-02 9.69801597e-04 9.96988865e-01 -8.54595948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69864 meters 0.027856562718061105 Centerline is valid? [True, True] Translation: X:123.37, Y:-71.04, Z:-8.55 [[ 7.56592782e-01 6.51298773e-01 5.81142987e-02 1.23374780e+02] [-6.49277665e-01 7.58820645e-01 -5.12810136e-02 -7.10360290e+01] [-7.74975908e-02 1.06652852e-03 9.96991969e-01 -8.54782412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72864 meters 0.028017406512779033 Centerline is valid? [True, True] Translation: X:123.40, Y:-71.06, Z:-8.55 [[ 7.56190574e-01 6.51795902e-01 5.77747202e-02 1.23399900e+02] [-6.49795849e-01 7.58393698e-01 -5.10328623e-02 -7.10574877e+01] [-7.70789943e-02 1.04879605e-03 9.97024437e-01 -8.54990181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75864 meters 0.027644176991649748 Centerline is valid? [True, True] Translation: X:123.42, Y:-71.08, Z:-8.55 [[ 7.55056228e-01 6.53026909e-01 5.87022038e-02 1.23424362e+02] [-6.50961575e-01 7.57334074e-01 -5.19050008e-02 -7.10800081e+01] [-7.83525414e-02 9.78315044e-04 9.96925234e-01 -8.55305607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864000000002 meters 0.027425343113977648 Centerline is valid? [True, True] Translation: X:123.45, Y:-71.10, Z:-8.55 [[ 7.53223244e-01 6.55196928e-01 5.80665990e-02 1.23447918e+02] [-6.53178689e-01 7.55457724e-01 -5.13928659e-02 -7.11016956e+01] [-7.75393086e-02 7.82436111e-04 9.96988989e-01 -8.55423001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81864000000002 meters 0.027237887915075507 Centerline is valid? [True, True] Translation: X:123.47, Y:-71.12, Z:-8.56 [[ 7.52174934e-01 6.56458223e-01 5.74061851e-02 1.23472177e+02] [-6.54485918e-01 7.54362076e-01 -5.08531460e-02 -7.11222672e+01] [-7.66880148e-02 6.78921982e-04 9.97054907e-01 -8.55567354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864000000002 meters 0.02727842447708706 Centerline is valid? [True, True] Translation: X:123.50, Y:-71.14, Z:-8.56 [[ 7.51777267e-01 6.56977654e-01 5.66683498e-02 1.23496631e+02] [-6.55053897e-01 7.53909767e-01 -5.02439584e-02 -7.11428179e+01] [-7.57319804e-02 6.51442386e-04 9.97127997e-01 -8.55784011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87864000000002 meters 0.02715324632713505 Centerline is valid? [True, True] Translation: X:123.52, Y:-71.16, Z:-8.56 [[ 7.51672315e-01 6.57106565e-01 5.65658346e-02 1.23521516e+02] [-6.55186629e-01 7.53797393e-01 -5.01993060e-02 -7.11648833e+01] [-7.56254723e-02 6.72250007e-04 9.97136067e-01 -8.55963366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864000000002 meters 0.02740667853486918 Centerline is valid? [True, True] Translation: X:123.55, Y:-71.19, Z:-8.56 [[ 7.51816028e-01 6.56769021e-01 5.85415540e-02 1.23546387e+02] [-6.54707221e-01 7.54091413e-01 -5.20057322e-02 -7.11852464e+01] [-7.83014370e-02 7.71164898e-04 9.96929431e-01 -8.56254574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93864000000002 meters 0.027287819604688523 Centerline is valid? [True, True] Translation: X:123.57, Y:-71.21, Z:-8.56 [[ 7.51783420e-01 6.56874894e-01 5.77673120e-02 1.23570827e+02] [-6.54864131e-01 7.53999176e-01 -5.13635332e-02 -7.12057539e+01] [-7.72959211e-02 7.84512104e-04 9.97007886e-01 -8.56276567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864000000002 meters 0.027320206549093253 Centerline is valid? [True, True] Translation: X:123.60, Y:-71.23, Z:-8.56 [[ 7.52599853e-01 6.55971110e-01 5.74052556e-02 1.23596585e+02] [-6.53979300e-01 7.54785453e-01 -5.10881107e-02 -7.12272396e+01] [-7.68409765e-02 9.07055729e-04 9.97042949e-01 -8.56457330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99864 meters 0.027463952705965685 Centerline is valid? [True, True] Translation: X:123.62, Y:-71.25, Z:-8.57 [[ 7.52726321e-01 6.55857496e-01 5.70441060e-02 1.23620874e+02] [-6.53886442e-01 7.54884123e-01 -5.08181305e-02 -7.12491610e+01] [-7.63911417e-02 9.51776941e-04 9.97077473e-01 -8.56628551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters 0.027611188557024775 Centerline is valid? [True, True] Translation: X:123.64, Y:-71.27, Z:-8.57 [[ 7.53187584e-01 6.55299111e-01 5.73719242e-02 1.23643520e+02] [-6.53299785e-01 7.55368762e-01 -5.11607679e-02 -7.12718456e+01] [-7.68625651e-02 1.05258948e-03 9.97041142e-01 -8.56736913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05864 meters 0.02762251956821544 Centerline is valid? [True, True] Translation: X:123.67, Y:-71.29, Z:-8.57 [[ 7.52845831e-01 6.55611154e-01 5.82852460e-02 1.23666589e+02] [-6.53544881e-01 7.55097918e-01 -5.20213726e-02 -7.12947145e+01] [-7.81168600e-02 1.07204933e-03 9.96943633e-01 -8.57027002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters 0.027719033006934034 Centerline is valid? [True, True] Translation: X:123.69, Y:-71.32, Z:-8.57 [[ 7.53180881e-01 6.55251645e-01 5.79986510e-02 1.23689947e+02] [-6.53200940e-01 7.55409812e-01 -5.18126253e-02 -7.13178253e+01] [-7.77630580e-02 1.13950536e-03 9.96971217e-01 -8.57163441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11864 meters 0.02764334943796229 Centerline is valid? [True, True] Translation: X:123.71, Y:-71.34, Z:-8.57 [[ 7.52541266e-01 6.55947010e-01 5.84393977e-02 1.23711820e+02] [-6.53862882e-01 7.54806117e-01 -5.22595185e-02 -7.13432707e+01] [-7.83898898e-02 1.11609123e-03 9.96922153e-01 -8.57357596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters 0.02769955142378717 Centerline is valid? [True, True] Translation: X:123.73, Y:-71.37, Z:-8.58 [[ 7.51779931e-01 6.56733382e-01 5.93986553e-02 1.23734690e+02] [-6.54578281e-01 7.54122054e-01 -5.31714317e-02 -7.13665372e+01] [-7.97132901e-02 1.09214562e-03 9.96817234e-01 -8.57551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17864 meters 0.027486010307325785 Centerline is valid? [True, True] Translation: X:123.75, Y:-71.39, Z:-8.58 [[ 7.49556271e-01 6.59263935e-01 5.94681531e-02 1.23754794e+02] [-6.57107545e-01 7.51911111e-01 -5.32855996e-02 -7.13925179e+01] [-7.98440391e-02 8.63583238e-04 9.96806994e-01 -8.57812724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters 0.02733060208937752 Centerline is valid? [True, True] Translation: X:123.78, Y:-71.42, Z:-8.58 [[ 7.48096459e-01 6.60938912e-01 5.92574306e-02 1.23776965e+02] [-6.58799287e-01 7.50439364e-01 -5.31437747e-02 -7.14158699e+01] [-7.95938972e-02 7.17916685e-04 9.96827114e-01 -8.58025503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23864 meters 0.02722210450502929 Centerline is valid? [True, True] Translation: X:123.80, Y:-71.44, Z:-8.58 [[ 7.46921113e-01 6.62256303e-01 5.93754204e-02 1.23800846e+02] [-6.60108325e-01 7.49277125e-01 -5.32990550e-02 -7.14394009e+01] [-7.97862794e-02 6.15980217e-04 9.96811803e-01 -8.58215734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters 0.027271792587664496 Centerline is valid? [True, True] Translation: X:123.82, Y:-71.46, Z:-8.58 [[ 7.46957214e-01 6.62168963e-01 5.98931128e-02 1.23822657e+02] [-6.59979413e-01 7.49354270e-01 -5.38084719e-02 -7.14638049e+01] [-8.05114599e-02 6.64404749e-04 9.96753462e-01 -8.58382250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29864 meters 0.027256066923190943 Centerline is valid? [True, True] Translation: X:123.85, Y:-71.49, Z:-8.59 [[ 7.46948662e-01 6.62208200e-01 5.95650609e-02 1.23845852e+02] [-6.60040498e-01 7.49319585e-01 -5.35415681e-02 -7.14871874e+01] [-8.00889321e-02 6.77450146e-04 9.96787492e-01 -8.58531128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32864 meters 0.027405706876928573 Centerline is valid? [True, True] Translation: X:123.87, Y:-71.51, Z:-8.59 [[ 7.49260311e-01 6.59663309e-01 5.87648331e-02 1.23867353e+02] [-6.57541430e-01 7.51560618e-01 -5.28763125e-02 -7.15120105e+01] [-7.90458976e-02 9.77809959e-04 9.96870498e-01 -8.58683719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35864 meters 0.02761806878976791 Centerline is valid? [True, True] Translation: X:123.89, Y:-71.53, Z:-8.59 [[ 7.50133879e-01 6.58658180e-01 5.88945251e-02 1.23889582e+02] [-6.56519654e-01 7.52441449e-01 -5.30453452e-02 -7.15349259e+01] [-7.92534323e-02 1.12569729e-03 9.96853864e-01 -8.58932045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38864 meters 0.027747139200481278 Centerline is valid? [True, True] Translation: X:123.91, Y:-71.56, Z:-8.59 [[ 7.51071759e-01 6.57629165e-01 5.84388166e-02 1.23912845e+02] [-6.55516758e-01 7.53340754e-01 -5.26829074e-02 -7.15588278e+01] [-7.86701586e-02 1.26102036e-03 9.96899903e-01 -8.59035370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41864 meters 0.02784251209079912 Centerline is valid? [True, True] Translation: X:123.93, Y:-71.58, Z:-8.59 [[ 7.51772276e-01 6.56766270e-01 5.91313054e-02 1.23933818e+02] [-6.54596580e-01 7.54092890e-01 -5.33594499e-02 -7.15838430e+01] [-7.96351839e-02 1.40700488e-03 9.96823083e-01 -8.59264129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44864 meters 0.027875847633595144 Centerline is valid? [True, True] Translation: X:123.96, Y:-71.61, Z:-8.59 [[ 7.51244435e-01 6.57401954e-01 5.87747364e-02 1.23956449e+02] [-6.55256639e-01 7.53538853e-01 -5.30842195e-02 -7.16074629e+01] [-7.91867171e-02 1.36668832e-03 9.96858865e-01 -8.59430652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47864 meters 0.027737616475501894 Centerline is valid? [True, True] Translation: X:123.98, Y:-71.63, Z:-8.60 [[ 7.49514686e-01 6.59327581e-01 5.92863985e-02 1.23977296e+02] [-6.57146880e-01 7.51854825e-01 -5.35938415e-02 -7.16322905e+01] [-7.99106627e-02 1.20949942e-03 9.96801296e-01 -8.59625046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50864 meters 0.02724827024153131 Centerline is valid? [True, True] Translation: X:124.00, Y:-71.66, Z:-8.60 [[ 7.47648013e-01 6.61515707e-01 5.84757908e-02 1.23999626e+02] [-6.59397794e-01 7.49930652e-01 -5.29014717e-02 -7.16559443e+01] [-7.88479424e-02 9.92872739e-04 9.96886160e-01 -8.59718401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53864000000002 meters 0.027072111665970885 Centerline is valid? [True, True] Translation: X:124.02, Y:-71.68, Z:-8.60 [[ 7.45935257e-01 6.63483227e-01 5.80568613e-02 1.24022519e+02] [-6.61399113e-01 7.48190726e-01 -5.25533141e-02 -7.16787121e+01] [-7.83058476e-02 8.02613299e-04 9.96929060e-01 -8.59926887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864000000002 meters 0.026692178027161808 Centerline is valid? [True, True] Translation: X:124.04, Y:-71.70, Z:-8.60 [[ 7.42599611e-01 6.67236321e-01 5.78057980e-02 1.24044849e+02] [-6.65177856e-01 7.44845956e-01 -5.23729122e-02 -7.17026819e+01] [-7.80015241e-02 4.40967364e-04 9.96953142e-01 -8.60047217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59864000000002 meters 0.026807969196409553 Centerline is valid? [True, True] Translation: X:124.07, Y:-71.73, Z:-8.60 [[ 7.40176757e-01 6.69918021e-01 5.78637558e-02 1.24068697e+02] [-6.67859703e-01 7.42435053e-01 -5.24748484e-02 -7.17253780e+01] [-7.81139272e-02 1.95792333e-04 9.96944420e-01 -8.60213411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864000000002 meters 0.02655997073272022 Centerline is valid? [True, True] Translation: X:124.09, Y:-71.75, Z:-8.60 [[ 7.36766505e-01 6.73687167e-01 5.76256666e-02 1.24093475e+02] [-6.71652990e-01 7.39016627e-01 -5.23133461e-02 -7.17468258e+01] [-7.78291557e-02 -1.61730072e-04 9.96966698e-01 -8.60431933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65864000000002 meters 0.026743048899027545 Centerline is valid? [True, True] Translation: X:124.12, Y:-71.77, Z:-8.61 [[ 7.34874164e-01 6.75706708e-01 5.81412798e-02 1.24117912e+02] [-6.73637824e-01 7.37170490e-01 -5.28370212e-02 -7.17684166e+01] [-7.85623654e-02 -3.37603423e-04 9.96909144e-01 -8.60570478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864000000002 meters 0.026921110376521538 Centerline is valid? [True, True] Translation: X:124.14, Y:-71.79, Z:-8.61 [[ 7.32785095e-01 6.77928190e-01 5.86461734e-02 1.24142292e+02] [-6.75825917e-01 7.35127933e-01 -5.33502857e-02 -7.17896900e+01] [-7.92801028e-02 -5.40309696e-04 9.96852232e-01 -8.60825222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71864000000002 meters 0.027127895002556 Centerline is valid? [True, True] Translation: X:124.17, Y:-71.81, Z:-8.61 [[ 7.30226894e-01 6.80592635e-01 5.96854130e-02 1.24168661e+02] [-6.78419846e-01 7.32661596e-01 -5.43460907e-02 -7.18091161e+01] [-8.07167590e-02 -8.06791731e-04 9.96736753e-01 -8.60971949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters 0.02714533437235298 Centerline is valid? [True, True] Translation: X:124.20, Y:-71.83, Z:-8.61 [[ 7.29298303e-01 6.81604577e-01 5.94910511e-02 1.24195139e+02] [-6.79445140e-01 7.31720185e-01 -5.42205896e-02 -7.18297148e+01] [-8.04878050e-02 -8.77921536e-04 9.96755207e-01 -8.61138655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77864 meters 0.027446686061888784 Centerline is valid? [True, True] Translation: X:124.22, Y:-71.85, Z:-8.61 [[ 7.28790150e-01 6.82184948e-01 5.90644947e-02 1.24222832e+02] [-6.80053814e-01 7.31179114e-01 -5.38879646e-02 -7.18482945e+01] [-7.99482833e-02 -8.94017128e-04 9.96798612e-01 -8.61365421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters 0.027475042634162502 Centerline is valid? [True, True] Translation: X:124.25, Y:-71.87, Z:-8.62 [[ 7.28343248e-01 6.82684074e-01 5.88095938e-02 1.24248822e+02] [-6.80568454e-01 7.30713103e-01 -5.37116404e-02 -7.18689861e+01] [-7.96410222e-02 -9.03443675e-04 9.96823200e-01 -8.61584580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83864 meters 0.02753309536906855 Centerline is valid? [True, True] Translation: X:124.27, Y:-71.89, Z:-8.62 [[ 7.28663808e-01 6.82379895e-01 5.83672368e-02 1.24274336e+02] [-6.80290789e-01 7.30997264e-01 -5.33614390e-02 -7.18886222e+01] [-7.90790635e-02 -8.24144294e-04 9.96868007e-01 -8.61752948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters 0.02745644481141677 Centerline is valid? [True, True] Translation: X:124.30, Y:-71.91, Z:-8.62 [[ 7.30482414e-01 6.80449198e-01 5.81750050e-02 1.24301066e+02] [-6.78363883e-01 7.32795030e-01 -5.32342664e-02 -7.19069026e+01] [-7.88535684e-02 -5.77126746e-04 9.96886042e-01 -8.61884654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89864 meters 0.027524275642612523 Centerline is valid? [True, True] Translation: X:124.33, Y:-71.93, Z:-8.62 [[ 7.31471941e-01 6.79301866e-01 5.91419814e-02 1.24326322e+02] [-6.77138573e-01 7.33858839e-01 -5.41715513e-02 -7.19276418e+01] [-8.02007017e-02 -4.22347142e-04 9.96778646e-01 -8.62105893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters 0.02774241026941579 Centerline is valid? [True, True] Translation: X:124.35, Y:-71.95, Z:-8.62 [[ 7.34643063e-01 6.75889245e-01 5.89347054e-02 1.24353116e+02] [-6.73725549e-01 7.37003208e-01 -5.40384640e-02 -7.19467957e+01] [-7.99590836e-02 -6.83402332e-06 9.96798147e-01 -8.62178959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95864 meters 0.027889380513223358 Centerline is valid? [True, True] Translation: X:124.38, Y:-71.97, Z:-8.62 [[ 7.34789328e-01 6.75695058e-01 5.93366026e-02 1.24377896e+02] [-6.73496445e-01 7.37181243e-01 -5.44642387e-02 -7.19680026e+01] [-8.05430474e-02 5.67504426e-05 9.96751130e-01 -8.62474199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters 0.028050797489992552 Centerline is valid? [True, True] Translation: X:124.40, Y:-71.99, Z:-8.63 [[ 7.35730686e-01 6.74683984e-01 5.91766839e-02 1.24403190e+02] [-6.72489381e-01 7.38106685e-01 -5.43742063e-02 -7.19885541e+01] [-8.03641121e-02 2.09080516e-04 9.96765552e-01 -8.62689108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01864 meters 0.027878759905729536 Centerline is valid? [True, True] Translation: X:124.43, Y:-72.01, Z:-8.63 [[ 7.36005080e-01 6.74377420e-01 5.92589054e-02 1.24427982e+02] [-6.72171872e-01 7.38386767e-01 -5.44973085e-02 -7.20105630e+01] [-8.05077459e-02 2.78126532e-04 9.96753944e-01 -8.62723964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters 0.027883206993153005 Centerline is valid? [True, True] Translation: X:124.45, Y:-72.03, Z:-8.63 [[ 7.35665022e-01 6.74698524e-01 5.98237172e-02 1.24452252e+02] [-6.72448884e-01 7.38093374e-01 -5.50515165e-02 -7.20325208e+01] [-8.12986662e-02 2.71083246e-04 9.96689748e-01 -8.62920691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07864 meters 0.027986854035647598 Centerline is valid? [True, True] Translation: X:124.48, Y:-72.06, Z:-8.63 [[ 7.35432493e-01 6.74945223e-01 5.98998682e-02 1.24476864e+02] [-6.72685943e-01 7.37867782e-01 -5.51793199e-02 -7.20551516e+01] [-8.14412013e-02 2.86865450e-04 9.96678107e-01 -8.63073071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10864 meters 0.02809147982794209 Centerline is valid? [True, True] Translation: X:124.50, Y:-72.08, Z:-8.63 [[ 7.33687329e-01 6.76840215e-01 5.99184985e-02 1.24499949e+02] [-6.74581155e-01 7.36129954e-01 -5.52535623e-02 -7.20787065e+01] [-8.15056345e-02 1.18948529e-04 9.96672874e-01 -8.63239580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13864 meters 0.028124609551752874 Centerline is valid? [True, True] Translation: X:124.52, Y:-72.10, Z:-8.63 [[ 7.32714839e-01 6.77933416e-01 5.94579439e-02 1.24523752e+02] [-6.75708018e-01 7.35123310e-01 -5.48852673e-02 -7.21016191e+01] [-8.09174773e-02 3.90403781e-05 9.96720804e-01 -8.63456392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16864 meters 0.02798081140753019 Centerline is valid? [True, True] Translation: X:124.55, Y:-72.12, Z:-8.64 [[ 7.32351646e-01 6.78331528e-01 5.93919567e-02 1.24547965e+02] [-6.76107767e-01 7.34755971e-01 -5.48812347e-02 -7.21243363e+01] [-8.08662666e-02 3.69993545e-05 9.96724960e-01 -8.63585504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19864 meters 0.02798081140753019 Centerline is valid? [True, True] Translation: X:124.57, Y:-72.15, Z:-8.64 [[ 7.32002062e-01 6.78711238e-01 5.93635970e-02 1.24572085e+02] [-6.76486238e-01 7.34405238e-01 -5.49118981e-02 -7.21461674e+01] [-8.08662589e-02 3.69662769e-05 9.96724960e-01 -8.63772848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22864 meters 0.0280573056595486 Centerline is valid? [True, True] Translation: X:124.60, Y:-72.17, Z:-8.64 [[ 7.31386210e-01 6.79385751e-01 5.92386126e-02 1.24596629e+02] [-6.77167734e-01 7.33781303e-01 -5.48530690e-02 -7.21687469e+01] [-8.07345799e-02 4.30117476e-06 9.96735636e-01 -8.63966826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25864 meters 0.02810900947290318 Centerline is valid? [True, True] Translation: X:124.62, Y:-72.19, Z:-8.64 [[ 7.30537170e-01 6.80317508e-01 5.90214485e-02 1.24621408e+02] [-6.78114206e-01 7.32917516e-01 -5.47086671e-02 -7.21907773e+01] [-8.04771175e-02 -5.65677905e-05 9.96756455e-01 -8.64185276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864000000002 meters 0.02796331854441954 Centerline is valid? [True, True] Translation: X:124.65, Y:-72.21, Z:-8.64 [[ 7.30231701e-01 6.80758069e-01 5.77071358e-02 1.24646247e+02] [-6.78649139e-01 7.32508326e-01 -5.35434354e-02 -7.22110416e+01] [-7.87210831e-02 -6.37840160e-05 9.96896678e-01 -8.64335237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31864000000002 meters 0.02809199411873945 Centerline is valid? [True, True] Translation: X:124.67, Y:-72.23, Z:-8.64 [[ 7.29870558e-01 6.81124466e-01 5.79519694e-02 1.24670982e+02] [-6.78994678e-01 7.32167643e-01 -5.38216489e-02 -7.22336421e+01] [-7.90897987e-02 -6.62418417e-05 9.96867493e-01 -8.64481148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864000000002 meters 0.02819527878012959 Centerline is valid? [True, True] Translation: X:124.70, Y:-72.26, Z:-8.65 [[ 7.30071340e-01 6.80947484e-01 5.75009837e-02 1.24695609e+02] [-6.78845834e-01 7.32332250e-01 -5.34584875e-02 -7.22555685e+01] [-7.85122473e-02 -5.79361807e-06 9.96913149e-01 -8.64661887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37864000000002 meters 0.028363136950769252 Centerline is valid? [True, True] Translation: X:124.72, Y:-72.28, Z:-8.65 [[ 7.29904616e-01 6.81031173e-01 5.86156346e-02 1.24719791e+02] [-6.78843619e-01 7.32254424e-01 -5.45417305e-02 -7.22772916e+01] [-8.00661765e-02 1.94113525e-05 9.96789550e-01 -8.64810679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864000000002 meters 0.028343347152753013 Centerline is valid? [True, True] Translation: X:124.74, Y:-72.30, Z:-8.65 [[ 7.29761682e-01 6.81152645e-01 5.89827288e-02 1.24744943e+02] [-6.78935581e-01 7.32141430e-01 -5.49126832e-02 -7.22992957e+01] [-8.05876189e-02 2.76988071e-05 9.96747528e-01 -8.64998078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43864000000002 meters 0.0281542626164739 Centerline is valid? [True, True] Translation: X:124.77, Y:-72.32, Z:-8.65 [[ 7.29100944e-01 6.81793239e-01 5.97477397e-02 1.24770743e+02] [-6.79515682e-01 7.31544926e-01 -5.56817642e-02 -7.23192527e+01] [-8.16716062e-02 -1.89925675e-06 9.96659294e-01 -8.65274368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864000000002 meters 0.02828799403690316 Centerline is valid? [True, True] Translation: X:124.80, Y:-72.34, Z:-8.65 [[ 7.28210154e-01 6.82780819e-01 5.93323164e-02 1.24796309e+02] [-6.80533898e-01 7.30623260e-01 -5.53467807e-02 -7.23398755e+01] [-8.11392907e-02 -7.35648399e-05 9.96702769e-01 -8.65427402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49864 meters 0.028320783498932873 Centerline is valid? [True, True] Translation: X:124.82, Y:-72.36, Z:-8.66 [[ 7.25625271e-01 6.85471503e-01 5.99732026e-02 1.24821811e+02] [-6.83180180e-01 7.28099379e-01 -5.60012178e-02 -7.23594585e+01] [-8.20536905e-02 -3.36604530e-04 9.96627854e-01 -8.65548219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters 0.02822540453551366 Centerline is valid? [True, True] Translation: X:124.85, Y:-72.38, Z:-8.66 [[ 7.23798518e-01 6.87429885e-01 5.96310166e-02 1.24846900e+02] [-6.85167033e-01 7.26250567e-01 -5.57337531e-02 -7.23814732e+01] [-8.16201071e-02 -5.17198842e-04 9.96663379e-01 -8.65653707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55864 meters 0.028145456242487515 Centerline is valid? [True, True] Translation: X:124.87, Y:-72.40, Z:-8.66 [[ 7.22972848e-01 6.88334868e-01 5.92061735e-02 1.24873909e+02] [-6.86102610e-01 7.25392846e-01 -5.53933968e-02 -7.24003962e+01] [-8.10769412e-02 -5.73588311e-04 9.96707681e-01 -8.65674206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters 0.028188755842685546 Centerline is valid? [True, True] Translation: X:124.90, Y:-72.42, Z:-8.66 [[ 7.23034069e-01 6.88161252e-01 6.04634341e-02 1.24899373e+02] [-6.85827662e-01 7.25557590e-01 -5.66268627e-02 -7.24200638e+01] [-8.28381163e-02 -5.24344697e-04 9.96562879e-01 -8.65845333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61864 meters 0.0280937279361859 Centerline is valid? [True, True] Translation: X:124.93, Y:-72.44, Z:-8.66 [[ 7.23943566e-01 6.87185739e-01 6.06751401e-02 1.24925061e+02] [-6.84827816e-01 7.26481672e-01 -5.68792035e-02 -7.24407446e+01] [-8.31659547e-02 -3.74690256e-04 9.96535641e-01 -8.66006397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters 0.02800254942607297 Centerline is valid? [True, True] Translation: X:124.95, Y:-72.46, Z:-8.66 [[ 7.26295450e-01 6.84717930e-01 6.04671417e-02 1.24950717e+02] [-6.82362713e-01 7.28808174e-01 -5.67430556e-02 -7.24609959e+01] [-8.29219347e-02 -4.82997449e-05 9.96556045e-01 -8.66230238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67864 meters 0.02794932955396048 Centerline is valid? [True, True] Translation: X:124.98, Y:-72.48, Z:-8.66 [[ 7.27392853e-01 6.83521746e-01 6.08083968e-02 1.24976005e+02] [-6.81130658e-01 7.29930138e-01 -5.71228592e-02 -7.24821697e+01] [-8.34305979e-02 1.32296178e-04 9.96513581e-01 -8.66410852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters 0.027937594016850035 Centerline is valid? [True, True] Translation: X:125.00, Y:-72.50, Z:-8.67 [[ 7.28951875e-01 6.81947525e-01 5.98058254e-02 1.25001953e+02] [-6.79625713e-01 7.31401023e-01 -5.62266284e-02 -7.25022844e+01] [-8.20856520e-02 3.40929495e-04 9.96625220e-01 -8.66558938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73864 meters 0.02775699641023108 Centerline is valid? [True, True] Translation: X:125.03, Y:-72.52, Z:-8.67 [[ 7.29341705e-01 6.81623312e-01 5.87395817e-02 1.25025966e+02] [-6.79380498e-01 7.31703156e-01 -5.52506122e-02 -7.25241185e+01] [-8.06400426e-02 3.90049446e-04 9.96743212e-01 -8.66753915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters 0.02784127647049667 Centerline is valid? [True, True] Translation: X:125.05, Y:-72.55, Z:-8.67 [[ 7.29423968e-01 6.81553464e-01 5.85282076e-02 1.25049780e+02] [-6.79322460e-01 7.31768192e-01 -5.51027074e-02 -7.25464002e+01] [-8.03845218e-02 4.33709531e-04 9.96763834e-01 -8.66993066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79864 meters 0.028057018707015796 Centerline is valid? [True, True] Translation: X:125.07, Y:-72.57, Z:-8.67 [[ 7.29755687e-01 6.81123613e-01 5.93907581e-02 1.25073926e+02] [-6.78820279e-01 7.32168249e-01 -5.59703879e-02 -7.25671959e+01] [-8.16067801e-02 5.29057850e-04 9.96664464e-01 -8.67188764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82864 meters 0.028153354527039407 Centerline is valid? [True, True] Translation: X:125.10, Y:-72.59, Z:-8.67 [[ 7.29627316e-01 6.81300880e-01 5.89329293e-02 1.25098806e+02] [-6.79029398e-01 7.32003290e-01 -5.55901146e-02 -7.25893123e+01] [-8.10126921e-02 5.42874589e-04 9.96712922e-01 -8.67289758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85864 meters 0.028149950370785957 Centerline is valid? [True, True] Translation: X:125.12, Y:-72.61, Z:-8.68 [[ 7.30611343e-01 6.80188640e-01 5.95859027e-02 1.25122294e+02] [-6.77858191e-01 7.33036768e-01 -5.62616138e-02 -7.26119400e+01] [-8.19471681e-02 7.14581012e-04 9.96636419e-01 -8.67531292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88864 meters 0.028202986296811873 Centerline is valid? [True, True] Translation: X:125.15, Y:-72.63, Z:-8.68 [[ 7.30568710e-01 6.80205163e-01 5.99190781e-02 1.25145799e+02] [-6.77844249e-01 7.33021395e-01 -5.66286884e-02 -7.26349451e+01] [-8.24410924e-02 7.55345290e-04 9.96595653e-01 -8.67647707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91864 meters 0.02840416409384348 Centerline is valid? [True, True] Translation: X:125.17, Y:-72.66, Z:-8.68 [[ 7.30739070e-01 6.80091033e-01 5.91320410e-02 1.25169463e+02] [-6.77787035e-01 7.33127240e-01 -5.59391121e-02 -7.26573690e+01] [-8.13949985e-02 7.97963983e-04 9.96681603e-01 -8.67810803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94864 meters 0.028210065357480284 Centerline is valid? [True, True] Translation: X:125.19, Y:-72.68, Z:-8.68 [[ 7.30183684e-01 6.80672430e-01 5.93028739e-02 1.25193202e+02] [-6.78352715e-01 7.32587499e-01 -5.61529169e-02 -7.26795479e+01] [-8.16662865e-02 7.73678228e-04 9.96659430e-01 -8.68106689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97864 meters 0.028236357159066812 Centerline is valid? [True, True] Translation: X:125.22, Y:-72.70, Z:-8.68 [[ 7.29414526e-01 6.81416182e-01 6.02199034e-02 1.25216473e+02] [-6.79021874e-01 7.31895782e-01 -5.70776545e-02 -7.27013999e+01] [-8.29683307e-02 7.42638623e-04 9.96551908e-01 -8.68395074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00864 meters 0.028129011783382642 Centerline is valid? [True, True] Translation: X:125.24, Y:-72.72, Z:-8.69 [[ 7.27470070e-01 6.83456897e-01 6.06132588e-02 1.25240554e+02] [-6.81033720e-01 7.29990661e-01 -5.75039765e-02 -7.27239960e+01] [-8.35486022e-02 5.52748695e-04 9.96503550e-01 -8.68578689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03864000000002 meters 0.027989357262877324 Centerline is valid? [True, True] Translation: X:125.26, Y:-72.75, Z:-8.69 [[ 7.26132246e-01 6.84893062e-01 6.04438207e-02 1.25264166e+02] [-6.82483557e-01 7.28643473e-01 -5.74010842e-02 -7.27465782e+01] [-8.33555998e-02 4.28864465e-04 9.96519774e-01 -8.68652944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864000000002 meters 0.028006677056744145 Centerline is valid? [True, True] Translation: X:125.29, Y:-72.77, Z:-8.69 [[ 7.25117838e-01 6.86029683e-01 5.97276767e-02 1.25287103e+02] [-6.83676334e-01 7.27573475e-01 -5.67759498e-02 -7.27685874e+01] [-8.24062601e-02 3.34854931e-04 9.96598764e-01 -8.68801852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09864000000002 meters 0.027936577060555547 Centerline is valid? [True, True] Translation: X:125.31, Y:-72.79, Z:-8.69 [[ 7.23573599e-01 6.87473069e-01 6.18225371e-02 1.25309112e+02] [-6.84952748e-01 7.26209842e-01 -5.88132502e-02 -7.27913472e+01] [-8.53286606e-02 2.10198446e-04 9.96352837e-01 -8.69048440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864000000002 meters 0.02781359509500074 Centerline is valid? [True, True] Translation: X:125.33, Y:-72.81, Z:-8.69 [[ 7.22713229e-01 6.88426951e-01 6.12692465e-02 1.25331890e+02] [-6.85952001e-01 7.25305672e-01 -5.83226802e-02 -7.28136822e+01] [-8.45898370e-02 1.22810306e-04 9.96415849e-01 -8.69182905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15864000000002 meters 0.027864780819465532 Centerline is valid? [True, True] Translation: X:125.36, Y:-72.84, Z:-8.69 [[ 7.21205550e-01 6.89965519e-01 6.17263096e-02 1.25356764e+02] [-6.87454307e-01 7.23842235e-01 -5.88132181e-02 -7.28360529e+01] [-8.52592025e-02 -1.75981456e-05 9.96358805e-01 -8.69352031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864000000002 meters 0.02778600195666135 Centerline is valid? [True, True] Translation: X:125.38, Y:-72.86, Z:-8.70 [[ 7.19815747e-01 6.91499947e-01 6.07709859e-02 1.25380426e+02] [-6.89066677e-01 7.22376494e-01 -5.79596104e-02 -7.28584405e+01] [-8.39785993e-02 -1.55020965e-04 9.96467546e-01 -8.69551803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21864000000002 meters 0.02766804144515737 Centerline is valid? [True, True] Translation: X:125.40, Y:-72.88, Z:-8.70 [[ 7.17570697e-01 6.93966672e-01 5.91823677e-02 1.25404443e+02] [-6.91663426e-01 7.20007015e-01 -5.64942806e-02 -7.28800834e+01] [-8.18168678e-02 -3.95638850e-04 9.96647302e-01 -8.69714554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters 0.02756983848843347 Centerline is valid? [True, True] Translation: X:125.43, Y:-72.90, Z:-8.70 [[ 7.15905416e-01 6.95683406e-01 5.91948718e-02 1.25428557e+02] [-6.93380675e-01 7.18348308e-01 -5.65592450e-02 -7.29021968e+01] [-8.18698642e-02 -5.53510296e-04 9.96642874e-01 -8.69979680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27864 meters 0.02767962666693823 Centerline is valid? [True, True] Translation: X:125.45, Y:-72.92, Z:-8.70 [[ 7.14890830e-01 6.96672251e-01 5.98237031e-02 1.25452506e+02] [-6.94318992e-01 7.17389277e-01 -5.72168021e-02 -7.29243223e+01] [-8.27782414e-02 -6.32966085e-04 9.96567791e-01 -8.70178554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters 0.027603347009687165 Centerline is valid? [True, True] Translation: X:125.48, Y:-72.95, Z:-8.70 [[ 7.13918664e-01 6.97660011e-01 5.99220348e-02 1.25477378e+02] [-6.95297965e-01 7.16428646e-01 -5.73649303e-02 -7.29467082e+01] [-8.29510802e-02 -7.09774440e-04 9.96553368e-01 -8.70313320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33864 meters 0.027513971175924933 Centerline is valid? [True, True] Translation: X:125.50, Y:-72.97, Z:-8.71 [[ 7.13419524e-01 6.98197056e-01 5.96108455e-02 1.25502014e+02] [-6.95856513e-01 7.15905262e-01 -5.71259146e-02 -7.29683492e+01] [-8.25608634e-02 -7.25852301e-04 9.96585760e-01 -8.70554185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters 0.02760559363064932 Centerline is valid? [True, True] Translation: X:125.53, Y:-72.99, Z:-8.71 [[ 7.13219635e-01 6.98447514e-01 5.90662621e-02 1.25526260e+02] [-6.96145871e-01 7.15660932e-01 -5.66600101e-02 -7.29896874e+01] [-8.18454594e-02 -7.07702733e-04 9.96644781e-01 -8.70650584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39864 meters 0.027585548362331666 Centerline is valid? [True, True] Translation: X:125.55, Y:-73.01, Z:-8.71 [[ 7.12276702e-01 6.99246170e-01 6.09646918e-02 1.25550255e+02] [-6.96792302e-01 7.14880532e-01 -5.85347214e-02 -7.30105945e+01] [-8.45126510e-02 -7.86809626e-04 9.96422096e-01 -8.70990938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters 0.02753083283127431 Centerline is valid? [True, True] Translation: X:125.57, Y:-73.03, Z:-8.71 [[ 7.12124904e-01 6.99476091e-01 6.00942588e-02 1.25574500e+02] [-6.97089302e-01 7.14655582e-01 -5.77399698e-02 -7.30325111e+01] [-8.33344259e-02 -7.72994513e-04 9.96521337e-01 -8.71103969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45864 meters 0.027559204565805465 Centerline is valid? [True, True] Translation: X:125.60, Y:-73.05, Z:-8.71 [[ 7.11912378e-01 6.99675909e-01 6.02858875e-02 1.25599265e+02] [-6.97271906e-01 7.14459950e-01 -5.79557621e-02 -7.30543036e+01] [-8.36221027e-02 -7.76231208e-04 9.96497236e-01 -8.71244096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48864 meters 0.0276230271854663 Centerline is valid? [True, True] Translation: X:125.62, Y:-73.08, Z:-8.71 [[ 7.12959805e-01 6.98620091e-01 6.01521866e-02 1.25622875e+02] [-6.96218175e-01 7.15492556e-01 -5.78848380e-02 -7.30761559e+01] [-8.34779525e-02 -6.09482770e-04 9.96509438e-01 -8.71437197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51864 meters 0.027465998184924997 Centerline is valid? [True, True] Translation: X:125.65, Y:-73.10, Z:-8.72 [[ 7.13700616e-01 6.97949178e-01 5.91470682e-02 1.25646243e+02] [-6.95620517e-01 7.16147128e-01 -5.69682943e-02 -7.30979785e+01] [-8.21189773e-02 -4.85607426e-04 9.96622415e-01 -8.71612446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters 0.027344428064366714 Centerline is valid? [True, True] Translation: X:125.67, Y:-73.12, Z:-8.72 [[ 7.14491333e-01 6.97211469e-01 5.82949714e-02 1.25668554e+02] [-6.94943010e-01 7.16865426e-01 -5.61976283e-02 -7.31206584e+01] [-8.09712805e-02 -3.58964593e-04 9.96716370e-01 -8.71912967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57864 meters 0.02747734313975884 Centerline is valid? [True, True] Translation: X:125.69, Y:-73.14, Z:-8.72 [[ 7.14075982e-01 6.97581871e-01 5.89493446e-02 1.25691947e+02] [-6.95258952e-01 7.16504989e-01 -5.68822593e-02 -7.31434442e+01] [-8.19175323e-02 -3.66804330e-04 9.96639044e-01 -8.72038813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60864 meters 0.027372143032820297 Centerline is valid? [True, True] Translation: X:125.71, Y:-73.17, Z:-8.72 [[ 7.13327075e-01 6.98261611e-01 5.99600519e-02 1.25714340e+02] [-6.95855766e-01 7.15842549e-01 -5.79154465e-02 -7.31671789e+01] [-8.33620893e-02 -4.10891792e-04 9.96519239e-01 -8.72218746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63864 meters 0.027579925789709362 Centerline is valid? [True, True] Translation: X:125.74, Y:-73.19, Z:-8.72 [[ 7.12526404e-01 6.99124953e-01 5.94173622e-02 1.25738661e+02] [-6.96761073e-01 7.14999357e-01 -5.74449894e-02 -7.31898561e+01] [-8.26446013e-02 -4.68633327e-04 9.96578973e-01 -8.72431555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66864 meters 0.027545050730564152 Centerline is valid? [True, True] Translation: X:125.76, Y:-73.21, Z:-8.73 [[ 7.11573234e-01 7.00164070e-01 5.85987013e-02 1.25762932e+02] [-6.97863910e-01 7.13981780e-01 -5.67096181e-02 -7.32113135e+01] [-8.15444421e-02 -5.40872512e-04 9.96669560e-01 -8.72576421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69864 meters 0.027528449268681508 Centerline is valid? [True, True] Translation: X:125.79, Y:-73.23, Z:-8.73 [[ 7.09946366e-01 7.01889638e-01 5.76809630e-02 1.25787928e+02] [-6.99662581e-01 7.12285378e-01 -5.58731820e-02 -7.32327952e+01] [-8.03021140e-02 -6.90248873e-04 9.96770332e-01 -8.72795512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72864 meters 0.027510524892978047 Centerline is valid? [True, True] Translation: X:125.81, Y:-73.26, Z:-8.73 [[ 7.08713127e-01 7.03137078e-01 5.76537392e-02 1.25811711e+02] [-7.00911594e-01 7.11053884e-01 -5.59044859e-02 -7.32556362e+01] [-8.03034320e-02 -7.89931248e-04 9.96770151e-01 -8.72983430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75864 meters 0.027702751027353992 Centerline is valid? [True, True] Translation: X:125.84, Y:-73.28, Z:-8.73 [[ 7.07314005e-01 7.04472040e-01 5.85324071e-02 1.25835521e+02] [-7.02177971e-01 7.09731151e-01 -5.68136425e-02 -7.32774854e+01] [-8.15658953e-02 -9.15081823e-04 9.96667531e-01 -8.73069818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864000000002 meters 0.027636128732436604 Centerline is valid? [True, True] Translation: X:125.86, Y:-73.30, Z:-8.73 [[ 7.07920350e-01 7.03875558e-01 5.83778837e-02 1.25859995e+02] [-7.01587970e-01 7.10322841e-01 -5.67078653e-02 -7.32992167e+01] [-8.13824245e-02 -8.12569106e-04 9.96682618e-01 -8.73172838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81864000000002 meters 0.02751156645930817 Centerline is valid? [True, True] Translation: X:125.88, Y:-73.32, Z:-8.73 [[ 7.07733725e-01 7.03989100e-01 5.92648525e-02 1.25884671e+02] [-7.01628775e-01 7.10210312e-01 -5.76053330e-02 -7.33207766e+01] [-8.26440359e-02 -8.12689017e-04 9.96578799e-01 -8.73268415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864000000002 meters 0.027518270062236148 Centerline is valid? [True, True] Translation: X:125.91, Y:-73.34, Z:-8.74 [[ 7.08452729e-01 7.03293289e-01 5.89345449e-02 1.25909422e+02] [-7.00952596e-01 7.10899481e-01 -5.73357362e-02 -7.33411715e+01] [-8.22203759e-02 -6.90663449e-04 9.96613934e-01 -8.73560003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87864000000002 meters 0.02752222091617348 Centerline is valid? [True, True] Translation: X:125.93, Y:-73.36, Z:-8.74 [[ 7.08262188e-01 7.03544041e-01 5.82276082e-02 1.25933932e+02] [-7.01255979e-01 7.10651339e-01 -5.66985516e-02 -7.33624221e+01] [-8.12694559e-02 -6.75018205e-04 9.96691938e-01 -8.73624035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864000000002 meters 0.027571379787589917 Centerline is valid? [True, True] Translation: X:125.96, Y:-73.38, Z:-8.74 [[ 7.08221751e-01 7.03512864e-01 5.90897776e-02 1.25959110e+02] [-7.01151982e-01 7.10682232e-01 -5.75904718e-02 -7.33820765e+01] [-8.25096928e-02 -6.44089965e-04 9.96590054e-01 -8.73860040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93864000000002 meters 0.027512420139758836 Centerline is valid? [True, True] Translation: X:125.98, Y:-73.40, Z:-8.74 [[ 7.08103883e-01 7.03594628e-01 5.95272218e-02 1.25983822e+02] [-7.01194318e-01 7.10601306e-01 -5.80716107e-02 -7.34040127e+01] [-8.31589949e-02 -6.19416643e-04 9.96536100e-01 -8.74071214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864000000002 meters 0.027418134797174584 Centerline is valid? [True, True] Translation: X:126.01, Y:-73.43, Z:-8.74 [[ 7.07807762e-01 7.03948706e-01 5.88590749e-02 1.26007868e+02] [-7.01598636e-01 7.10250549e-01 -5.74761804e-02 -7.34255710e+01] [-8.22649731e-02 -6.13360041e-04 9.96610304e-01 -8.74198150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99864 meters 0.027352584987116468 Centerline is valid? [True, True] Translation: X:126.03, Y:-73.45, Z:-8.74 [[ 7.07286208e-01 7.04591425e-01 5.74207582e-02 1.26033327e+02] [-7.02353125e-01 7.09612936e-01 -5.61210187e-02 -7.34459804e+01] [-8.02889013e-02 -6.36026453e-04 9.96771432e-01 -8.74289511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters 0.02740558989174113 Centerline is valid? [True, True] Translation: X:126.06, Y:-73.47, Z:-8.75 [[ 7.07497169e-01 7.04455690e-01 5.64795306e-02 1.26058458e+02] [-7.02285945e-01 7.09747737e-01 -5.52503444e-02 -7.34662018e+01] [-7.90076385e-02 -5.75318299e-04 9.96873845e-01 -8.74597395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05864 meters 0.02740558989174113 Centerline is valid? [True, True] Translation: X:126.08, Y:-73.49, Z:-8.75 [[ 7.07133106e-01 7.04823227e-01 5.64534201e-02 1.26081958e+02] [-7.02652523e-01 7.09382748e-01 -5.52770140e-02 -7.34887351e+01] [-7.90076057e-02 -5.78931511e-04 9.96873845e-01 -8.74784791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters 0.027249409477137766 Centerline is valid? [True, True] Translation: X:126.11, Y:-73.51, Z:-8.75 [[ 7.07965331e-01 7.04002734e-01 5.62604651e-02 1.26105741e+02] [-7.01840683e-01 7.10197117e-01 -5.51335735e-02 -7.35106287e+01] [-7.87702066e-02 -4.53224670e-04 9.96892697e-01 -8.74941600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11864 meters 0.027305387467511905 Centerline is valid? [True, True] Translation: X:126.13, Y:-73.53, Z:-8.75 [[ 7.08003617e-01 7.03901418e-01 5.70409622e-02 1.26129918e+02] [-7.01676400e-01 7.10297550e-01 -5.59251350e-02 -7.35329954e+01] [-7.98818375e-02 -4.29099159e-04 9.96804248e-01 -8.75076319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters 0.027340958452176062 Centerline is valid? [True, True] Translation: X:126.15, Y:-73.55, Z:-8.75 [[ 7.09667613e-01 7.02139107e-01 5.80736995e-02 1.26154066e+02] [-6.99822951e-01 7.12039770e-01 -5.69842288e-02 -7.35544190e+01] [-8.13616392e-02 -2.01446126e-04 9.96684626e-01 -8.75347896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17864 meters 0.02754720931180733 Centerline is valid? [True, True] Translation: X:126.18, Y:-73.58, Z:-8.76 [[ 7.11588677e-01 7.00071931e-01 5.95050059e-02 1.26178727e+02] [-6.97630511e-01 7.14072327e-01 -5.84155957e-02 -7.35750955e+01] [-8.33859970e-02 5.53687851e-05 9.96517322e-01 -8.75701443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters 0.027430362412389515 Centerline is valid? [True, True] Translation: X:126.20, Y:-73.60, Z:-8.76 [[ 7.12768643e-01 6.98914185e-01 5.89900193e-02 1.26202609e+02] [-6.96506494e-01 7.15205502e-01 -5.79637287e-02 -7.35984321e+01] [-8.27016586e-02 2.27796729e-04 9.96574324e-01 -8.75870233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23864 meters 0.02743411497949436 Centerline is valid? [True, True] Translation: X:126.23, Y:-73.62, Z:-8.76 [[ 7.13085808e-01 6.98615589e-01 5.86931757e-02 1.26227174e+02] [-6.96226272e-01 7.15497147e-01 -5.77305001e-02 -7.36208865e+01] [-8.23262271e-02 3.03069386e-04 9.96605389e-01 -8.75973458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters 0.027398189881891227 Centerline is valid? [True, True] Translation: X:126.25, Y:-73.64, Z:-8.76 [[ 7.13352651e-01 6.98341792e-01 5.87089166e-02 1.26252047e+02] [-6.95945429e-01 7.15764347e-01 -5.78044935e-02 -7.36433479e+01] [-8.23890429e-02 3.76786554e-04 9.96600172e-01 -8.76152020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29864 meters 0.027597495482065373 Centerline is valid? [True, True] Translation: X:126.28, Y:-73.67, Z:-8.76 [[ 7.14659779e-01 6.97077220e-01 5.78338163e-02 1.26275787e+02] [-6.94744017e-01 7.16995850e-01 -5.69886123e-02 -7.36657053e+01] [-8.11920697e-02 5.47771235e-04 9.96698323e-01 -8.76387039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32864 meters 0.027614341996249465 Centerline is valid? [True, True] Translation: X:126.30, Y:-73.69, Z:-8.77 [[ 7.15799128e-01 6.95961087e-01 5.71819311e-02 1.26297208e+02] [-6.93674402e-01 7.18079168e-01 -5.63749225e-02 -7.36913902e+01] [-8.02959059e-02 6.87478477e-04 9.96770834e-01 -8.76699922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35864 meters 0.02772703240803713 Centerline is valid? [True, True] Translation: X:126.32, Y:-73.72, Z:-8.77 [[ 7.17669462e-01 6.94044390e-01 5.70344500e-02 1.26318079e+02] [-6.91759083e-01 7.19931596e-01 -5.62838219e-02 -7.37156787e+01] [-8.01243735e-02 9.39081329e-04 9.96784432e-01 -8.76888879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38864 meters 0.027798156978785012 Centerline is valid? [True, True] Translation: X:126.34, Y:-73.74, Z:-8.77 [[ 7.17602682e-01 6.94148450e-01 5.66067119e-02 1.26341813e+02] [-6.91893662e-01 7.19831240e-01 -5.59119604e-02 -7.37393650e+01] [-7.95584803e-02 9.56747589e-04 9.96829741e-01 -8.77031105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41864 meters 0.027910718068997146 Centerline is valid? [True, True] Translation: X:126.37, Y:-73.76, Z:-8.77 [[ 7.17677861e-01 6.93998974e-01 5.74796656e-02 1.26365155e+02] [-6.91669039e-01 7.19975255e-01 -5.68293390e-02 -7.37619224e+01] [-8.08234398e-02 1.02825350e-03 9.96727904e-01 -8.77274503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44864 meters 0.027840328530511108 Centerline is valid? [True, True] Translation: X:126.39, Y:-73.79, Z:-8.77 [[ 7.18097417e-01 6.93656354e-01 5.63645424e-02 1.26385543e+02] [-6.91411245e-01 7.20305279e-01 -5.57745003e-02 -7.37864184e+01] [-7.92880140e-02 1.08044619e-03 9.96851164e-01 -8.77497482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47864 meters 0.02793214054770573 Centerline is valid? [True, True] Translation: X:126.41, Y:-73.81, Z:-8.78 [[ 7.18619033e-01 6.93045949e-01 5.72188608e-02 1.26406908e+02] [-6.90726774e-01 7.20892420e-01 -5.66625220e-02 -7.38105876e+01] [-8.05183744e-02 1.19616756e-03 9.96752407e-01 -8.77765811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50864 meters 0.028224816891876083 Centerline is valid? [True, True] Translation: X:126.43, Y:-73.83, Z:-8.78 [[ 7.19764226e-01 6.91840755e-01 5.74093137e-02 1.26427720e+02] [-6.89499640e-01 7.22048837e-01 -5.68834123e-02 -7.38345905e+01] [-8.08065911e-02 1.35894413e-03 9.96728874e-01 -8.77979234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53864000000002 meters 0.028186857007284696 Centerline is valid? [True, True] Translation: X:126.45, Y:-73.86, Z:-8.78 [[ 7.19557328e-01 6.92033112e-01 5.76838174e-02 1.26450252e+02] [-6.89666086e-01 7.21864439e-01 -5.72050841e-02 -7.38592745e+01] [-8.12277089e-02 1.37976491e-03 9.96694615e-01 -8.78176952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864000000002 meters 0.028348459394177357 Centerline is valid? [True, True] Translation: X:126.47, Y:-73.88, Z:-8.78 [[ 7.19719783e-01 6.91883286e-01 5.74539092e-02 1.26472250e+02] [-6.89530058e-01 7.22007941e-01 -5.70336075e-02 -7.38835971e+01] [-8.09427785e-02 1.43201830e-03 9.96717721e-01 -8.78380730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59864000000002 meters 0.028143488315792813 Centerline is valid? [True, True] Translation: X:126.49, Y:-73.91, Z:-8.78 [[ 7.19660790e-01 6.92063852e-01 5.59997543e-02 1.26492674e+02] [-6.89824834e-01 7.21834903e-01 -5.56423583e-02 -7.39083947e+01] [-7.89306420e-02 1.41360234e-03 9.96879108e-01 -8.78417477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864000000002 meters 0.028346902237092304 Centerline is valid? [True, True] Translation: X:126.51, Y:-73.93, Z:-8.79 [[ 7.18753044e-01 6.92951322e-01 5.66791583e-02 1.26514709e+02] [-6.90656213e-01 7.20983073e-01 -5.63684693e-02 -7.39323940e+01] [-7.99253190e-02 1.36919612e-03 9.96799914e-01 -8.78791017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65864000000002 meters 0.02784174625972241 Centerline is valid? [True, True] Translation: X:126.53, Y:-73.96, Z:-8.79 [[ 7.16535133e-01 6.95270651e-01 5.63571189e-02 1.26534176e+02] [-6.93004465e-01 7.18747115e-01 -5.61016666e-02 -7.39586841e+01] [-7.95123589e-02 1.14308005e-03 9.96833225e-01 -8.78884209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864000000002 meters 0.027859234078784555 Centerline is valid? [True, True] Translation: X:126.56, Y:-73.98, Z:-8.79 [[ 7.15183342e-01 6.96594865e-01 5.71697553e-02 1.26556211e+02] [-6.94262741e-01 7.17463933e-01 -5.69627204e-02 -7.39836132e+01] [-8.06971760e-02 1.04795780e-03 9.96738114e-01 -8.79134817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71864000000002 meters 0.02771272703749669 Centerline is valid? [True, True] Translation: X:126.58, Y:-74.01, Z:-8.79 [[ 7.11954360e-01 6.99808662e-01 5.82136222e-02 1.26577738e+02] [-6.97396238e-01 7.14329958e-01 -5.80620203e-02 -7.40087448e+01] [-8.22160391e-02 7.39547386e-04 9.96614256e-01 -8.79219555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters 0.027537610300860903 Centerline is valid? [True, True] Translation: X:126.60, Y:-74.03, Z:-8.79 [[ 7.10858772e-01 7.00982769e-01 5.74714182e-02 1.26600067e+02] [-6.98630889e-01 7.13177926e-01 -5.73770581e-02 -7.40316696e+01] [-8.12076759e-02 6.35677028e-04 9.96697000e-01 -8.79361913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77864 meters 0.02737161028358226 Centerline is valid? [True, True] Translation: X:126.62, Y:-74.06, Z:-8.80 [[ 7.09451324e-01 7.02429645e-01 5.71962710e-02 1.26622626e+02] [-7.00100865e-01 7.11753005e-01 -5.71527675e-02 -7.40551962e+01] [-8.08554159e-02 5.03947713e-04 9.96725713e-01 -8.79520987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters 0.02750757700934875 Centerline is valid? [True, True] Translation: X:126.64, Y:-74.08, Z:-8.80 [[ 7.07831933e-01 7.04115330e-01 5.65292642e-02 1.26644916e+02] [-7.01842516e-01 7.10085550e-01 -5.65295947e-02 -7.40783191e+01] [-7.99439678e-02 3.38811273e-04 9.96799301e-01 -8.79807622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83864 meters 0.027352794673531352 Centerline is valid? [True, True] Translation: X:126.54, Y:-74.35, Z:-7.04 [[ 7.52439254e-01 -6.58244906e-01 -2.34267510e-02 1.26541491e+02] [-6.57753431e-01 -7.52793454e-01 2.57378929e-02 -7.43547110e+01] [-3.45773417e-02 -3.95717514e-03 -9.99394191e-01 -7.03838764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters 0.027445155401592463 Centerline is valid? [True, True] Translation: X:126.66, Y:-74.11, Z:-8.80 [[ 7.55028491e-01 6.52832961e-01 6.11645566e-02 1.26663025e+02] [-6.50673874e-01 7.57501854e-01 -5.30513966e-02 -7.41096371e+01] [-8.09659654e-02 2.57136925e-04 9.96716834e-01 -8.80091307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89864 meters 0.027712028740520825 Centerline is valid? [True, True] Translation: X:126.69, Y:-74.13, Z:-8.80 [[ 7.54730194e-01 6.53211652e-01 6.08019020e-02 1.26688815e+02] [-6.51075628e-01 7.57175326e-01 -5.27830594e-02 -7.41297297e+01] [-8.05162094e-02 2.50332134e-04 9.96753268e-01 -8.80281447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters 0.027730133047329124 Centerline is valid? [True, True] Translation: X:126.71, Y:-74.15, Z:-8.81 [[ 7.54193419e-01 6.53839786e-01 6.07109586e-02 1.26714796e+02] [-6.51709397e-01 7.56632996e-01 -5.27387064e-02 -7.41495734e+01] [-8.04185790e-02 2.09283055e-04 9.96761159e-01 -8.80529556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95864 meters 0.02765029843765821 Centerline is valid? [True, True] Translation: X:126.74, Y:-74.17, Z:-8.81 [[ 7.53631388e-01 6.54512804e-01 6.04377458e-02 1.26741927e+02] [-6.52399336e-01 7.56050897e-01 -5.25561436e-02 -7.41690167e+01] [-8.00926808e-02 1.78414208e-04 9.96787405e-01 -8.80672026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters 0.02783890261272073 Centerline is valid? [True, True] Translation: X:126.77, Y:-74.19, Z:-8.81 [[ 7.53550965e-01 6.54573167e-01 6.07857907e-02 1.26771687e+02] [-6.52430959e-01 7.55998626e-01 -5.29142863e-02 -7.41852762e+01] [-8.05902462e-02 2.15079771e-04 9.96747293e-01 -8.80922955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01864 meters 0.028001966549923176 Centerline is valid? [True, True] Translation: X:126.80, Y:-74.20, Z:-8.81 [[ 7.53948227e-01 6.54078270e-01 6.11856824e-02 1.26798022e+02] [-6.51902473e-01 7.56426814e-01 -5.33070431e-02 -7.42038091e+01] [-8.11494694e-02 3.03652939e-04 9.96701897e-01 -8.81008999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters 0.027912640507102054 Centerline is valid? [True, True] Translation: X:126.83, Y:-74.22, Z:-8.81 [[ 7.55928409e-01 6.51819411e-01 6.08579940e-02 1.26826929e+02] [-6.49657301e-01 7.58374008e-01 -5.30495500e-02 -7.42212365e+01] [-8.07318472e-02 5.64821857e-04 9.96735697e-01 -8.81208284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07864 meters 0.028124031685002493 Centerline is valid? [True, True] Translation: X:126.85, Y:-74.24, Z:-8.81 [[ 7.57405531e-01 6.50165444e-01 6.01810354e-02 1.26853253e+02] [-6.48041716e-01 7.59792272e-01 -5.25132186e-02 -7.42406813e+01] [-7.98673657e-02 7.73980738e-04 9.96805199e-01 -8.81364255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10864 meters 0.028109401877585503 Centerline is valid? [True, True] Translation: X:126.88, Y:-74.26, Z:-8.81 [[ 7.58550946e-01 6.48883524e-01 5.95871992e-02 1.26879867e+02] [-6.46793466e-01 7.60887172e-01 -5.20473258e-02 -7.42602135e+01] [-7.91117877e-02 9.39937100e-04 9.96865308e-01 -8.81477788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13864 meters 0.028627652575057946 Centerline is valid? [True, True] Translation: X:126.91, Y:-74.28, Z:-8.82 [[ 7.61310448e-01 6.45724443e-01 5.87055769e-02 1.26906961e+02] [-6.43683270e-01 7.63569448e-01 -5.13180862e-02 -7.42777642e+01] [-7.79631276e-02 1.28119748e-03 9.96955420e-01 -8.81669742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16864 meters 0.02889086935414774 Centerline is valid? [True, True] Translation: X:126.93, Y:-74.30, Z:-8.82 [[ 7.62213174e-01 6.44635525e-01 5.89586005e-02 1.26931808e+02] [-6.42572412e-01 7.64488754e-01 -5.15522971e-02 -7.42982458e+01] [-7.83056291e-02 1.40866989e-03 9.96928405e-01 -8.81929117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19864 meters 0.028958652129574443 Centerline is valid? [True, True] Translation: X:126.96, Y:-74.32, Z:-8.82 [[ 7.62957116e-01 6.43723373e-01 5.93014162e-02 1.26956431e+02] [-6.41632385e-01 7.65256758e-01 -5.18649955e-02 -7.43191959e+01] [-7.87675194e-02 1.52105828e-03 9.96891852e-01 -8.82045366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22864 meters 0.028971660640780772 Centerline is valid? [True, True] Translation: X:126.98, Y:-74.34, Z:-8.82 [[ 7.64327394e-01 6.42181413e-01 5.83666647e-02 1.26981801e+02] [-6.40150461e-01 7.66550890e-01 -5.10599718e-02 -7.43392608e+01] [-7.75307836e-02 1.66308787e-03 9.96988572e-01 -8.82032339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25864 meters 0.02900010479895809 Centerline is valid? [True, True] Translation: X:127.01, Y:-74.36, Z:-8.82 [[ 7.63937706e-01 6.42627045e-01 5.85633265e-02 1.27006791e+02] [-6.40582540e-01 7.66177401e-01 -5.12464597e-02 -7.43600827e+01] [-7.78022582e-02 1.63445843e-03 9.96967470e-01 -8.82261841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864000000002 meters 0.028768065715642218 Centerline is valid? [True, True] Translation: X:127.03, Y:-74.38, Z:-8.83 [[ 7.62797040e-01 6.44048026e-01 5.78170975e-02 1.27031510e+02] [-6.42058059e-01 7.64983619e-01 -5.06113729e-02 -7.43813033e+01] [-7.68252873e-02 1.48427208e-03 9.97043466e-01 -8.82526289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31864000000002 meters 0.028510682122611552 Centerline is valid? [True, True] Translation: X:127.06, Y:-74.40, Z:-8.83 [[ 7.62546708e-01 6.44372896e-01 5.74986071e-02 1.27055664e+02] [-6.42404560e-01 7.64710045e-01 -5.03480654e-02 -7.44031783e+01] [-7.64126911e-02 1.45538412e-03 9.97075214e-01 -8.82745685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864000000002 meters 0.028818935075785042 Centerline is valid? [True, True] Translation: X:127.08, Y:-74.42, Z:-8.83 [[ 7.61940255e-01 6.44942817e-01 5.91253776e-02 1.27079455e+02] [-6.42861831e-01 7.64229456e-01 -5.17880798e-02 -7.44240872e+01] [-7.85857051e-02 1.44997423e-03 9.96906307e-01 -8.83007508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37864000000002 meters 0.028858332914517955 Centerline is valid? [True, True] Translation: X:127.10, Y:-74.44, Z:-8.83 [[ 7.62550385e-01 6.44140410e-01 6.00003656e-02 1.27104754e+02] [-6.41993727e-01 7.64905668e-01 -5.25678023e-02 -7.44444652e+01] [-7.97556654e-02 1.56573958e-03 9.96813213e-01 -8.83083468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864000000002 meters 0.029004075700741906 Centerline is valid? [True, True] Translation: X:127.13, Y:-74.47, Z:-8.83 [[ 7.62791612e-01 6.43846634e-01 6.00871732e-02 1.27129116e+02] [-6.41691769e-01 7.65152876e-01 -5.26569048e-02 -7.44651811e+01] [-7.98788443e-02 1.60880091e-03 9.96803282e-01 -8.83288155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43864000000002 meters 0.028870005624309903 Centerline is valid? [True, True] Translation: X:127.15, Y:-74.49, Z:-8.83 [[ 7.63649679e-01 6.42939589e-01 5.88884719e-02 1.27153952e+02] [-6.40866097e-01 7.65915047e-01 -5.16215746e-02 -7.44875747e+01] [-7.82931207e-02 1.68117375e-03 9.96928965e-01 -8.83407588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864000000002 meters 0.028974415811633483 Centerline is valid? [True, True] Translation: X:127.18, Y:-74.51, Z:-8.84 [[ 7.63420666e-01 6.43194987e-01 5.90685646e-02 1.27179016e+02] [-6.41107828e-01 7.65700593e-01 -5.18011111e-02 -7.45096218e+01] [-7.85470499e-02 1.67671958e-03 9.96908998e-01 -8.83669754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49864 meters 0.029140792185093967 Centerline is valid? [True, True] Translation: X:127.20, Y:-74.53, Z:-8.84 [[ 7.63357687e-01 6.43235015e-01 5.94454166e-02 1.27203258e+02] [-6.41119797e-01 7.65666922e-01 -5.21494938e-02 -7.45312012e+01] [-7.90597696e-02 1.69708353e-03 9.96868433e-01 -8.83837601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters 0.028927823665749017 Centerline is valid? [True, True] Translation: X:127.23, Y:-74.55, Z:-8.84 [[ 7.62843660e-01 6.43910179e-01 5.87301619e-02 1.27227631e+02] [-6.41846581e-01 7.65099382e-01 -5.15354478e-02 -7.45529536e+01] [-7.81186100e-02 1.61773598e-03 9.96942760e-01 -8.83931607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55864 meters 0.028759734042717276 Centerline is valid? [True, True] Translation: X:127.25, Y:-74.57, Z:-8.84 [[ 7.63090188e-01 6.43713389e-01 5.76752781e-02 1.27252114e+02] [-6.41721688e-01 7.65264954e-01 -5.06243430e-02 -7.45734871e+01] [-7.67244365e-02 1.61946256e-03 9.97051021e-01 -8.84113176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters 0.028878815744575195 Centerline is valid? [True, True] Translation: X:127.28, Y:-74.59, Z:-8.84 [[ 7.63463064e-01 6.43254134e-01 5.78642289e-02 1.27276987e+02] [-6.41247049e-01 7.65650896e-01 -5.08028398e-02 -7.45944872e+01] [-7.69829354e-02 1.68082571e-03 9.97030994e-01 -8.84395427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61864 meters 0.029132171722505693 Centerline is valid? [True, True] Translation: X:127.30, Y:-74.62, Z:-8.85 [[ 7.63856012e-01 6.42837947e-01 5.73006710e-02 1.27301825e+02] [-6.40867588e-01 7.66000279e-01 -5.03220378e-02 -7.46156043e+01] [-7.62412454e-02 1.71664834e-03 9.97087923e-01 -8.84503897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters 0.02907082655548169 Centerline is valid? [True, True] Translation: X:127.33, Y:-74.64, Z:-8.85 [[ 7.64019049e-01 6.42612753e-01 5.76519060e-02 1.27325760e+02] [-6.40615611e-01 7.66189090e-01 -5.06548740e-02 -7.46363037e+01] [-7.67237294e-02 1.76857771e-03 9.97050822e-01 -8.84743168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67864 meters 0.029412037898132348 Centerline is valid? [True, True] Translation: X:127.35, Y:-74.66, Z:-8.85 [[ 7.65497655e-01 6.40940408e-01 5.66456858e-02 1.27350254e+02] [-6.39005446e-01 7.67588222e-01 -4.98032243e-02 -7.46566448e+01] [-7.54014602e-02 1.92734969e-03 9.97151395e-01 -8.84881841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters 0.029702811136155055 Centerline is valid? [True, True] Translation: X:127.37, Y:-74.68, Z:-8.85 [[ 7.65806716e-01 6.40555269e-01 5.68244801e-02 1.27374410e+02] [-6.38606066e-01 7.67909515e-01 -4.99726859e-02 -7.46776905e+01] [-7.56463262e-02 1.98096086e-03 9.97132744e-01 -8.85162822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73864 meters 0.030015998249274485 Centerline is valid? [True, True] Translation: X:127.40, Y:-74.70, Z:-8.85 [[ 7.67582362e-01 6.38483201e-01 5.61829062e-02 1.27397037e+02] [-6.36571436e-01 7.69632702e-01 -4.94197447e-02 -7.46998547e+01] [-7.47938787e-02 2.16929111e-03 9.97196656e-01 -8.85315710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters 0.030209794286835005 Centerline is valid? [True, True] Translation: X:127.42, Y:-74.72, Z:-8.85 [[ 7.68380976e-01 6.37565238e-01 5.56888015e-02 1.27420527e+02] [-6.35683885e-01 7.70393096e-01 -4.89946504e-02 -7.47216673e+01] [-7.41395541e-02 2.24608360e-03 9.97245347e-01 -8.85440171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79864 meters 0.03047525286696675 Centerline is valid? [True, True] Translation: X:127.44, Y:-74.74, Z:-8.86 [[ 7.69533788e-01 6.36214398e-01 5.52176503e-02 1.27443825e+02] [-6.34360455e-01 7.71508681e-01 -4.85918424e-02 -7.47437229e+01] [-7.35157264e-02 2.36517073e-03 9.97291253e-01 -8.85547674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82864 meters 0.03039902346189959 Centerline is valid? [True, True] Translation: X:127.47, Y:-74.77, Z:-8.86 [[ 7.69088274e-01 6.36715778e-01 5.56439098e-02 1.27467603e+02] [-6.34833379e-01 7.71095011e-01 -4.89802388e-02 -7.47663834e+01] [-7.40932322e-02 2.34551603e-03 9.97248561e-01 -8.85768629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85864 meters 0.030385095000578483 Centerline is valid? [True, True] Translation: X:127.49, Y:-74.79, Z:-8.86 [[ 7.69337727e-01 6.36395897e-01 5.58544992e-02 1.27491127e+02] [-6.34497119e-01 7.71358873e-01 -4.91822634e-02 -7.47888134e+01] [-7.43832542e-02 2.39825190e-03 9.97226845e-01 -8.85891397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88864 meters 0.0301832972807809 Centerline is valid? [True, True] Translation: X:127.51, Y:-74.81, Z:-8.86 [[ 7.68672076e-01 6.37183307e-01 5.60417052e-02 1.27513428e+02] [-6.35272950e-01 7.70708740e-01 -4.93590566e-02 -7.48116115e+01] [-7.46425989e-02 2.33914913e-03 9.97207607e-01 -8.86163964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91864 meters 0.030087222661365192 Centerline is valid? [True, True] Translation: X:127.54, Y:-74.83, Z:-8.86 [[ 7.68546666e-01 6.37361598e-01 5.57334363e-02 1.27536498e+02] [-6.35471814e-01 7.70561366e-01 -4.90994388e-02 -7.48339243e+01] [-7.42401296e-02 2.31818213e-03 9.97237699e-01 -8.86385108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94864 meters 0.030384876984673584 Centerline is valid? [True, True] Translation: X:127.56, Y:-74.86, Z:-8.87 [[ 7.69321418e-01 6.36429912e-01 5.56913160e-02 1.27557428e+02] [-6.34539666e-01 7.71330754e-01 -4.90742341e-02 -7.48584502e+01] [-7.41887353e-02 2.41551030e-03 9.97241293e-01 -8.86536497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97864 meters 0.030202447454498543 Centerline is valid? [True, True] Translation: X:127.58, Y:-74.88, Z:-8.87 [[ 7.69048103e-01 6.36680834e-01 5.65909164e-02 1.27579901e+02] [-6.34728139e-01 7.71123555e-01 -4.98863919e-02 -7.48812199e+01] [-7.54002983e-02 2.44518795e-03 9.97150348e-01 -8.86662654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00864 meters 0.030202447454498543 Centerline is valid? [True, True] Translation: X:127.60, Y:-74.90, Z:-8.87 [[ 7.68742584e-01 6.37051613e-01 5.65692606e-02 1.27604539e+02] [-6.35098117e-01 7.70817281e-01 -4.99109393e-02 -7.49025106e+01] [-7.54004080e-02 2.44163365e-03 9.97150348e-01 -8.86849655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03864000000002 meters 0.030387387187514162 Centerline is valid? [True, True] Translation: X:127.63, Y:-74.93, Z:-8.87 [[ 7.68683549e-01 6.37143308e-01 5.63383240e-02 1.27628499e+02] [-6.35202377e-01 7.70741431e-01 -4.97552689e-02 -7.49255048e+01] [-7.51235171e-02 2.45981934e-03 9.97171202e-01 -8.87041771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864000000002 meters 0.03011023253601673 Centerline is valid? [True, True] Translation: X:127.65, Y:-74.95, Z:-8.87 [[ 7.67627460e-01 6.38416475e-01 5.63248329e-02 1.27649777e+02] [-6.36476361e-01 7.69687458e-01 -4.97901447e-02 -7.49501369e+01] [-7.51393662e-02 2.37085764e-03 9.97170224e-01 -8.87359167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09864000000002 meters 0.02997854392218792 Centerline is valid? [True, True] Translation: X:127.67, Y:-74.97, Z:-8.88 [[ 7.66859154e-01 6.39297151e-01 5.67995648e-02 1.27672516e+02] [-6.37323179e-01 7.68956232e-01 -5.02541520e-02 -7.49741506e+01] [-7.58037154e-02 2.33817731e-03 9.97120018e-01 -8.87608534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864000000002 meters 0.02982828978265965 Centerline is valid? [True, True] Translation: X:127.70, Y:-75.00, Z:-8.88 [[ 7.66256722e-01 6.39970663e-01 5.73427105e-02 1.27695616e+02] [-6.37956750e-01 7.68395805e-01 -5.07845668e-02 -7.49985781e+01] [-7.65625311e-02 2.33184644e-03 9.97062055e-01 -8.87764571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15864000000002 meters 0.029981276387943585 Centerline is valid? [True, True] Translation: X:127.72, Y:-75.02, Z:-8.88 [[ 7.65790829e-01 6.40415954e-01 5.85816792e-02 1.27719236e+02] [-6.38311319e-01 7.68024585e-01 -5.19316486e-02 -7.50199284e+01] [-7.82500262e-02 2.37543127e-03 9.96930936e-01 -8.87937493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864000000002 meters 0.02979826693182763 Centerline is valid? [True, True] Translation: X:127.74, Y:-75.04, Z:-8.88 [[ 7.65410272e-01 6.40851348e-01 5.87934100e-02 1.27743411e+02] [-6.38729080e-01 7.67661324e-01 -5.21656415e-02 -7.50426941e+01] [-7.85638487e-02 2.37505716e-03 9.96906255e-01 -8.88054749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21864000000002 meters 0.029767320174223677 Centerline is valid? [True, True] Translation: X:127.77, Y:-75.07, Z:-8.88 [[ 7.65092723e-01 6.41177878e-01 5.93637422e-02 1.27765704e+02] [-6.39011027e-01 7.67388526e-01 -5.27234092e-02 -7.50671105e+01] [-7.93601382e-02 2.40421085e-03 9.96843111e-01 -8.88352838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters 0.029746133969895446 Centerline is valid? [True, True] Translation: X:127.79, Y:-75.09, Z:-8.88 [[ 7.65500236e-01 6.40799778e-01 5.81810296e-02 1.27790093e+02] [-6.38713583e-01 7.67704192e-01 -5.17226567e-02 -7.50900187e+01] [-7.78096873e-02 2.43269208e-03 9.96965262e-01 -8.88405013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27864 meters 0.029823903889618766 Centerline is valid? [True, True] Translation: X:127.81, Y:-75.11, Z:-8.89 [[ 7.65335592e-01 6.41094995e-01 5.70844851e-02 1.27813328e+02] [-6.39084032e-01 7.67457803e-01 -5.07948852e-02 -7.51120437e+01] [-7.63742802e-02 2.39335063e-03 9.97076347e-01 -8.88564662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters 0.029706634859003066 Centerline is valid? [True, True] Translation: X:127.84, Y:-75.14, Z:-8.89 [[ 7.64848984e-01 6.41737568e-01 5.63819629e-02 1.27835757e+02] [-6.39774429e-01 7.66920760e-01 -5.02118247e-02 -7.51352479e+01] [-7.54633121e-02 2.33272502e-03 9.97145850e-01 -8.88725059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33864 meters 0.029224630533334784 Centerline is valid? [True, True] Translation: X:127.86, Y:-75.16, Z:-8.89 [[ 7.63789836e-01 6.42979886e-01 5.65858083e-02 1.27857898e+02] [-6.41002635e-01 7.65879755e-01 -5.04363241e-02 -7.51581597e+01] [-7.57674669e-02 2.25109943e-03 9.97122973e-01 -8.88837691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters 0.02927413504520594 Centerline is valid? [True, True] Translation: X:127.88, Y:-75.18, Z:-8.89 [[ 7.63195469e-01 6.43684422e-01 5.65954156e-02 1.27879780e+02] [-6.41705051e-01 7.65287825e-01 -5.04893312e-02 -7.51832842e+01] [-7.58109785e-02 2.21566476e-03 9.97119745e-01 -8.89061089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39864 meters 0.029137902469363625 Centerline is valid? [True, True] Translation: X:127.90, Y:-75.21, Z:-8.89 [[ 7.63109101e-01 6.43882582e-01 5.54952291e-02 1.27902750e+02] [-6.41976586e-01 7.65121187e-01 -4.95543467e-02 -7.52055117e+01] [-7.43677562e-02 2.18873524e-03 9.97228482e-01 -8.89170119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters 0.02900630418090462 Centerline is valid? [True, True] Translation: X:127.93, Y:-75.23, Z:-8.89 [[ 7.62566486e-01 6.44576406e-01 5.48963761e-02 1.27925655e+02] [-6.42710082e-01 7.64536931e-01 -4.90615016e-02 -7.52284132e+01] [-7.35941933e-02 2.13020242e-03 9.97285996e-01 -8.89354818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45864 meters 0.02880408319685248 Centerline is valid? [True, True] Translation: X:127.95, Y:-75.25, Z:-8.90 [[ 7.61232249e-01 6.46156875e-01 5.48338917e-02 1.27946696e+02] [-6.44295782e-01 7.63201980e-01 -4.90477583e-02 -7.52530734e+01] [-7.35418809e-02 2.00749021e-03 9.97290109e-01 -8.89658595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters 0.028713592672797175 Centerline is valid? [True, True] Translation: X:127.97, Y:-75.28, Z:-8.90 [[ 7.60562394e-01 6.46976542e-01 5.44628155e-02 1.27969729e+02] [-6.45139622e-01 7.62507418e-01 -4.87576211e-02 -7.52754282e+01] [-7.30733380e-02 1.94709281e-03 9.97324669e-01 -8.89799216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51864 meters 0.02885963073668842 Centerline is valid? [True, True] Translation: X:127.99, Y:-75.30, Z:-8.90 [[ 7.59458951e-01 6.48093566e-01 5.65405241e-02 1.27992963e+02] [-6.46113212e-01 7.61558235e-01 -5.06633145e-02 -7.52981527e+01] [-7.58934699e-02 1.94512808e-03 9.97114034e-01 -8.90088363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters 0.028665375540479477 Centerline is valid? [True, True] Translation: X:128.02, Y:-75.32, Z:-8.90 [[ 7.58857387e-01 6.48780455e-01 5.67396460e-02 1.28016380e+02] [-6.46784325e-01 7.60973216e-01 -5.08900903e-02 -7.53213979e+01] [-7.61938468e-02 1.92000732e-03 9.97091175e-01 -8.90197847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57864 meters 0.028956951670263454 Centerline is valid? [True, True] Translation: X:128.04, Y:-75.34, Z:-8.90 [[ 7.58687207e-01 6.48938066e-01 5.72110853e-02 1.28040799e+02] [-6.46905076e-01 7.60838713e-01 -5.13641368e-02 -7.53441470e+01] [-7.68605521e-02 1.95917194e-03 9.97039928e-01 -8.90438339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60864 meters 0.02897326785053447 Centerline is valid? [True, True] Translation: X:128.06, Y:-75.37, Z:-8.91 [[ 7.59263606e-01 6.48358541e-01 5.61246758e-02 1.28064452e+02] [-6.46396831e-01 7.61332472e-01 -5.04381167e-02 -7.53679665e+01] [-7.54315220e-02 2.01701380e-03 9.97148944e-01 -8.90573951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63864 meters 0.029107149476179924 Centerline is valid? [True, True] Translation: X:128.09, Y:-75.39, Z:-8.91 [[ 7.59346041e-01 6.48266360e-01 5.60742052e-02 1.28088209e+02] [-6.46304168e-01 7.61410844e-01 -5.04425311e-02 -7.53907828e+01] [-7.53957039e-02 2.06234373e-03 9.97151560e-01 -8.90792860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66864 meters 0.029045853391779237 Centerline is valid? [True, True] Translation: X:128.11, Y:-75.42, Z:-8.91 [[ 7.59186610e-01 6.48506683e-01 5.54506366e-02 1.28111102e+02] [-6.46584926e-01 7.61206192e-01 -4.99306188e-02 -7.54154953e+01] [-7.45897079e-02 2.05311143e-03 9.97212194e-01 -8.90852906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69864 meters 0.029124162467155944 Centerline is valid? [True, True] Translation: X:128.14, Y:-75.44, Z:-8.91 [[ 7.58523872e-01 6.49222594e-01 5.61387500e-02 1.28135445e+02] [-6.47250887e-01 7.60595711e-01 -5.06009135e-02 -7.54383078e+01] [-7.55501489e-02 2.04614504e-03 9.97139904e-01 -8.91109611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72864 meters 0.028936384737548688 Centerline is valid? [True, True] Translation: X:128.16, Y:-75.46, Z:-8.91 [[ 7.57879678e-01 6.49946575e-01 5.64610014e-02 1.28159525e+02] [-6.47950261e-01 7.59977206e-01 -5.09421856e-02 -7.54612600e+01] [-7.60187731e-02 2.02412658e-03 9.97104332e-01 -8.91213229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75864 meters 0.028676836350143405 Centerline is valid? [True, True] Translation: X:128.18, Y:-75.48, Z:-8.91 [[ 7.55997720e-01 6.52113565e-01 5.67040180e-02 1.28182552e+02] [-6.50102303e-01 7.58119034e-01 -5.12106056e-02 -7.54832500e+01] [-7.63835259e-02 1.85168834e-03 9.97076792e-01 -8.91338920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864000000002 meters 0.028579269079604015 Centerline is valid? [True, True] Translation: X:128.21, Y:-75.51, Z:-8.92 [[ 7.54930744e-01 6.53334848e-01 5.68607819e-02 1.28206198e+02] [-6.51313009e-01 7.57067021e-01 -5.13895956e-02 -7.55057327e+01] [-7.66220364e-02 1.76141866e-03 9.97058655e-01 -8.91546079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81864000000002 meters 0.02828556710611796 Centerline is valid? [True, True] Translation: X:128.23, Y:-75.53, Z:-8.92 [[ 7.53102005e-01 6.55535426e-01 5.57734306e-02 1.28230428e+02] [-6.53594626e-01 7.55162883e-01 -5.04290101e-02 -7.55275126e+01] [-7.51760272e-02 1.52497414e-03 9.97169113e-01 -8.91654304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864000000002 meters 0.02840681939476206 Centerline is valid? [True, True] Translation: X:128.25, Y:-75.55, Z:-8.92 [[ 7.52553409e-01 6.56220944e-01 5.51129760e-02 1.28254942e+02] [-6.54324514e-01 7.54567364e-01 -4.98750866e-02 -7.55489043e+01] [-7.43155294e-02 1.47189524e-03 9.97233692e-01 -8.91834620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87864000000002 meters 0.02830237790950587 Centerline is valid? [True, True] Translation: X:128.28, Y:-75.57, Z:-8.92 [[ 7.52095112e-01 6.56796980e-01 5.45038426e-02 1.28279556e+02] [-6.54940633e-01 7.54066096e-01 -4.93668992e-02 -7.55701713e+01] [-7.35235301e-02 1.43182240e-03 9.97292455e-01 -8.92045160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864000000002 meters 0.028242290498258014 Centerline is valid? [True, True] Translation: X:128.30, Y:-75.59, Z:-8.92 [[ 7.51658235e-01 6.57298974e-01 5.44789545e-02 1.28304409e+02] [-6.55442323e-01 7.53628591e-01 -4.93893461e-02 -7.55917691e+01] [-7.35204642e-02 1.41609619e-03 9.97292703e-01 -8.92205185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93864000000002 meters 0.02833174882348262 Centerline is valid? [True, True] Translation: X:128.33, Y:-75.61, Z:-8.92 [[ 7.51310910e-01 6.57692075e-01 5.45256913e-02 1.28329045e+02] [-6.55829575e-01 7.53285555e-01 -4.94817204e-02 -7.56132741e+01] [-7.36171510e-02 1.41659542e-03 9.97285570e-01 -8.92376934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864000000002 meters 0.02848830146217238 Centerline is valid? [True, True] Translation: X:128.35, Y:-75.63, Z:-8.93 [[ 7.51663398e-01 6.57213969e-01 5.54250366e-02 1.28353351e+02] [-6.55284401e-01 7.53702509e-01 -5.03476176e-02 -7.56344727e+01] [-7.48631468e-02 1.52529948e-03 9.97192651e-01 -8.92501443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99864 meters 0.028637467044162274 Centerline is valid? [True, True] Translation: X:128.38, Y:-75.66, Z:-8.93 [[ 7.51935204e-01 6.56931236e-01 5.50890101e-02 1.28378032e+02] [-6.55020902e-01 7.53948845e-01 -5.00875063e-02 -7.56562459e+01] [-7.44383429e-02 1.57810627e-03 9.97224369e-01 -8.92663339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters 0.028832655892299046 Centerline is valid? [True, True] Translation: X:128.40, Y:-75.68, Z:-8.93 [[ 7.51833231e-01 6.57030580e-01 5.52956598e-02 1.28402001e+02] [-6.55102351e-01 7.53862201e-01 -5.03258557e-02 -7.56792147e+01] [-7.47509339e-02 1.61233402e-03 9.97200932e-01 -8.92933385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05864 meters 0.028829384572061495 Centerline is valid? [True, True] Translation: X:128.43, Y:-75.70, Z:-8.93 [[ 7.51761766e-01 6.57151184e-01 5.48321800e-02 1.28425516e+02] [-6.55251827e-01 7.53757045e-01 -4.99535810e-02 -7.57018919e+01] [-7.41571969e-02 1.62430612e-03 9.97245242e-01 -8.93112588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters 0.028883634246412777 Centerline is valid? [True, True] Translation: X:128.45, Y:-75.73, Z:-8.93 [[ 7.51858890e-01 6.57075896e-01 5.44010677e-02 1.28448816e+02] [-6.55202503e-01 7.53822608e-01 -4.96100406e-02 -7.57255584e+01] [-7.36063166e-02 1.65603430e-03 9.97286001e-01 -8.93227335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11864 meters 0.028713750077171037 Centerline is valid? [True, True] Translation: X:128.47, Y:-75.75, Z:-8.93 [[ 7.50631710e-01 6.58468365e-01 5.45109949e-02 1.28470985e+02] [-6.56587465e-01 7.52606791e-01 -4.97586120e-02 -7.57496198e+01] [-7.37898168e-02 1.55915606e-03 9.97272597e-01 -8.93466475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14864 meters 0.02844497754681707 Centerline is valid? [True, True] Translation: X:128.49, Y:-75.77, Z:-8.94 [[ 7.49364549e-01 6.59837939e-01 5.53775017e-02 1.28493492e+02] [-6.57896933e-01 7.51406480e-01 -5.05957195e-02 -7.57739204e+01] [-7.49959889e-02 1.48194998e-03 9.97182734e-01 -8.93756587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17864 meters 0.02840618626223869 Centerline is valid? [True, True] Translation: X:128.52, Y:-75.80, Z:-8.94 [[ 7.47907454e-01 6.61467838e-01 5.56303748e-02 1.28515481e+02] [-6.59509781e-01 7.49972295e-01 -5.08763660e-02 -7.57975461e+01] [-7.53743197e-02 1.36203704e-03 9.97154380e-01 -8.93922348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20864 meters 0.028130789013743218 Centerline is valid? [True, True] Translation: X:128.54, Y:-75.82, Z:-8.94 [[ 7.46756227e-01 6.62760807e-01 5.57068261e-02 1.28537663e+02] [-6.60797532e-01 7.48830092e-01 -5.09913140e-02 -7.58208061e+01] [-7.55099921e-02 1.26714808e-03 9.97144240e-01 -8.94029628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23864 meters 0.02796382031160285 Centerline is valid? [True, True] Translation: X:128.56, Y:-75.85, Z:-8.94 [[ 7.44505392e-01 6.65283339e-01 5.57655722e-02 1.28559404e+02] [-6.63319532e-01 7.46590238e-01 -5.10902697e-02 -7.58452170e+01] [-7.56235370e-02 1.04658807e-03 9.97135891e-01 -8.94199592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters 0.02782656005877487 Centerline is valid? [True, True] Translation: X:128.58, Y:-75.87, Z:-8.94 [[ 7.42717726e-01 6.67237237e-01 5.62570007e-02 1.28582332e+02] [-6.65240517e-01 7.44844733e-01 -5.15885595e-02 -7.58685915e+01] [-7.63245385e-02 8.91301412e-04 9.97082630e-01 -8.94470720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29864 meters 0.027550220762015402 Centerline is valid? [True, True] Translation: X:128.60, Y:-75.89, Z:-8.95 [[ 7.39469901e-01 6.70854406e-01 5.60234909e-02 1.28602866e+02] [-6.68881250e-01 7.41588879e-01 -5.14179759e-02 -7.58937306e+01] [-7.60403734e-02 5.48982961e-04 9.97104588e-01 -8.94554758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32864 meters 0.027507288203555125 Centerline is valid? [True, True] Translation: X:128.63, Y:-75.92, Z:-8.95 [[ 7.38340157e-01 6.72055654e-01 5.65244230e-02 1.28626537e+02] [-6.70048480e-01 7.40500504e-01 -5.19041220e-02 -7.59162490e+01] [-7.67388224e-02 4.48793864e-04 9.97051128e-01 -8.94807336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35864 meters 0.027527808624380642 Centerline is valid? [True, True] Translation: X:128.65, Y:-75.94, Z:-8.95 [[ 7.36544357e-01 6.74015812e-01 5.66135624e-02 1.28650273e+02] [-6.72003845e-01 7.38716863e-01 -5.20406447e-02 -7.59394051e+01] [-7.68976106e-02 2.85711568e-04 9.97038954e-01 -8.94915634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38864 meters 0.027379868380020485 Centerline is valid? [True, True] Translation: X:128.67, Y:-75.96, Z:-8.95 [[ 7.35298318e-01 6.75376302e-01 5.65971234e-02 1.28674069e+02] [-6.73365327e-01 7.37473266e-01 -5.20799290e-02 -7.59622639e+01] [-7.69124153e-02 1.83743739e-04 9.97037836e-01 -8.95114902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41864 meters 0.027463200242285563 Centerline is valid? [True, True] Translation: X:128.70, Y:-75.98, Z:-8.95 [[ 7.34700987e-01 6.75982333e-01 5.71169371e-02 1.28698131e+02] [-6.73931676e-01 7.36917810e-01 -5.26140398e-02 -7.59849492e+01] [-7.76566496e-02 1.62673861e-04 9.96980149e-01 -8.95335054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44864 meters 0.027364491171284287 Centerline is valid? [True, True] Translation: X:128.72, Y:-76.01, Z:-8.96 [[ 7.34159858e-01 6.76568623e-01 5.71331953e-02 1.28721678e+02] [-6.74514239e-01 7.36379575e-01 -5.26845554e-02 -7.60084735e+01] [-7.77164351e-02 1.41731991e-04 9.96975494e-01 -8.95523585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47864 meters 0.02756976785974661 Centerline is valid? [True, True] Translation: X:128.75, Y:-76.03, Z:-8.96 [[ 7.33882521e-01 6.76820303e-01 5.77124146e-02 1.28745580e+02] [-6.74720305e-01 7.36148254e-01 -5.32752998e-02 -7.60307912e+01] [-7.85426978e-02 1.58073342e-04 9.96910738e-01 -8.95807201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50864 meters 0.027669770100974808 Centerline is valid? [True, True] Translation: X:128.77, Y:-76.05, Z:-8.96 [[ 7.33531778e-01 6.77159769e-01 5.81874283e-02 1.28770191e+02] [-6.75021529e-01 7.35836000e-01 -5.37709633e-02 -7.60534060e+01] [-7.92279376e-02 1.64943556e-04 9.96856513e-01 -8.95947650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53864000000002 meters 0.027669890067797173 Centerline is valid? [True, True] Translation: X:128.79, Y:-76.08, Z:-8.96 [[ 7.33593234e-01 6.77123898e-01 5.78290057e-02 1.28793906e+02] [-6.75007431e-01 7.35868999e-01 -5.34956556e-02 -7.60756906e+01] [-7.87777593e-02 2.09042449e-04 9.96892181e-01 -8.96167940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864000000002 meters 0.027749445352694954 Centerline is valid? [True, True] Translation: X:128.82, Y:-76.10, Z:-8.96 [[ 7.32660452e-01 6.78076526e-01 5.84883473e-02 1.28817648e+02] [-6.75909902e-01 7.34991294e-01 -5.41627400e-02 -7.60985189e+01] [-7.97149086e-02 1.50044450e-04 9.96817692e-01 -8.96457599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59864000000002 meters 0.027528261577647217 Centerline is valid? [True, True] Translation: X:128.84, Y:-76.12, Z:-8.96 [[ 7.31072399e-01 6.79910317e-01 5.70535512e-02 1.28839615e+02] [-6.77850326e-01 7.33295275e-01 -5.28864392e-02 -7.61217578e+01] [-7.77951352e-02 -9.95220100e-06 9.96969366e-01 -8.96488011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62864000000002 meters 0.02758345068271503 Centerline is valid? [True, True] Translation: X:128.86, Y:-76.14, Z:-8.97 [[ 7.29854555e-01 6.81232012e-01 5.68794725e-02 1.28863907e+02] [-6.79184709e-01 7.32067574e-01 -5.27749748e-02 -7.61438714e+01] [-7.75916197e-02 -1.13612182e-04 9.96985219e-01 -8.96658682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65864000000002 meters 0.027905597394360538 Centerline is valid? [True, True] Translation: X:128.89, Y:-76.17, Z:-8.97 [[ 7.27067883e-01 6.84252762e-01 5.63067701e-02 1.28887772e+02] [-6.82251347e-01 7.29244819e-01 -5.22981330e-02 -7.61663552e+01] [-7.68465623e-02 -3.91076929e-04 9.97042854e-01 -8.96788386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864000000002 meters 0.02782354847218103 Centerline is valid? [True, True] Translation: X:128.91, Y:-76.19, Z:-8.97 [[ 7.25845860e-01 6.85533158e-01 5.64984709e-02 1.28911948e+02] [-6.83517642e-01 7.28041243e-01 -5.25317234e-02 -7.61889538e+01] [-7.71454552e-02 -4.87767680e-04 9.97019729e-01 -8.97034696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71864000000002 meters 0.027921519456973357 Centerline is valid? [True, True] Translation: X:128.94, Y:-76.21, Z:-8.97 [[ 7.24436873e-01 6.87044119e-01 5.62280757e-02 1.28935904e+02] [-6.85048177e-01 7.26615450e-01 -5.23352882e-02 -7.62110853e+01] [-7.68128404e-02 -6.05328230e-04 9.97045346e-01 -8.97211026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters 0.027897573957883504 Centerline is valid? [True, True] Translation: X:128.96, Y:-76.23, Z:-8.98 [[ 7.23253472e-01 6.88225035e-01 5.70150617e-02 1.28959885e+02] [-6.86172101e-01 7.25496940e-01 -5.31228514e-02 -7.62329607e+01] [-7.79247290e-02 -7.00857963e-04 9.96958999e-01 -8.97517017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77864 meters 0.027835224752505355 Centerline is valid? [True, True] Translation: X:128.99, Y:-76.25, Z:-8.98 [[ 7.23297112e-01 6.88198999e-01 5.67752188e-02 1.28985343e+02] [-6.86159309e-01 7.25521678e-01 -5.29499502e-02 -7.62538338e+01] [-7.76317547e-02 -6.58298837e-04 9.96981884e-01 -8.97672302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters 0.027802765825158112 Centerline is valid? [True, True] Translation: X:129.01, Y:-76.27, Z:-8.98 [[ 7.23461743e-01 6.88018395e-01 5.68664568e-02 1.29010370e+02] [-6.85967186e-01 7.25692999e-01 -5.30913464e-02 -7.62749011e+01] [-7.77954126e-02 -5.98965276e-04 9.96969165e-01 -8.97872238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83864 meters 0.027597827075373164 Centerline is valid? [True, True] Translation: X:129.04, Y:-76.30, Z:-8.98 [[ 7.24829471e-01 6.86516310e-01 5.75985626e-02 1.29035734e+02] [-6.84402578e-01 7.27114293e-01 -5.38323005e-02 -7.62957126e+01] [-7.88374904e-02 -4.01366827e-04 9.96887400e-01 -8.98130285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters 0.027597827075373164 Centerline is valid? [True, True] Translation: X:129.06, Y:-76.32, Z:-8.98 [[ 7.24467575e-01 6.86900586e-01 5.75701150e-02 1.29059705e+02] [-6.84785649e-01 7.26751280e-01 -5.38627106e-02 -7.63176710e+01] [-7.88374823e-02 -4.01401296e-04 9.96887401e-01 -8.98317146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89864 meters 0.027451560093529035 Centerline is valid? [True, True] Translation: X:129.08, Y:-76.34, Z:-8.98 [[ 7.24908414e-01 6.86498851e-01 5.68077393e-02 1.29082808e+02] [-6.84434199e-01 7.27130820e-01 -5.32033656e-02 -7.63395941e+01] [-7.78307074e-02 -3.13592213e-04 9.96966540e-01 -8.98464528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters 0.02738324060852664 Centerline is valid? [True, True] Translation: X:129.11, Y:-76.36, Z:-8.99 [[ 7.25653272e-01 6.85598780e-01 5.81518946e-02 1.29105543e+02] [-6.83428119e-01 7.27979587e-01 -5.45135410e-02 -7.63616751e+01] [-7.97078094e-02 -1.84710527e-04 9.96818254e-01 -8.98784246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95864 meters 0.027194618047677175 Centerline is valid? [True, True] Translation: X:129.13, Y:-76.39, Z:-8.99 [[ 7.26645297e-01 6.84583782e-01 5.77205147e-02 1.29128405e+02] [-6.82437942e-01 7.28934184e-01 -5.41609797e-02 -7.63861318e+01] [-7.91521846e-02 -3.48480283e-05 9.96862543e-01 -8.98997498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters 0.02720573425364352 Centerline is valid? [True, True] Translation: X:129.15, Y:-76.41, Z:-8.99 [[ 7.26768226e-01 6.84443119e-01 5.78408376e-02 1.29152664e+02] [-6.82283301e-01 7.29066263e-01 -5.43312140e-02 -7.64087537e+01] [-7.93564289e-02 2.23623795e-05 9.96846305e-01 -8.99099349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01864 meters 0.027272932368330855 Centerline is valid? [True, True] Translation: X:129.18, Y:-76.43, Z:-8.99 [[ 7.25279611e-01 6.85957084e-01 5.85863940e-02 1.29175274e+02] [-6.83741512e-01 7.27641992e-01 -5.50878953e-02 -7.64321947e+01] [-8.04178524e-02 -1.03822287e-04 9.96761234e-01 -8.99360846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04864 meters 0.02726194342862558 Centerline is valid? [True, True] Translation: X:129.20, Y:-76.46, Z:-9.00 [[ 7.24954933e-01 6.86298760e-01 5.86033918e-02 1.29198856e+02] [-6.84078751e-01 7.27319738e-01 -5.51566970e-02 -7.64558448e+01] [-8.04773763e-02 -1.03215489e-04 9.96756430e-01 -8.99571621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07864 meters 0.027408815389846512 Centerline is valid? [True, True] Translation: X:129.22, Y:-76.48, Z:-9.00 [[ 7.24245956e-01 6.87005969e-01 5.90812391e-02 1.29221541e+02] [-6.84747085e-01 7.26651759e-01 -5.56655261e-02 -7.64790928e+01] [-8.11740351e-02 -1.40174101e-04 9.96699933e-01 -8.99874471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10864 meters 0.02713647007635337 Centerline is valid? [True, True] Translation: X:129.24, Y:-76.50, Z:-9.00 [[ 7.24819802e-01 6.86528143e-01 5.75791876e-02 1.29244455e+02] [-6.84377726e-01 7.27103229e-01 -5.42956930e-02 -7.65022383e+01] [-7.91415345e-02 -5.13200705e-05 9.96863388e-01 -9.00050717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13864 meters 0.027349289951395968 Centerline is valid? [True, True] Translation: X:129.27, Y:-76.53, Z:-9.00 [[ 7.24369755e-01 6.86992305e-01 5.77064206e-02 1.29268083e+02] [-6.84831517e-01 7.26664686e-01 -5.44447128e-02 -7.65252257e+01] [-7.93363167e-02 -8.10722873e-05 9.96847903e-01 -9.00226085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16864 meters 0.02711448913719116 Centerline is valid? [True, True] Translation: X:129.29, Y:-76.55, Z:-9.00 [[ 7.24237728e-01 6.87304478e-01 5.56081664e-02 1.29290877e+02] [-6.85295083e-01 7.26369430e-01 -5.25176141e-02 -7.65475889e+01] [-7.64876635e-02 -7.27655172e-05 9.97070525e-01 -9.00243545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19864 meters 0.027182797570338414 Centerline is valid? [True, True] Translation: X:129.32, Y:-76.57, Z:-9.01 [[ 7.23650280e-01 6.87855386e-01 5.64379244e-02 1.29315606e+02] [-6.85783153e-01 7.25847751e-01 -5.33526836e-02 -7.65699404e+01] [-7.76642713e-02 -9.54932783e-05 9.96979564e-01 -9.00552160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22864 meters 0.02730338708971997 Centerline is valid? [True, True] Translation: X:129.34, Y:-76.59, Z:-9.01 [[ 7.23822032e-01 6.87625372e-01 5.70351953e-02 1.29341156e+02] [-6.85503717e-01 7.26065663e-01 -5.39750663e-02 -7.65903625e+01] [-7.85259220e-02 -2.94962046e-05 9.96912072e-01 -9.00771685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25864 meters 0.027228389861404294 Centerline is valid? [True, True] Translation: X:129.36, Y:-76.61, Z:-9.01 [[ 7.24254376e-01 6.87096095e-01 5.79185216e-02 1.29364616e+02] [-6.84901877e-01 7.26566550e-01 -5.48677301e-02 -7.66124933e+01] [-7.97810635e-02 6.96895020e-05 9.96812408e-01 -9.01012726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864000000002 meters 0.027462139352924023 Centerline is valid? [True, True] Translation: X:129.39, Y:-76.64, Z:-9.01 [[ 7.25022188e-01 6.86323697e-01 5.74683443e-02 1.29388505e+02] [-6.84156943e-01 7.27296189e-01 -5.44934048e-02 -7.66358633e+01] [-7.91966228e-02 1.91560827e-04 9.96858996e-01 -9.01147724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31864000000002 meters 0.02758597522195145 Centerline is valid? [True, True] Translation: X:129.41, Y:-76.66, Z:-9.01 [[ 7.27427406e-01 6.83727106e-01 5.80225301e-02 1.29410968e+02] [-6.81505492e-01 7.29737606e-01 -5.50753196e-02 -7.66584379e+01] [-7.99977111e-02 5.20623969e-04 9.96794911e-01 -9.01250982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864000000002 meters 0.027479948302396928 Centerline is valid? [True, True] Translation: X:129.43, Y:-76.68, Z:-9.01 [[ 7.27906312e-01 6.83264105e-01 5.74679363e-02 1.29434701e+02] [-6.81079308e-01 7.30171075e-01 -5.46001706e-02 -7.66814376e+01] [-7.92677615e-02 6.03586579e-04 9.96853178e-01 -9.01377774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37864000000002 meters 0.02759449666736003 Centerline is valid? [True, True] Translation: X:129.46, Y:-76.71, Z:-9.02 [[ 7.29110836e-01 6.82042450e-01 5.67052440e-02 1.29455316e+02] [-6.79907328e-01 7.31312182e-01 -5.39306766e-02 -7.67073599e+01] [-7.82522465e-02 7.67129830e-04 9.96933296e-01 -9.01625126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864000000002 meters 0.027725947526340423 Centerline is valid? [True, True] Translation: X:129.48, Y:-76.73, Z:-9.02 [[ 7.29060013e-01 6.82130551e-01 5.62974968e-02 1.29477157e+02] [-6.80022034e-01 7.31229979e-01 -5.35980457e-02 -7.67320131e+01] [-7.77272819e-02 7.92653630e-04 9.96974343e-01 -9.01818586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43864000000002 meters 0.027627397019065598 Centerline is valid? [True, True] Translation: X:129.50, Y:-76.76, Z:-9.02 [[ 7.28864706e-01 6.82401859e-01 5.55332592e-02 1.29499508e+02] [-6.80347034e-01 7.30976796e-01 -5.29229386e-02 -7.67557903e+01] [-7.67082356e-02 7.91773883e-04 9.97053268e-01 -9.01900865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864000000002 meters 0.0273549311079281 Centerline is valid? [True, True] Translation: X:129.52, Y:-76.78, Z:-9.02 [[ 7.27575900e-01 6.83849926e-01 5.46130857e-02 1.29519895e+02] [-6.81863300e-01 7.29622396e-01 -5.20922298e-02 -7.67815644e+01] [-7.54701979e-02 6.62392139e-04 9.97147838e-01 -9.02057754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49864 meters 0.02740646852501696 Centerline is valid? [True, True] Translation: X:129.54, Y:-76.81, Z:-9.02 [[ 7.26970537e-01 6.84397955e-01 5.57967558e-02 1.29540918e+02] [-6.82321982e-01 7.29108367e-01 -5.32700870e-02 -7.68062859e+01] [-7.71398201e-02 6.54430700e-04 9.97020070e-01 -9.02337965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters 0.02735054436006975 Centerline is valid? [True, True] Translation: X:129.56, Y:-76.83, Z:-9.03 [[ 7.24738363e-01 6.86769914e-01 5.56901238e-02 1.29559219e+02] [-6.84705130e-01 7.26874745e-01 -5.32164581e-02 -7.68339123e+01] [-7.70272068e-02 4.36695308e-04 9.97028896e-01 -9.02545941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55864 meters 0.027269055047556622 Centerline is valid? [True, True] Translation: X:129.58, Y:-76.86, Z:-9.03 [[ 7.23376128e-01 6.88261005e-01 5.49887897e-02 1.29581185e+02] [-6.86248627e-01 7.25463089e-01 -5.25939952e-02 -7.68575201e+01] [-7.60907332e-02 3.09259106e-04 9.97100850e-01 -9.02784517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters 0.027279509786193055 Centerline is valid? [True, True] Translation: X:129.60, Y:-76.88, Z:-9.03 [[ 7.21654368e-01 6.90078432e-01 5.48336773e-02 1.29603650e+02] [-6.88078842e-01 7.23734575e-01 -5.24954483e-02 -7.68810714e+01] [-7.59110047e-02 1.53676354e-04 9.97114585e-01 -9.02960692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61864 meters 0.02731886448495768 Centerline is valid? [True, True] Translation: X:129.62, Y:-76.91, Z:-9.03 [[ 7.17748884e-01 6.94111671e-01 5.51862980e-02 1.29624814e+02] [-6.92093773e-01 7.19867303e-01 -5.28892747e-02 -7.69065556e+01] [-7.64378743e-02 -2.32875273e-04 9.97074319e-01 -9.03194752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters 0.027578108034376887 Centerline is valid? [True, True] Translation: X:129.65, Y:-76.93, Z:-9.03 [[ 7.14332882e-01 6.97519346e-01 5.65269465e-02 1.29647414e+02] [-6.95408318e-01 7.16565723e-01 -5.42294740e-02 -7.69287574e+01] [-7.83313796e-02 -5.71412307e-04 9.96927213e-01 -9.03378215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67864 meters 0.027676434594096327 Centerline is valid? [True, True] Translation: X:129.67, Y:-76.95, Z:-9.04 [[ 7.13107842e-01 6.98862342e-01 5.53952337e-02 1.29671013e+02] [-6.96835637e-01 7.15255881e-01 -5.31894739e-02 -7.69511206e+01] [-7.67938870e-02 -6.71541987e-04 9.97046763e-01 -9.03579125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters 0.02776568840441813 Centerline is valid? [True, True] Translation: X:129.70, Y:-76.97, Z:-9.04 [[ 7.12365599e-01 6.99575249e-01 5.59439461e-02 1.29695228e+02] [-6.97506268e-01 7.14558573e-01 -5.37684973e-02 -7.69736419e+01] [-7.75903362e-02 -7.18425350e-04 9.96985067e-01 -9.03860633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73864 meters 0.027969846852643993 Centerline is valid? [True, True] Translation: X:129.72, Y:-77.00, Z:-9.04 [[ 7.11792636e-01 7.00147419e-01 5.60788362e-02 1.29719692e+02] [-6.98065717e-01 7.13997929e-01 -5.39556584e-02 -7.69961939e+01] [-7.78170878e-02 -7.41472714e-04 9.96967377e-01 -9.04110033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters 0.028025128711958038 Centerline is valid? [True, True] Translation: X:129.74, Y:-77.02, Z:-9.04 [[ 7.11404113e-01 7.00462878e-01 5.70608859e-02 1.29744572e+02] [-6.98303974e-01 7.13688444e-01 -5.49578370e-02 -7.70168863e+01] [-7.92196196e-02 -7.48612081e-04 9.96856906e-01 -9.04459251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79864 meters 0.028266406250759483 Centerline is valid? [True, True] Translation: X:129.77, Y:-77.04, Z:-9.05 [[ 7.10597610e-01 7.01098370e-01 5.92630848e-02 1.29769240e+02] [-6.98767025e-01 7.13064104e-01 -5.71334266e-02 -7.70380889e+01] [-8.23145307e-02 -8.12213099e-04 9.96606070e-01 -9.04810545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82864 meters 0.028149017576134423 Centerline is valid? [True, True] Translation: X:129.79, Y:-77.06, Z:-9.05 [[ 7.10700925e-01 7.01032764e-01 5.87984495e-02 1.29794253e+02] [-6.98733395e-01 7.13128659e-01 -5.67376261e-02 -7.70588098e+01] [-8.17057943e-02 -7.60956873e-04 9.96656202e-01 -9.04910505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85864 meters 0.02818807825750612 Centerline is valid? [True, True] Translation: X:129.82, Y:-77.08, Z:-9.05 [[ 7.10871415e-01 7.01003307e-01 5.70630738e-02 1.29818236e+02] [-6.98833833e-01 7.13157678e-01 -5.51126132e-02 -7.70796787e+01] [-7.93290934e-02 -6.99625176e-04 9.96848236e-01 -9.05033657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88864 meters 0.02833600472081852 Centerline is valid? [True, True] Translation: X:129.84, Y:-77.10, Z:-9.05 [[ 7.09892379e-01 7.01971244e-01 5.73513894e-02 1.29843498e+02] [-6.99778639e-01 7.12204868e-01 -5.54444098e-02 -7.71014699e+01] [-7.97663200e-02 -7.73713239e-04 9.96813290e-01 -9.05341749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91864 meters 0.028356260451333423 Centerline is valid? [True, True] Translation: X:129.87, Y:-77.12, Z:-9.06 [[ 7.09945695e-01 7.01983062e-01 5.65410550e-02 1.29869882e+02] [-6.99847733e-01 7.12193272e-01 -5.47164889e-02 -7.71205362e+01] [-7.86782074e-02 -7.24393431e-04 9.96899802e-01 -9.05557571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94864 meters 0.02842965152602996 Centerline is valid? [True, True] Translation: X:129.89, Y:-77.14, Z:-9.06 [[ 7.10413757e-01 7.01392149e-01 5.79771288e-02 1.29894614e+02] [-6.99140529e-01 7.12775313e-01 -5.61593668e-02 -7.71405953e+01] [-8.07144051e-02 -6.37773731e-04 9.96737066e-01 -9.05704257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97864 meters 0.028492747471555637 Centerline is valid? [True, True] Translation: X:129.92, Y:-77.16, Z:-9.06 [[ 7.10581527e-01 7.01212424e-01 5.80950076e-02 1.29919030e+02] [-6.98946590e-01 7.12952173e-01 -5.63281801e-02 -7.71624690e+01] [-8.09169816e-02 -5.79543208e-04 9.96720676e-01 -9.05868754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00864 meters 0.02846280451907301 Centerline is valid? [True, True] Translation: X:129.94, Y:-77.18, Z:-9.06 [[ 7.12296531e-01 6.99506882e-01 5.76521888e-02 1.29943493e+02] [-6.97265344e-01 7.14625780e-01 -5.59556473e-02 -7.71833722e+01] [-8.03411007e-02 -3.41859865e-04 9.96767370e-01 -9.06072216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03864000000002 meters 0.028437618607566918 Centerline is valid? [True, True] Translation: X:129.97, Y:-77.21, Z:-9.06 [[ 7.12993403e-01 6.98818809e-01 5.73818789e-02 1.29968189e+02] [-6.96591725e-01 7.15298695e-01 -5.57471678e-02 -7.72054963e+01] [-8.00023524e-02 -2.24379136e-04 9.96794650e-01 -9.06241122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864000000002 meters 0.02860481557293335 Centerline is valid? [True, True] Translation: X:129.99, Y:-77.23, Z:-9.07 [[ 7.14986601e-01 6.96812107e-01 5.69828787e-02 1.29993046e+02] [-6.94604876e-01 7.17253711e-01 -5.54182312e-02 -7.72271000e+01] [-7.94872756e-02 4.27073858e-05 9.96835880e-01 -9.06532474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09864000000002 meters 0.028454561394406688 Centerline is valid? [True, True] Translation: X:130.02, Y:-77.25, Z:-9.07 [[ 7.16265484e-01 6.95623076e-01 5.54282752e-02 1.30017422e+02] [-6.93527671e-01 7.18406915e-01 -5.39525236e-02 -7.72489627e+01] [-7.73506766e-02 2.03287815e-04 9.97003928e-01 -9.06557769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864000000002 meters 0.02857673101021914 Centerline is valid? [True, True] Translation: X:130.04, Y:-77.27, Z:-9.07 [[ 7.17721448e-01 6.94059425e-01 5.61910811e-02 1.30041575e+02] [-6.91898962e-01 7.19917605e-01 -5.47217411e-02 -7.72703267e+01] [-7.84330886e-02 3.96416546e-04 9.96919301e-01 -9.06848888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15864000000002 meters 0.02885025972243824 Centerline is valid? [True, True] Translation: X:130.07, Y:-77.29, Z:-9.07 [[ 7.20601055e-01 6.91158447e-01 5.50828520e-02 1.30066711e+02] [-6.89070128e-01 7.22702885e-01 -5.36926292e-02 -7.72920834e+01] [-7.69186503e-02 7.35017377e-04 9.97037101e-01 -9.07034526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864000000002 meters 0.029005324148696235 Centerline is valid? [True, True] Translation: X:130.09, Y:-77.31, Z:-9.07 [[ 7.21947873e-01 6.89724032e-01 5.54258758e-02 1.30089480e+02] [-6.87601105e-01 7.24071743e-01 -5.40817103e-02 -7.73145896e+01] [-7.74337658e-02 9.33282260e-04 9.96997062e-01 -9.07238581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21864000000002 meters 0.029362582907533054 Centerline is valid? [True, True] Translation: X:130.11, Y:-77.34, Z:-9.08 [[ 7.22505134e-01 6.89104443e-01 5.58694674e-02 1.30111956e+02] [-6.86941639e-01 7.24661285e-01 -5.45637878e-02 -7.73373014e+01] [-7.80865886e-02 1.04355337e-03 9.96946034e-01 -9.07525486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters 0.02950113634225479 Centerline is valid? [True, True] Translation: X:130.14, Y:-77.36, Z:-9.08 [[ 7.24951795e-01 6.86586578e-01 5.51703371e-02 1.30135074e+02] [-6.84466629e-01 7.27046829e-01 -5.39290426e-02 -7.73602004e+01] [-7.71383754e-02 1.33370158e-03 9.97019504e-01 -9.07612182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27864 meters 0.029732613636225976 Centerline is valid? [True, True] Translation: X:130.16, Y:-77.38, Z:-9.08 [[ 7.25187370e-01 6.86348736e-01 5.50335532e-02 1.30158430e+02] [-6.84234795e-01 7.27271254e-01 -5.38448628e-02 -7.73836145e+01] [-7.69806747e-02 1.39174248e-03 9.97031614e-01 -9.07881830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters 0.02972245095259961 Centerline is valid? [True, True] Translation: X:130.18, Y:-77.41, Z:-9.08 [[ 7.26337844e-01 6.85289956e-01 5.30189910e-02 1.30180380e+02] [-6.83321542e-01 7.28268816e-01 -5.19249730e-02 -7.74083919e+01] [-7.41957403e-02 1.48605426e-03 9.97242590e-01 -9.08040965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33864 meters 0.02974647699104516 Centerline is valid? [True, True] Translation: X:130.20, Y:-77.43, Z:-9.08 [[ 7.26047706e-01 6.85605818e-01 5.29092731e-02 1.30203255e+02] [-6.83642491e-01 7.27971459e-01 -5.18700209e-02 -7.74315865e+01] [-7.40788288e-02 1.48908246e-03 9.97251277e-01 -9.08129729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters 0.029938884875970122 Centerline is valid? [True, True] Translation: X:130.23, Y:-77.45, Z:-9.08 [[ 7.26262696e-01 6.85392272e-01 5.27250407e-02 1.30226711e+02] [-6.83438162e-01 7.28172404e-01 -5.17419456e-02 -7.74547388e+01] [-7.38564493e-02 1.54394001e-03 9.97267688e-01 -9.08280688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39864 meters 0.02983803524876465 Centerline is valid? [True, True] Translation: X:130.25, Y:-77.48, Z:-9.08 [[ 7.25512788e-01 6.86167357e-01 5.29674688e-02 1.30250071e+02] [-6.84193294e-01 7.27442146e-01 -5.20332715e-02 -7.74781966e+01] [-7.42343016e-02 1.51081693e-03 9.97239683e-01 -9.08462742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters 0.029791718779994605 Centerline is valid? [True, True] Translation: X:130.27, Y:-77.50, Z:-9.09 [[ 7.24868274e-01 6.86875144e-01 5.26167414e-02 1.30271187e+02] [-6.84925234e-01 7.26773959e-01 -5.17400863e-02 -7.75028473e+01] [-7.37794567e-02 1.46621312e-03 9.97273504e-01 -9.08741528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45864 meters 0.02988364125615806 Centerline is valid? [True, True] Translation: X:130.29, Y:-77.53, Z:-9.09 [[ 7.24526844e-01 6.87260103e-01 5.22915211e-02 1.30294372e+02] [-6.85331801e-01 7.26409968e-01 -5.14672819e-02 -7.75262864e+01] [-7.33564916e-02 1.45238501e-03 9.97304726e-01 -9.08852819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters 0.02974734115258865 Centerline is valid? [True, True] Translation: X:130.32, Y:-77.55, Z:-9.09 [[ 7.23782817e-01 6.88078167e-01 5.18350211e-02 1.30316435e+02] [-6.86181860e-01 7.25635234e-01 -5.10682227e-02 -7.75501255e+01] [-7.27522467e-02 1.39405092e-03 9.97349070e-01 -9.08946795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51864 meters 0.02965189646733882 Centerline is valid? [True, True] Translation: X:130.34, Y:-77.57, Z:-9.09 [[ 7.22592401e-01 6.89297119e-01 5.22465682e-02 1.30338618e+02] [-6.87370227e-01 7.24477570e-01 -5.15210732e-02 -7.75749682e+01] [-7.33647941e-02 1.31600056e-03 9.97304304e-01 -9.09152518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54864 meters 0.029615231578076637 Centerline is valid? [True, True] Translation: X:130.36, Y:-77.60, Z:-9.09 [[ 7.21549502e-01 6.90425454e-01 5.17591404e-02 1.30360098e+02] [-6.88533635e-01 7.23402507e-01 -5.10905661e-02 -7.75993732e+01] [-7.27169193e-02 1.22646342e-03 9.97351866e-01 -9.09307175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57864 meters 0.02925051687406875 Centerline is valid? [True, True] Translation: X:130.38, Y:-77.62, Z:-9.09 [[ 7.19650056e-01 6.92426763e-01 5.14681938e-02 1.30381295e+02] [-6.90557991e-01 7.21487403e-01 -5.08486870e-02 -7.76236151e+01] [-7.23426452e-02 1.05148793e-03 9.97379284e-01 -9.09339748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60864 meters 0.02935422257815561 Centerline is valid? [True, True] Translation: X:130.40, Y:-77.65, Z:-9.10 [[ 7.18720517e-01 6.93339569e-01 5.21637857e-02 1.30404867e+02] [-6.91418699e-01 7.20610315e-01 -5.15844665e-02 -7.76471232e+01] [-7.33553138e-02 1.00779763e-03 9.97305361e-01 -9.09541597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63864 meters 0.029190934425000644 Centerline is valid? [True, True] Translation: X:130.43, Y:-77.67, Z:-9.10 [[ 7.17132219e-01 6.94965864e-01 5.23815627e-02 1.30427128e+02] [-6.93029351e-01 7.19042188e-01 -5.18522029e-02 -7.76706063e+01] [-7.37000645e-02 8.82924986e-04 9.97280061e-01 -9.09703359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66864 meters 0.02931070116805242 Centerline is valid? [True, True] Translation: X:130.45, Y:-77.69, Z:-9.10 [[ 7.16995649e-01 6.95102619e-01 5.24365121e-02 1.30450169e+02] [-6.93158797e-01 7.18909960e-01 -5.19552880e-02 -7.76939985e+01] [-7.38113876e-02 9.04885799e-04 9.97271809e-01 -9.09923029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69864 meters 0.02929575810634928 Centerline is valid? [True, True] Translation: X:130.47, Y:-77.72, Z:-9.10 [[ 7.15716815e-01 6.96456703e-01 5.19374835e-02 1.30472462e+02] [-6.94549510e-01 7.17598375e-01 -5.15126212e-02 -7.77170104e+01] [-7.31465641e-02 7.95295470e-04 9.97320885e-01 -9.10107793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72864 meters 0.029164783693458797 Centerline is valid? [True, True] Translation: X:130.50, Y:-77.74, Z:-9.10 [[ 7.15706801e-01 6.96586167e-01 5.03138842e-02 1.30495565e+02] [-6.94793677e-01 7.17472710e-01 -4.99465416e-02 -7.77399714e+01] [-7.08909088e-02 7.89310914e-04 9.97483762e-01 -9.10251161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75864 meters 0.029216247146126847 Centerline is valid? [True, True] Translation: X:130.52, Y:-77.76, Z:-9.11 [[ 7.15063343e-01 6.97127371e-01 5.19407765e-02 1.30518363e+02] [-6.95214823e-01 7.16946858e-01 -5.16096124e-02 -7.77629201e+01] [-7.32172499e-02 7.94144196e-04 9.97315699e-01 -9.10549696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864000000002 meters 0.029056121479504215 Centerline is valid? [True, True] Translation: X:130.54, Y:-77.79, Z:-9.11 [[ 7.14899828e-01 6.97381692e-01 5.07642767e-02 1.30541458e+02] [-6.95552320e-01 7.16699493e-01 -5.04857164e-02 -7.77854139e+01] [-7.15905457e-02 7.83019572e-04 9.97433798e-01 -9.10647416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81864000000002 meters 0.029056121479504215 Centerline is valid? [True, True] Translation: X:130.56, Y:-77.81, Z:-9.11 [[ 7.14537642e-01 6.97754494e-01 5.07407569e-02 1.30564711e+02] [-6.95924383e-01 7.16336555e-01 -5.05093462e-02 -7.78080907e+01] [-7.15905822e-02 7.79099225e-04 9.97433798e-01 -9.10834267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864000000002 meters 0.029004849835371698 Centerline is valid? [True, True] Translation: X:130.59, Y:-77.83, Z:-9.11 [[ 7.13862610e-01 6.98389740e-01 5.14970369e-02 1.30588730e+02] [-6.96502304e-01 7.15717253e-01 -5.13162286e-02 -7.78311259e+01] [-7.26960453e-02 7.64932018e-04 9.97353849e-01 -9.11089026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87864000000002 meters 0.02895588404229232 Centerline is valid? [True, True] Translation: X:130.61, Y:-77.85, Z:-9.11 [[ 7.12284977e-01 7.00053568e-01 5.07455769e-02 1.30612062e+02] [-6.98221446e-01 7.14090060e-01 -5.06181669e-02 -7.78532732e+01] [-7.16723404e-02 6.22909781e-04 9.97428036e-01 -9.11272018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864000000002 meters 0.029016032759947692 Centerline is valid? [True, True] Translation: X:130.64, Y:-77.88, Z:-9.11 [[ 7.11069396e-01 7.01273177e-01 5.09533677e-02 1.30636318e+02] [-6.99425668e-01 7.12892449e-01 -5.08732783e-02 -7.78757019e+01] [-7.20003366e-02 5.36338046e-04 9.97404464e-01 -9.11392997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93864000000002 meters 0.028993670630126357 Centerline is valid? [True, True] Translation: X:130.66, Y:-77.90, Z:-9.12 [[ 7.10682018e-01 7.01650586e-01 5.11617534e-02 1.30661012e+02] [-6.99784979e-01 7.12520993e-01 -5.11352845e-02 -7.78971382e+01] [-7.23329256e-02 5.38700653e-04 9.97380398e-01 -9.11684137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864000000002 meters 0.028772703183339247 Centerline is valid? [True, True] Translation: X:130.72, Y:-78.03, Z:-7.36 [[ 7.52704951e-01 -6.57753910e-01 -2.81966329e-02 1.30723353e+02] [-6.57084973e-01 -7.53222288e-01 2.99252962e-02 -7.80256735e+01] [-4.09218129e-02 -3.99733486e-03 -9.99154356e-01 -7.35903000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99864 meters 0.028698984200847846 Centerline is valid? [True, True] Translation: X:130.70, Y:-77.95, Z:-9.12 [[ 7.59219783e-01 6.48457726e-01 5.55688688e-02 1.30700607e+02] [-6.46686439e-01 7.61250546e-01 -4.78983996e-02 -7.79478548e+01] [-7.33619189e-02 4.29778696e-04 9.97305291e-01 -9.12017184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters 0.02872895479405697 Centerline is valid? [True, True] Translation: X:130.73, Y:-77.97, Z:-9.12 [[ 7.60006247e-01 6.47443783e-01 5.66308367e-02 1.30725894e+02] [-6.45597412e-01 7.62112994e-01 -4.88647804e-02 -7.79670262e+01] [-7.47962948e-02 5.76816791e-04 9.97198667e-01 -9.12281808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05864 meters 0.028668652248164617 Centerline is valid? [True, True] Translation: X:130.75, Y:-77.99, Z:-9.12 [[ 7.60505839e-01 6.47006746e-01 5.48920746e-02 1.30751815e+02] [-6.45267902e-01 7.62484013e-01 -4.74074370e-02 -7.79866023e+01] [-7.25272608e-02 6.33538843e-04 9.97366229e-01 -9.12409351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters 0.02864809926997257 Centerline is valid? [True, True] Translation: X:130.78, Y:-78.01, Z:-9.13 [[ 7.60920767e-01 6.46481885e-01 5.53241369e-02 1.30777627e+02] [-6.44710780e-01 7.62928993e-01 -4.78263647e-02 -7.80064996e+01] [-7.31272664e-02 7.24006646e-04 9.97322354e-01 -9.12575828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11864 meters 0.02884253263961375 Centerline is valid? [True, True] Translation: X:130.80, Y:-78.03, Z:-9.13 [[ 7.61894045e-01 6.45277657e-01 5.59840101e-02 1.30803060e+02] [-6.43457019e-01 7.63947613e-01 -4.84469645e-02 -7.80258019e+01] [-7.40305947e-02 8.88149436e-04 9.97255575e-01 -9.12724066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters 0.028760893196520386 Centerline is valid? [True, True] Translation: X:130.83, Y:-78.05, Z:-9.13 [[ 7.61529442e-01 6.45616434e-01 5.70291993e-02 1.30827998e+02] [-6.43724545e-01 7.63661312e-01 -4.93974867e-02 -7.80456990e+01] [-7.54428223e-02 9.06545109e-04 9.97149717e-01 -9.12882748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17864 meters 0.028793116096305985 Centerline is valid? [True, True] Translation: X:130.85, Y:-78.07, Z:-9.13 [[ 7.61251930e-01 6.45975806e-01 5.66635398e-02 1.30854225e+02] [-6.44105662e-01 7.63357352e-01 -4.91268651e-02 -7.80662308e+01] [-7.49892960e-02 9.00614087e-04 9.97183932e-01 -9.13137454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters 0.02884789194552549 Centerline is valid? [True, True] Translation: X:130.88, Y:-78.09, Z:-9.13 [[ 7.60651378e-01 6.46527374e-01 5.84109223e-02 1.30879824e+02] [-6.44537488e-01 7.62890242e-01 -5.06942337e-02 -7.80853686e+01] [-7.73363324e-02 9.12609624e-04 9.97004643e-01 -9.13442303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23864 meters 0.028841466311704957 Centerline is valid? [True, True] Translation: X:130.91, Y:-78.11, Z:-9.14 [[ 7.59918353e-01 6.47408459e-01 5.81926486e-02 1.30905942e+02] [-6.45432344e-01 7.62142739e-01 -5.05522929e-02 -7.81063500e+01] [-7.70790866e-02 8.56197594e-04 9.97024614e-01 -9.13604552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters 0.028655314180448945 Centerline is valid? [True, True] Translation: X:130.93, Y:-78.13, Z:-9.14 [[ 7.58997946e-01 6.48498627e-01 5.80659036e-02 1.30932152e+02] [-6.46530249e-01 7.61215420e-01 -5.04947576e-02 -7.81265508e+01] [-7.69464422e-02 7.84054103e-04 9.97034919e-01 -9.13644590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29864 meters 0.02850039971973054 Centerline is valid? [True, True] Translation: X:130.96, Y:-78.14, Z:-9.14 [[ 7.58063779e-01 6.49621379e-01 5.77180290e-02 1.30958420e+02] [-6.47675910e-01 7.60257566e-01 -5.02428936e-02 -7.81445891e+01] [-7.65194261e-02 7.04740795e-04 9.97067842e-01 -9.13894901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32864 meters 0.028725284020667992 Centerline is valid? [True, True] Translation: X:130.98, Y:-78.17, Z:-9.14 [[ 7.57838830e-01 6.49854967e-01 5.80416178e-02 1.30984421e+02] [-6.47884555e-01 7.60057893e-01 -5.05727535e-02 -7.81653475e+01] [-7.69799448e-02 7.21728647e-04 9.97032380e-01 -9.14200794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35864 meters 0.028759979655913162 Centerline is valid? [True, True] Translation: X:131.01, Y:-78.18, Z:-9.14 [[ 7.58183680e-01 6.49344900e-01 5.92343528e-02 1.31010281e+02] [-6.47286809e-01 7.60493598e-01 -5.16650214e-02 -7.81841254e+01] [-7.85957642e-02 8.29960886e-04 9.96906223e-01 -9.14318695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38864 meters 0.028810858197246204 Centerline is valid? [True, True] Translation: X:131.04, Y:-78.20, Z:-9.14 [[ 7.58675206e-01 6.48798558e-01 5.89267558e-02 1.31036381e+02] [-6.46756389e-01 7.60959649e-01 -5.14449820e-02 -7.82042843e+01] [-7.82183135e-02 9.18776537e-04 9.96935831e-01 -9.14386714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41864 meters 0.028979469742553367 Centerline is valid? [True, True] Translation: X:131.06, Y:-78.22, Z:-9.15 [[ 7.59029618e-01 6.48318430e-01 5.96427067e-02 1.31062172e+02] [-6.46220623e-01 7.61368618e-01 -5.21223039e-02 -7.82242229e+01] [-7.92019354e-02 1.02002539e-03 9.96858071e-01 -9.14565365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44864 meters 0.028878679919658277 Centerline is valid? [True, True] Translation: X:131.09, Y:-78.24, Z:-9.15 [[ 7.59325107e-01 6.47983378e-01 5.95224618e-02 1.31089181e+02] [-6.45889139e-01 7.61653697e-01 -5.20659766e-02 -7.82430740e+01] [-7.90733905e-02 1.09009163e-03 9.96868201e-01 -9.14734666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47864 meters 0.028957338119953997 Centerline is valid? [True, True] Translation: X:131.12, Y:-78.26, Z:-9.15 [[ 7.59060057e-01 6.48285263e-01 5.96158335e-02 1.31115767e+02] [-6.46181072e-01 7.61396745e-01 -5.22017088e-02 -7.82627738e+01] [-7.92329001e-02 1.10160889e-03 9.96855523e-01 -9.14979339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50864 meters 0.028887277513475168 Centerline is valid? [True, True] Translation: X:131.14, Y:-78.28, Z:-9.15 [[ 7.58890912e-01 6.48604143e-01 5.82859316e-02 1.31143217e+02] [-6.46590560e-01 7.61125158e-01 -5.10797552e-02 -7.82809976e+01] [-7.74934297e-02 1.07682889e-03 9.96992281e-01 -9.15162745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53864000000002 meters 0.028819551452204602 Centerline is valid? [True, True] Translation: X:131.17, Y:-78.30, Z:-9.15 [[ 7.58359397e-01 6.49248159e-01 5.80331999e-02 1.31168674e+02] [-6.47251926e-01 7.60575949e-01 -5.08838862e-02 -7.83021646e+01] [-7.71749256e-02 1.02617290e-03 9.97017040e-01 -9.15371078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864000000002 meters 0.028827183604397646 Centerline is valid? [True, True] Translation: X:131.19, Y:-78.32, Z:-9.16 [[ 7.58294192e-01 6.49342796e-01 5.78260426e-02 1.31194162e+02] [-6.47357071e-01 7.60495118e-01 -5.07542796e-02 -7.83234245e+01] [-7.69333489e-02 1.05257785e-03 9.97035682e-01 -9.15516722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59864000000002 meters 0.02901839766371509 Centerline is valid? [True, True] Translation: X:131.22, Y:-78.34, Z:-9.16 [[ 7.58395194e-01 6.49091117e-01 5.93081021e-02 1.31220742e+02] [-6.46997268e-01 7.60709806e-01 -5.21068677e-02 -7.83411054e+01] [-7.89383598e-02 1.14541802e-03 9.96878841e-01 -9.15783047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864000000002 meters 0.029085265135058016 Centerline is valid? [True, True] Translation: X:131.25, Y:-78.36, Z:-9.16 [[ 7.58332234e-01 6.49190231e-01 5.90276783e-02 1.31247317e+02] [-6.47112868e-01 7.60625195e-01 -5.19061575e-02 -7.83611837e+01] [-7.85949097e-02 1.16454222e-03 9.96905955e-01 -9.15967305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65864000000002 meters 0.02923254436978803 Centerline is valid? [True, True] Translation: X:131.27, Y:-78.38, Z:-9.16 [[ 7.58690141e-01 6.48949497e-01 5.70422678e-02 1.31273294e+02] [-6.47005386e-01 7.60830562e-01 -5.02084323e-02 -7.83796645e+01] [-7.59822375e-02 1.18598808e-03 9.97108466e-01 -9.16180410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864000000002 meters 0.029356359109919232 Centerline is valid? [True, True] Translation: X:131.30, Y:-78.40, Z:-9.16 [[ 7.59134381e-01 6.48415131e-01 5.72084785e-02 1.31299377e+02] [-6.46454712e-01 7.61285877e-01 -5.03995911e-02 -7.83988461e+01] [-7.62318642e-02 1.27737188e-03 9.97089300e-01 -9.16364115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71864000000002 meters 0.029248703758097773 Centerline is valid? [True, True] Translation: X:131.33, Y:-78.42, Z:-9.17 [[ 7.59052765e-01 6.48468507e-01 5.76844421e-02 1.31326120e+02] [-6.46471796e-01 7.61240341e-01 -5.08661051e-02 -7.84182615e+01] [-7.68967916e-02 1.31869283e-03 9.97038186e-01 -9.16582703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters 0.02956978714207565 Centerline is valid? [True, True] Translation: X:131.35, Y:-78.44, Z:-9.17 [[ 7.58860394e-01 6.48654111e-01 5.81269883e-02 1.31352902e+02] [-6.46623057e-01 7.61082139e-01 -5.13088701e-02 -7.84380894e+01] [-7.75211220e-02 1.35001851e-03 9.96989796e-01 -9.16798835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77864 meters 0.02971461008806003 Centerline is valid? [True, True] Translation: X:131.38, Y:-78.46, Z:-9.17 [[ 7.60186210e-01 6.47072466e-01 5.84307310e-02 1.31378756e+02] [-6.45011431e-01 7.62426911e-01 -5.16280820e-02 -7.84574840e+01] [-7.79562720e-02 1.55846653e-03 9.96955561e-01 -9.16921212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters 0.030163580305336897 Centerline is valid? [True, True] Translation: X:131.40, Y:-78.48, Z:-9.17 [[ 7.61205714e-01 6.45897694e-01 5.81552270e-02 1.31404526e+02] [-6.43849136e-01 7.63422072e-01 -5.14298576e-02 -7.84775393e+01] [-7.76154104e-02 1.70550878e-03 9.96981915e-01 -9.17080786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83864 meters 0.030729656122419367 Centerline is valid? [True, True] Translation: X:131.43, Y:-78.50, Z:-9.17 [[ 7.64266659e-01 6.42225032e-01 5.86811937e-02 1.31431472e+02] [-6.40125430e-01 7.66513200e-01 -5.19321437e-02 -7.84956502e+01] [-7.83320322e-02 2.12668165e-03 9.96925057e-01 -9.17172879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters 0.031086448914839596 Centerline is valid? [True, True] Translation: X:131.46, Y:-78.52, Z:-9.17 [[ 7.65415811e-01 6.40910297e-01 5.80743349e-02 1.31457078e+02] [-6.38848554e-01 7.67612475e-01 -5.14160810e-02 -7.85156029e+01] [-7.75316796e-02 2.25397642e-03 9.96987341e-01 -9.17301070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89864 meters 0.03133230850403567 Centerline is valid? [True, True] Translation: X:131.48, Y:-78.54, Z:-9.18 [[ 7.66402186e-01 6.39738535e-01 5.79853088e-02 1.31481912e+02] [-6.37676320e-01 7.68588857e-01 -5.13817061e-02 -7.85365339e+01] [-7.74377196e-02 2.40319352e-03 9.96994295e-01 -9.17552847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92864 meters 0.031673155156090815 Centerline is valid? [True, True] Translation: X:131.51, Y:-78.56, Z:-9.18 [[ 7.67317537e-01 6.38716153e-01 5.71443155e-02 1.31506048e+02] [-6.36707269e-01 7.69438372e-01 -5.06798327e-02 -7.85574827e+01] [-7.63390569e-02 2.50332338e-03 9.97078774e-01 -9.17686434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95864 meters 0.03183403009081093 Centerline is valid? [True, True] Translation: X:131.53, Y:-78.58, Z:-9.18 [[ 7.68018091e-01 6.37951419e-01 5.62689805e-02 1.31530791e+02] [-6.35998463e-01 7.70072315e-01 -4.99458278e-02 -7.85776306e+01] [-7.51941957e-02 2.57231426e-03 9.97165591e-01 -9.17834005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters 0.03181984666972842 Centerline is valid? [True, True] Translation: X:131.56, Y:-78.60, Z:-9.18 [[ 7.67599381e-01 6.38436192e-01 5.64837934e-02 1.31556003e+02] [-6.36466223e-01 7.69670469e-01 -5.01808372e-02 -7.85983188e+01] [-7.55111703e-02 2.56875298e-03 9.97141647e-01 -9.17891521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01864 meters 0.03172249576397366 Centerline is valid? [True, True] Translation: X:131.58, Y:-78.62, Z:-9.18 [[ 7.67007824e-01 6.38972205e-01 5.84253333e-02 1.31579771e+02] [-6.36861869e-01 7.69225287e-01 -5.19559142e-02 -7.86204618e+01] [-7.81406288e-02 2.64172572e-03 9.96938846e-01 -9.18200449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04864 meters 0.03198336641602971 Centerline is valid? [True, True] Translation: X:131.60, Y:-78.64, Z:-9.18 [[ 7.66248649e-01 6.39833904e-01 5.89540731e-02 1.31604070e+02] [-6.37683961e-01 7.68508780e-01 -5.24730474e-02 -7.86431176e+01] [-7.88807576e-02 2.61333484e-03 9.96880633e-01 -9.18470582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07864 meters 0.031562211608650435 Centerline is valid? [True, True] Translation: X:131.63, Y:-78.67, Z:-9.19 [[ 7.65889808e-01 6.40361827e-01 5.78751367e-02 1.31627393e+02] [-6.38287740e-01 7.68069159e-01 -5.15609192e-02 -7.86658006e+01] [-7.74697520e-02 2.54899230e-03 9.96991444e-01 -9.18563857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10864 meters 0.03126031324390868 Centerline is valid? [True, True] Translation: X:131.65, Y:-78.69, Z:-9.19 [[ 7.65404778e-01 6.41029419e-01 5.68929697e-02 1.31651727e+02] [-6.39023820e-01 7.67512328e-01 -5.07285345e-02 -7.86873754e+01] [-7.61845387e-02 2.47189985e-03 9.97090671e-01 -9.18652457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13864 meters 0.03120721462784777 Centerline is valid? [True, True] Translation: X:131.68, Y:-78.71, Z:-9.19 [[ 7.64843068e-01 6.41653558e-01 5.74089898e-02 1.31676647e+02] [-6.39609554e-01 7.66990629e-01 -5.12346978e-02 -7.87096385e+01] [-7.69070833e-02 2.46716512e-03 9.97035212e-01 -9.18884721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16864 meters 0.030968831651433427 Centerline is valid? [True, True] Translation: X:131.70, Y:-78.73, Z:-9.19 [[ 7.63777001e-01 6.42923345e-01 5.73956949e-02 1.31699526e+02] [-6.40880074e-01 7.65926841e-01 -5.12718761e-02 -7.87320956e+01] [-7.69247893e-02 2.37652253e-03 9.97034066e-01 -9.19088657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19864 meters 0.03065744781595416 Centerline is valid? [True, True] Translation: X:131.72, Y:-78.75, Z:-9.19 [[ 7.62860634e-01 6.44057108e-01 5.68690996e-02 1.31722774e+02] [-6.42051029e-01 7.64974030e-01 -5.08449468e-02 -7.87541002e+01] [-7.62504337e-02 2.27474443e-03 9.97086103e-01 -9.19245922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22864 meters 0.03034515222109116 Centerline is valid? [True, True] Translation: X:131.75, Y:-78.78, Z:-9.20 [[ 7.60555315e-01 6.46712130e-01 5.76110483e-02 1.31746173e+02] [-6.44657376e-01 7.62731366e-01 -5.15531864e-02 -7.87766051e+01] [-7.72818246e-02 2.06966267e-03 9.97007139e-01 -9.19552080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25864 meters 0.030021402743235788 Centerline is valid? [True, True] Translation: X:131.77, Y:-78.80, Z:-9.20 [[ 7.58951419e-01 6.48488334e-01 5.87845516e-02 1.31770007e+02] [-6.46351156e-01 7.61222077e-01 -5.26415407e-02 -7.87989476e+01] [-7.88855235e-02 1.95690913e-03 9.96881761e-01 -9.19710290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864000000002 meters 0.029474515106039163 Centerline is valid? [True, True] Translation: X:131.79, Y:-78.82, Z:-9.20 [[ 7.57100811e-01 6.50699118e-01 5.82152949e-02 1.31793418e+02] [-6.48607826e-01 7.59333702e-01 -5.21556968e-02 -7.88216803e+01] [-7.81425013e-02 1.72822449e-03 9.96940702e-01 -9.19808660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31864000000002 meters 0.029661617472221152 Centerline is valid? [True, True] Translation: X:131.82, Y:-78.84, Z:-9.20 [[ 7.56157084e-01 6.51722720e-01 5.90250942e-02 1.31818207e+02] [-6.49571976e-01 7.58455448e-01 -5.29299720e-02 -7.88439892e+01] [-7.92635696e-02 1.68232620e-03 9.96852274e-01 -9.20099794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864000000002 meters 0.029487465872753377 Centerline is valid? [True, True] Translation: X:131.84, Y:-78.87, Z:-9.20 [[ 7.55258606e-01 6.52726566e-01 5.94345723e-02 1.31842609e+02] [-6.50544590e-01 7.57591827e-01 -5.33512950e-02 -7.88662548e+01] [-7.98509538e-02 1.62918524e-03 9.96805483e-01 -9.20256389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37864000000002 meters 0.029391744345059072 Centerline is valid? [True, True] Translation: X:131.87, Y:-78.89, Z:-9.20 [[ 7.54689906e-01 6.53413591e-01 5.91085962e-02 1.31866654e+02] [-6.51253554e-01 7.56999446e-01 -5.31097557e-02 -7.88869947e+01] [-7.94478108e-02 1.58671311e-03 9.96837764e-01 -9.20458619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864000000002 meters 0.029251048006105194 Centerline is valid? [True, True] Translation: X:131.89, Y:-78.91, Z:-9.21 [[ 7.53096480e-01 6.55290750e-01 5.86491569e-02 1.31891218e+02] [-6.53166238e-01 7.55375427e-01 -5.27430531e-02 -7.89073396e+01] [-7.88641668e-02 1.41295850e-03 9.96884370e-01 -9.20653868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43864000000002 meters 0.028958490613467593 Centerline is valid? [True, True] Translation: X:131.92, Y:-78.93, Z:-9.21 [[ 7.51978243e-01 6.56577056e-01 5.86113586e-02 1.31916000e+02] [-6.54455507e-01 7.54257812e-01 -5.27554944e-02 -7.89272806e+01] [-7.88461223e-02 1.31245757e-03 9.96885935e-01 -9.20816507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864000000002 meters 0.02874133315737392 Centerline is valid? [True, True] Translation: X:131.94, Y:-78.95, Z:-9.21 [[ 7.49228588e-01 6.59654988e-01 5.92606109e-02 1.31942219e+02] [-6.57491877e-01 7.51567843e-01 -5.33873405e-02 -7.89465935e+01] [-7.97555950e-02 1.03595140e-03 9.96813910e-01 -9.20980659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49864 meters 0.02870907440659489 Centerline is valid? [True, True] Translation: X:131.97, Y:-78.97, Z:-9.21 [[ 7.47668198e-01 6.61372277e-01 5.98245600e-02 1.31967670e+02] [-6.59169173e-01 7.50057267e-01 -5.39453238e-02 -7.89673604e+01] [-8.05497876e-02 8.98697344e-04 9.96750181e-01 -9.21207796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters 0.028717471246016216 Centerline is valid? [True, True] Translation: X:131.99, Y:-78.99, Z:-9.21 [[ 7.46371714e-01 6.62844821e-01 5.97160634e-02 1.31992785e+02] [-6.60650133e-01 7.48756394e-01 -5.39005037e-02 -7.89869599e+01] [-8.04404540e-02 7.78386160e-04 9.96759112e-01 -9.21398064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55864 meters 0.02872140612215504 Centerline is valid? [True, True] Translation: X:132.02, Y:-79.00, Z:-9.21 [[ 7.46212814e-01 6.63055065e-01 5.93668067e-02 1.32022462e+02] [-6.60882667e-01 7.48570210e-01 -5.36352615e-02 -7.90035867e+01] [-8.00033548e-02 7.88825852e-04 9.96794282e-01 -9.21496384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters 0.02875707548796913 Centerline is valid? [True, True] Translation: X:132.05, Y:-79.02, Z:-9.22 [[ 7.45979337e-01 6.63396495e-01 5.84800753e-02 1.32048684e+02] [-6.61285563e-01 7.48267654e-01 -5.28859317e-02 -7.90225331e+01] [-7.88430905e-02 7.79782703e-04 9.96886733e-01 -9.21674077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61864 meters 0.029100631478295176 Centerline is valid? [True, True] Translation: X:132.08, Y:-79.04, Z:-9.22 [[ 7.47923968e-01 6.61052789e-01 6.01576939e-02 1.32076559e+02] [-6.58807147e-01 7.50338598e-01 -5.44530159e-02 -7.90390581e+01] [-8.11349578e-02 1.09439698e-03 9.96702524e-01 -9.21970593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64864 meters 0.029353807121521053 Centerline is valid? [True, True] Translation: X:132.10, Y:-79.06, Z:-9.22 [[ 7.49451167e-01 6.59408221e-01 5.91924492e-02 1.32104161e+02] [-6.57225083e-01 7.51783969e-01 -5.36288640e-02 -7.90585317e+01] [-7.98632482e-02 1.28945241e-03 9.96804995e-01 -9.22111945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67864 meters 0.029353807121521053 Centerline is valid? [True, True] Translation: X:132.13, Y:-79.08, Z:-9.22 [[ 7.49121756e-01 6.59784842e-01 5.91655097e-02 1.32128488e+02] [-6.57600531e-01 7.51453458e-01 -5.36585725e-02 -7.90801292e+01] [-7.98632397e-02 1.28953347e-03 9.96804996e-01 -9.22298316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters 0.02970079408592996 Centerline is valid? [True, True] Translation: X:132.16, Y:-79.10, Z:-9.22 [[ 7.50984313e-01 6.57610385e-01 5.97590395e-02 1.32155056e+02] [-6.55370784e-01 7.53356553e-01 -5.42497824e-02 -7.90985346e+01] [-8.06950844e-02 1.57640699e-03 9.96737587e-01 -9.22483341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73864 meters 0.03071261463838394 Centerline is valid? [True, True] Translation: X:132.18, Y:-79.12, Z:-9.23 [[ 7.55629830e-01 6.52310615e-01 5.92825621e-02 1.32182810e+02] [-6.50087069e-01 7.57948684e-01 -5.38571660e-02 -7.91151777e+01] [-8.00647410e-02 2.15725412e-03 9.96787331e-01 -9.22593539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters 0.031086510419206712 Centerline is valid? [True, True] Translation: X:132.21, Y:-79.14, Z:-9.23 [[ 7.57514062e-01 6.50095428e-01 5.95682862e-02 1.32208284e+02] [-6.47841113e-01 7.59848702e-01 -5.41464916e-02 -7.91355522e+01] [-8.04632715e-02 2.42594398e-03 9.96754622e-01 -9.22756040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79864 meters 0.03169225489168755 Centerline is valid? [True, True] Translation: X:132.23, Y:-79.16, Z:-9.23 [[ 7.59211119e-01 6.48173412e-01 5.89042032e-02 1.32233435e+02] [-6.45959772e-01 7.61488204e-01 -5.35881298e-02 -7.91557426e+01] [-7.95892569e-02 2.63495828e-03 9.96824261e-01 -9.22917016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82864 meters 0.032703134311581616 Centerline is valid? [True, True] Translation: X:132.26, Y:-79.18, Z:-9.23 [[ 7.63184865e-01 6.43566544e-01 5.80600094e-02 1.32257508e+02] [-6.41399975e-01 7.65383895e-01 -5.28541962e-02 -7.91754484e+01] [-7.84533885e-02 3.09783406e-03 9.96912970e-01 -9.23148204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85864 meters 0.0334718039611469 Centerline is valid? [True, True] Translation: X:132.28, Y:-79.20, Z:-9.23 [[ 7.65203935e-01 6.41251805e-01 5.70881889e-02 1.32280720e+02] [-6.39149624e-01 7.67323458e-01 -5.19852668e-02 -7.91975271e+01] [-7.71407527e-02 3.29143618e-03 9.97014780e-01 -9.23293562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88864 meters 0.034483675344766825 Centerline is valid? [True, True] Translation: X:132.30, Y:-79.22, Z:-9.23 [[ 7.69239728e-01 6.36460229e-01 5.64678539e-02 1.32299790e+02] [-6.34388155e-01 7.71300370e-01 -5.14529727e-02 -7.92224031e+01] [-7.63014474e-02 3.75713311e-03 9.97077717e-01 -9.23470751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91864 meters 0.03524367114861801 Centerline is valid? [True, True] Translation: X:132.32, Y:-79.25, Z:-9.24 [[ 7.70810167e-01 6.34552314e-01 5.65247382e-02 1.32322373e+02] [-6.32470537e-01 7.72869797e-01 -5.15101526e-02 -7.92453082e+01] [-7.63721495e-02 3.95431779e-03 9.97071541e-01 -9.23666056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94864 meters 0.03568954234549678 Centerline is valid? [True, True] Translation: X:132.34, Y:-79.27, Z:-9.24 [[ 7.71569443e-01 6.33656004e-01 5.62197817e-02 1.32344981e+02] [-6.31592820e-01 7.73604406e-01 -5.12516583e-02 -7.92687405e+01] [-7.59677918e-02 4.03620296e-03 9.97102103e-01 -9.23880335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97864 meters 0.035776165173030464 Centerline is valid? [True, True] Translation: X:132.36, Y:-79.30, Z:-9.24 [[ 7.72223827e-01 6.32983747e-01 5.47899422e-02 1.32362406e+02] [-6.31019698e-01 7.74154603e-01 -4.99879168e-02 -7.92969961e+01] [-7.40574248e-02 4.02832765e-03 9.97245843e-01 -9.24015810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00864 meters 0.03482641685523387 Centerline is valid? [True, True] Translation: X:132.38, Y:-79.32, Z:-9.24 [[ 7.71656436e-01 6.33662182e-01 5.49416308e-02 1.32381132e+02] [-6.31686357e-01 7.73599528e-01 -5.01609139e-02 -7.93242277e+01] [-7.42878938e-02 4.00111345e-03 9.97228810e-01 -9.24186272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03864000000002 meters 0.03484157054783229 Centerline is valid? [True, True] Translation: X:132.40, Y:-79.35, Z:-9.24 [[ 7.70841654e-01 6.34643443e-01 5.50531055e-02 1.32397905e+02] [-6.32660503e-01 7.72795089e-01 -5.02835777e-02 -7.93533589e+01] [-7.44569125e-02 3.93075077e-03 9.97216485e-01 -9.24380283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864000000002 meters 0.034563416137133464 Centerline is valid? [True, True] Translation: X:132.42, Y:-79.38, Z:-9.25 [[ 7.70116610e-01 6.35529330e-01 5.49807098e-02 1.32418393e+02] [-6.33550767e-01 7.72067017e-01 -5.02588104e-02 -7.93789954e+01] [-7.43897407e-02 3.87207379e-03 9.97221727e-01 -9.24527199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09864000000002 meters 0.03404621116669635 Centerline is valid? [True, True] Translation: X:132.44, Y:-79.41, Z:-9.25 [[ 7.69171726e-01 6.36588454e-01 5.59463682e-02 1.32438300e+02] [-6.34539721e-01 7.71194015e-01 -5.11774716e-02 -7.94055363e+01] [-7.57244918e-02 3.86407131e-03 9.97121292e-01 -9.24754905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864000000002 meters 0.03390817267817081 Centerline is valid? [True, True] Translation: X:132.46, Y:-79.43, Z:-9.25 [[ 7.67957028e-01 6.37953045e-01 5.70781533e-02 1.32458090e+02] [-6.35822414e-01 7.70065774e-01 -5.22356408e-02 -7.94308386e+01] [-7.72778184e-02 3.82315827e-03 9.97002268e-01 -9.24962684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15864000000002 meters 0.03277743344168098 Centerline is valid? [True, True] Translation: X:132.47, Y:-79.46, Z:-9.25 [[ 7.65216095e-01 6.41380819e-01 5.54524306e-02 1.32474901e+02] [-6.39376428e-01 7.67215133e-01 -5.07811222e-02 -7.94594195e+01] [-7.51139817e-02 3.40355497e-03 9.97169146e-01 -9.24970062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864000000002 meters 0.03198612791851392 Centerline is valid? [True, True] Translation: X:132.49, Y:-79.48, Z:-9.25 [[ 7.63226181e-01 6.43805218e-01 5.47780714e-02 1.32494960e+02] [-6.41854941e-01 7.65183002e-01 -5.01717942e-02 -7.94841737e+01] [-7.42161120e-02 3.13285118e-03 9.97237261e-01 -9.25163597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21864000000002 meters 0.030554431737936434 Centerline is valid? [True, True] Translation: X:132.51, Y:-79.51, Z:-9.25 [[ 7.58616157e-01 6.49199276e-01 5.51527572e-02 1.32510981e+02] [-6.47235783e-01 7.60613821e-01 -5.05218461e-02 -7.95134249e+01] [-7.47486953e-02 2.62985079e-03 9.97198935e-01 -9.25224664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters 0.029752686637477654 Centerline is valid? [True, True] Translation: X:132.53, Y:-79.54, Z:-9.25 [[ 7.55596975e-01 6.52690121e-01 5.53969066e-02 1.32530907e+02] [-6.50717789e-01 7.57621478e-01 -5.07548422e-02 -7.95382421e+01] [-7.50970704e-02 2.30245267e-03 9.97173570e-01 -9.25358023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27864 meters 0.028789442518157807 Centerline is valid? [True, True] Translation: X:132.55, Y:-79.56, Z:-9.25 [[ 7.52470064e-01 6.56382405e-01 5.43225747e-02 1.32552580e+02] [-6.54494263e-01 7.54425936e-01 -4.97872254e-02 -7.95619256e+01] [-7.36618180e-02 1.90958323e-03 9.97281450e-01 -9.25449439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters 0.027828433256797007 Centerline is valid? [True, True] Translation: X:132.57, Y:-79.59, Z:-9.26 [[ 7.47201002e-01 6.62416766e-01 5.38023369e-02 1.32573058e+02] [-6.60577618e-01 7.49134340e-01 -4.93452252e-02 -7.95861062e+01] [-7.29922826e-02 1.33018212e-03 9.97331619e-01 -9.25587016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33864 meters 0.02746341543981348 Centerline is valid? [True, True] Translation: X:132.60, Y:-79.61, Z:-9.26 [[ 7.44712939e-01 6.65238474e-01 5.34828023e-02 1.32595394e+02] [-6.63427773e-01 7.46630204e-01 -4.90604600e-02 -7.96100036e+01] [-7.25687811e-02 1.05398293e-03 9.97362853e-01 -9.25763318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters 0.027300990092562788 Centerline is valid? [True, True] Translation: X:132.62, Y:-79.63, Z:-9.26 [[ 7.42156820e-01 6.67981391e-01 5.48098153e-02 1.32618476e+02] [-6.66085181e-01 7.44177520e-01 -5.03025900e-02 -7.96336940e+01] [-7.43894265e-02 8.24404469e-04 9.97228927e-01 -9.25985282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39864 meters 0.027020503686336867 Centerline is valid? [True, True] Translation: X:132.64, Y:-79.66, Z:-9.26 [[ 7.38272173e-01 6.72279741e-01 5.47188163e-02 1.32641793e+02] [-6.70397778e-01 7.40297079e-01 -5.02698134e-02 -7.96563206e+01] [-7.43035571e-02 4.29431532e-04 9.97235577e-01 -9.26137476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters 0.026878744065172176 Centerline is valid? [True, True] Translation: X:132.67, Y:-79.68, Z:-9.26 [[ 7.35580848e-01 6.75217988e-01 5.47858033e-02 1.32665813e+02] [-6.73335961e-01 7.37618221e-01 -5.03790020e-02 -7.96786950e+01] [-7.44278152e-02 1.68577528e-04 9.97226390e-01 -9.26401457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45864 meters 0.026651882485737684 Centerline is valid? [True, True] Translation: X:132.69, Y:-79.70, Z:-9.27 [[ 7.34653206e-01 6.76306195e-01 5.38014622e-02 1.32689384e+02] [-6.74490498e-01 7.36620609e-01 -4.95241962e-02 -7.97004367e+01] [-7.31247866e-02 9.45344898e-05 9.97322795e-01 -9.26571303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters 0.02661261902406687 Centerline is valid? [True, True] Translation: X:132.71, Y:-79.72, Z:-9.27 [[ 7.34000275e-01 6.77061450e-01 5.32108012e-02 1.32714370e+02] [-6.75284056e-01 7.35926484e-01 -4.90270703e-02 -7.97226779e+01] [-7.23535771e-02 5.34773996e-05 9.97379044e-01 -9.26652863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51864 meters 0.026682138404039556 Centerline is valid? [True, True] Translation: X:132.74, Y:-79.74, Z:-9.27 [[ 7.32033422e-01 6.79060183e-01 5.48118302e-02 1.32739314e+02] [-6.77175629e-01 7.34082595e-01 -5.05560280e-02 -7.97432680e+01] [-7.45669961e-02 -1.08533380e-04 9.97216000e-01 -9.26674026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54864 meters 0.02676533941718223 Centerline is valid? [True, True] Translation: X:132.76, Y:-79.77, Z:-9.27 [[ 7.30921304e-01 6.80261101e-01 5.47620511e-02 1.32763774e+02] [-6.78379670e-01 7.32969847e-01 -5.05591348e-02 -7.97653590e+01] [-7.45323450e-02 -1.94713380e-04 9.97218578e-01 -9.26859888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57864 meters 0.026486055748639655 Centerline is valid? [True, True] Translation: X:132.79, Y:-79.79, Z:-9.27 [[ 7.28351583e-01 6.83051345e-01 5.42662950e-02 1.32788142e+02] [-6.81207611e-01 7.30370228e-01 -5.01549683e-02 -7.97877784e+01] [-7.38929048e-02 -4.36162671e-04 9.97266087e-01 -9.26966837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60864 meters 0.026502828762182854 Centerline is valid? [True, True] Translation: X:132.81, Y:-79.81, Z:-9.27 [[ 7.26604028e-01 6.84948820e-01 5.37745391e-02 1.32812978e+02] [-6.83139678e-01 7.28590950e-01 -4.97534668e-02 -7.98089040e+01] [-7.32582209e-02 -5.84451954e-04 9.97312835e-01 -9.27125616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63864 meters 0.026525462449681823 Centerline is valid? [True, True] Translation: X:132.84, Y:-79.83, Z:-9.27 [[ 7.25193863e-01 6.86490214e-01 5.31511723e-02 1.32838432e+02] [-6.84723586e-01 7.27138707e-01 -4.92230814e-02 -7.98302619e+01] [-7.24394384e-02 -6.97584694e-04 9.97372569e-01 -9.27251648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66864 meters 0.026469871995600355 Centerline is valid? [True, True] Translation: X:132.86, Y:-79.85, Z:-9.27 [[ 7.23005737e-01 6.88772683e-01 5.34312184e-02 1.32863618e+02] [-6.86991489e-01 7.24976802e-01 -4.95109198e-02 -7.98507924e+01] [-7.28381628e-02 -9.10113214e-04 9.97343358e-01 -9.27449227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69864 meters 0.026641680765321273 Centerline is valid? [True, True] Translation: X:132.89, Y:-79.87, Z:-9.28 [[ 7.21874787e-01 6.89933773e-01 5.37417888e-02 1.32888367e+02] [-6.88131416e-01 7.23871807e-01 -4.98473754e-02 -7.98723746e+01] [-7.32935535e-02 -9.97849720e-04 9.97309911e-01 -9.27758368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72864 meters 0.026595856702049978 Centerline is valid? [True, True] Translation: X:132.91, Y:-79.89, Z:-9.28 [[ 7.21827897e-01 6.89971113e-01 5.38920191e-02 1.32914052e+02] [-6.88154815e-01 7.23836259e-01 -5.00401897e-02 -7.98931686e+01] [-7.35352829e-02 -9.65647562e-04 9.97292149e-01 -9.27919734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75864 meters 0.02635807196627449 Centerline is valid? [True, True] Translation: X:132.94, Y:-79.91, Z:-9.28 [[ 7.21929060e-01 6.89754467e-01 5.52920207e-02 1.32940789e+02] [-6.87837694e-01 7.24042756e-01 -5.13944942e-02 -7.99119272e+01] [-7.54833690e-02 -9.28757108e-04 9.97146628e-01 -9.28035144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864000000002 meters 0.02628206881384999 Centerline is valid? [True, True] Translation: X:132.97, Y:-79.93, Z:-9.28 [[ 7.21653500e-01 6.89986348e-01 5.59916598e-02 1.32965875e+02] [-6.88017486e-01 7.23821786e-01 -5.20956891e-02 -7.99334079e+01] [-7.64732975e-02 -9.28204667e-04 9.97071198e-01 -9.28176861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81864000000002 meters 0.02629669989969091 Centerline is valid? [True, True] Translation: X:132.99, Y:-79.95, Z:-9.28 [[ 7.21633928e-01 6.89929036e-01 5.69420731e-02 1.32991452e+02] [-6.87888025e-01 7.23876455e-01 -5.30371914e-02 -7.99543357e+01] [-7.78109244e-02 -8.96333389e-04 9.96967731e-01 -9.28381276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864000000002 meters 0.0260856374639289 Centerline is valid? [True, True] Translation: X:133.02, Y:-79.97, Z:-9.29 [[ 7.21188805e-01 6.90321791e-01 5.78146338e-02 1.33016373e+02] [-6.88214464e-01 7.23501895e-01 -5.39060223e-02 -7.99746708e+01] [-7.90414990e-02 -9.12447349e-04 9.96870909e-01 -9.28555652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87864000000002 meters 0.026228793531733924 Centerline is valid? [True, True] Translation: X:133.04, Y:-80.00, Z:-9.29 [[ 7.20316194e-01 6.91302703e-01 5.69662431e-02 1.33042016e+02] [-6.89255951e-01 7.22564624e-01 -5.31657692e-02 -7.99954291e+01] [-7.79154319e-02 -9.68157537e-04 9.96959502e-01 -9.28745418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864000000002 meters 0.025902383729381896 Centerline is valid? [True, True] Translation: X:133.07, Y:-80.02, Z:-9.29 [[ 7.20830128e-01 6.90785269e-01 5.67418563e-02 1.33067911e+02] [-6.88748804e-01 7.23059442e-01 -5.30106508e-02 -8.00152184e+01] [-7.76467116e-02 -8.69211393e-04 9.96980558e-01 -9.28914934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93864000000002 meters 0.025969289126999313 Centerline is valid? [True, True] Translation: X:133.09, Y:-80.04, Z:-9.29 [[ 7.20610935e-01 6.90950524e-01 5.75087198e-02 1.33092131e+02] [-6.88854935e-01 7.22901537e-01 -5.37796091e-02 -8.00373521e+01] [-7.87321910e-02 -8.60991103e-04 9.96895431e-01 -9.29217574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864000000002 meters 0.02567821738385081 Centerline is valid? [True, True] Translation: X:133.12, Y:-80.06, Z:-9.29 [[ 7.22382116e-01 6.89136798e-01 5.70486780e-02 1.33116914e+02] [-6.87064689e-01 7.24631004e-01 -5.34043209e-02 -8.00585607e+01] [-7.81421235e-02 -6.17805860e-04 9.96942038e-01 -9.29404166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99864 meters 0.025613807897275704 Centerline is valid? [True, True] Translation: X:133.14, Y:-80.08, Z:-9.30 [[ 7.22958004e-01 6.88547524e-01 5.68685386e-02 1.33141802e+02] [-6.86482671e-01 7.25191038e-01 -5.32869694e-02 -8.00806798e+01] [-7.79311654e-02 -5.15025207e-04 9.96958609e-01 -9.29573589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters 0.025558691892217534 Centerline is valid? [True, True] Translation: X:133.17, Y:-80.10, Z:-9.30 [[ 7.24146954e-01 6.87262793e-01 5.72803824e-02 1.33166532e+02] [-6.85159341e-01 7.26408796e-01 -5.37302415e-02 -8.01024758e+01] [-7.85357695e-02 -3.37598352e-04 9.96911239e-01 -9.29786635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05864 meters 0.025284359637642636 Centerline is valid? [True, True] Translation: X:133.19, Y:-80.13, Z:-9.30 [[ 7.25759518e-01 6.85592561e-01 5.68855201e-02 1.33190003e+02] [-6.83508498e-01 7.27985458e-01 -5.34163498e-02 -8.01254587e+01] [-7.80336835e-02 -1.14312164e-04 9.96950717e-01 -9.29819334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters 0.02541024267137701 Centerline is valid? [True, True] Translation: X:133.21, Y:-80.15, Z:-9.30 [[ 7.26298095e-01 6.84974625e-01 5.74529339e-02 1.33214082e+02] [-6.82842234e-01 7.28566924e-01 -5.40066734e-02 -8.01476839e+01] [-7.88515082e-02 -6.34569568e-06 9.96886372e-01 -9.30097846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11864 meters 0.025313763497122686 Centerline is valid? [True, True] Translation: X:133.24, Y:-80.17, Z:-9.30 [[ 7.26558060e-01 6.84687013e-01 5.75940954e-02 1.33237379e+02] [-6.82538648e-01 7.28837217e-01 -5.41969058e-02 -8.01707464e+01] [-7.90846378e-02 6.70027207e-05 9.96867903e-01 -9.30323698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters 0.025442440076114962 Centerline is valid? [True, True] Translation: X:133.26, Y:-80.19, Z:-9.31 [[ 7.25664423e-01 6.85566894e-01 5.83881785e-02 1.33259938e+02] [-6.83357061e-01 7.28009638e-01 -5.50008533e-02 -8.01938007e+01] [-8.02139209e-02 1.21884207e-05 9.96777672e-01 -9.30625038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17864 meters 0.025357673735936784 Centerline is valid? [True, True] Translation: X:133.28, Y:-80.22, Z:-9.31 [[ 7.24975942e-01 6.86292578e-01 5.84155854e-02 1.33282629e+02] [-6.84078745e-01 7.27325578e-01 -5.50797057e-02 -8.02171244e+01] [-8.02879426e-02 -2.93988569e-05 9.96771712e-01 -9.30857434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters 0.02511041660894413 Centerline is valid? [True, True] Translation: X:133.30, Y:-80.24, Z:-9.31 [[ 7.23503063e-01 6.87937035e-01 5.73232452e-02 1.33304291e+02] [-6.85806190e-01 7.25770355e-01 -5.41041724e-02 -8.02405908e+01] [-7.88237759e-02 -1.68101958e-04 9.96888552e-01 -9.30905087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23864 meters 0.025032275558993622 Centerline is valid? [True, True] Translation: X:133.33, Y:-80.26, Z:-9.31 [[ 7.22210532e-01 6.89304166e-01 5.71988962e-02 1.33327716e+02] [-6.87182763e-01 7.24472007e-01 -5.40385229e-02 -8.02641265e+01] [-7.86879781e-02 -2.78905171e-04 9.96899255e-01 -9.31060840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters 0.025076489032851035 Centerline is valid? [True, True] Translation: X:133.35, Y:-80.29, Z:-9.31 [[ 7.20375173e-01 6.91255273e-01 5.67957535e-02 1.33349397e+02] [-6.89165987e-01 7.22610505e-01 -5.37056874e-02 -8.02889280e+01] [-7.81655477e-02 -4.53457643e-04 9.96940290e-01 -9.31198137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29864 meters 0.02520193413186402 Centerline is valid? [True, True] Translation: X:133.37, Y:-80.31, Z:-9.31 [[ 7.18542319e-01 6.93029599e-01 5.83687386e-02 1.33371576e+02] [-6.90825914e-01 7.20908846e-01 -5.52267280e-02 -8.03123545e+01] [-8.03522972e-02 -6.39895950e-04 9.96766321e-01 -9.31437627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32864 meters 0.025249234227832568 Centerline is valid? [True, True] Translation: X:133.39, Y:-80.34, Z:-9.32 [[ 7.16492428e-01 6.95049558e-01 5.95374898e-02 1.33394693e+02] [-6.92759157e-01 7.18961332e-01 -5.63857493e-02 -8.03353709e+01] [-8.19960431e-02 -8.45178892e-04 9.96632297e-01 -9.31555831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35864 meters 0.025576832610323456 Centerline is valid? [True, True] Translation: X:133.42, Y:-80.36, Z:-9.32 [[ 7.13229726e-01 6.98335586e-01 6.02558501e-02 1.33418982e+02] [-6.95996723e-01 7.15769497e-01 -5.71190805e-02 -8.03571922e+01] [-8.30175860e-02 -1.19884808e-03 9.96547361e-01 -9.31600324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38864 meters 0.02594326995730819 Centerline is valid? [True, True] Translation: X:133.44, Y:-80.38, Z:-9.32 [[ 7.11071806e-01 7.00553275e-01 6.00166244e-02 1.33443207e+02] [-6.98236508e-01 7.13598703e-01 -5.69444505e-02 -8.03785831e+01] [-8.27204066e-02 -1.41420493e-03 9.96571791e-01 -9.31771785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41864 meters 0.026215906784847677 Centerline is valid? [True, True] Translation: X:133.47, Y:-80.40, Z:-9.32 [[ 7.07445283e-01 7.04276444e-01 5.92947050e-02 1.33468220e+02] [-7.02023930e-01 7.09923579e-01 -5.63108591e-02 -8.03986194e+01] [-8.17531208e-02 -1.78945012e-03 9.96651005e-01 -9.31859031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44864 meters 0.026559387091075505 Centerline is valid? [True, True] Translation: X:133.49, Y:-80.42, Z:-9.32 [[ 7.05805675e-01 7.05896069e-01 5.95742305e-02 1.33492944e+02] [-7.03623660e-01 7.08312742e-01 -5.66286501e-02 -8.04193694e+01] [-8.21711281e-02 -1.94901554e-03 9.96616329e-01 -9.32191541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47864 meters 0.026684292040140632 Centerline is valid? [True, True] Translation: X:133.52, Y:-80.44, Z:-9.32 [[ 7.03794387e-01 7.07889426e-01 5.97161707e-02 1.33518765e+02] [-7.05608972e-01 7.06319998e-01 -5.68158345e-02 -8.04384767e+01] [-8.23980541e-02 -2.14960033e-03 9.96597180e-01 -9.32339388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50864 meters 0.026896985918473233 Centerline is valid? [True, True] Translation: X:133.54, Y:-80.46, Z:-9.32 [[ 7.03432655e-01 7.08261951e-01 5.95609664e-02 1.33544212e+02] [-7.05990237e-01 7.05946449e-01 -5.67220992e-02 -8.04594505e+01] [-8.22209574e-02 -2.14928400e-03 9.96611807e-01 -9.32482061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53864000000002 meters 0.026746379344737177 Centerline is valid? [True, True] Translation: X:133.57, Y:-80.48, Z:-9.33 [[ 7.03504063e-01 7.08260579e-01 5.87280687e-02 1.33569400e+02] [-7.06047498e-01 7.05948036e-01 -5.59848299e-02 -8.04794333e+01] [-8.11108128e-02 -2.07925070e-03 9.96702921e-01 -9.32566354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864000000002 meters 0.026742870851830344 Centerline is valid? [True, True] Translation: X:133.60, Y:-80.50, Z:-9.33 [[ 7.04474531e-01 7.07240623e-01 5.93829631e-02 1.33597916e+02] [-7.04969899e-01 7.06970234e-01 -5.66615370e-02 -8.04964396e+01] [-8.20553280e-02 -1.94659181e-03 9.96625875e-01 -9.32772194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59864000000002 meters 0.026911191337693256 Centerline is valid? [True, True] Translation: X:133.62, Y:-80.52, Z:-9.33 [[ 7.04545492e-01 7.07103140e-01 6.01730752e-02 1.33623993e+02] [-7.04766331e-01 7.07107824e-01 -5.74712484e-02 -8.05163300e+01] [-8.31869525e-02 -1.91684843e-03 9.96532115e-01 -9.33035003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864000000002 meters 0.026911191337693256 Centerline is valid? [True, True] Translation: X:133.65, Y:-80.54, Z:-9.33 [[ 7.04176057e-01 7.07473626e-01 6.01427332e-02 1.33647715e+02] [-7.05135456e-01 7.06737147e-01 -5.75029886e-02 -8.05385630e+01] [-8.31869515e-02 -1.91654579e-03 9.96532116e-01 -9.33221407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65864000000002 meters 0.026820329493029108 Centerline is valid? [True, True] Translation: X:133.68, Y:-80.56, Z:-9.33 [[ 7.04787279e-01 7.07005328e-01 5.84667223e-02 1.33675587e+02] [-7.04789757e-01 7.07206006e-01 -5.59559147e-02 -8.05563047e+01] [-8.09091470e-02 -1.76973014e-03 9.96719910e-01 -9.33411356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864000000002 meters 0.026776498543994064 Centerline is valid? [True, True] Translation: X:133.70, Y:-80.58, Z:-9.34 [[ 7.04886821e-01 7.06908636e-01 5.84358640e-02 1.33700749e+02] [-7.04690730e-01 7.07302780e-01 -5.59799201e-02 -8.05771289e+01] [-8.09045381e-02 -1.71970378e-03 9.96720371e-01 -9.33686560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71864000000002 meters 0.02679168568453447 Centerline is valid? [True, True] Translation: X:133.73, Y:-80.60, Z:-9.34 [[ 7.05075925e-01 7.06712347e-01 5.85286130e-02 1.33726030e+02] [-7.04481885e-01 7.07499053e-01 -5.61280940e-02 -8.05988700e+01] [-8.10753553e-02 -1.65777984e-03 9.96706596e-01 -9.33914188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters 0.02700019576224397 Centerline is valid? [True, True] Translation: X:133.75, Y:-80.62, Z:-9.34 [[ 7.06004697e-01 7.05804832e-01 5.82829945e-02 1.33750513e+02] [-7.03585374e-01 7.08404736e-01 -5.59495461e-02 -8.06199688e+01] [-8.07774093e-02 -1.50642020e-03 9.96731027e-01 -9.34185764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77864 meters 0.026843496902000556 Centerline is valid? [True, True] Translation: X:133.77, Y:-80.64, Z:-9.34 [[ 7.06434208e-01 7.05392931e-01 5.80648179e-02 1.33774463e+02] [-7.03185076e-01 7.08815062e-01 -5.57849257e-02 -8.06413797e+01] [-8.05075098e-02 -1.42193356e-03 9.96752988e-01 -9.34364386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters 0.0271541291112363 Centerline is valid? [True, True] Translation: X:133.80, Y:-80.66, Z:-9.35 [[ 7.07104865e-01 7.04661498e-01 5.87782623e-02 1.33799025e+02] [-7.02393295e-01 7.09542395e-01 -5.65088371e-02 -8.06634168e+01] [-8.15252709e-02 -1.32778370e-03 9.96670390e-01 -9.34605813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83864 meters 0.0272492369648907 Centerline is valid? [True, True] Translation: X:133.82, Y:-80.68, Z:-9.35 [[ 7.07080945e-01 7.04594614e-01 5.98578982e-02 1.33822549e+02] [-7.02236939e-01 7.09608861e-01 -5.76068231e-02 -8.06847852e+01] [-8.30651523e-02 -1.30174030e-03 9.96543268e-01 -9.34842638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters 0.02740738063654127 Centerline is valid? [True, True] Translation: X:133.85, Y:-80.71, Z:-9.35 [[ 7.05968376e-01 7.05723344e-01 5.96926589e-02 1.33846936e+02] [-7.03378122e-01 7.08486151e-01 -5.75029694e-02 -8.07073616e+01] [-8.28726100e-02 -1.39123238e-03 9.96559178e-01 -9.35007413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89864 meters 0.027569874094984778 Centerline is valid? [True, True] Translation: X:133.87, Y:-80.73, Z:-9.35 [[ 7.05331271e-01 7.06401100e-01 5.92054382e-02 1.33871733e+02] [-7.04091499e-01 7.07810342e-01 -5.70936118e-02 -8.07291692e+01] [-8.22372117e-02 -1.41613596e-03 9.96611778e-01 -9.35147176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters 0.02779437342660044 Centerline is valid? [True, True] Translation: X:133.90, Y:-80.75, Z:-9.35 [[ 7.04266084e-01 7.07470643e-01 5.91149142e-02 1.33895576e+02] [-7.05166895e-01 7.06741149e-01 -5.70666126e-02 -8.07525039e+01] [-8.21518955e-02 -1.49580076e-03 9.96618698e-01 -9.35349299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95864 meters 0.027945039349049672 Centerline is valid? [True, True] Translation: X:133.92, Y:-80.77, Z:-9.36 [[ 7.02588872e-01 7.09116646e-01 5.93503104e-02 1.33919324e+02] [-7.06795507e-01 7.05089249e-01 -5.73521005e-02 -8.07742280e+01] [-8.25165949e-02 -1.65358514e-03 9.96588319e-01 -9.35557044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters 0.028303095409408154 Centerline is valid? [True, True] Translation: X:133.94, Y:-80.80, Z:-9.36 [[ 7.01213487e-01 7.10444813e-01 5.97311784e-02 1.33943126e+02] [-7.08094102e-01 7.03750656e-01 -5.77733231e-02 -8.07952278e+01] [-8.30806137e-02 -1.78386182e-03 9.96541233e-01 -9.35800401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01864 meters 0.028358551137317955 Centerline is valid? [True, True] Translation: X:133.97, Y:-80.82, Z:-9.36 [[ 7.00655903e-01 7.11040554e-01 5.91830785e-02 1.33967543e+02] [-7.08730437e-01 7.03148701e-01 -5.72980879e-02 -8.08172611e+01] [-8.23557690e-02 -1.79860560e-03 9.96601371e-01 -9.35915252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04864 meters 0.028386714421967735 Centerline is valid? [True, True] Translation: X:133.99, Y:-80.84, Z:-9.36 [[ 7.01395856e-01 7.10295580e-01 5.93636435e-02 1.33991205e+02] [-7.07963807e-01 7.03901543e-01 -5.75314343e-02 -8.08385178e+01] [-8.26504838e-02 -1.67500145e-03 9.96577188e-01 -9.36117257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07864 meters 0.028443137107320063 Centerline is valid? [True, True] Translation: X:134.02, Y:-80.86, Z:-9.36 [[ 7.01935668e-01 7.09798907e-01 5.89222350e-02 1.34015117e+02] [-7.07495682e-01 7.04402623e-01 -5.71559670e-02 -8.08604963e+01] [-8.20742197e-02 -1.56741496e-03 9.96624987e-01 -9.36220326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10864 meters 0.028489311567315708 Centerline is valid? [True, True] Translation: X:134.04, Y:-80.88, Z:-9.36 [[ 7.01513496e-01 7.10140380e-01 5.98285446e-02 1.34039350e+02] [-7.07762362e-01 7.04058307e-01 -5.80890680e-02 -8.08819445e+01] [-8.33741767e-02 -1.59412681e-03 9.96517037e-01 -9.36451585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13864 meters 0.02856877850608128 Centerline is valid? [True, True] Translation: X:134.06, Y:-80.90, Z:-9.37 [[ 7.01458440e-01 7.10152598e-01 6.03269795e-02 1.34064664e+02] [-7.07731131e-01 7.04046019e-01 -5.86161258e-02 -8.09014195e+01] [-8.40993637e-02 -1.57850519e-03 9.96456123e-01 -9.36668038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16864 meters 0.028718816130835018 Centerline is valid? [True, True] Translation: X:134.09, Y:-80.92, Z:-9.37 [[ 7.01022399e-01 7.10581442e-01 6.03457662e-02 1.34089042e+02] [-7.08157258e-01 7.03613127e-01 -5.86674163e-02 -8.09242183e+01] [-8.41480505e-02 -1.60711946e-03 9.96451967e-01 -9.37070386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19864 meters 0.028742022909247975 Centerline is valid? [True, True] Translation: X:134.11, Y:-80.95, Z:-9.37 [[ 7.00800980e-01 7.10874985e-01 5.94536984e-02 1.34113119e+02] [-7.08518261e-01 7.03316621e-01 -5.78584903e-02 -8.09458273e+01] [-8.29449277e-02 -1.57674429e-03 9.96552885e-01 -9.37265797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22864 meters 0.02883632268007905 Centerline is valid? [True, True] Translation: X:134.14, Y:-80.97, Z:-9.37 [[ 7.00378109e-01 7.11312788e-01 5.91998557e-02 1.34137689e+02] [-7.08973170e-01 7.02873824e-01 -5.76665481e-02 -8.09673697e+01] [-8.26289821e-02 -1.58272147e-03 9.96579122e-01 -9.37335103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25864 meters 0.028829349902651544 Centerline is valid? [True, True] Translation: X:134.16, Y:-80.99, Z:-9.37 [[ 7.01806156e-01 7.09830443e-01 6.00738022e-02 1.34162262e+02] [-7.07410464e-01 7.04371225e-01 -5.85799606e-02 -8.09893126e+01] [-8.38960970e-02 -1.38505939e-03 9.96473545e-01 -9.37457320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864000000002 meters 0.02869495607714989 Centerline is valid? [True, True] Translation: X:134.19, Y:-81.01, Z:-9.38 [[ 7.02749638e-01 7.08850982e-01 6.06071925e-02 1.34186372e+02] [-7.06378787e-01 7.05357186e-01 -5.91629073e-02 -8.10118777e+01] [-8.46874037e-02 -1.23492346e-03 9.96406804e-01 -9.37747892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31864000000002 meters 0.02873186659745408 Centerline is valid? [True, True] Translation: X:134.21, Y:-81.03, Z:-9.38 [[ 7.04070151e-01 7.07553384e-01 6.04436198e-02 1.34209986e+02] [-7.05084731e-01 7.06659140e-01 -5.90625286e-02 -8.10339075e+01] [-8.45029284e-02 -1.03370993e-03 9.96422695e-01 -9.37885223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864000000002 meters 0.02863928259810157 Centerline is valid? [True, True] Translation: X:134.23, Y:-81.06, Z:-9.38 [[ 7.06528290e-01 7.05128425e-01 6.00972494e-02 1.34234009e+02] [-7.02674743e-01 7.09079271e-01 -5.87774834e-02 -8.10557458e+01] [-8.40593881e-02 -7.00864432e-04 9.96460500e-01 -9.38172594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37864000000002 meters 0.02852147785290812 Centerline is valid? [True, True] Translation: X:134.26, Y:-81.08, Z:-9.39 [[ 7.07659830e-01 7.03962404e-01 6.04524553e-02 1.34257636e+02] [-7.01470492e-01 7.10237044e-01 -5.91818435e-02 -8.10791414e+01] [-8.45973660e-02 -5.25000267e-04 9.96415079e-01 -9.38515955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864000000002 meters 0.028452771336543312 Centerline is valid? [True, True] Translation: X:134.28, Y:-81.10, Z:-9.39 [[ 7.08814099e-01 7.02903866e-01 5.92345151e-02 1.34280186e+02] [-7.00503011e-01 7.11284777e-01 -5.80473814e-02 -8.11025829e+01] [-8.29343376e-02 -3.49153836e-04 9.96554953e-01 -9.38645363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43864000000002 meters 0.02859464359321505 Centerline is valid? [True, True] Translation: X:134.30, Y:-81.13, Z:-9.39 [[ 7.08646846e-01 7.03108565e-01 5.88047060e-02 1.34303948e+02] [-7.00738660e-01 7.11082440e-01 -5.76809694e-02 -8.11253693e+01] [-8.23709774e-02 -3.31293855e-04 9.96601682e-01 -9.38832200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864000000002 meters 0.028699833037481734 Centerline is valid? [True, True] Translation: X:134.33, Y:-81.15, Z:-9.39 [[ 7.07265206e-01 7.04448473e-01 5.93993022e-02 1.34327239e+02] [-7.02030097e-01 7.09754990e-01 -5.83232063e-02 -8.11478498e+01] [-8.32446448e-02 -4.50123438e-04 9.96529039e-01 -9.39151173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49864 meters 0.02875870397487842 Centerline is valid? [True, True] Translation: X:134.35, Y:-81.17, Z:-9.39 [[ 7.05645097e-01 7.06070474e-01 5.94094451e-02 1.34351323e+02] [-7.03652368e-01 7.08141316e-01 -5.83885419e-02 -8.11710563e+01] [-8.32967081e-02 -6.02008409e-04 9.96524609e-01 -9.39271230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters 0.02866535694377296 Centerline is valid? [True, True] Translation: X:134.38, Y:-81.19, Z:-9.39 [[ 7.04601025e-01 7.07120420e-01 5.93136352e-02 1.34375553e+02] [-7.04708756e-01 7.07092814e-01 -5.83551402e-02 -8.11941733e+01] [-8.32043565e-02 -6.81746465e-04 9.96532273e-01 -9.39445098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55864 meters 0.028664066251003747 Centerline is valid? [True, True] Translation: X:134.40, Y:-81.22, Z:-9.40 [[ 7.02199619e-01 7.09583195e-01 5.83728086e-02 1.34400759e+02] [-7.07251151e-01 7.04621069e-01 -5.74887660e-02 -8.12154089e+01] [-8.19237730e-02 -9.15646465e-04 9.96638178e-01 -9.39503320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters 0.02865628581943813 Centerline is valid? [True, True] Translation: X:134.42, Y:-81.24, Z:-9.40 [[ 7.01591357e-01 7.10201209e-01 5.81705223e-02 1.34424860e+02] [-7.07882592e-01 7.03998121e-01 -5.73487803e-02 -8.12373850e+01] [-8.16811115e-02 -9.42491441e-04 9.96658070e-01 -9.39759990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61864 meters 0.028777413600384123 Centerline is valid? [True, True] Translation: X:134.45, Y:-81.26, Z:-9.40 [[ 7.00616602e-01 7.11188789e-01 5.78522584e-02 1.34448449e+02] [-7.08894045e-01 7.03000346e-01 -5.70941977e-02 -8.12600659e+01] [-8.12749110e-02 -1.00997864e-03 9.96691210e-01 -9.39985610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters 0.028728024803134203 Centerline is valid? [True, True] Translation: X:134.47, Y:-81.28, Z:-9.40 [[ 6.99859284e-01 7.11946193e-01 5.77026960e-02 1.34473450e+02] [-7.09661029e-01 7.02233230e-01 -5.70062713e-02 -8.12820018e+01] [-8.11061484e-02 -1.05298639e-03 9.96704913e-01 -9.40133782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67864 meters 0.02875923382823636 Centerline is valid? [True, True] Translation: X:134.50, Y:-81.30, Z:-9.40 [[ 6.98424899e-01 7.13357052e-01 5.76574001e-02 1.34500904e+02] [-7.11075411e-01 7.00799785e-01 -5.70212339e-02 -8.13006607e+01] [-8.10827929e-02 -1.17370997e-03 9.96706679e-01 -9.40346169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters 0.02878310285595586 Centerline is valid? [True, True] Translation: X:134.53, Y:-81.32, Z:-9.41 [[ 6.98131299e-01 7.13674949e-01 5.72778805e-02 1.34526146e+02] [-7.11419599e-01 7.00476066e-01 -5.67048189e-02 -8.13217050e+01] [-8.05905931e-02 -1.16119783e-03 9.96746612e-01 -9.40512555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73864 meters 0.02874133583626895 Centerline is valid? [True, True] Translation: X:134.55, Y:-81.34, Z:-9.41 [[ 6.97234171e-01 7.14523466e-01 5.76257483e-02 1.34551589e+02] [-7.12238616e-01 6.99610403e-01 -5.71089971e-02 -8.13434579e+01] [-8.11212916e-02 -1.22493893e-03 9.96703484e-01 -9.40754781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76864 meters 0.028922164805400816 Centerline is valid? [True, True] Translation: X:134.58, Y:-81.36, Z:-9.41 [[ 6.97311321e-01 7.14458999e-01 5.74913909e-02 1.34578338e+02] [-7.12179737e-01 6.99676328e-01 -5.70355967e-02 -8.13629454e+01] [-8.09749606e-02 -1.17263634e-03 9.96715446e-01 -9.40970116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79864 meters 0.02893697604815296 Centerline is valid? [True, True] Translation: X:134.60, Y:-81.38, Z:-9.41 [[ 6.97637363e-01 7.14042310e-01 5.87000000e-02 1.34602996e+02] [-7.11659611e-01 7.00101676e-01 -5.82944342e-02 -8.13831416e+01] [-8.27206609e-02 -1.10604384e-03 9.96572159e-01 -9.41235879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82864 meters 0.028720681412625584 Centerline is valid? [True, True] Translation: X:134.63, Y:-81.40, Z:-9.41 [[ 6.99745290e-01 7.12004156e-01 5.83661812e-02 1.34628987e+02] [-7.09637064e-01 7.02174768e-01 -5.80157985e-02 -8.14020599e+01] [-8.22907494e-02 -8.22523725e-04 9.96608025e-01 -9.41387225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85864 meters 0.02870902048496952 Centerline is valid? [True, True] Translation: X:134.65, Y:-81.42, Z:-9.42 [[ 7.01412793e-01 7.10426504e-01 5.75697575e-02 1.34653432e+02] [-7.08114138e-01 7.03771151e-01 -5.72759560e-02 -8.14226499e+01] [-8.12062916e-02 -5.91870930e-04 9.96697140e-01 -9.41564201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88864 meters 0.02854217258505868 Centerline is valid? [True, True] Translation: X:134.68, Y:-81.44, Z:-9.42 [[ 7.03635007e-01 7.08243792e-01 5.73455158e-02 1.34678128e+02] [-7.05937951e-01 7.05967875e-01 -5.71049008e-02 -8.14437371e+01] [-8.09282833e-02 -3.01368659e-04 9.96719881e-01 -9.41877054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91864 meters 0.02837607436790097 Centerline is valid? [True, True] Translation: X:134.70, Y:-81.47, Z:-9.42 [[ 7.05762800e-01 7.06109108e-01 5.75221456e-02 1.34703413e+02] [-7.03777459e-01 7.08103049e-01 -5.73355119e-02 -8.14651814e+01] [-8.12167338e-02 -1.75180165e-05 9.96696464e-01 -9.42055331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94864 meters 0.02850431408218986 Centerline is valid? [True, True] Translation: X:134.73, Y:-81.49, Z:-9.42 [[ 7.09523665e-01 7.02406210e-01 5.65834261e-02 1.34729240e+02] [-7.00133695e-01 7.11776173e-01 -5.64578482e-02 -8.14856564e+01] [-7.99310777e-02 4.42216176e-04 9.96800295e-01 -9.42332800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97864 meters 0.028630992023547408 Centerline is valid? [True, True] Translation: X:134.75, Y:-81.51, Z:-9.43 [[ 7.12737298e-01 6.99102540e-01 5.71067647e-02 1.34753204e+02] [-6.96772470e-01 7.15020905e-01 -5.70371013e-02 -8.15075913e+01] [-8.07073129e-02 8.62047959e-04 9.96737471e-01 -9.42545422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00864 meters 0.028987256409674873 Centerline is valid? [True, True] Translation: X:134.78, Y:-81.53, Z:-9.43 [[ 7.14414041e-01 6.97414506e-01 5.67942272e-02 1.34776034e+02] [-6.95100530e-01 7.16667170e-01 -5.67751753e-02 -8.15297229e+01] [-8.02983889e-02 1.08328499e-03 9.96770282e-01 -9.42755144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03864000000002 meters 0.029148611999595106 Centerline is valid? [True, True] Translation: X:134.80, Y:-81.53, Z:-9.43 [[ 6.68033497e-01 7.42262880e-01 5.26978422e-02 1.34800898e+02] [-7.39833465e-01 6.70107899e-01 -6.00154002e-02 -8.15349861e+01] [-7.98604441e-02 1.10467051e-03 9.96805442e-01 -9.42861582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864000000002 meters 0.029391283117220064 Centerline is valid? [True, True] Translation: X:134.71, Y:-81.79, Z:-7.68 [[ 6.95145016e-01 -7.18525077e-01 -2.22512870e-02 1.34706478e+02] [-7.17993200e-01 -6.95492830e-01 2.78475842e-02 -8.17889034e+01] [-3.54847982e-02 -3.38183660e-03 -9.99364494e-01 -7.67759998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09864000000002 meters 0.029664928849150538 Centerline is valid? [True, True] Translation: X:134.82, Y:-81.58, Z:-9.43 [[ 7.22777055e-01 6.88832266e-01 5.57085070e-02 1.34818557e+02] [-6.86609983e-01 7.24918698e-01 -5.53137687e-02 -8.15783667e+01] [-7.84860470e-02 1.72950577e-03 9.96913712e-01 -9.43183098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864000000002 meters 0.029591947598668143 Centerline is valid? [True, True] Translation: X:134.84, Y:-81.60, Z:-9.43 [[ 7.21850821e-01 6.89779962e-01 5.59910365e-02 1.34840366e+02] [-6.87534118e-01 7.24017139e-01 -5.56418893e-02 -8.16027519e+01] [-7.89191303e-02 1.66939565e-03 9.96879624e-01 -9.43354852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15864000000002 meters 0.029185908615039596 Centerline is valid? [True, True] Translation: X:134.86, Y:-81.63, Z:-9.43 [[ 7.20060041e-01 6.91670438e-01 5.57273945e-02 1.34862940e+02] [-6.89447211e-01 7.22211724e-01 -5.54325628e-02 -8.16259974e+01] [-7.85880426e-02 1.49367677e-03 9.96906058e-01 -9.43464077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864000000002 meters 0.0290374375253233 Centerline is valid? [True, True] Translation: X:134.89, Y:-81.65, Z:-9.44 [[ 7.18122020e-01 6.93766936e-01 5.46644593e-02 1.34885669e+02] [-6.91630904e-01 7.20198466e-01 -5.44138107e-02 -8.16494643e+01] [-7.71197625e-02 1.26812630e-03 9.97021030e-01 -9.43662033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21864000000002 meters 0.02845738934444966 Centerline is valid? [True, True] Translation: X:134.91, Y:-81.67, Z:-9.44 [[ 7.12724992e-01 6.99306898e-01 5.47078503e-02 1.34907823e+02] [-6.97181703e-01 7.14821227e-01 -5.44819780e-02 -8.16726556e+01] [-7.72059557e-02 6.89355106e-04 9.97014927e-01 -9.44009600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters 0.02822391190449676 Centerline is valid? [True, True] Translation: X:134.93, Y:-81.70, Z:-9.44 [[ 7.10004083e-01 7.02033075e-01 5.51703166e-02 1.34931523e+02] [-6.99875974e-01 7.12144209e-01 -5.49931556e-02 -8.16960539e+01] [-7.78962356e-02 4.32985893e-04 9.96961378e-01 -9.44229825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27864 meters 0.028014532372694374 Centerline is valid? [True, True] Translation: X:134.95, Y:-81.72, Z:-9.44 [[ 7.05227399e-01 7.06855891e-01 5.48549410e-02 1.34954716e+02] [-7.04733702e-01 7.07357580e-01 -5.47326587e-02 -8.17177803e+01] [-7.74901605e-02 -5.91550921e-05 9.96993115e-01 -9.44360612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters 0.02808228506520138 Centerline is valid? [True, True] Translation: X:134.98, Y:-81.74, Z:-9.45 [[ 7.03413485e-01 7.08641520e-01 5.51059560e-02 1.34979546e+02] [-7.06501248e-01 7.05568670e-01 -5.50348866e-02 -8.17403019e+01] [-7.78810418e-02 -2.20145282e-04 9.96962635e-01 -9.44507904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33864 meters 0.028081954984477023 Centerline is valid? [True, True] Translation: X:135.00, Y:-81.76, Z:-9.45 [[ 7.02563021e-01 7.09503933e-01 5.48577251e-02 1.35004295e+02] [-7.07381112e-01 7.04701422e-01 -5.48440328e-02 -8.17617386e+01] [-7.75703739e-02 -2.73929235e-04 9.96986841e-01 -9.44601994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters 0.028085148818354794 Centerline is valid? [True, True] Translation: X:134.92, Y:-82.01, Z:-7.70 [[ 7.58098574e-01 -6.51702071e-01 -2.38948145e-02 1.34924988e+02] [-6.51192138e-01 -7.58463185e-01 2.61226985e-02 -8.20115782e+01] [-3.51475539e-02 -4.24346518e-03 -9.99373125e-01 -7.69538554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39864 meters 0.02820695368788077 Centerline is valid? [True, True] Translation: X:135.03, Y:-81.79, Z:-9.45 [[ 7.48878333e-01 6.60003952e-01 5.97998794e-02 1.35027374e+02] [-6.57964184e-01 7.51261950e-01 -5.18518583e-02 -8.17908156e+01] [-7.91478054e-02 -5.15445620e-04 9.96862758e-01 -9.44827510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters 0.028353823567825787 Centerline is valid? [True, True] Translation: X:135.06, Y:-81.81, Z:-9.45 [[ 7.46171229e-01 6.62978442e-01 6.07295756e-02 1.35056290e+02] [-6.60880122e-01 7.48638057e-01 -5.27117121e-02 -8.18063870e+01] [-8.04112002e-02 -8.03006293e-04 9.96761453e-01 -9.45093024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45864 meters 0.02856949860264218 Centerline is valid? [True, True] Translation: X:135.08, Y:-81.83, Z:-9.45 [[ 7.44165789e-01 6.65277001e-01 6.01979303e-02 1.35083217e+02] [-6.63218830e-01 7.46595943e-01 -5.22999095e-02 -8.18255444e+01] [-7.97374575e-02 -1.00459753e-03 9.96815393e-01 -9.45298316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters 0.02856949860264218 Centerline is valid? [True, True] Translation: X:135.11, Y:-81.85, Z:-9.45 [[ 7.43822875e-01 6.65662825e-01 6.01708655e-02 1.35107994e+02] [-6.63603397e-01 7.46251964e-01 -5.23310336e-02 -8.18466441e+01] [-7.97374502e-02 -1.00457089e-03 9.96815394e-01 -9.45484103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51864 meters 0.028558371853185473 Centerline is valid? [True, True] Translation: X:135.13, Y:-81.87, Z:-9.46 [[ 7.42245377e-01 6.67552843e-01 5.86941436e-02 1.35134531e+02] [-6.65595208e-01 7.44561553e-01 -5.10990549e-02 -8.18664568e+01] [-7.78127220e-02 -1.13850343e-03 9.96967344e-01 -9.45602770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54864 meters 0.028843500301008546 Centerline is valid? [True, True] Translation: X:135.16, Y:-81.88, Z:-9.46 [[ 7.39073556e-01 6.71083231e-01 5.84600332e-02 1.35162572e+02] [-6.69148200e-01 7.41380570e-01 -5.09464149e-02 -8.18835673e+01] [-7.75304175e-02 -1.46527792e-03 9.96988910e-01 -9.45805668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57864 meters 0.02883823000697999 Centerline is valid? [True, True] Translation: X:135.19, Y:-81.90, Z:-9.46 [[ 7.37806730e-01 6.72441398e-01 5.88540140e-02 1.35189273e+02] [-6.70480776e-01 7.40148673e-01 -5.13368420e-02 -8.19020751e+01] [-7.80817382e-02 -1.58381742e-03 9.96945702e-01 -9.46044957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60864 meters 0.028984248845247248 Centerline is valid? [True, True] Translation: X:135.22, Y:-81.92, Z:-9.46 [[ 7.37529623e-01 6.72625429e-01 6.02087009e-02 1.35216959e+02] [-6.70570576e-01 7.39981380e-01 -5.25610002e-02 -8.19183995e+01] [-7.99071829e-02 -1.60888863e-03 9.96801010e-01 -9.46304286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63864 meters 0.029019047209311675 Centerline is valid? [True, True] Translation: X:135.24, Y:-81.94, Z:-9.46 [[ 7.37523904e-01 6.72628274e-01 6.02469569e-02 1.35243371e+02] [-6.70568046e-01 7.39978847e-01 -5.26289111e-02 -8.19376690e+01] [-7.99811673e-02 -1.58460419e-03 9.96795115e-01 -9.46490237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66864 meters 0.02859713739744953 Centerline is valid? [True, True] Translation: X:135.27, Y:-81.95, Z:-9.47 [[ 7.40443941e-01 6.69501564e-01 5.92488472e-02 1.35272031e+02] [-6.67495034e-01 7.42809698e-01 -5.18086051e-02 -8.19538981e+01] [-7.86965604e-02 -1.18694351e-03 9.96897910e-01 -9.46615093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69864 meters 0.02837887487241996 Centerline is valid? [True, True] Translation: X:135.30, Y:-81.97, Z:-9.47 [[ 7.42382263e-01 6.67394034e-01 5.87688656e-02 1.35297791e+02] [-6.65410391e-01 7.44704199e-01 -5.14263349e-02 -8.19725826e+01] [-7.80870500e-02 -9.27415000e-04 9.96946113e-01 -9.46808982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72864 meters 0.02845517279986023 Centerline is valid? [True, True] Translation: X:135.32, Y:-81.99, Z:-9.47 [[ 7.44711652e-01 6.64822357e-01 5.84447490e-02 1.35323532e+02] [-6.62851593e-01 7.47001217e-01 -5.11561010e-02 -8.19921491e+01] [-7.76680183e-02 -6.43650503e-04 9.96979069e-01 -9.47105131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75864 meters 0.028171119707040112 Centerline is valid? [True, True] Translation: X:135.35, Y:-82.01, Z:-9.47 [[ 7.48669063e-01 6.60422130e-01 5.77688838e-02 1.35350521e+02] [-6.58482579e-01 7.50894520e-01 -5.05777959e-02 -8.20105745e+01] [-7.67810340e-02 -1.73772555e-04 9.97047964e-01 -9.47245739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864000000002 meters 0.028283619301376583 Centerline is valid? [True, True] Translation: X:135.38, Y:-82.03, Z:-9.48 [[ 7.50530144e-01 6.58289772e-01 5.79575609e-02 1.35376284e+02] [-6.56329976e-01 7.52764620e-01 -5.07581402e-02 -8.20308885e+01] [-7.70419658e-02 5.62297864e-05 9.97027849e-01 -9.47591201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81864000000002 meters 0.02824135014487463 Centerline is valid? [True, True] Translation: X:135.40, Y:-82.05, Z:-9.48 [[ 7.52850005e-01 6.55589677e-01 5.84726098e-02 1.35402433e+02] [-6.53585228e-01 7.55117244e-01 -5.12278935e-02 -8.20500227e+01] [-7.77381542e-02 3.50085844e-04 9.96973749e-01 -9.47686165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864000000002 meters 0.02841733670373014 Centerline is valid? [True, True] Translation: X:135.43, Y:-82.07, Z:-9.48 [[ 7.53132153e-01 6.55267753e-01 5.84476837e-02 1.35427403e+02] [-6.53262891e-01 7.55396595e-01 -5.12208864e-02 -8.20712103e+01] [-7.77145764e-02 3.94393707e-04 9.96975571e-01 -9.47911845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87864000000002 meters 0.028330725701736798 Centerline is valid? [True, True] Translation: X:135.45, Y:-82.09, Z:-9.48 [[ 7.52827027e-01 6.55686445e-01 5.76780148e-02 1.35451167e+02] [-6.53733982e-01 7.55033215e-01 -5.05640698e-02 -8.20923127e+01] [-7.67029921e-02 3.59920057e-04 9.97053921e-01 -9.48096564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864000000002 meters 0.028221949452748942 Centerline is valid? [True, True] Translation: X:135.47, Y:-82.11, Z:-9.48 [[ 7.52207572e-01 6.56422523e-01 5.73867552e-02 1.35474817e+02] [-6.54490904e-01 7.54393389e-01 -5.03216728e-02 -8.21137997e+01] [-7.63244681e-02 2.93234029e-04 9.97082990e-01 -9.48277339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93864000000002 meters 0.028074772547621425 Centerline is valid? [True, True] Translation: X:135.50, Y:-82.13, Z:-9.48 [[ 7.51428197e-01 6.57341715e-01 5.70748212e-02 1.35498637e+02] [-6.55432736e-01 7.53592613e-01 -5.00609844e-02 -8.21349982e+01] [-7.59183370e-02 2.08529098e-04 9.97114017e-01 -9.48361975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864000000002 meters 0.028037352091612087 Centerline is valid? [True, True] Translation: X:135.52, Y:-82.16, Z:-9.49 [[ 7.49165138e-01 6.59845886e-01 5.79223844e-02 1.35523502e+02] [-6.57886123e-01 7.51400962e-01 -5.08177488e-02 -8.21559333e+01] [-7.70548179e-02 -3.54471116e-05 9.97026857e-01 -9.48505523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99864 meters 0.028157657321165475 Centerline is valid? [True, True] Translation: X:135.55, Y:-82.18, Z:-9.49 [[ 7.47838355e-01 6.61276505e-01 5.87467249e-02 1.35548201e+02] [-6.59263809e-01 7.50142222e-01 -5.15546058e-02 -8.21760308e+01] [-7.81602483e-02 -1.75078018e-04 9.96940793e-01 -9.48696903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters 0.028325193975596782 Centerline is valid? [True, True] Translation: X:135.57, Y:-82.20, Z:-9.49 [[ 7.47006048e-01 6.62169707e-01 5.92726294e-02 1.35573340e+02] [-6.60122480e-01 7.49353863e-01 -5.20297950e-02 -8.21964344e+01] [-7.88687279e-02 -2.60623610e-04 9.96884976e-01 -9.48937460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05864 meters 0.028231591474733076 Centerline is valid? [True, True] Translation: X:135.60, Y:-82.22, Z:-9.49 [[ 7.46926203e-01 6.62249816e-01 5.93837351e-02 1.35598405e+02] [-6.60193923e-01 7.49283067e-01 -5.21427896e-02 -8.22184147e+01] [-7.90267800e-02 -2.57965173e-04 9.96872460e-01 -9.49172531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters 0.02814074885359444 Centerline is valid? [True, True] Translation: X:135.62, Y:-82.24, Z:-9.49 [[ 7.47637171e-01 6.61592755e-01 5.77380934e-02 1.35622859e+02] [-6.59646081e-01 7.49863319e-01 -5.07153876e-02 -8.22392398e+01] [-7.68486114e-02 -1.69998138e-04 9.97042758e-01 -9.49228701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11864 meters 0.028031341003706918 Centerline is valid? [True, True] Translation: X:135.65, Y:-82.26, Z:-9.49 [[ 7.48737980e-01 6.60366288e-01 5.75134978e-02 1.35650328e+02] [-6.58430133e-01 7.50943649e-01 -5.05311350e-02 -8.22573395e+01] [-7.65584540e-02 -3.40399805e-05 9.97065094e-01 -9.49371900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters 0.02797750539101793 Centerline is valid? [True, True] Translation: X:135.68, Y:-82.28, Z:-9.49 [[ 7.48738191e-01 6.60306378e-01 5.81945792e-02 1.35675584e+02] [-6.58322547e-01 7.50996330e-01 -5.11462386e-02 -8.22766333e+01] [-7.74761029e-02 -1.56614039e-05 9.96994209e-01 -9.49479010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17864 meters 0.028085603954855633 Centerline is valid? [True, True] Translation: X:135.70, Y:-82.30, Z:-9.50 [[ 7.48529942e-01 6.60467253e-01 5.90418002e-02 1.35700644e+02] [-6.58423760e-01 7.50854851e-01 -5.19147818e-02 -8.22975798e+01] [-7.86198354e-02 -1.47555370e-05 9.96904670e-01 -9.49597271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters 0.028164720821297517 Centerline is valid? [True, True] Translation: X:135.72, Y:-82.32, Z:-9.50 [[ 7.47503476e-01 6.61562437e-01 5.97803953e-02 1.35724466e+02] [-6.59469585e-01 7.49890077e-01 -5.25807787e-02 -8.23189601e+01] [-7.96141934e-02 -1.19037603e-04 9.96825745e-01 -9.49810834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23864 meters 0.027875636845944785 Centerline is valid? [True, True] Translation: X:135.75, Y:-82.34, Z:-9.50 [[ 7.45484407e-01 6.63828430e-01 5.98733163e-02 1.35751087e+02] [-6.61735204e-01 7.47884812e-01 -5.26766289e-02 -8.23375293e+01] [-7.97465878e-02 -3.50675752e-04 9.96815108e-01 -9.49932887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26864 meters 0.02806896910609489 Centerline is valid? [True, True] Translation: X:135.78, Y:-82.36, Z:-9.50 [[ 7.44057584e-01 6.65459407e-01 5.95154588e-02 1.35776670e+02] [-6.63395256e-01 7.46433866e-01 -5.23757400e-02 -8.23576134e+01] [-7.92782829e-02 -5.11706549e-04 9.96852392e-01 -9.50304603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29864 meters 0.028056919699572812 Centerline is valid? [True, True] Translation: X:135.80, Y:-82.38, Z:-9.51 [[ 7.41551590e-01 6.68276605e-01 5.92251590e-02 1.35802048e+02] [-6.66240497e-01 7.43912456e-01 -5.21330870e-02 -8.23766160e+01] [-7.88976558e-02 -7.98825762e-04 9.96882401e-01 -9.50538304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32864 meters 0.0281470145094369 Centerline is valid? [True, True] Translation: X:135.83, Y:-82.40, Z:-9.51 [[ 7.39610295e-01 6.70405605e-01 5.94385169e-02 1.35826940e+02] [-6.68360741e-01 7.41994126e-01 -5.23319900e-02 -8.23967526e+01] [-7.91866898e-02 -1.02109268e-03 9.96859281e-01 -9.50638680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35864 meters 0.02827055017730193 Centerline is valid? [True, True] Translation: X:135.85, Y:-82.42, Z:-9.51 [[ 7.38086098e-01 6.72079688e-01 5.94794511e-02 1.35852960e+02] [-6.70036342e-01 7.40477869e-01 -5.23815489e-02 -8.24164075e+01] [-7.92477922e-02 -1.19130084e-03 9.96854236e-01 -9.50808282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38864 meters 0.028449649590371714 Centerline is valid? [True, True] Translation: X:135.88, Y:-82.43, Z:-9.51 [[ 7.35814115e-01 6.74537480e-01 5.98061474e-02 1.35880544e+02] [-6.72478733e-01 7.38239169e-01 -5.26809492e-02 -8.24325352e+01] [-7.96865153e-02 -1.45497620e-03 9.96818912e-01 -9.50940969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41864 meters 0.028385085678779093 Centerline is valid? [True, True] Translation: X:135.90, Y:-82.45, Z:-9.51 [[ 7.35543254e-01 6.74917031e-01 5.88482969e-02 1.35904890e+02] [-6.72924635e-01 7.37892163e-01 -5.18419837e-02 -8.24507657e+01] [-7.84127348e-02 -1.46844731e-03 9.96919900e-01 -9.51063246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44864 meters 0.02817133812552691 Centerline is valid? [True, True] Translation: X:135.93, Y:-82.47, Z:-9.51 [[ 7.36835947e-01 6.73628750e-01 5.74203346e-02 1.35929493e+02] [-6.71728984e-01 7.39068737e-01 -5.05724630e-02 -8.24657687e+01] [-7.65046391e-02 -1.30729433e-03 9.97068368e-01 -9.51234035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47864 meters 0.027889953766929293 Centerline is valid? [True, True] Translation: X:135.95, Y:-82.48, Z:-9.51 [[ 7.38395887e-01 6.71920486e-01 5.73966497e-02 1.35953082e+02] [-6.70020622e-01 7.40622378e-01 -5.05060298e-02 -8.24817154e+01] [-7.64452792e-02 -1.16349426e-03 9.97073099e-01 -9.51411910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50864 meters 0.02794780125926916 Centerline is valid? [True, True] Translation: X:135.98, Y:-82.50, Z:-9.52 [[ 7.39165348e-01 6.71043764e-01 5.77482024e-02 1.35976281e+02] [-6.69121556e-01 7.41416903e-01 -5.07673140e-02 -8.24981620e+01] [-7.68825828e-02 -1.11512768e-03 9.97039530e-01 -9.51618631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53864000000002 meters 0.02810135365629398 Centerline is valid? [True, True] Translation: X:136.00, Y:-82.51, Z:-9.52 [[ 7.40876723e-01 6.69014576e-01 5.93395196e-02 1.36001507e+02] [-6.66982693e-01 7.43248649e-01 -5.21107768e-02 -8.25116304e+01] [-7.89668870e-02 -9.70771009e-04 9.96876767e-01 -9.51804873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864000000002 meters 0.027872673044944344 Centerline is valid? [True, True] Translation: X:136.03, Y:-82.53, Z:-9.52 [[ 7.41839367e-01 6.67983444e-01 5.89276868e-02 1.36025484e+02] [-6.65980474e-01 7.44175598e-01 -5.16980412e-02 -8.25276179e+01] [-7.83859822e-02 -8.93046616e-04 9.96922685e-01 -9.51887885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59864000000002 meters 0.02769093572614923 Centerline is valid? [True, True] Translation: X:136.05, Y:-82.54, Z:-9.52 [[ 7.43517205e-01 6.66247283e-01 5.74171011e-02 1.36051771e+02] [-6.64344035e-01 7.45730536e-01 -5.03286198e-02 -8.25413921e+01] [-7.63489918e-02 -7.24513944e-04 9.97080893e-01 -9.52090072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864000000002 meters 0.0276406427167338 Centerline is valid? [True, True] Translation: X:136.07, Y:-82.56, Z:-9.52 [[ 7.44743549e-01 6.64837844e-01 5.78592023e-02 1.36073559e+02] [-6.62904535e-01 7.46987454e-01 -5.06687364e-02 -8.25582666e+01] [-7.69065917e-02 -6.19913038e-04 9.97038110e-01 -9.52307292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65864000000002 meters 0.027718330486660482 Centerline is valid? [True, True] Translation: X:136.10, Y:-82.58, Z:-9.53 [[ 7.45061218e-01 6.64526341e-01 5.73456464e-02 1.36095224e+02] [-6.62630231e-01 7.47264583e-01 -5.01679176e-02 -8.25762326e+01] [-7.61902732e-02 -6.20789108e-04 9.97093103e-01 -9.52522071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864000000002 meters 0.027707918004098404 Centerline is valid? [True, True] Translation: X:136.12, Y:-82.59, Z:-9.53 [[ 7.46724592e-01 6.62540690e-01 5.86704158e-02 1.36120297e+02] [-6.60553736e-01 7.49025778e-01 -5.12752015e-02 -8.25904783e+01] [-7.79175613e-02 -4.66508392e-04 9.96959696e-01 -9.52760845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71864000000002 meters 0.027717095722442263 Centerline is valid? [True, True] Translation: X:136.14, Y:-82.61, Z:-9.53 [[ 7.46988264e-01 6.62178544e-01 5.93978891e-02 1.36143756e+02] [-6.60144036e-01 7.49345954e-01 -5.18699605e-02 -8.26071680e+01] [-7.88567429e-02 -4.64910524e-04 9.96885850e-01 -9.52964384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters 0.02743534054509627 Centerline is valid? [True, True] Translation: X:136.17, Y:-82.62, Z:-9.53 [[ 7.48476616e-01 6.60505964e-01 5.92842963e-02 1.36166854e+02] [-6.58476622e-01 7.50820734e-01 -5.17374589e-02 -8.26226700e+01] [-7.86847790e-02 -3.13044980e-04 9.96899497e-01 -9.53139161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77864 meters 0.02757254538424661 Centerline is valid? [True, True] Translation: X:136.19, Y:-82.64, Z:-9.53 [[ 7.49370681e-01 6.59460806e-01 5.96240526e-02 1.36189102e+02] [-6.57409047e-01 7.51738907e-01 -5.19803855e-02 -8.26398042e+01] [-7.91007471e-02 -2.44814742e-04 9.96866597e-01 -9.53315481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters 0.027398153874540514 Centerline is valid? [True, True] Translation: X:136.21, Y:-82.66, Z:-9.53 [[ 7.49890613e-01 6.58942701e-01 5.88097447e-02 1.36211715e+02] [-6.56948991e-01 7.52193104e-01 -5.12206751e-02 -8.26569733e+01] [-7.79877744e-02 -2.25098924e-04 9.96954290e-01 -9.53428440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83864 meters 0.02741507910477596 Centerline is valid? [True, True] Translation: X:136.23, Y:-82.67, Z:-9.54 [[ 7.49811319e-01 6.59059431e-01 5.85119879e-02 1.36234614e+02] [-6.57089901e-01 7.52090814e-01 -5.09143320e-02 -8.26733469e+01] [-7.75618993e-02 -2.71493915e-04 9.96987501e-01 -9.53702897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters 0.027216456689645778 Centerline is valid? [True, True] Translation: X:136.26, Y:-82.69, Z:-9.54 [[ 7.49409121e-01 6.59580119e-01 5.77930469e-02 1.36255684e+02] [-6.57664205e-01 7.51634178e-01 -5.02379990e-02 -8.26910203e+01] [-7.65752147e-02 -3.59603507e-04 9.97063743e-01 -9.53745839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89864 meters 0.027416108008069554 Centerline is valid? [True, True] Translation: X:136.28, Y:-82.71, Z:-9.54 [[ 7.47856987e-01 6.61323749e-01 5.79726349e-02 1.36279082e+02] [-6.59404966e-01 7.50100370e-01 -5.03440684e-02 -8.27082540e+01] [-7.67790230e-02 -5.77280070e-04 9.97047967e-01 -9.53833183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters 0.027471624066121306 Centerline is valid? [True, True] Translation: X:136.30, Y:-82.73, Z:-9.54 [[ 7.46902729e-01 6.62284448e-01 5.92926943e-02 1.36301773e+02] [-6.60283840e-01 7.49252149e-01 -5.14438322e-02 -8.27259188e+01] [-7.84956286e-02 -7.26469184e-04 9.96914193e-01 -9.53981611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95864 meters 0.027592992976355334 Centerline is valid? [True, True] Translation: X:136.32, Y:-82.74, Z:-9.54 [[ 7.46156560e-01 6.63137607e-01 5.91515097e-02 1.36323832e+02] [-6.61152903e-01 7.48497022e-01 -5.12742282e-02 -8.27429003e+01] [-7.82765979e-02 -8.49590687e-04 9.96931318e-01 -9.54059917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters 0.02742880012732079 Centerline is valid? [True, True] Translation: X:136.35, Y:-82.76, Z:-9.54 [[ 7.45078244e-01 6.64300032e-01 5.96982185e-02 1.36348232e+02] [-6.62286165e-01 7.47465336e-01 -5.16972649e-02 -8.27583919e+01] [-7.89648437e-02 -1.01879683e-03 9.96876881e-01 -9.54236524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01864 meters 0.027455784009344838 Centerline is valid? [True, True] Translation: X:136.37, Y:-82.77, Z:-9.54 [[ 7.44628110e-01 6.64822797e-01 5.94947594e-02 1.36370222e+02] [-6.62828049e-01 7.47000285e-01 -5.14738001e-02 -8.27748842e+01] [-7.86635580e-02 -1.10595677e-03 9.96900608e-01 -9.54340576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04864 meters 0.027332674163806792 Centerline is valid? [True, True] Translation: X:136.39, Y:-82.79, Z:-9.54 [[ 7.46103301e-01 6.63157844e-01 5.95947807e-02 1.36394719e+02] [-6.61155081e-01 7.48478946e-01 -5.15094786e-02 -8.27908216e+01] [-7.87643534e-02 -9.70000011e-04 9.96892791e-01 -9.54498893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07864 meters 0.02742386402255363 Centerline is valid? [True, True] Translation: X:136.42, Y:-82.81, Z:-9.55 [[ 7.47519778e-01 6.61519041e-01 6.00561430e-02 1.36416793e+02] [-6.59483667e-01 7.49927899e-01 -5.18597991e-02 -8.28080718e+01] [-7.93440217e-02 -8.39819917e-04 9.96846940e-01 -9.54769160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10864 meters 0.027300605169862532 Centerline is valid? [True, True] Translation: X:136.44, Y:-82.82, Z:-9.55 [[ 7.49221823e-01 6.59544397e-01 6.05627623e-02 1.36439553e+02] [-6.57472330e-01 7.51665306e-01 -5.22437005e-02 -8.28244442e+01] [-7.99799672e-02 -6.76219855e-04 9.96796242e-01 -9.54896103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13864 meters 0.0271264997227309 Centerline is valid? [True, True] Translation: X:136.47, Y:-82.84, Z:-9.55 [[ 7.51802009e-01 6.56645982e-01 6.00815645e-02 1.36465266e+02] [-6.54601495e-01 7.54198842e-01 -5.17782743e-02 -8.28382909e+01] [-7.93134421e-02 -4.02471293e-04 9.96849646e-01 -9.54972132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16864 meters 0.0271359088278713 Centerline is valid? [True, True] Translation: X:136.49, Y:-82.85, Z:-9.55 [[ 7.52343538e-01 6.56053540e-01 5.97741842e-02 1.36487549e+02] [-6.54031832e-01 7.54714259e-01 -5.14660134e-02 -8.28549204e+01] [-7.88768894e-02 -3.74096575e-04 9.96884294e-01 -9.55126741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19864 meters 0.026908807021697585 Centerline is valid? [True, True] Translation: X:136.51, Y:-82.87, Z:-9.55 [[ 7.53284745e-01 6.55041932e-01 5.90098423e-02 1.36511906e+02] [-6.53072415e-01 7.55592467e-01 -5.07586896e-02 -8.28712269e+01] [-7.78364625e-02 -3.01953657e-04 9.96966095e-01 -9.55166490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22864 meters 0.027218488340133747 Centerline is valid? [True, True] Translation: X:136.53, Y:-82.89, Z:-9.56 [[ 7.54225375e-01 6.53869818e-01 5.99862056e-02 1.36534536e+02] [-6.51834457e-01 7.56607040e-01 -5.15521939e-02 -8.28880920e+01] [-7.90944091e-02 -2.19102964e-04 9.96867106e-01 -9.55569877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25864 meters 0.02742350546404386 Centerline is valid? [True, True] Translation: X:136.56, Y:-82.90, Z:-9.56 [[ 7.56075792e-01 6.51719308e-01 6.00944226e-02 1.36558434e+02] [-6.49673590e-01 7.58460244e-01 -5.15973224e-02 -8.29025219e+01] [-7.92062017e-02 -3.02728244e-05 9.96858253e-01 -9.55737398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864000000002 meters 0.027434139415823025 Centerline is valid? [True, True] Translation: X:136.58, Y:-82.92, Z:-9.56 [[ 7.57803522e-01 6.49658041e-01 6.06485981e-02 1.36582121e+02] [-6.47571844e-01 7.60226551e-01 -5.20221000e-02 -8.29193628e+01] [-7.99032501e-02 1.48206155e-04 9.96802613e-01 -9.55887794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31864000000002 meters 0.027368982869420216 Centerline is valid? [True, True] Translation: X:136.60, Y:-82.94, Z:-9.56 [[ 7.58818052e-01 6.48440386e-01 6.09936855e-02 1.36604784e+02] [-6.46330273e-01 7.61265399e-01 -5.22701658e-02 -8.29357186e+01] [-8.03264688e-02 2.41480055e-04 9.96768579e-01 -9.56012548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864000000002 meters 0.027284517365919858 Centerline is valid? [True, True] Translation: X:136.63, Y:-82.95, Z:-9.56 [[ 7.59980926e-01 6.47135106e-01 6.03750464e-02 1.36628083e+02] [-6.45067651e-01 7.62375263e-01 -5.16883477e-02 -8.29505133e+01] [-7.94777863e-02 3.36169021e-04 9.96836581e-01 -9.56150346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37864000000002 meters 0.027409927096420837 Centerline is valid? [True, True] Translation: X:136.65, Y:-82.97, Z:-9.56 [[ 7.60806666e-01 6.46144679e-01 6.05827633e-02 1.36650221e+02] [-6.44063959e-01 7.63214841e-01 -5.18143202e-02 -8.29669045e+01] [-7.97172114e-02 4.01505834e-04 9.96817438e-01 -9.56319430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864000000002 meters 0.027654138283616462 Centerline is valid? [True, True] Translation: X:136.67, Y:-82.98, Z:-9.56 [[ 7.62221494e-01 6.44409826e-01 6.12729112e-02 1.36674909e+02] [-6.42279839e-01 7.64680111e-01 -5.23539460e-02 -8.29823371e+01] [-8.05915738e-02 5.50947387e-04 9.96747057e-01 -9.56394303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43864000000002 meters 0.027654138283616462 Centerline is valid? [True, True] Translation: X:136.70, Y:-83.00, Z:-9.57 [[ 7.62534554e-01 6.44037131e-01 6.12962275e-02 1.36695438e+02] [-6.41908137e-01 7.64994031e-01 -5.23266365e-02 -8.30003330e+01] [-8.05915450e-02 5.54321310e-04 9.96747057e-01 -9.56551214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864000000002 meters 0.027830502891546267 Centerline is valid? [True, True] Translation: X:136.72, Y:-83.02, Z:-9.57 [[ 7.63907549e-01 6.42382202e-01 6.15659275e-02 1.36718452e+02] [-6.40233090e-01 7.66384124e-01 -5.25068031e-02 -8.30175949e+01] [-8.09125852e-02 6.93799284e-04 9.96720960e-01 -9.56683157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49864 meters 0.027791063570580487 Centerline is valid? [True, True] Translation: X:136.74, Y:-83.03, Z:-9.57 [[ 7.65690333e-01 6.40279083e-01 6.13270653e-02 1.36741187e+02] [-6.38143525e-01 7.68141865e-01 -5.22581764e-02 -8.30348391e+01] [-8.05677036e-02 8.78110924e-04 9.96748752e-01 -9.56909639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters 0.02817873014898611 Centerline is valid? [True, True] Translation: X:136.76, Y:-83.05, Z:-9.57 [[ 7.68847192e-01 6.36493985e-01 6.12323654e-02 1.36764527e+02] [-6.34356608e-01 7.71280670e-01 -5.21327399e-02 -8.30510916e+01] [-8.04095152e-02 1.23895505e-03 9.96761142e-01 -9.57121737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55864 meters 0.02850135725349244 Centerline is valid? [True, True] Translation: X:136.79, Y:-83.07, Z:-9.57 [[ 7.70566860e-01 6.34456512e-01 6.07589407e-02 1.36786696e+02] [-6.32349281e-01 7.72957280e-01 -5.16858786e-02 -8.30685791e+01] [-7.97565078e-02 1.40655272e-03 9.96813383e-01 -9.57313117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters 0.029176283410271953 Centerline is valid? [True, True] Translation: X:136.81, Y:-83.09, Z:-9.58 [[ 7.74182477e-01 6.29965962e-01 6.15173099e-02 1.36809703e+02] [-6.27795117e-01 7.76620519e-01 -5.22863282e-02 -8.30854566e+01] [-8.07142122e-02 1.85889222e-03 9.96735552e-01 -9.57558125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61864 meters 0.02967250000996299 Centerline is valid? [True, True] Translation: X:136.83, Y:-83.10, Z:-9.58 [[ 7.75500546e-01 6.28340823e-01 6.15362736e-02 1.36831759e+02] [-6.26167091e-01 7.77935622e-01 -5.22584150e-02 -8.31036128e+01] [-8.07073548e-02 1.99443995e-03 9.96735845e-01 -9.57745616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters 0.029617048766140238 Centerline is valid? [True, True] Translation: X:136.85, Y:-83.12, Z:-9.58 [[ 7.75681867e-01 6.28021715e-01 6.25009330e-02 1.36853372e+02] [-6.25781819e-01 7.78193181e-01 -5.30329042e-02 -8.31224726e+01] [-8.19436152e-02 2.02471465e-03 9.96634910e-01 -9.57942764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67864 meters 0.030027688819562175 Centerline is valid? [True, True] Translation: X:136.87, Y:-83.14, Z:-9.58 [[ 7.76861364e-01 6.26629156e-01 6.18249298e-02 1.36874798e+02] [-6.24436788e-01 7.79314722e-01 -5.24143241e-02 -8.31403185e+01] [-8.10254217e-02 2.11290273e-03 9.96709796e-01 -9.58191777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters 0.030063625626430963 Centerline is valid? [True, True] Translation: X:136.90, Y:-83.16, Z:-9.58 [[ 7.77560649e-01 6.25765342e-01 6.17832869e-02 1.36896005e+02] [-6.23577096e-01 7.80008368e-01 -5.23311681e-02 -8.31601487e+01] [-8.09385121e-02 2.16401440e-03 9.96716747e-01 -9.58428863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73864 meters 0.030253048570020896 Centerline is valid? [True, True] Translation: X:136.92, Y:-83.18, Z:-9.59 [[ 7.78599735e-01 6.24374433e-01 6.27616232e-02 1.36915936e+02] [-6.22115346e-01 7.81121775e-01 -5.31156073e-02 -8.31811253e+01] [-8.21884977e-02 2.31082883e-03 9.96614123e-01 -9.58619246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76864 meters 0.03051281994578588 Centerline is valid? [True, True] Translation: X:136.94, Y:-83.20, Z:-9.59 [[ 7.79317564e-01 6.23479914e-01 6.27449689e-02 1.36937405e+02] [-6.21222752e-01 7.81835775e-01 -5.30576342e-02 -8.32002353e+01] [-8.21366306e-02 2.37014400e-03 9.96618260e-01 -9.58786083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79864 meters 0.03071919591127392 Centerline is valid? [True, True] Translation: X:136.96, Y:-83.22, Z:-9.59 [[ 7.79696370e-01 6.22845077e-01 6.43240315e-02 1.36958278e+02] [-6.20473588e-01 7.82341299e-01 -5.43563922e-02 -8.32192042e+01] [-8.41789576e-02 2.47011906e-03 9.96447591e-01 -9.59026416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82864 meters 0.03072377151238544 Centerline is valid? [True, True] Translation: X:136.98, Y:-83.24, Z:-9.59 [[ 7.80952933e-01 6.21310528e-01 6.39198304e-02 1.36977794e+02] [-6.18965759e-01 7.83560126e-01 -5.39899924e-02 -8.32409640e+01] [-8.36295810e-02 2.59945662e-03 9.96493520e-01 -9.59244392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85864 meters 0.030624544185009938 Centerline is valid? [True, True] Translation: X:137.00, Y:-83.26, Z:-9.59 [[ 7.81099819e-01 6.21207648e-01 6.31199645e-02 1.36997981e+02] [-6.18924572e-01 7.83641875e-01 -5.32708636e-02 -8.32611515e+01] [-8.25557153e-02 2.54336485e-03 9.96583205e-01 -9.59421189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88864 meters 0.031108291614833312 Centerline is valid? [True, True] Translation: X:137.02, Y:-83.28, Z:-9.60 [[ 7.82103112e-01 6.19890907e-01 6.36394995e-02 1.37018022e+02] [-6.17569408e-01 7.84683463e-01 -5.36645986e-02 -8.32816231e+01] [-8.32030595e-02 2.66944156e-03 9.96529039e-01 -9.59603321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91864 meters 0.03131052701903915 Centerline is valid? [True, True] Translation: X:137.04, Y:-83.30, Z:-9.60 [[ 7.82925767e-01 6.18848802e-01 6.36663417e-02 1.37038714e+02] [-6.16525596e-01 7.85505326e-01 -5.36430107e-02 -8.33018055e+01] [-8.32071634e-02 2.74656608e-03 9.96528486e-01 -9.59745590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94864 meters 0.03126435936044015 Centerline is valid? [True, True] Translation: X:137.06, Y:-83.32, Z:-9.60 [[ 7.83702632e-01 6.17778599e-01 6.44964070e-02 1.37057941e+02] [-6.15394478e-01 7.86346876e-01 -5.42975874e-02 -8.33230247e+01] [-8.42604356e-02 2.86242946e-03 9.96439655e-01 -9.59896150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97864 meters 0.03157491479024639 Centerline is valid? [True, True] Translation: X:137.07, Y:-83.35, Z:-9.60 [[ 7.84771420e-01 6.16450503e-01 6.42074388e-02 1.37074347e+02] [-6.14086998e-01 7.87388109e-01 -5.40104088e-02 -8.33480538e+01] [-8.38509175e-02 2.95687190e-03 9.96473924e-01 -9.60052764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00864 meters 0.03142949180658267 Centerline is valid? [True, True] Translation: X:137.09, Y:-83.37, Z:-9.60 [[ 7.84845246e-01 6.16321503e-01 6.45425836e-02 1.37093112e+02] [-6.13936717e-01 7.87489115e-01 -5.42457567e-02 -8.33686360e+01] [-8.42594083e-02 2.94946242e-03 9.96439488e-01 -9.60147324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03864000000002 meters 0.03169309861971736 Centerline is valid? [True, True] Translation: X:137.11, Y:-83.39, Z:-9.60 [[ 7.85705936e-01 6.15311833e-01 6.36987387e-02 1.37110457e+02] [-6.12989944e-01 7.88278173e-01 -5.34869216e-02 -8.33916236e+01] [-8.31234612e-02 2.97830551e-03 9.96534806e-01 -9.60388502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864000000002 meters 0.03132101008286514 Centerline is valid? [True, True] Translation: X:137.13, Y:-83.41, Z:-9.60 [[ 7.86424894e-01 6.14569083e-01 6.19736125e-02 1.37129273e+02] [-6.12372831e-01 7.88857535e-01 -5.19933220e-02 -8.34135415e+01] [-8.08418395e-02 2.93788621e-03 9.96722612e-01 -9.60431451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09864000000002 meters 0.03131222641555837 Centerline is valid? [True, True] Translation: X:137.15, Y:-83.44, Z:-9.61 [[ 7.86206578e-01 6.14856583e-01 6.18918347e-02 1.37148466e+02] [-6.12670287e-01 7.88633711e-01 -5.18843763e-02 -8.34354235e+01] [-8.07114377e-02 2.87254977e-03 9.96733371e-01 -9.60638798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864000000002 meters 0.03033687302766027 Centerline is valid? [True, True] Translation: X:137.17, Y:-83.46, Z:-9.61 [[ 7.84520682e-01 6.17039093e-01 6.15634382e-02 1.37165373e+02] [-6.14885582e-01 7.86928185e-01 -5.15727887e-02 -8.34606762e+01] [-8.02684315e-02 2.60544886e-03 9.96769878e-01 -9.60744080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15864000000002 meters 0.03001318748519006 Centerline is valid? [True, True] Translation: X:137.18, Y:-83.48, Z:-9.61 [[ 7.82651803e-01 6.19350597e-01 6.21368912e-02 1.37184695e+02] [-6.17166229e-01 7.85110965e-01 -5.20251667e-02 -8.34826037e+01] [-8.10061727e-02 2.36879972e-03 9.96710785e-01 -9.60999568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864000000002 meters 0.02919757894252408 Centerline is valid? [True, True] Translation: X:137.20, Y:-83.51, Z:-9.61 [[ 7.79978254e-01 6.22685907e-01 6.24194288e-02 1.37201339e+02] [-6.20495708e-01 7.82469339e-01 -5.22188640e-02 -8.35082306e+01] [-8.13572399e-02 1.99859074e-03 9.96683001e-01 -9.61216520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21864000000002 meters 0.02876036984686843 Centerline is valid? [True, True] Translation: X:137.22, Y:-83.53, Z:-9.61 [[ 7.78370728e-01 6.24640185e-01 6.29575125e-02 1.37220785e+02] [-6.22421827e-01 7.80910674e-01 -5.26268741e-02 -8.35303248e+01] [-8.20370539e-02 1.77708830e-03 9.96627696e-01 -9.61383520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters 0.028491856566482555 Centerline is valid? [True, True] Translation: X:137.24, Y:-83.55, Z:-9.62 [[ 7.77494056e-01 6.25638265e-01 6.38729519e-02 1.37240563e+02] [-6.23362144e-01 7.80111536e-01 -5.33444343e-02 -8.35506103e+01] [-8.32023460e-02 1.65900035e-03 9.96531293e-01 -9.61546117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27864 meters 0.02831060496953039 Centerline is valid? [True, True] Translation: X:137.26, Y:-83.57, Z:-9.62 [[ 7.75335360e-01 6.28190607e-01 6.50510543e-02 1.37259020e+02] [-6.25842905e-01 7.78058276e-01 -5.42768567e-02 -8.35735864e+01] [-8.47097228e-02 1.37102545e-03 9.96404729e-01 -9.61630612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters 0.02807416596399153 Centerline is valid? [True, True] Translation: X:137.28, Y:-83.59, Z:-9.62 [[ 7.74733958e-01 6.28951077e-01 6.48678477e-02 1.37278351e+02] [-6.26623193e-01 7.77443879e-01 -5.40776126e-02 -8.35946805e+01] [-8.44432838e-02 1.24806501e-03 9.96427506e-01 -9.61823015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33864 meters 0.02761058843051568 Centerline is valid? [True, True] Translation: X:137.30, Y:-83.62, Z:-9.62 [[ 7.73344390e-01 6.30701945e-01 6.44477360e-02 1.37297462e+02] [-6.28414017e-01 7.76024501e-01 -5.36823656e-02 -8.36174799e+01] [-8.38705946e-02 1.01509562e-03 9.96476138e-01 -9.61873141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters 0.027564066860182708 Centerline is valid? [True, True] Translation: X:137.32, Y:-83.64, Z:-9.62 [[ 7.73001598e-01 6.31134197e-01 6.43284917e-02 1.37317576e+02] [-6.28860117e-01 7.75673101e-01 -5.35368391e-02 -8.36369517e+01] [-8.36868106e-02 9.30439380e-04 9.96491672e-01 -9.62130443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39864 meters 0.0274102482997051 Centerline is valid? [True, True] Translation: X:137.34, Y:-83.66, Z:-9.62 [[ 7.72627500e-01 6.31596724e-01 6.42831597e-02 1.37338083e+02] [-6.29331915e-01 7.75296637e-01 -5.34459090e-02 -8.36564752e+01] [-8.35947786e-02 8.38335015e-04 9.96499478e-01 -9.62339709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters 0.027533356854146755 Centerline is valid? [True, True] Translation: X:137.36, Y:-83.68, Z:-9.63 [[ 7.70837038e-01 6.33611675e-01 6.59280415e-02 1.37357373e+02] [-6.31241194e-01 7.73651014e-01 -5.47600556e-02 -8.36778431e+01] [-8.57019067e-02 5.94583410e-04 9.96320646e-01 -9.62570792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45864 meters 0.02736901424228098 Centerline is valid? [True, True] Translation: X:137.38, Y:-83.70, Z:-9.63 [[ 7.70552975e-01 6.33993490e-01 6.55771799e-02 1.37378609e+02] [-6.31653582e-01 7.73338213e-01 -5.44220603e-02 -8.36979837e+01] [-8.52165710e-02 5.13019846e-04 9.96362320e-01 -9.62657616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters 0.02738484145226961 Centerline is valid? [True, True] Translation: X:137.40, Y:-83.72, Z:-9.63 [[ 7.69803739e-01 6.34936219e-01 6.52548944e-02 1.37398932e+02] [-6.32625910e-01 7.72564467e-01 -5.41165583e-02 -8.37186174e+01] [-8.47741756e-02 3.77191986e-04 9.96400119e-01 -9.62814718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51864 meters 0.027386788889407862 Centerline is valid? [True, True] Translation: X:137.42, Y:-83.74, Z:-9.63 [[ 7.70175364e-01 6.34539264e-01 6.47289147e-02 1.37420139e+02] [-6.32267496e-01 7.72890529e-01 -5.36474040e-02 -8.37377008e+01] [-8.40697493e-02 3.91920083e-04 9.96459795e-01 -9.63094205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54864 meters 0.027497558296437616 Centerline is valid? [True, True] Translation: X:137.44, Y:-83.76, Z:-9.63 [[ 7.70282631e-01 6.34416064e-01 6.46600822e-02 1.37440594e+02] [-6.32152922e-01 7.72991671e-01 -5.35402678e-02 -8.37567428e+01] [-8.39485109e-02 3.66078447e-04 9.96470026e-01 -9.63363602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57864 meters 0.027056013499889717 Centerline is valid? [True, True] Translation: X:137.46, Y:-83.78, Z:-9.63 [[ 7.70627254e-01 6.34053532e-01 6.41073666e-02 1.37460975e+02] [-6.31832032e-01 7.73289071e-01 -5.30310835e-02 -8.37767687e+01] [-8.31980718e-02 3.62110602e-04 9.96532965e-01 -9.63474462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60864 meters 0.02706757692218013 Centerline is valid? [True, True] Translation: X:137.48, Y:-83.80, Z:-9.64 [[ 7.71039792e-01 6.33628837e-01 6.33414255e-02 1.37481922e+02] [-6.31462567e-01 7.73637100e-01 -5.23513577e-02 -8.37959772e+01] [-8.21746066e-02 3.67240812e-04 9.96617880e-01 -9.63709564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63864 meters 0.026972383521541028 Centerline is valid? [True, True] Translation: X:137.50, Y:-83.82, Z:-9.64 [[ 7.69712498e-01 6.35231123e-01 6.34357249e-02 1.37501774e+02] [-6.33067681e-01 7.72322080e-01 -5.23824032e-02 -8.38167705e+01] [-8.22677438e-02 1.60283076e-04 9.96610251e-01 -9.63897869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66864 meters 0.027113397651494283 Centerline is valid? [True, True] Translation: X:137.52, Y:-83.84, Z:-9.64 [[ 7.69630133e-01 6.35429365e-01 6.24418208e-02 1.37523338e+02] [-6.33337629e-01 7.72158994e-01 -5.15163679e-02 -8.38356214e+01] [-8.09500265e-02 1.01794373e-04 9.96718156e-01 -9.63919428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69864 meters 0.02714938382723443 Centerline is valid? [True, True] Translation: X:137.55, Y:-83.85, Z:-9.64 [[ 7.69200080e-01 6.35867972e-01 6.32705259e-02 1.37545063e+02] [-6.33725606e-01 7.71797850e-01 -5.21529965e-02 -8.38538438e+01] [-8.19944761e-02 1.99367017e-05 9.96632784e-01 -9.64128085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72864 meters 0.027178305266930165 Centerline is valid? [True, True] Translation: X:137.57, Y:-83.87, Z:-9.64 [[ 7.68274966e-01 6.36958059e-01 6.35453121e-02 1.37565743e+02] [-6.34804808e-01 7.70898445e-01 -5.23301412e-02 -8.38726361e+01] [-8.23190875e-02 -1.34932173e-04 9.96606015e-01 -9.64327122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75864 meters 0.02716912467859098 Centerline is valid? [True, True] Translation: X:137.59, Y:-83.89, Z:-9.64 [[ 7.68506855e-01 6.36806877e-01 6.22431877e-02 1.37587914e+02] [-6.34744667e-01 7.71023331e-01 -5.12077230e-02 -8.38910450e+01] [-8.06003801e-02 -1.55045302e-04 9.96746485e-01 -9.64443057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864000000002 meters 0.027026997184050987 Centerline is valid? [True, True] Translation: X:137.61, Y:-83.91, Z:-9.65 [[ 7.68851850e-01 6.36397226e-01 6.21723712e-02 1.37610158e+02] [-6.34342254e-01 7.71361490e-01 -5.11014385e-02 -8.39085103e+01] [-8.04781866e-02 -1.49126560e-04 9.96756359e-01 -9.64545060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81864000000002 meters 0.02733519892511381 Centerline is valid? [True, True] Translation: X:137.63, Y:-83.93, Z:-9.65 [[ 7.69534687e-01 6.35540107e-01 6.24910987e-02 1.37631469e+02] [-6.33465484e-01 7.72067848e-01 -5.13100213e-02 -8.39263279e+01] [-8.08569445e-02 -1.01112910e-04 9.96725712e-01 -9.64784247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864000000002 meters 0.027146432243822575 Centerline is valid? [True, True] Translation: X:137.65, Y:-83.94, Z:-9.65 [[ 7.70186790e-01 6.34759922e-01 6.23870986e-02 1.37652967e+02] [-6.32693968e-01 7.72709414e-01 -5.11713206e-02 -8.39445368e+01] [-8.06886019e-02 -6.04658314e-05 9.96739357e-01 -9.64969910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87864000000002 meters 0.02725941417478693 Centerline is valid? [True, True] Translation: X:137.68, Y:-83.96, Z:-9.65 [[ 7.71149224e-01 6.33526772e-01 6.30293855e-02 1.37675215e+02] [-6.31418111e-01 7.73720769e-01 -5.16463047e-02 -8.39633199e+01] [-8.14864613e-02 2.91122485e-05 9.96674448e-01 -9.65160799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864000000002 meters 0.027196558685802973 Centerline is valid? [True, True] Translation: X:137.70, Y:-83.98, Z:-9.65 [[ 7.71571790e-01 6.32916294e-01 6.39838907e-02 1.37697091e+02] [-6.30745043e-01 7.74220228e-01 -5.23806211e-02 -8.39816011e+01] [-8.26901710e-02 5.78876774e-05 9.96575302e-01 -9.65218528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93864000000002 meters 0.027248100997057448 Centerline is valid? [True, True] Translation: X:137.72, Y:-84.00, Z:-9.65 [[ 7.71939907e-01 6.32499874e-01 6.36607340e-02 1.37718122e+02] [-6.30353164e-01 7.74560459e-01 -5.20671026e-02 -8.40003373e+01] [-8.22415232e-02 6.39292092e-05 9.96612426e-01 -9.65434501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864000000002 meters 0.027012717307688384 Centerline is valid? [True, True] Translation: X:137.74, Y:-84.02, Z:-9.66 [[ 7.74664235e-01 6.29424348e-01 6.09943726e-02 1.37739077e+02] [-6.27448176e-01 7.77061694e-01 -4.98388453e-02 -8.40209215e+01] [-7.87661732e-02 3.37563140e-04 9.96893061e-01 -9.65561663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99864 meters 0.027505705785093447 Centerline is valid? [True, True] Translation: X:137.76, Y:-84.04, Z:-9.66 [[ 7.77347813e-01 6.26127297e-01 6.07863955e-02 1.37759113e+02] [-6.24157815e-01 7.79720593e-01 -4.96268048e-02 -8.40421286e+01] [-7.84691014e-02 6.36984379e-04 9.96916343e-01 -9.65864644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters 0.027497549623996243 Centerline is valid? [True, True] Translation: X:137.78, Y:-84.06, Z:-9.66 [[ 7.78081398e-01 6.25082513e-01 6.21384706e-02 1.37780190e+02] [-6.23024672e-01 7.80558344e-01 -5.06846071e-02 -8.40615999e+01] [-8.01847633e-02 7.22949658e-04 9.96779756e-01 -9.65959434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05864 meters 0.02765673317909802 Centerline is valid? [True, True] Translation: X:137.80, Y:-84.08, Z:-9.66 [[ 7.78623446e-01 6.24421408e-01 6.19954438e-02 1.37802789e+02] [-6.22373664e-01 7.81087270e-01 -5.05341345e-02 -8.40812786e+01] [-7.99784474e-02 7.62730486e-04 9.96796301e-01 -9.66109247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters 0.027539131656031657 Centerline is valid? [True, True] Translation: X:137.83, Y:-84.10, Z:-9.66 [[ 7.78561596e-01 6.24484273e-01 6.21388333e-02 1.37825177e+02] [-6.22427601e-01 7.81037018e-01 -5.06463967e-02 -8.41014289e+01] [-8.01606073e-02 7.54414440e-04 9.96781675e-01 -9.66215816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11864 meters 0.02739358587055805 Centerline is valid? [True, True] Translation: X:137.85, Y:-84.12, Z:-9.66 [[ 7.78146104e-01 6.25151148e-01 6.06191650e-02 1.37846693e+02] [-6.23195885e-01 7.80503423e-01 -4.94094740e-02 -8.41239385e+01] [-7.82018552e-02 6.70175502e-04 9.96937320e-01 -9.66492889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters 0.02737145699108949 Centerline is valid? [True, True] Translation: X:137.87, Y:-84.14, Z:-9.67 [[ 7.77900279e-01 6.25454752e-01 6.06424805e-02 1.37870306e+02] [-6.23498411e-01 7.80260173e-01 -4.94347382e-02 -8.41445560e+01] [-7.82361042e-02 6.44806339e-04 9.96934650e-01 -9.66645421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17864 meters 0.027456896351055943 Centerline is valid? [True, True] Translation: X:137.89, Y:-84.16, Z:-9.67 [[ 7.77470023e-01 6.25920889e-01 6.13465806e-02 1.37893932e+02] [-6.23919863e-01 7.79886319e-01 -5.00133423e-02 -8.41641528e+01] [-7.91477546e-02 6.08524285e-04 9.96862710e-01 -9.66861375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters 0.02757820254814582 Centerline is valid? [True, True] Translation: X:137.92, Y:-84.18, Z:-9.67 [[ 7.77795066e-01 6.25428044e-01 6.22462578e-02 1.37917681e+02] [-6.23366071e-01 7.80281560e-01 -5.07486745e-02 -8.41843579e+01] [-8.03092514e-02 6.69863481e-04 9.96769771e-01 -9.67100742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23864 meters 0.027597473838193592 Centerline is valid? [True, True] Translation: X:137.94, Y:-84.21, Z:-9.67 [[ 7.77620722e-01 6.25630313e-01 6.23916960e-02 1.37941861e+02] [-6.23558653e-01 7.80119401e-01 -5.08755996e-02 -8.42059573e+01] [-8.05022898e-02 6.57038564e-04 9.96754207e-01 -9.67352800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26864 meters 0.027661300695131445 Centerline is valid? [True, True] Translation: X:137.97, Y:-84.23, Z:-9.67 [[ 7.78757990e-01 6.24143296e-01 6.30962646e-02 1.37966306e+02] [-6.22018397e-01 7.81309449e-01 -5.14651344e-02 -8.42262379e+01] [-8.14193263e-02 8.31847288e-04 9.96679588e-01 -9.67342538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29864 meters 0.027896808922642787 Centerline is valid? [True, True] Translation: X:137.99, Y:-84.25, Z:-9.67 [[ 7.79588803e-01 6.23178826e-01 6.23654390e-02 1.37991639e+02] [-6.21098485e-01 7.82078817e-01 -5.08861071e-02 -8.42458675e+01] [-8.04858332e-02 9.35159646e-04 9.96755314e-01 -9.67493267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32864 meters 0.027896808922642787 Centerline is valid? [True, True] Translation: X:138.02, Y:-84.27, Z:-9.68 [[ 7.79512336e-01 6.23275106e-01 6.23591167e-02 1.38016193e+02] [-6.21194453e-01 7.82002089e-01 -5.08938539e-02 -8.42658455e+01] [-8.04858317e-02 9.35249572e-04 9.96755314e-01 -9.67674204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35864 meters 0.02788145231922415 Centerline is valid? [True, True] Translation: X:138.04, Y:-84.29, Z:-9.68 [[ 7.80027803e-01 6.22635746e-01 6.23005073e-02 1.38040533e+02] [-6.20555942e-01 7.82511154e-01 -5.08587871e-02 -8.42876254e+01] [-8.04173408e-02 1.01031797e-03 9.96760769e-01 -9.67809399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38864 meters 0.027915609808296143 Centerline is valid? [True, True] Translation: X:138.06, Y:-84.31, Z:-9.68 [[ 7.80207830e-01 6.22452480e-01 6.18761038e-02 1.38064602e+02] [-6.20399375e-01 7.82656914e-01 -5.05249463e-02 -8.43087867e+01] [-7.98771386e-02 1.03206257e-03 9.96804182e-01 -9.67921983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41864 meters 0.027890236732045486 Centerline is valid? [True, True] Translation: X:138.09, Y:-84.33, Z:-9.68 [[ 7.80474860e-01 6.22102885e-01 6.20241329e-02 1.38089015e+02] [-6.20037803e-01 7.82934757e-01 -5.06585662e-02 -8.43300885e+01] [-8.00756896e-02 1.08043030e-03 9.96788200e-01 -9.68150434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44864 meters 0.028017382010494692 Centerline is valid? [True, True] Translation: X:138.11, Y:-84.35, Z:-9.68 [[ 7.80652066e-01 6.21885841e-01 6.19705755e-02 1.38111727e+02] [-6.19822624e-01 7.83107122e-01 -5.06275580e-02 -8.43526644e+01] [-8.00141606e-02 1.11174302e-03 9.96793107e-01 -9.68325853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47864 meters 0.028061300283068528 Centerline is valid? [True, True] Translation: X:138.13, Y:-84.37, Z:-9.69 [[ 7.80661871e-01 6.21822429e-01 6.24812709e-02 1.38134918e+02] [-6.19723756e-01 7.83157438e-01 -5.10577486e-02 -8.43743002e+01] [-8.06815252e-02 1.13770967e-03 9.96739282e-01 -9.68564192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50864 meters 0.028183670470773747 Centerline is valid? [True, True] Translation: X:138.16, Y:-84.40, Z:-9.69 [[ 7.81022165e-01 6.21403125e-01 6.21492889e-02 1.38157438e+02] [-6.19324228e-01 7.83490108e-01 -5.08011042e-02 -8.43995719e+01] [-8.02613180e-02 1.18622802e-03 9.96773151e-01 -9.68747316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53864000000002 meters 0.028134773800035224 Centerline is valid? [True, True] Translation: X:138.18, Y:-84.42, Z:-9.69 [[ 7.81100103e-01 6.21387869e-01 6.13167647e-02 1.38180691e+02] [-6.19362984e-01 7.83502209e-01 -5.01376360e-02 -8.44220014e+01] [-7.91967393e-02 1.18517828e-03 9.96858301e-01 -9.68820394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864000000002 meters 0.02780251176743147 Centerline is valid? [True, True] Translation: X:138.20, Y:-84.45, Z:-9.69 [[ 7.79928718e-01 6.22824667e-01 6.16492356e-02 1.38201835e+02] [-6.20781188e-01 7.82360736e-01 -5.04221701e-02 -8.44463327e+01] [-7.96361127e-02 1.05501273e-03 9.96823443e-01 -9.69042607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59864000000002 meters 0.027846516191408544 Centerline is valid? [True, True] Translation: X:138.22, Y:-84.47, Z:-9.69 [[ 7.78946190e-01 6.23952525e-01 6.26584389e-02 1.38224997e+02] [-6.21844058e-01 7.81461653e-01 -5.12606314e-02 -8.44683144e+01] [-8.09493676e-02 9.65495606e-04 9.96717747e-01 -9.69215268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864000000002 meters 0.02758375232594615 Centerline is valid? [True, True] Translation: X:138.25, Y:-84.49, Z:-9.69 [[ 7.77820559e-01 6.25448578e-01 6.17191572e-02 1.38248049e+02] [-6.23406637e-01 7.80264970e-01 -5.05048667e-02 -8.44903847e+01] [-7.97454934e-02 8.07591359e-04 9.96814930e-01 -9.69393993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65864000000002 meters 0.02747172507695838 Centerline is valid? [True, True] Translation: X:138.27, Y:-84.51, Z:-9.70 [[ 7.76246339e-01 6.27304067e-01 6.26995078e-02 1.38271037e+02] [-6.25201509e-01 7.78774165e-01 -5.13212774e-02 -8.45135558e+01] [-8.10228029e-02 6.38126788e-04 9.96712044e-01 -9.69587183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864000000002 meters 0.02708415393031272 Centerline is valid? [True, True] Translation: X:138.29, Y:-84.54, Z:-9.70 [[ 7.72416918e-01 6.32159971e-01 6.12035551e-02 1.38292803e+02] [-6.30170661e-01 7.74837887e-01 -5.01117386e-02 -8.45376772e+01] [-7.91014685e-02 1.38469880e-04 9.96866560e-01 -9.69699870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71864000000002 meters 0.027176482338727416 Centerline is valid? [True, True] Translation: X:138.32, Y:-84.56, Z:-9.70 [[ 7.69467910e-01 6.35713695e-01 6.15405012e-02 1.38316753e+02] [-6.33712632e-01 7.71924900e-01 -5.04008837e-02 -8.45590120e+01] [-7.95451772e-02 -2.17130254e-04 9.96831238e-01 -9.69877335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters 0.027130032549453335 Centerline is valid? [True, True] Translation: X:138.34, Y:-84.58, Z:-9.70 [[ 7.68289424e-01 6.37145474e-01 6.14573476e-02 1.38341658e+02] [-6.35153177e-01 7.70743485e-01 -5.03480091e-02 -8.45807633e+01] [-7.94468564e-02 -3.52986611e-04 9.96839040e-01 -9.69982732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77864 meters 0.02754821044396437 Centerline is valid? [True, True] Translation: X:138.37, Y:-84.60, Z:-9.70 [[ 7.67707705e-01 6.37788960e-01 6.20493516e-02 1.38365228e+02] [-6.35758631e-01 7.70211059e-01 -5.08516191e-02 -8.46023085e+01] [-8.02236981e-02 -4.09231015e-04 9.96776801e-01 -9.70241835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters 0.027622423139079783 Centerline is valid? [True, True] Translation: X:138.39, Y:-84.62, Z:-9.70 [[ 7.67253657e-01 6.38260752e-01 6.28095401e-02 1.38390086e+02] [-6.36179922e-01 7.69820118e-01 -5.14984700e-02 -8.46234247e+01] [-8.12214998e-02 -4.45778840e-04 9.96695976e-01 -9.70384332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83864 meters 0.02749563487741829 Centerline is valid? [True, True] Translation: X:138.42, Y:-84.64, Z:-9.71 [[ 7.67042738e-01 6.38538968e-01 6.25573666e-02 1.38416265e+02] [-6.36472598e-01 7.69589364e-01 -5.13307198e-02 -8.46432852e+01] [-8.09201488e-02 -4.43193754e-04 9.96720489e-01 -9.70512778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters 0.0275166375297244 Centerline is valid? [True, True] Translation: X:138.44, Y:-84.66, Z:-9.71 [[ 7.67225321e-01 6.38379850e-01 6.19392680e-02 1.38442217e+02] [-6.36352122e-01 7.69721379e-01 -5.08426571e-02 -8.46630397e+01] [-8.01329066e-02 -4.07410705e-04 9.96784105e-01 -9.70770732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89864 meters 0.027396609693833365 Centerline is valid? [True, True] Translation: X:138.47, Y:-84.68, Z:-9.71 [[ 7.67547088e-01 6.38033818e-01 6.15167910e-02 1.38467238e+02] [-6.36031350e-01 7.70008260e-01 -5.05114056e-02 -8.46824665e+01] [-7.95964221e-02 -3.56725318e-04 9.96827108e-01 -9.70970361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters 0.02720723292194441 Centerline is valid? [True, True] Translation: X:138.49, Y:-84.70, Z:-9.71 [[ 7.68333028e-01 6.37116096e-01 6.12163205e-02 1.38492578e+02] [-6.35129212e-01 7.70767811e-01 -5.02778839e-02 -8.47019057e+01] [-7.92164184e-02 -2.50114638e-04 9.96857410e-01 -9.71142701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95864 meters 0.027341446182086344 Centerline is valid? [True, True] Translation: X:138.52, Y:-84.72, Z:-9.71 [[ 7.68809166e-01 6.36579903e-01 6.08152325e-02 1.38517977e+02] [-6.34616301e-01 7.71210732e-01 -4.99615662e-02 -8.47220152e+01] [-7.87058889e-02 -1.83427805e-04 9.96897863e-01 -9.71201486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters 0.02752964124474768 Centerline is valid? [True, True] Translation: X:138.54, Y:-84.74, Z:-9.71 [[ 7.70300227e-01 6.34635739e-01 6.22498096e-02 1.38543473e+02] [-6.32570505e-01 7.72811412e-01 -5.11573815e-02 -8.47407959e+01] [-8.05736659e-02 2.91491151e-05 9.96748656e-01 -9.71488961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01864 meters 0.02753063078211716 Centerline is valid? [True, True] Translation: X:138.57, Y:-84.76, Z:-9.72 [[ 7.70770572e-01 6.34009893e-01 6.28027100e-02 1.38567566e+02] [-6.31903840e-01 7.73324927e-01 -5.16342373e-02 -8.47614506e+01] [-8.13035184e-02 1.12877024e-04 9.96689383e-01 -9.71586711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04864 meters 0.027605684989981068 Centerline is valid? [True, True] Translation: X:138.59, Y:-84.78, Z:-9.72 [[ 7.72325482e-01 6.32086298e-01 6.30893123e-02 1.38591354e+02] [-6.29953412e-01 7.74897932e-01 -5.18834622e-02 -8.47824453e+01] [-8.16826032e-02 3.27592433e-04 9.96658339e-01 -9.71823794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07864 meters 0.027577545161748117 Centerline is valid? [True, True] Translation: X:138.62, Y:-84.80, Z:-9.72 [[ 7.73428719e-01 6.30769027e-01 6.27570794e-02 1.38616511e+02] [-6.28652986e-01 7.75970494e-01 -5.16257170e-02 -8.48034048e+01] [-8.12615452e-02 4.76386791e-04 9.96692698e-01 -9.72079302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10864 meters 0.027670448463119952 Centerline is valid? [True, True] Translation: X:138.64, Y:-84.83, Z:-9.72 [[ 7.74607237e-01 6.29330069e-01 6.26681153e-02 1.38640541e+02] [-6.27212966e-01 7.77137853e-01 -5.15815149e-02 -8.48254501e+01] [-8.11635630e-02 6.49160261e-04 9.96700584e-01 -9.72220458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13864 meters 0.02775840748931866 Centerline is valid? [True, True] Translation: X:138.66, Y:-84.85, Z:-9.72 [[ 7.75351865e-01 6.28391420e-01 6.28785227e-02 1.38663767e+02] [-6.26252979e-01 7.77896909e-01 -5.18035212e-02 -8.48472318e+01] [-8.14658967e-02 7.88094611e-04 9.96675818e-01 -9.72449694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16864 meters 0.02782040340633627 Centerline is valid? [True, True] Translation: X:138.69, Y:-84.87, Z:-9.73 [[ 7.76534315e-01 6.26990087e-01 6.22726936e-02 1.38688096e+02] [-6.24884388e-01 7.79026639e-01 -5.13517087e-02 -8.48699189e+01] [-8.07090995e-02 9.63129956e-04 9.96737234e-01 -9.72571161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19864 meters 0.02797891157735168 Centerline is valid? [True, True] Translation: X:138.71, Y:-84.89, Z:-9.73 [[ 7.78043918e-01 6.25189454e-01 6.15289228e-02 1.38711324e+02] [-6.23124105e-01 7.80472141e-01 -5.07896298e-02 -8.48943741e+01] [-7.97747510e-02 1.17640768e-03 9.96812222e-01 -9.72751094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22864 meters 0.02804903267307229 Centerline is valid? [True, True] Translation: X:138.74, Y:-84.92, Z:-9.73 [[ 7.78437021e-01 6.24718615e-01 6.13388692e-02 1.38735679e+02] [-6.22660483e-01 7.80848937e-01 -5.06839266e-02 -8.49171746e+01] [-7.95595832e-02 1.26095494e-03 9.96829315e-01 -9.72954267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25864 meters 0.0281652686254131 Centerline is valid? [True, True] Translation: X:138.76, Y:-84.94, Z:-9.73 [[ 7.78873730e-01 6.24091214e-01 6.21761148e-02 1.38756867e+02] [-6.21970324e-01 7.81350270e-01 -5.14263767e-02 -8.49425964e+01] [-8.06760739e-02 1.38295560e-03 9.96739414e-01 -9.73174928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864000000002 meters 0.028211417715621454 Centerline is valid? [True, True] Translation: X:138.78, Y:-84.97, Z:-9.73 [[ 7.79088566e-01 6.23867550e-01 6.17275217e-02 1.38779993e+02] [-6.21772733e-01 7.81528776e-01 -5.11022653e-02 -8.49657129e+01] [-8.01228796e-02 1.43270070e-03 9.96783964e-01 -9.73371528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31864000000002 meters 0.02826685851451524 Centerline is valid? [True, True] Translation: X:138.80, Y:-84.99, Z:-9.74 [[ 7.78439992e-01 6.24632503e-01 6.21724581e-02 1.38803028e+02] [-6.22505518e-01 7.80917577e-01 -5.15229886e-02 -8.49891036e+01] [-8.07344986e-02 1.40485666e-03 9.96734652e-01 -9.73543574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864000000002 meters 0.027897474933643487 Centerline is valid? [True, True] Translation: X:138.83, Y:-85.01, Z:-9.74 [[ 7.77882484e-01 6.25350697e-01 6.19301818e-02 1.38825460e+02] [-6.23239217e-01 7.80342657e-01 -5.13635584e-02 -8.50127151e+01] [-8.04469997e-02 1.35749434e-03 9.96757963e-01 -9.73597553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37864000000002 meters 0.027685009510945602 Centerline is valid? [True, True] Translation: X:138.85, Y:-85.04, Z:-9.74 [[ 7.76543774e-01 6.27100777e-01 6.10277092e-02 1.38846447e+02] [-6.25053952e-01 7.78937242e-01 -5.06392065e-02 -8.50373536e+01] [-7.92926413e-02 1.17794967e-03 9.96850686e-01 -9.73747352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864000000002 meters 0.027175526458351085 Centerline is valid? [True, True] Translation: X:138.87, Y:-85.06, Z:-9.74 [[ 7.74564127e-01 6.29661578e-01 5.98056100e-02 1.38866658e+02] [-6.27700799e-01 7.76868998e-01 -4.96615234e-02 -8.50635724e+01] [-7.77310775e-02 9.26005283e-04 9.96973933e-01 -9.73867625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43864000000002 meters 0.02708175932661472 Centerline is valid? [True, True] Translation: X:138.89, Y:-85.09, Z:-9.74 [[ 7.73320128e-01 6.31256083e-01 5.90909244e-02 1.38889664e+02] [-6.29344815e-01 7.75574083e-01 -4.90912055e-02 -8.50857505e+01] [-7.68185116e-02 7.74650485e-04 9.97044791e-01 -9.74090875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864000000002 meters 0.02705019611233688 Centerline is valid? [True, True] Translation: X:138.91, Y:-85.11, Z:-9.74 [[ 7.71739846e-01 6.33207241e-01 5.88744365e-02 1.38913898e+02] [-6.31312208e-01 7.73982050e-01 -4.89559215e-02 -8.51075085e+01] [-7.65670010e-02 6.13084806e-04 9.97064250e-01 -9.74252548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49864 meters 0.02701683779621881 Centerline is valid? [True, True] Translation: X:138.94, Y:-85.13, Z:-9.74 [[ 7.70009883e-01 6.35219859e-01 5.98373682e-02 1.38939010e+02] [-6.33264581e-01 7.72331226e-01 -4.98041035e-02 -8.51291454e+01] [-7.78508236e-02 4.56766049e-04 9.96964914e-01 -9.74449357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters 0.02694936897907123 Centerline is valid? [True, True] Translation: X:138.96, Y:-85.15, Z:-9.75 [[ 7.67246342e-01 6.38418526e-01 6.12767234e-02 1.38961595e+02] [-6.36373904e-01 7.69689388e-01 -5.10538854e-02 -8.51517718e+01] [-7.97577900e-02 1.75999120e-04 9.96814258e-01 -9.74600063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55864 meters 0.026898563505597443 Centerline is valid? [True, True] Translation: X:138.99, Y:-85.17, Z:-9.75 [[ 7.65195779e-01 6.40876177e-01 6.12629226e-02 1.38986185e+02] [-6.38836456e-01 7.67644269e-01 -5.10906832e-02 -8.51744076e+01] [-7.97709332e-02 -4.26132189e-05 9.96813220e-01 -9.74781488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters 0.02676932895636206 Centerline is valid? [True, True] Translation: X:139.01, Y:-85.20, Z:-9.75 [[ 7.62095876e-01 6.44638705e-01 6.04219767e-02 1.39011636e+02] [-6.42662315e-01 7.64487271e-01 -5.04416610e-02 -8.51962681e+01] [-7.87084792e-02 -3.89545644e-04 9.96897599e-01 -9.74871059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61864 meters 0.026669069406011624 Centerline is valid? [True, True] Translation: X:139.04, Y:-85.22, Z:-9.75 [[ 7.60728200e-01 6.46290514e-01 6.00098006e-02 1.39037691e+02] [-6.44342071e-01 7.63091282e-01 -5.01496952e-02 -8.52166009e+01] [-7.82042280e-02 -5.16551788e-04 9.96937226e-01 -9.74982811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters 0.026876471993484065 Centerline is valid? [True, True] Translation: X:139.06, Y:-85.24, Z:-9.75 [[ 7.58054824e-01 6.49347415e-01 6.08343504e-02 1.39062296e+02] [-6.47350623e-01 7.60491479e-01 -5.08908831e-02 -8.52368467e+01] [-7.93098685e-02 -8.03075232e-04 9.96849688e-01 -9.75165776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67864 meters 0.026979292781764256 Centerline is valid? [True, True] Translation: X:139.09, Y:-85.26, Z:-9.75 [[ 7.56912447e-01 6.50663953e-01 6.09915496e-02 1.39086652e+02] [-6.48657796e-01 7.59365254e-01 -5.10634432e-02 -8.52570618e+01] [-7.95400053e-02 -9.12088438e-04 9.96831257e-01 -9.75345797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters 0.02689075711852874 Centerline is valid? [True, True] Translation: X:139.11, Y:-85.28, Z:-9.75 [[ 7.55350542e-01 6.52448199e-01 6.12936139e-02 1.39111716e+02] [-6.50425354e-01 7.57832554e-01 -5.13485988e-02 -8.52768524e+01] [-7.99525968e-02 -1.08072862e-03 9.96798081e-01 -9.75382697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73864 meters 0.027341623151515636 Centerline is valid? [True, True] Translation: X:139.14, Y:-85.30, Z:-9.76 [[ 7.52706098e-01 6.55500980e-01 6.12535311e-02 1.39137688e+02] [-6.53487050e-01 7.55193084e-01 -5.13622588e-02 -8.52960097e+01] [-7.99262541e-02 -1.36770396e-03 9.96799841e-01 -9.75500634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76864 meters 0.02739137294794706 Centerline is valid? [True, True] Translation: X:139.16, Y:-85.32, Z:-9.76 [[ 7.51444853e-01 6.56921951e-01 6.15157143e-02 1.39163756e+02] [-6.54891608e-01 7.53957116e-01 -5.16299284e-02 -8.53156661e+01] [-8.02970438e-02 -1.48908109e-03 9.96769867e-01 -9.75641983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79864 meters 0.02748708973943713 Centerline is valid? [True, True] Translation: X:139.19, Y:-85.33, Z:-9.76 [[ 7.50705739e-01 6.57752517e-01 6.16645758e-02 1.39190134e+02] [-6.55711068e-01 7.53232529e-01 -5.18049523e-02 -8.53349544e+01] [-8.05226022e-02 -1.54386990e-03 9.96751587e-01 -9.75866420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82864 meters 0.027423863257984467 Centerline is valid? [True, True] Translation: X:139.22, Y:-85.35, Z:-9.76 [[ 7.50180040e-01 6.58397708e-01 6.11748714e-02 1.39216445e+02] [-6.56386373e-01 7.52668604e-01 -5.14480524e-02 -8.53548238e+01] [-7.99176848e-02 -1.55904990e-03 9.96800247e-01 -9.76059964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85864 meters 0.027478762604488727 Centerline is valid? [True, True] Translation: X:139.24, Y:-85.37, Z:-9.76 [[ 7.49679118e-01 6.58897348e-01 6.19314465e-02 1.39241879e+02] [-6.56833230e-01 7.52231181e-01 -5.21378744e-02 -8.53741944e+01] [-8.09402724e-02 -1.59195635e-03 9.96717682e-01 -9.76351839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88864 meters 0.02755916316196396 Centerline is valid? [True, True] Translation: X:139.27, Y:-85.39, Z:-9.77 [[ 7.48998470e-01 6.59637953e-01 6.22821192e-02 1.39269758e+02] [-6.57548761e-01 7.51581713e-01 -5.24838672e-02 -8.53928315e+01] [-8.14304525e-02 -1.64319404e-03 9.96677672e-01 -9.76514328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91864 meters 0.02782202185884752 Centerline is valid? [True, True] Translation: X:139.30, Y:-85.41, Z:-9.77 [[ 7.47874000e-01 6.60890753e-01 6.25131395e-02 1.39295644e+02] [-6.58786056e-01 7.50480088e-01 -5.27311100e-02 -8.54112684e+01] [-8.17643694e-02 -1.74655840e-03 9.96650158e-01 -9.76683577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94864 meters 0.02810451422973634 Centerline is valid? [True, True] Translation: X:139.32, Y:-85.43, Z:-9.77 [[ 7.45721322e-01 6.63341768e-01 6.22688409e-02 1.39323796e+02] [-6.61258270e-01 7.48313977e-01 -5.25708342e-02 -8.54285074e+01] [-8.14690741e-02 -1.97259404e-03 9.96673918e-01 -9.76808893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97864 meters 0.02811537820423984 Centerline is valid? [True, True] Translation: X:139.35, Y:-85.45, Z:-9.77 [[ 7.45073390e-01 6.64172806e-01 6.11565823e-02 1.39350178e+02] [-6.62162217e-01 7.47576430e-01 -5.16786163e-02 -8.54467623e+01] [-8.00427511e-02 -1.99121632e-03 9.96789443e-01 -9.77062905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00864 meters 0.02813282326193788 Centerline is valid? [True, True] Translation: X:139.38, Y:-85.47, Z:-9.77 [[ 7.44873996e-01 6.64411402e-01 6.09936017e-02 1.39377370e+02] [-6.62408366e-01 7.47364430e-01 -5.15903604e-02 -8.54657888e+01] [-7.98616720e-02 -1.97435414e-03 9.96804000e-01 -9.77250954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03864000000002 meters 0.027868568588582967 Centerline is valid? [True, True] Translation: X:139.41, Y:-85.48, Z:-9.77 [[ 7.45793683e-01 6.63368005e-01 6.11119626e-02 1.39405894e+02] [-6.61349418e-01 7.48291089e-01 -5.17435271e-02 -8.54818271e+01] [-8.00545374e-02 -1.82636523e-03 9.96788812e-01 -9.77480704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864000000002 meters 0.027555698692923226 Centerline is valid? [True, True] Translation: X:139.43, Y:-85.50, Z:-9.78 [[ 7.46515990e-01 6.62580932e-01 6.08307958e-02 1.39432155e+02] [-6.60574502e-01 7.48988401e-01 -5.15529074e-02 -8.55001314e+01] [-7.97195339e-02 -1.69820299e-03 9.96815887e-01 -9.77605030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09864000000002 meters 0.027106303109902558 Centerline is valid? [True, True] Translation: X:139.46, Y:-85.51, Z:-9.78 [[ 7.49547233e-01 6.59143852e-01 6.08960423e-02 1.39461619e+02] [-6.57117943e-01 7.52015757e-01 -5.16556800e-02 -8.55149422e+01] [-7.98433073e-02 -1.29751000e-03 9.96806582e-01 -9.77740963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864000000002 meters 0.027017582078285054 Centerline is valid? [True, True] Translation: X:139.49, Y:-85.53, Z:-9.78 [[ 7.50870415e-01 6.57599147e-01 6.12942332e-02 1.39489060e+02] [-6.55537583e-01 7.53367204e-01 -5.20416619e-02 -8.55328834e+01] [-8.03996175e-02 -1.10412923e-03 9.96762099e-01 -9.77976739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15864000000002 meters 0.026926047824851036 Centerline is valid? [True, True] Translation: X:139.52, Y:-85.55, Z:-9.78 [[ 7.52019750e-01 6.56296388e-01 6.11665446e-02 1.39515545e+02] [-6.54235253e-01 7.54502613e-01 -5.19811645e-02 -8.55516007e+01] [-8.02653683e-02 -9.26447439e-04 9.96773100e-01 -9.78191766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864000000002 meters 0.02667654251919523 Centerline is valid? [True, True] Translation: X:139.54, Y:-85.57, Z:-9.78 [[ 7.55149271e-01 6.52674152e-01 6.13679874e-02 1.39542718e+02] [-6.50584319e-01 7.57638560e-01 -5.21905806e-02 -8.55698497e+01] [-8.05581965e-02 -5.13371370e-04 9.96749775e-01 -9.78459852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21864000000002 meters 0.026628613084895884 Centerline is valid? [True, True] Translation: X:139.57, Y:-85.59, Z:-9.79 [[ 7.56993829e-01 6.50594427e-01 6.07226049e-02 1.39568626e+02] [-6.48540603e-01 7.59425318e-01 -5.16553259e-02 -8.55885410e+01] [-7.97209507e-02 -2.78311807e-04 9.96817181e-01 -9.78623291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters 0.026628613084895884 Centerline is valid? [True, True] Translation: X:139.59, Y:-85.61, Z:-9.79 [[ 7.56867131e-01 6.50742530e-01 6.07149498e-02 1.39593415e+02] [-6.48688460e-01 7.59298413e-01 -5.16643224e-02 -8.56095479e+01] [-7.97209369e-02 -2.82059739e-04 9.96817181e-01 -9.78809050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27864 meters 0.026690200522993496 Centerline is valid? [True, True] Translation: X:139.62, Y:-85.63, Z:-9.79 [[ 7.58327598e-01 6.49012336e-01 6.10101751e-02 1.39620923e+02] [-6.46930950e-01 7.60777878e-01 -5.19361748e-02 -8.56281996e+01] [-8.01224097e-02 -8.47358182e-05 9.96785028e-01 -9.79051604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters 0.02669723489849373 Centerline is valid? [True, True] Translation: X:139.65, Y:-85.65, Z:-9.79 [[ 7.59083392e-01 6.48160822e-01 6.06626218e-02 1.39646021e+02] [-6.46098928e-01 7.61503479e-01 -5.16587447e-02 -8.56486551e+01] [-7.96779720e-02 1.92401939e-05 9.96820656e-01 -9.79260801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33864 meters 0.02669285411409576 Centerline is valid? [True, True] Translation: X:139.67, Y:-85.67, Z:-9.79 [[ 7.58895010e-01 6.48318156e-01 6.13345931e-02 1.39670442e+02] [-6.46209363e-01 7.61369535e-01 -5.22483582e-02 -8.56687926e+01] [-8.05718499e-02 1.60299933e-05 9.96748803e-01 -9.79475583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters 0.026672152280977225 Centerline is valid? [True, True] Translation: X:139.70, Y:-85.69, Z:-9.80 [[ 7.58945331e-01 6.48348284e-01 6.03861560e-02 1.39696812e+02] [-6.46302654e-01 7.61343879e-01 -5.14623958e-02 -8.56877112e+01] [-7.93401863e-02 2.94120935e-05 9.96847598e-01 -9.79579468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39864 meters 0.02652281479320234 Centerline is valid? [True, True] Translation: X:139.72, Y:-85.71, Z:-9.80 [[ 7.59200108e-01 6.48044999e-01 6.04390201e-02 1.39723023e+02] [-6.45993601e-01 7.61602044e-01 -5.15227452e-02 -8.57079946e+01] [-7.94195386e-02 7.28534632e-05 9.96841277e-01 -9.79775973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters 0.026604609928274264 Centerline is valid? [True, True] Translation: X:139.75, Y:-85.73, Z:-9.80 [[ 7.61129990e-01 6.45733276e-01 6.09070993e-02 1.39747602e+02] [-6.43641038e-01 7.63562981e-01 -5.19402368e-02 -8.57285649e+01] [-8.00459456e-02 3.30963304e-04 9.96791120e-01 -9.79995851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45864 meters 0.026868183158799873 Centerline is valid? [True, True] Translation: X:139.77, Y:-85.75, Z:-9.80 [[ 7.62168892e-01 6.44350107e-01 6.25421423e-02 1.39772380e+02] [-6.42138011e-01 7.64730469e-01 -5.33487132e-02 -8.57493166e+01] [-8.22031308e-02 5.00042843e-04 9.96615470e-01 -9.80300149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters 0.02688678222261596 Centerline is valid? [True, True] Translation: X:139.80, Y:-85.77, Z:-9.80 [[ 7.63053739e-01 6.43335537e-01 6.21962839e-02 1.39798133e+02] [-6.41143225e-01 7.65584094e-01 -5.30693872e-02 -8.57699743e+01] [-8.17579084e-02 6.18068327e-04 9.96652027e-01 -9.80382835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51864 meters 0.027104312024152533 Centerline is valid? [True, True] Translation: X:139.82, Y:-85.79, Z:-9.81 [[ 7.65033260e-01 6.40954284e-01 6.24637178e-02 1.39822973e+02] [-6.38733574e-01 7.67578538e-01 -5.33161307e-02 -8.57905400e+01] [-8.21190116e-02 8.90939545e-04 9.96622132e-01 -9.80508073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54864 meters 0.02714734817302839 Centerline is valid? [True, True] Translation: X:139.85, Y:-85.81, Z:-9.81 [[ 7.65626637e-01 6.40332362e-01 6.15655696e-02 1.39847145e+02] [-6.38172074e-01 7.68097361e-01 -5.25628011e-02 -8.58121871e+01] [-8.09460141e-02 9.54053358e-04 9.96718031e-01 -9.80807705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57864 meters 0.027184461921458965 Centerline is valid? [True, True] Translation: X:139.87, Y:-85.83, Z:-9.81 [[ 7.66453178e-01 6.39444114e-01 6.05041332e-02 1.39871470e+02] [-6.37353996e-01 7.68836877e-01 -5.16695261e-02 -8.58331610e+01] [-7.95575831e-02 1.03972145e-03 9.96829730e-01 -9.80993658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60864 meters 0.027037069387314573 Centerline is valid? [True, True] Translation: X:139.90, Y:-85.85, Z:-9.81 [[ 7.66034423e-01 6.40018626e-01 5.97278851e-02 1.39896144e+02] [-6.37982622e-01 7.68358772e-01 -5.10193243e-02 -8.58543460e+01] [-7.85457623e-02 9.77205908e-04 9.96910030e-01 -9.81090818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63864 meters 0.027189426514181974 Centerline is valid? [True, True] Translation: X:139.92, Y:-85.88, Z:-9.81 [[ 7.66138607e-01 6.39806262e-01 6.06595498e-02 1.39920303e+02] [-6.37704424e-01 7.68535553e-01 -5.18282850e-02 -8.58760889e+01] [-7.97790820e-02 1.02478683e-03 9.96812042e-01 -9.81327712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66864 meters 0.027295137398201268 Centerline is valid? [True, True] Translation: X:139.94, Y:-85.90, Z:-9.82 [[ 7.66450295e-01 6.39401817e-01 6.09857481e-02 1.39942130e+02] [-6.37274936e-01 7.68871994e-01 -5.21201691e-02 -8.59005011e+01] [-8.02159646e-02 1.08283024e-03 9.96776919e-01 -9.81510018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69864 meters 0.027157791056442684 Centerline is valid? [True, True] Translation: X:139.96, Y:-85.92, Z:-9.82 [[ 7.66322079e-01 6.39596264e-01 6.05565148e-02 1.39964928e+02] [-6.37498832e-01 7.68710274e-01 -5.17663440e-02 -8.59227269e+01] [-7.96599753e-02 1.06498488e-03 9.96821526e-01 -9.81661189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72864 meters 0.02701175958487252 Centerline is valid? [True, True] Translation: X:139.99, Y:-85.95, Z:-9.82 [[ 7.66681066e-01 6.39354840e-01 5.85280406e-02 1.39987328e+02] [-6.37393496e-01 7.68911078e-01 -5.00528330e-02 -8.59463562e+01] [-7.70043798e-02 1.06916697e-03 9.97030181e-01 -9.81786571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75864 meters 0.02719188615639524 Centerline is valid? [True, True] Translation: X:140.01, Y:-85.97, Z:-9.82 [[ 7.66444680e-01 6.39699233e-01 5.78570995e-02 1.40011446e+02] [-6.37780214e-01 7.68624598e-01 -4.95239825e-02 -8.59690579e+01] [-7.61508434e-02 1.05727957e-03 9.97095748e-01 -9.81902090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864000000002 meters 0.02730951241628843 Centerline is valid? [True, True] Translation: X:140.04, Y:-85.99, Z:-9.82 [[ 7.65624279e-01 6.40589253e-01 5.88631689e-02 1.40035424e+02] [-6.38601419e-01 7.67883037e-01 -5.04367854e-02 -8.59920839e+01] [-7.75092915e-02 1.02552425e-03 9.96991102e-01 -9.82159742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81864000000002 meters 0.027255899579932012 Centerline is valid? [True, True] Translation: X:140.06, Y:-86.02, Z:-9.82 [[ 7.63964872e-01 6.42435631e-01 6.02837881e-02 1.40059643e+02] [-6.40352015e-01 7.66339123e-01 -5.17073072e-02 -8.60152501e+01] [-7.94164417e-02 8.99721107e-04 9.96841120e-01 -9.82310686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864000000002 meters 0.026918261883396834 Centerline is valid? [True, True] Translation: X:140.08, Y:-86.04, Z:-9.82 [[ 7.62710033e-01 6.43897827e-01 6.05722118e-02 1.40084407e+02] [-6.41794548e-01 7.65111077e-01 -5.20076689e-02 -8.60365929e+01] [-7.98320952e-02 7.91855622e-04 9.96808010e-01 -9.82465540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87864000000002 meters 0.027172296011987777 Centerline is valid? [True, True] Translation: X:140.11, Y:-86.06, Z:-9.83 [[ 7.61785360e-01 6.44997584e-01 6.05077028e-02 1.40109502e+02] [-6.42898027e-01 7.64184273e-01 -5.20050408e-02 -8.60574207e+01] [-7.97821606e-02 7.16395962e-04 9.96812065e-01 -9.82742934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864000000002 meters 0.027014597070461666 Centerline is valid? [True, True] Translation: X:140.13, Y:-86.08, Z:-9.83 [[ 7.59555854e-01 6.47640189e-01 6.03083015e-02 1.40134073e+02] [-6.45558679e-01 7.61946165e-01 -5.18848089e-02 -8.60788849e+01] [-7.95543665e-02 4.76862822e-04 9.96830415e-01 -9.82875812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93864000000002 meters 0.02706133781132391 Centerline is valid? [True, True] Translation: X:140.16, Y:-86.10, Z:-9.83 [[ 7.59315716e-01 6.47864103e-01 6.09241099e-02 1.40159215e+02] [-6.45736543e-01 7.61755773e-01 -5.24638805e-02 -8.60998158e+01] [-8.03987573e-02 4.95724863e-04 9.96762657e-01 -9.83051884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864000000002 meters 0.02724941002307027 Centerline is valid? [True, True] Translation: X:140.18, Y:-86.12, Z:-9.83 [[ 7.58758743e-01 6.48377481e-01 6.23843827e-02 1.40184328e+02] [-6.46143801e-01 7.61318855e-01 -5.37753693e-02 -8.61195968e+01] [-8.23611453e-02 4.93249451e-04 9.96602427e-01 -9.83167075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99864 meters 0.027249939557545524 Centerline is valid? [True, True] Translation: X:140.21, Y:-86.14, Z:-9.83 [[ 7.58450567e-01 6.48739999e-01 6.23630516e-02 1.40210875e+02] [-6.46504931e-01 7.61009968e-01 -5.38070881e-02 -8.61396020e+01] [-8.23657142e-02 4.91996077e-04 9.96602051e-01 -9.83351055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters 0.02719237177289714 Centerline is valid? [True, True] Translation: X:140.24, Y:-86.16, Z:-9.83 [[ 7.57699232e-01 6.49624645e-01 6.22871976e-02 1.40237043e+02] [-6.47393453e-01 7.60254976e-01 -5.37967225e-02 -8.61595483e+01] [-8.23018287e-02 4.37411334e-04 9.96607354e-01 -9.83487485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05864 meters 0.02707845574309027 Centerline is valid? [True, True] Translation: X:140.26, Y:-86.18, Z:-9.84 [[ 7.56828017e-01 6.50613449e-01 6.25579151e-02 1.40263261e+02] [-6.48361545e-01 7.59408981e-01 -5.40861022e-02 -8.61802925e+01] [-8.26961880e-02 3.73730973e-04 9.96574734e-01 -9.83841070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters 0.027106007248794917 Centerline is valid? [True, True] Translation: X:140.29, Y:-86.20, Z:-9.84 [[ 7.57046353e-01 6.50399185e-01 6.21427374e-02 1.40287384e+02] [-6.48172835e-01 7.59592468e-01 -5.37704249e-02 -8.62009328e+01] [-8.21753959e-02 4.27469834e-04 9.96617791e-01 -9.84021880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11864 meters 0.027089672025324748 Centerline is valid? [True, True] Translation: X:140.31, Y:-86.22, Z:-9.84 [[ 7.58363943e-01 6.49060146e-01 6.00421289e-02 1.40313281e+02] [-6.46975837e-01 7.60736880e-01 -5.19775537e-02 -8.62207602e+01] [-7.94128203e-02 5.72095952e-04 9.96841651e-01 -9.84051318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters 0.027341511101214633 Centerline is valid? [True, True] Translation: X:140.34, Y:-86.24, Z:-9.84 [[ 7.59280289e-01 6.47917622e-01 6.07963617e-02 1.40337909e+02] [-6.45773794e-01 7.61710065e-01 -5.26686203e-02 -8.62408229e+01] [-8.04341278e-02 7.29548078e-04 9.96759660e-01 -9.84317854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17864 meters 0.02739302659588618 Centerline is valid? [True, True] Translation: X:140.36, Y:-86.26, Z:-9.85 [[ 7.60482486e-01 6.46565374e-01 6.01631672e-02 1.40363009e+02] [-6.44459852e-01 7.62858073e-01 -5.21446108e-02 -8.62621438e+01] [-7.96108575e-02 8.82317471e-04 9.96825628e-01 -9.84523567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters 0.027851822927994978 Centerline is valid? [True, True] Translation: X:140.39, Y:-86.28, Z:-9.85 [[ 7.62183516e-01 6.44450147e-01 6.13212434e-02 1.40386478e+02] [-6.42251511e-01 7.64645441e-01 -5.32010023e-02 -8.62842167e+01] [-8.11744030e-02 1.16526577e-03 9.96699232e-01 -9.84804304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23864 meters 0.02826719856944844 Centerline is valid? [True, True] Translation: X:140.41, Y:-86.31, Z:-9.85 [[ 7.63452605e-01 6.42950542e-01 6.12757649e-02 1.40410941e+02] [-6.40746526e-01 7.65906489e-01 -5.32084433e-02 -8.63053558e+01] [-8.11419034e-02 1.35989117e-03 9.96701631e-01 -9.84984548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26864 meters 0.028694737926852922 Centerline is valid? [True, True] Translation: X:140.43, Y:-86.33, Z:-9.85 [[ 7.65281044e-01 6.40809410e-01 6.08951909e-02 1.40434086e+02] [-6.38622219e-01 7.67698313e-01 -5.29241109e-02 -8.63278165e+01] [-8.06634036e-02 1.61279684e-03 9.96740094e-01 -9.85236100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29864 meters 0.028714420689690677 Centerline is valid? [True, True] Translation: X:140.46, Y:-86.35, Z:-9.85 [[ 7.65054687e-01 6.41154409e-01 6.01028276e-02 1.40457245e+02] [-6.39021328e-01 7.67410252e-01 -5.22804688e-02 -8.63504397e+01] [-7.96433792e-02 1.59042898e-03 9.96822152e-01 -9.85485682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32864 meters 0.02892606928192723 Centerline is valid? [True, True] Translation: X:140.48, Y:-86.37, Z:-9.86 [[ 7.64994105e-01 6.41230193e-01 6.00654536e-02 1.40481120e+02] [-6.39096194e-01 7.67346871e-01 -5.22956388e-02 -8.63730436e+01] [-7.96245805e-02 1.61825258e-03 9.96823609e-01 -9.85747219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35864 meters 0.028676351542283735 Centerline is valid? [True, True] Translation: X:140.50, Y:-86.40, Z:-9.86 [[ 7.64113893e-01 6.42337227e-01 5.94377340e-02 1.40503906e+02] [-6.40247085e-01 7.66420615e-01 -5.17987528e-02 -8.63965154e+01] [-7.88265719e-02 1.52531081e-03 9.96887178e-01 -9.85848543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38864 meters 0.02861678476628536 Centerline is valid? [True, True] Translation: X:140.53, Y:-86.42, Z:-9.86 [[ 7.63142193e-01 6.43443724e-01 5.99513779e-02 1.40528196e+02] [-6.41316846e-01 7.65492027e-01 -5.22939742e-02 -8.64189686e+01] [-7.95405312e-02 1.45990955e-03 9.96830564e-01 -9.86005463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41864 meters 0.02870894285124335 Centerline is valid? [True, True] Translation: X:140.55, Y:-86.44, Z:-9.86 [[ 7.62105065e-01 6.44600904e-01 6.07086771e-02 1.40552571e+02] [-6.42419179e-01 7.64517967e-01 -5.30082732e-02 -8.64414387e+01] [-8.05820552e-02 1.39745498e-03 9.96746999e-01 -9.86192467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44864 meters 0.028761052018408003 Centerline is valid? [True, True] Translation: X:140.57, Y:-86.46, Z:-9.86 [[ 7.60346464e-01 6.46482584e-01 6.27178085e-02 1.40574791e+02] [-6.44155650e-01 7.62927671e-01 -5.48166789e-02 -8.64643402e+01] [-8.32871798e-02 1.27963726e-03 9.96524765e-01 -9.86390681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47864 meters 0.02893617116510958 Centerline is valid? [True, True] Translation: X:140.60, Y:-86.49, Z:-9.87 [[ 7.59394824e-01 6.47503300e-01 6.37101108e-02 1.40598061e+02] [-6.45101409e-01 7.62061663e-01 -5.57332388e-02 -8.64870192e+01] [-8.46384890e-02 1.22405087e-03 9.96410973e-01 -9.86645638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50864 meters 0.02890782487379006 Centerline is valid? [True, True] Translation: X:140.62, Y:-86.51, Z:-9.87 [[ 7.57421163e-01 6.49608636e-01 6.57404098e-02 1.40619875e+02] [-6.47054268e-01 7.60268042e-01 -5.75610862e-02 -8.65113432e+01] [-8.73725113e-02 1.06037206e-03 9.96175145e-01 -9.86960569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53864000000002 meters 0.02881266819051919 Centerline is valid? [True, True] Translation: X:140.64, Y:-86.53, Z:-9.87 [[ 7.56423758e-01 6.50672215e-01 6.66990702e-02 1.40642943e+02] [-6.48042143e-01 7.59358075e-01 -5.84525002e-02 -8.65331443e+01] [-8.86818953e-02 9.91051463e-04 9.96059506e-01 -9.87248690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864000000002 meters 0.02874093772002179 Centerline is valid? [True, True] Translation: X:140.67, Y:-86.55, Z:-9.87 [[ 7.55121452e-01 6.52221616e-01 6.63216137e-02 1.40666257e+02] [-6.49622721e-01 7.58027870e-01 -5.81727525e-02 -8.65549249e+01] [-8.82151582e-02 8.43466168e-04 9.96101086e-01 -9.87453081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59864000000002 meters 0.028580885263738157 Centerline is valid? [True, True] Translation: X:140.69, Y:-86.58, Z:-9.88 [[ 7.54004647e-01 6.53640539e-01 6.50464270e-02 1.40687499e+02] [-6.51141771e-01 7.56804831e-01 -5.71037812e-02 -8.65789951e+01] [-8.65527965e-02 7.02070755e-04 9.96247018e-01 -9.87729179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864000000002 meters 0.028494223625577374 Centerline is valid? [True, True] Translation: X:140.71, Y:-86.60, Z:-9.88 [[ 7.53110094e-01 6.54654250e-01 6.52150201e-02 1.40710615e+02] [-6.52141631e-01 7.55928184e-01 -5.73050983e-02 -8.66030248e+01] [-8.68128978e-02 6.27618464e-04 9.96224436e-01 -9.87900089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65864000000002 meters 0.028495657253874252 Centerline is valid? [True, True] Translation: X:140.73, Y:-86.63, Z:-9.88 [[ 7.52394783e-01 6.55455170e-01 6.54263814e-02 1.40733226e+02] [-6.52924083e-01 7.55233859e-01 -5.75496235e-02 -8.66276781e+01] [-8.71334168e-02 5.81576394e-04 9.96196481e-01 -9.87988872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864000000002 meters 0.02865407767942016 Centerline is valid? [True, True] Translation: X:140.76, Y:-86.65, Z:-9.88 [[ 7.51592347e-01 6.56280153e-01 6.63724697e-02 1.40756712e+02] [-6.53673285e-01 7.54517112e-01 -5.84393994e-02 -8.66494991e+01] [-8.84317822e-02 5.36695057e-04 9.96082091e-01 -9.88152448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71864000000002 meters 0.02873234939901927 Centerline is valid? [True, True] Translation: X:140.78, Y:-86.67, Z:-9.88 [[ 7.48711527e-01 6.59448148e-01 6.75217724e-02 1.40778428e+02] [-6.56757947e-01 7.51750023e-01 -5.95054804e-02 -8.66730638e+01] [-9.00002728e-02 2.06978438e-04 9.95941719e-01 -9.88486671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters 0.028739072670260872 Centerline is valid? [True, True] Translation: X:140.80, Y:-86.70, Z:-9.89 [[ 7.46860270e-01 6.61508001e-01 6.78741582e-02 1.40801640e+02] [-6.58794271e-01 7.49938107e-01 -5.98576933e-02 -8.66959332e+01] [-9.04977608e-02 -9.77363768e-06 9.95896659e-01 -9.88708107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77864 meters 0.028505263225168574 Centerline is valid? [True, True] Translation: X:140.83, Y:-86.72, Z:-9.89 [[ 7.45531400e-01 6.63111381e-01 6.68298401e-02 1.40825325e+02] [-6.60484285e-01 7.48520718e-01 -5.89681657e-02 -8.67176529e+01] [-8.91259817e-02 -1.77440052e-04 9.96020345e-01 -9.88789886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters 0.028576301359834196 Centerline is valid? [True, True] Translation: X:140.85, Y:-86.74, Z:-9.89 [[ 7.43511538e-01 6.65532641e-01 6.52449043e-02 1.40849057e+02] [-6.63033665e-01 7.46368629e-01 -5.76214326e-02 -8.67398606e+01] [-8.70456940e-02 -4.17368059e-04 9.96204233e-01 -9.88961475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83864 meters 0.028542055312943324 Centerline is valid? [True, True] Translation: X:140.87, Y:-86.76, Z:-9.89 [[ 7.42319959e-01 6.66843341e-01 6.54296317e-02 1.40872806e+02] [-6.64330387e-01 7.45197743e-01 -5.78399576e-02 -8.67627046e+01] [-8.73282045e-02 -5.31137609e-04 9.96179453e-01 -9.89257215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters 0.028436559093144458 Centerline is valid? [True, True] Translation: X:140.90, Y:-86.79, Z:-9.89 [[ 7.42129774e-01 6.67123612e-01 6.47262233e-02 1.40896147e+02] [-6.64660636e-01 7.44946857e-01 -5.72749367e-02 -8.67853593e+01] [-8.64270593e-02 -5.15536920e-04 9.96258048e-01 -9.89336283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89864 meters 0.028417191317934846 Centerline is valid? [True, True] Translation: X:140.92, Y:-86.81, Z:-9.89 [[ 7.41791375e-01 6.67524075e-01 6.44760850e-02 1.40921378e+02] [-6.65076959e-01 7.44588033e-01 -5.71077897e-02 -8.68072851e+01] [-8.61289458e-02 -5.19492709e-04 9.96283863e-01 -9.89425805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters 0.028524768773746004 Centerline is valid? [True, True] Translation: X:140.95, Y:-86.83, Z:-9.90 [[ 7.42286907e-01 6.67024250e-01 6.39437038e-02 1.40945888e+02] [-6.64610761e-01 7.45035890e-01 -5.66926749e-02 -8.68283115e+01] [-8.54557432e-02 -4.15443238e-04 9.96341881e-01 -9.89628897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95864 meters 0.028487786989203033 Centerline is valid? [True, True] Translation: X:140.97, Y:-86.85, Z:-9.90 [[ 7.42680827e-01 6.66587402e-01 6.39251511e-02 1.40970240e+02] [-6.64169037e-01 7.45426811e-01 -5.67305955e-02 -8.68512525e+01] [-8.54674218e-02 -3.24380493e-04 9.96340913e-01 -9.89817618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98864 meters 0.028409137040544593 Centerline is valid? [True, True] Translation: X:140.99, Y:-86.87, Z:-9.90 [[ 7.42449512e-01 6.66818042e-01 6.42060853e-02 1.40994728e+02] [-6.64374029e-01 7.45220507e-01 -5.70398556e-02 -8.68740032e+01] [-8.58828962e-02 -3.07642702e-04 9.96305191e-01 -9.90006510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01864 meters 0.02828216255941441 Centerline is valid? [True, True] Translation: X:141.02, Y:-86.90, Z:-9.90 [[ 7.41492278e-01 6.67936238e-01 6.36426292e-02 1.41019171e+02] [-6.65534098e-01 7.44218403e-01 -5.65979954e-02 -8.68963472e+01] [-8.51678680e-02 -3.89363338e-04 9.96366540e-01 -9.90095442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04864 meters 0.028321662304547662 Centerline is valid? [True, True] Translation: X:141.04, Y:-86.92, Z:-9.90 [[ 7.40502091e-01 6.69092807e-01 6.30195914e-02 1.41044363e+02] [-6.66736815e-01 7.43178707e-01 -5.61019510e-02 -8.69182993e+01] [-8.43722303e-02 -4.73869583e-04 9.96434194e-01 -9.90269645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07864 meters 0.02837560598846875 Centerline is valid? [True, True] Translation: X:141.07, Y:-86.94, Z:-9.91 [[ 7.39514080e-01 6.70110122e-01 6.38071321e-02 1.41068611e+02] [-6.67693635e-01 7.42261488e-01 -5.68602994e-02 -8.69400168e+01] [-8.54642390e-02 -5.54624009e-04 9.96341084e-01 -9.90505123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10864 meters 0.028385810585125768 Centerline is valid? [True, True] Translation: X:141.09, Y:-86.96, Z:-9.91 [[ 7.39107961e-01 6.70540108e-01 6.39951989e-02 1.41093500e+02] [-6.68106236e-01 7.41873064e-01 -5.70825213e-02 -8.69623575e+01] [-8.57524343e-02 -5.65445559e-04 9.96316315e-01 -9.90629076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13864 meters 0.028385810585125768 Centerline is valid? [True, True] Translation: X:141.12, Y:-86.98, Z:-9.91 [[ 7.38760334e-01 6.70925902e-01 6.39656385e-02 1.41117997e+02] [-6.68490606e-01 7.41524183e-01 -5.71156328e-02 -8.69837689e+01] [-8.57524253e-02 -5.65664499e-04 9.96316316e-01 -9.90814877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16864 meters 0.028473850093150604 Centerline is valid? [True, True] Translation: X:141.14, Y:-87.01, Z:-9.91 [[ 7.38435262e-01 6.71289263e-01 6.39068764e-02 1.41142932e+02] [-6.68854667e-01 7.41195256e-01 -5.71229092e-02 -8.70054033e+01] [-8.57134693e-02 -5.62842079e-04 9.96319670e-01 -9.90919967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19864 meters 0.028514746228015926 Centerline is valid? [True, True] Translation: X:141.17, Y:-87.03, Z:-9.91 [[ 7.38477554e-01 6.71178296e-01 6.45801667e-02 1.41167963e+02] [-6.68686307e-01 7.41295781e-01 -5.77857111e-02 -8.70271488e+01] [-8.66575202e-02 -5.10422630e-04 9.96238031e-01 -9.91198904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22864 meters 0.028565798700244827 Centerline is valid? [True, True] Translation: X:141.19, Y:-87.05, Z:-9.91 [[ 7.37872312e-01 6.71816187e-01 6.48649491e-02 1.41192035e+02] [-6.69299238e-01 7.40717704e-01 -5.81017525e-02 -8.70496301e+01] [-8.70803139e-02 -5.42386519e-04 9.96201147e-01 -9.91431494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25864 meters 0.028592060616618824 Centerline is valid? [True, True] Translation: X:141.22, Y:-87.07, Z:-9.92 [[ 7.37478489e-01 6.72314317e-01 6.41789427e-02 1.41216013e+02] [-6.69847353e-01 7.40265597e-01 -5.75444993e-02 -8.70708680e+01] [-8.61974541e-02 -5.52264480e-04 9.96277920e-01 -9.91614576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864000000002 meters 0.028581872087774407 Centerline is valid? [True, True] Translation: X:141.24, Y:-87.09, Z:-9.92 [[ 7.35303149e-01 6.74839999e-01 6.26119316e-02 1.41241162e+02] [-6.72497120e-01 7.37963652e-01 -5.61896121e-02 -8.70909056e+01] [-8.41243275e-02 -7.89944916e-04 9.96454953e-01 -9.91594419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31864000000002 meters 0.02854297261358991 Centerline is valid? [True, True] Translation: X:141.27, Y:-87.11, Z:-9.92 [[ 7.33341254e-01 6.77044004e-01 6.18225014e-02 1.41266150e+02] [-6.74763390e-01 7.35941869e-01 -5.55331672e-02 -8.71118496e+01] [-8.30961652e-02 -9.90798178e-04 9.96541041e-01 -9.91685180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864000000002 meters 0.028660237914802166 Centerline is valid? [True, True] Translation: X:141.29, Y:-87.13, Z:-9.92 [[ 7.31327161e-01 6.79298126e-01 6.09478510e-02 1.41291213e+02] [-6.77084843e-01 7.33861463e-01 -5.48039079e-02 -8.71327685e+01] [-8.19554710e-02 -1.18727975e-03 9.96635285e-01 -9.91924613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37864000000002 meters 0.02872575600556097 Centerline is valid? [True, True] Translation: X:141.32, Y:-87.15, Z:-9.92 [[ 7.29467252e-01 6.81297195e-01 6.09233961e-02 1.41316473e+02] [-6.79088116e-01 7.32005637e-01 -5.48368363e-02 -8.71531252e+01] [-8.19564521e-02 -1.37067798e-03 9.96634969e-01 -9.92167396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864000000002 meters 0.028907688246542763 Centerline is valid? [True, True] Translation: X:141.34, Y:-87.17, Z:-9.92 [[ 7.27259188e-01 6.83529951e-01 6.22967067e-02 1.41342685e+02] [-6.81223755e-01 7.29920667e-01 -5.61249996e-02 -8.71721701e+01] [-8.38347719e-02 -1.62057488e-03 9.96478351e-01 -9.92338025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43864000000002 meters 0.02911916132535416 Centerline is valid? [True, True] Translation: X:141.37, Y:-87.19, Z:-9.93 [[ 7.25429618e-01 6.85456492e-01 6.24601218e-02 1.41368005e+02] [-6.83140924e-01 7.28111338e-01 -5.63236827e-02 -8.71926920e+01] [-8.40853568e-02 -1.81019769e-03 9.96456911e-01 -9.92546951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864000000002 meters 0.028828694918573913 Centerline is valid? [True, True] Translation: X:141.40, Y:-87.21, Z:-9.93 [[ 7.24623817e-01 6.86344813e-01 6.20574069e-02 1.41395469e+02] [-6.84057876e-01 7.27273903e-01 -5.60133306e-02 -8.72119319e+01] [-8.35771915e-02 -1.86226452e-03 9.96499566e-01 -9.92513612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49864 meters 0.029011926719386107 Centerline is valid? [True, True] Translation: X:141.42, Y:-87.23, Z:-9.93 [[ 7.23744579e-01 6.87323608e-01 6.14820422e-02 1.41421489e+02] [-6.85077691e-01 7.26348808e-01 -5.55514719e-02 -8.72322012e+01] [-8.28392462e-02 -1.91489887e-03 9.96561083e-01 -9.92597886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters 0.028745224489491163 Centerline is valid? [True, True] Translation: X:141.45, Y:-87.25, Z:-9.93 [[ 7.23089414e-01 6.88045364e-01 6.11169048e-02 1.41448006e+02] [-6.85823915e-01 7.25665073e-01 -5.52789211e-02 -8.72515443e+01] [-8.23848086e-02 -1.94383230e-03 9.96598698e-01 -9.92667723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55864 meters 0.028556093739844215 Centerline is valid? [True, True] Translation: X:141.48, Y:-87.27, Z:-9.93 [[ 7.23012073e-01 6.88145880e-01 6.08998436e-02 1.41476723e+02] [-6.85935842e-01 7.25569854e-01 -5.51398848e-02 -8.72684994e+01] [-8.21313752e-02 -1.90658311e-03 9.96619688e-01 -9.92861057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters 0.0285028375948625 Centerline is valid? [True, True] Translation: X:141.50, Y:-87.29, Z:-9.93 [[ 7.22865003e-01 6.88264637e-01 6.13023389e-02 1.41503037e+02] [-6.86020821e-01 7.25457246e-01 -5.55627350e-02 -8.72893179e+01] [-8.27140916e-02 -1.89032432e-03 9.96571526e-01 -9.93110606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61864 meters 0.028458412914859857 Centerline is valid? [True, True] Translation: X:141.53, Y:-87.31, Z:-9.93 [[ 7.22771114e-01 6.88331902e-01 6.16531322e-02 1.41528498e+02] [-6.86057607e-01 7.25393487e-01 -5.59396960e-02 -8.73103196e+01] [-8.32278579e-02 -1.86600395e-03 9.96528796e-01 -9.93390964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters 0.028525380452473218 Centerline is valid? [True, True] Translation: X:141.56, Y:-87.33, Z:-9.94 [[ 7.23465459e-01 6.87539800e-01 6.23438265e-02 1.41556038e+02] [-6.85206195e-01 7.26144583e-01 -5.66260977e-02 -8.73296188e+01] [-8.42033278e-02 -1.75135033e-03 9.96447054e-01 -9.93525159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67864 meters 0.02847445411293602 Centerline is valid? [True, True] Translation: X:141.58, Y:-87.35, Z:-9.94 [[ 7.23143490e-01 6.87853730e-01 6.26158048e-02 1.41582657e+02] [-6.85495826e-01 7.25847211e-01 -5.69323997e-02 -8.73496770e+01] [-8.46106708e-02 -1.75257862e-03 9.96412547e-01 -9.93687608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters 0.02850945973717626 Centerline is valid? [True, True] Translation: X:141.61, Y:-87.37, Z:-9.94 [[ 7.23172585e-01 6.87853913e-01 6.22768542e-02 1.41609596e+02] [-6.85516766e-01 7.25847158e-01 -5.66803991e-02 -8.73684260e+01] [-8.41913119e-02 -1.70211696e-03 9.96448155e-01 -9.93953667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73864 meters 0.028588886325393442 Centerline is valid? [True, True] Translation: X:141.64, Y:-87.39, Z:-9.94 [[ 7.22280071e-01 6.88789303e-01 6.22960364e-02 1.41635369e+02] [-6.86449626e-01 7.24959416e-01 -5.67517056e-02 -8.73898449e+01] [-8.42520659e-02 -1.77246497e-03 9.96442897e-01 -9.94189389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76864 meters 0.028465990811218853 Centerline is valid? [True, True] Translation: X:141.66, Y:-87.41, Z:-9.94 [[ 7.21934562e-01 6.89107055e-01 6.27849927e-02 1.41662015e+02] [-6.86726572e-01 7.24657365e-01 -5.72566087e-02 -8.74101613e+01] [-8.49535403e-02 -1.78059818e-03 9.96383323e-01 -9.94459899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79864 meters 0.028578147295631764 Centerline is valid? [True, True] Translation: X:141.69, Y:-87.43, Z:-9.95 [[ 7.21292096e-01 6.89706609e-01 6.35807031e-02 1.41689640e+02] [-6.87262609e-01 7.24086621e-01 -5.80402533e-02 -8.74269569e+01] [-8.60686828e-02 -1.83266395e-03 9.96287520e-01 -9.94688038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82864 meters 0.028619757277602555 Centerline is valid? [True, True] Translation: X:141.72, Y:-87.45, Z:-9.95 [[ 7.21095698e-01 6.89841875e-01 6.43364724e-02 1.41715160e+02] [-6.87335181e-01 7.23957755e-01 -5.87836591e-02 -8.74462767e+01] [-8.71283178e-02 -1.83207717e-03 9.96195412e-01 -9.94874855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85864 meters 0.02873805705695326 Centerline is valid? [True, True] Translation: X:141.74, Y:-87.47, Z:-9.95 [[ 7.21056124e-01 6.89868805e-01 6.44910702e-02 1.41740680e+02] [-6.87345254e-01 7.23932176e-01 -5.89805591e-02 -8.74668656e+01] [-8.73760086e-02 -1.79933770e-03 9.96173778e-01 -9.95063238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88864 meters 0.028610741398269406 Centerline is valid? [True, True] Translation: X:141.77, Y:-87.49, Z:-9.95 [[ 7.21319517e-01 6.89689240e-01 6.34579117e-02 1.41766867e+02] [-6.87240450e-01 7.24103471e-01 -5.80924046e-02 -8.74865904e+01] [-8.60158005e-02 -1.70765851e-03 9.96292310e-01 -9.95201419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91864 meters 0.028501320812032188 Centerline is valid? [True, True] Translation: X:141.79, Y:-87.51, Z:-9.95 [[ 7.21164745e-01 6.89946190e-01 6.24152751e-02 1.41792963e+02] [-6.87573948e-01 7.23858729e-01 -5.71892211e-02 -8.75058507e+01] [-8.46373269e-02 -1.67226712e-03 9.96410421e-01 -9.95310351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94864 meters 0.028387405005103637 Centerline is valid? [True, True] Translation: X:141.82, Y:-87.52, Z:-9.96 [[ 7.22683305e-01 6.88327804e-01 6.27190159e-02 1.41821156e+02] [-6.85922482e-01 7.25398312e-01 -5.75120696e-02 -8.75232577e+01] [-8.50834248e-02 -1.45737055e-03 9.96372765e-01 -9.95663863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97864 meters 0.02845931237681822 Centerline is valid? [True, True] Translation: X:141.85, Y:-87.54, Z:-9.96 [[ 7.23240499e-01 6.87729685e-01 6.28574589e-02 1.41845968e+02] [-6.85309392e-01 7.25965561e-01 -5.76631706e-02 -8.75442300e+01] [-8.52890246e-02 -1.37246663e-03 9.96355307e-01 -9.95873700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00864 meters 0.02810654068268981 Centerline is valid? [True, True] Translation: X:141.87, Y:-87.57, Z:-9.96 [[ 7.23850209e-01 6.87037968e-01 6.34011446e-02 1.41870811e+02] [-6.84571365e-01 7.26620374e-01 -5.81797073e-02 -8.75653518e+01] [-8.60402313e-02 -1.28921475e-03 9.96290829e-01 -9.96075102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03864000000002 meters 0.028343876971174537 Centerline is valid? [True, True] Translation: X:141.90, Y:-87.58, Z:-9.96 [[ 7.25668944e-01 6.85125881e-01 6.33017460e-02 1.41896153e+02] [-6.82658007e-01 7.28423938e-01 -5.81086250e-02 -8.75849034e+01] [-8.59222300e-02 -1.04581916e-03 9.96301298e-01 -9.96264039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864000000002 meters 0.028265469233603006 Centerline is valid? [True, True] Translation: X:141.92, Y:-87.61, Z:-9.96 [[ 7.26821306e-01 6.83991995e-01 6.23357018e-02 1.41921135e+02] [-6.81593485e-01 7.29488976e-01 -5.72377051e-02 -8.76060007e+01] [-8.46233394e-02 -8.86024643e-04 9.96412618e-01 -9.96385841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09864000000002 meters 0.027991358199361258 Centerline is valid? [True, True] Translation: X:141.95, Y:-87.63, Z:-9.96 [[ 7.29473742e-01 6.81318810e-01 6.06031233e-02 1.41946258e+02] [-6.79041395e-01 7.31986598e-01 -5.56633137e-02 -8.76264258e+01] [-8.22851367e-02 -5.47103602e-04 9.96608678e-01 -9.96455589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864000000002 meters 0.027956557369698588 Centerline is valid? [True, True] Translation: X:141.97, Y:-87.65, Z:-9.97 [[ 7.30487151e-01 6.80267582e-01 6.02041461e-02 1.41970976e+02] [-6.78015291e-01 7.32963740e-01 -5.53120299e-02 -8.76478419e+01] [-8.17544369e-02 -4.14604478e-04 9.96652417e-01 -9.96577456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15864000000002 meters 0.02800569668004052 Centerline is valid? [True, True] Translation: X:142.00, Y:-87.67, Z:-9.97 [[ 7.32084048e-01 6.78521284e-01 6.05129232e-02 1.41997259e+02] [-6.76238250e-01 7.34580713e-01 -5.56147893e-02 -8.76682745e+01] [-8.21874446e-02 -2.06453221e-04 9.96616868e-01 -9.96947731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864000000002 meters 0.028001164071282274 Centerline is valid? [True, True] Translation: X:142.02, Y:-87.69, Z:-9.97 [[ 7.32247413e-01 6.78326459e-01 6.07201905e-02 1.42021728e+02] [-6.76025251e-01 7.34760632e-01 -5.58271733e-02 -8.76896404e+01] [-8.24838543e-02 -1.69078817e-04 9.96592387e-01 -9.97313251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21864000000002 meters 0.02796747594118217 Centerline is valid? [True, True] Translation: X:142.05, Y:-87.71, Z:-9.97 [[ 7.32075672e-01 6.78500082e-01 6.08510395e-02 1.42046405e+02] [-6.76187731e-01 7.34600305e-01 -5.59691337e-02 -8.77117686e+01] [-8.26762540e-02 -1.73085159e-04 9.96576443e-01 -9.97443295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters 0.027887802604097775 Centerline is valid? [True, True] Translation: X:142.07, Y:-87.73, Z:-9.98 [[ 7.32130558e-01 6.78462746e-01 6.06065116e-02 1.42071072e+02] [-6.76167261e-01 7.34634793e-01 -5.57633977e-02 -8.77330285e+01] [-8.23570400e-02 -1.54051516e-04 9.96602877e-01 -9.97551699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27864 meters 0.027779529285525434 Centerline is valid? [True, True] Translation: X:142.10, Y:-87.75, Z:-9.98 [[ 7.32423960e-01 6.78152246e-01 6.05365466e-02 1.42095511e+02] [-6.75859643e-01 7.34921438e-01 -5.57155611e-02 -8.77549310e+01] [-8.22732388e-02 -1.06796883e-04 9.96609805e-01 -9.97684696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters 0.02790206552113641 Centerline is valid? [True, True] Translation: X:142.12, Y:-87.78, Z:-9.98 [[ 7.33686179e-01 6.76870140e-01 5.95936661e-02 1.42118973e+02] [-6.74642746e-01 7.36102446e-01 -5.48666899e-02 -8.77763045e+01] [-8.10046675e-02 5.04975479e-05 9.96713721e-01 -9.97804641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33864 meters 0.02794153815377824 Centerline is valid? [True, True] Translation: X:142.14, Y:-87.80, Z:-9.98 [[ 7.34288576e-01 6.76239985e-01 5.93276455e-02 1.42142479e+02] [-6.74029285e-01 7.36681387e-01 -5.46356790e-02 -8.77982636e+01] [-8.06524029e-02 1.29784481e-04 9.96742280e-01 -9.97985685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters 0.027910917699679412 Centerline is valid? [True, True] Translation: X:142.17, Y:-87.82, Z:-9.98 [[ 7.34571797e-01 6.75897236e-01 5.97260481e-02 1.42165995e+02] [-6.73654416e-01 7.36995857e-01 -5.50166759e-02 -8.78200788e+01] [-8.12034692e-02 1.78982412e-04 9.96697529e-01 -9.98230033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39864 meters 0.028118460519851913 Centerline is valid? [True, True] Translation: X:142.19, Y:-87.84, Z:-9.98 [[ 7.34678678e-01 6.75588895e-01 6.18618182e-02 1.42189760e+02] [-6.73180167e-01 7.37278503e-01 -5.69988713e-02 -8.78414851e+01] [-8.41171931e-02 2.31706284e-04 9.96455842e-01 -9.98480912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters 0.028282651105077307 Centerline is valid? [True, True] Translation: X:142.21, Y:-87.86, Z:-9.99 [[ 7.34529090e-01 6.75710905e-01 6.23040030e-02 1.42212862e+02] [-6.73266755e-01 7.37166684e-01 -5.74208752e-02 -8.78634592e+01] [-8.47283468e-02 2.30089275e-04 9.96404062e-01 -9.98677755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45864 meters 0.028077917599685528 Centerline is valid? [True, True] Translation: X:142.24, Y:-87.89, Z:-9.99 [[ 7.34002803e-01 6.76272254e-01 6.24157349e-02 1.42236253e+02] [-6.73819883e-01 7.36651754e-01 -5.75409262e-02 -8.78861431e+01] [-8.48919924e-02 1.78237863e-04 9.96390143e-01 -9.98816979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48864 meters 0.027868755389079656 Centerline is valid? [True, True] Translation: X:142.26, Y:-87.91, Z:-9.99 [[ 7.33304987e-01 6.77285805e-01 5.95628561e-02 1.42260250e+02] [-6.75054616e-01 7.35720010e-01 -5.49302538e-02 -8.79080640e+01] [-8.10250662e-02 7.24481079e-05 9.96712061e-01 -9.98810506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51864 meters 0.02793336430127545 Centerline is valid? [True, True] Translation: X:142.28, Y:-87.93, Z:-9.99 [[ 7.33382063e-01 6.77224415e-01 5.93113908e-02 1.42284222e+02] [-6.75010520e-01 7.35776517e-01 -5.47148479e-02 -8.79293389e+01] [-8.06941594e-02 9.10753205e-05 9.96738905e-01 -9.99068037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54864 meters 0.028063244647067154 Centerline is valid? [True, True] Translation: X:142.31, Y:-87.95, Z:-9.99 [[ 7.33444327e-01 6.77043597e-01 6.05919726e-02 1.42307165e+02] [-6.74731074e-01 7.35942900e-01 -5.59108732e-02 -8.79519741e+01] [-8.24463307e-02 1.24226006e-04 9.96595498e-01 -9.99382185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57864 meters 0.028015519109212583 Centerline is valid? [True, True] Translation: X:142.33, Y:-87.97, Z:-9.99 [[ 7.34570657e-01 6.75705914e-01 6.18665345e-02 1.42331045e+02] [-6.73288912e-01 7.37171238e-01 -5.71017249e-02 -8.79739796e+01] [-8.41902030e-02 2.91199824e-04 9.96449660e-01 -9.99449720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60864 meters 0.02841159418664414 Centerline is valid? [True, True] Translation: X:142.36, Y:-88.00, Z:-10.00 [[ 7.35651857e-01 6.74478577e-01 6.24098958e-02 1.42355193e+02] [-6.72013186e-01 7.38294284e-01 -5.76179516e-02 -8.79957277e+01] [-8.49389434e-02 4.46480166e-04 9.96386058e-01 -9.99697540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63864 meters 0.028218969738635212 Centerline is valid? [True, True] Translation: X:142.38, Y:-88.02, Z:-10.00 [[ 7.37901116e-01 6.72198874e-01 6.04203385e-02 1.42378591e+02] [-6.69879551e-01 7.40370304e-01 -5.57960584e-02 -8.80185571e+01] [-8.22394720e-02 6.97624481e-04 9.96612353e-01 -9.99754218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66864 meters 0.028257663705009404 Centerline is valid? [True, True] Translation: X:142.40, Y:-88.04, Z:-10.00 [[ 7.38465032e-01 6.71639577e-01 5.97467628e-02 1.42401283e+02] [-6.69368617e-01 7.40877652e-01 -5.51902057e-02 -8.80414842e+01] [-8.13329677e-02 7.63428996e-04 9.96686694e-01 -1.00001531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69864 meters 0.028527986502207656 Centerline is valid? [True, True] Translation: X:142.42, Y:-88.06, Z:-10.00 [[ 7.40065170e-01 6.69887147e-01 5.96217622e-02 1.42423665e+02] [-6.67618875e-01 7.42462308e-01 -5.50886466e-02 -8.80647739e+01] [-8.11700875e-02 9.64574867e-04 9.96699798e-01 -1.00018608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72864 meters 0.028714386560192377 Centerline is valid? [True, True] Translation: X:142.45, Y:-88.09, Z:-10.00 [[ 7.40980665e-01 6.68961629e-01 5.86344027e-02 1.42446590e+02] [-6.66764010e-01 7.43296186e-01 -5.41898115e-02 -8.80872439e+01] [-7.98336324e-02 1.05829311e-03 9.96807640e-01 -1.00031374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75864 meters 0.02871614922493362 Centerline is valid? [True, True] Translation: X:142.47, Y:-88.11, Z:-10.01 [[ 7.41309998e-01 6.68512382e-01 5.95876008e-02 1.42468560e+02] [-6.66239948e-01 7.43700145e-01 -5.50856289e-02 -8.81107968e+01] [-8.11407323e-02 1.13588745e-03 9.96702007e-01 -1.00062448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864000000002 meters 0.028810495067914103 Centerline is valid? [True, True] Translation: X:142.49, Y:-88.14, Z:-10.01 [[ 7.41300000e-01 6.68448895e-01 6.04184209e-02 1.42488522e+02] [-6.66110968e-01 7.43757154e-01 -5.58701637e-02 -8.81361558e+01] [-8.22829820e-02 1.17117951e-03 9.96608318e-01 -1.00090335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81864000000002 meters 0.028806916013483144 Centerline is valid? [True, True] Translation: X:142.51, Y:-88.16, Z:-10.01 [[ 7.41286516e-01 6.68489139e-01 6.01379393e-02 1.42511376e+02] [-6.66171894e-01 7.43720981e-01 -5.56247234e-02 -8.81590243e+01] [-8.19103707e-02 1.17165253e-03 9.96639011e-01 -1.00092620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864000000002 meters 0.02869129692613649 Centerline is valid? [True, True] Translation: X:142.53, Y:-88.18, Z:-10.01 [[ 7.39387312e-01 6.70537641e-01 6.07097581e-02 1.42533969e+02] [-6.68180653e-01 7.41874870e-01 -5.61808922e-02 -8.81824391e+01] [-8.27104468e-02 9.74353065e-04 9.96573145e-01 -1.00126181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87864000000002 meters 0.028556647095213668 Centerline is valid? [True, True] Translation: X:142.56, Y:-88.21, Z:-10.01 [[ 7.38230593e-01 6.71829019e-01 6.05091714e-02 1.42556598e+02] [-6.69487475e-01 7.40705756e-01 -5.60491221e-02 -8.82051569e+01] [-8.24749183e-02 8.67044272e-04 9.96592763e-01 -1.00149251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864000000002 meters 0.028323486104450454 Centerline is valid? [True, True] Translation: X:142.58, Y:-88.23, Z:-10.02 [[ 7.36051805e-01 6.74295349e-01 5.96114267e-02 1.42578412e+02] [-6.72027796e-01 7.38461515e-01 -5.52560650e-02 -8.82285718e+01] [-8.12796521e-02 6.10790678e-04 9.96691148e-01 -1.00160530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93864000000002 meters 0.028313017011824485 Centerline is valid? [True, True] Translation: X:142.60, Y:-88.25, Z:-10.02 [[ 7.33802829e-01 6.76644797e-01 6.07060686e-02 1.42602464e+02] [-6.74298547e-01 7.36309496e-01 -5.63009423e-02 -8.82513483e+01] [-8.27941944e-02 3.79776902e-04 9.96566594e-01 -1.00179170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864000000002 meters 0.02825958195197329 Centerline is valid? [True, True] Translation: X:142.63, Y:-88.27, Z:-10.02 [[ 7.32326636e-01 6.78283060e-01 6.02477270e-02 1.42626341e+02] [-6.75973198e-01 7.34800678e-01 -5.59303118e-02 -8.82732124e+01] [-8.22066536e-02 2.33408432e-04 9.96615278e-01 -1.00192735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99864 meters 0.028026840801179332 Centerline is valid? [True, True] Translation: X:142.65, Y:-88.30, Z:-10.02 [[ 7.31141468e-01 6.79543840e-01 6.04344558e-02 1.42650462e+02] [-6.77219578e-01 7.33634890e-01 -5.61559485e-02 -8.82957293e+01] [-8.24972542e-02 1.30545940e-04 9.96591283e-01 -1.00206637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters 0.028026840801179332 Centerline is valid? [True, True] Translation: X:142.67, Y:-88.32, Z:-10.02 [[ 7.30794042e-01 6.79920008e-01 6.04057209e-02 1.42674542e+02] [-6.77594475e-01 7.33286279e-01 -5.61868459e-02 -8.83176451e+01] [-8.24972470e-02 1.30429516e-04 9.96591284e-01 -1.00225215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05864 meters 0.027981900753399708 Centerline is valid? [True, True] Translation: X:142.70, Y:-88.34, Z:-10.03 [[ 7.27852528e-01 6.83017936e-01 6.09688178e-02 1.42698541e+02] [-6.80654665e-01 7.30401580e-01 -5.67693591e-02 -8.83402690e+01] [-8.33062113e-02 -1.78988694e-04 9.96523980e-01 -1.00258477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters 0.02785117262705004 Centerline is valid? [True, True] Translation: X:142.72, Y:-88.36, Z:-10.03 [[ 7.26398987e-01 6.84561004e-01 6.09978999e-02 1.42723259e+02] [-6.82196003e-01 7.28955509e-01 -5.68548993e-02 -8.83617223e+01] [-8.33854021e-02 -3.13182260e-04 9.96517324e-01 -1.00268848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11864 meters 0.027917333026754587 Centerline is valid? [True, True] Translation: X:142.75, Y:-88.38, Z:-10.03 [[ 7.23523905e-01 6.87637822e-01 6.05589313e-02 1.42749474e+02] [-6.85312701e-01 7.26053607e-01 -5.65036410e-02 -8.83814112e+01] [-8.28230712e-02 -6.20069761e-04 9.96564074e-01 -1.00280480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters 0.027847395288458636 Centerline is valid? [True, True] Translation: X:142.77, Y:-88.40, Z:-10.03 [[ 7.22355481e-01 6.88832915e-01 6.09243257e-02 1.42774193e+02] [-6.86479707e-01 7.24919781e-01 -5.68939634e-02 -8.84017578e+01] [-8.33556835e-02 -7.25646985e-04 9.96519595e-01 -1.00297382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17864 meters 0.028007772155188567 Centerline is valid? [True, True] Translation: X:142.80, Y:-88.42, Z:-10.03 [[ 7.22574739e-01 6.88623832e-01 6.06874364e-02 1.42799315e+02] [-6.86286201e-01 7.25118441e-01 -5.66965295e-02 -8.84222343e+01] [-8.30481607e-02 -6.81470160e-04 9.96545302e-01 -1.00317415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters 0.027828210132814345 Centerline is valid? [True, True] Translation: X:142.82, Y:-88.44, Z:-10.03 [[ 7.22552226e-01 6.88598433e-01 6.12411612e-02 1.42823856e+02] [-6.86216513e-01 7.25142568e-01 -5.72289478e-02 -8.84425010e+01] [-8.38163366e-02 -6.73792520e-04 9.96480992e-01 -1.00337570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23864 meters 0.02782889920688954 Centerline is valid? [True, True] Translation: X:142.85, Y:-88.46, Z:-10.04 [[ 7.22770075e-01 6.88399001e-01 6.09116977e-02 1.42850671e+02] [-6.86040749e-01 7.25331931e-01 -5.69357612e-02 -8.84612254e+01] [-8.33757205e-02 -6.36442323e-04 9.96517980e-01 -1.00359415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26864 meters 0.027851905504296517 Centerline is valid? [True, True] Translation: X:142.88, Y:-88.48, Z:-10.04 [[ 7.23015070e-01 6.88132736e-01 6.10126773e-02 1.42877015e+02] [-6.85764257e-01 7.25584581e-01 -5.70473394e-02 -8.84818604e+01] [-8.35259996e-02 -5.94227252e-04 9.96505421e-01 -1.00379299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29864 meters 0.027716237863313502 Centerline is valid? [True, True] Translation: X:142.90, Y:-88.50, Z:-10.04 [[ 7.23790810e-01 6.87347046e-01 6.06704377e-02 1.42904053e+02] [-6.85000703e-01 7.26328990e-01 -5.67471149e-02 -8.85003091e+01] [-8.30716595e-02 -4.86252239e-04 9.96543458e-01 -1.00399616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32864 meters 0.02782951031289283 Centerline is valid? [True, True] Translation: X:142.93, Y:-88.52, Z:-10.04 [[ 7.24313708e-01 6.86817132e-01 6.04307831e-02 1.42928902e+02] [-6.84486270e-01 7.26830143e-01 -5.65375007e-02 -8.85209590e+01] [-8.27538387e-02 -4.13154530e-04 9.96569933e-01 -1.00417570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35864 meters 0.027810833202615803 Centerline is valid? [True, True] Translation: X:142.95, Y:-88.54, Z:-10.04 [[ 7.24543768e-01 6.86589430e-01 6.02601329e-02 1.42953662e+02] [-6.84269754e-01 7.27045263e-01 -5.63922862e-02 -8.85413851e+01] [-8.25301918e-02 -3.75506787e-04 9.96588494e-01 -1.00437240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38864 meters 0.02765185742760655 Centerline is valid? [True, True] Translation: X:142.98, Y:-88.56, Z:-10.04 [[ 7.25798781e-01 6.85299717e-01 5.98366770e-02 1.42980726e+02] [-6.83007023e-01 7.28261115e-01 -5.60103110e-02 -8.85599520e+01] [-8.19605753e-02 -2.16655199e-04 9.96635549e-01 -1.00435810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41864 meters 0.0277914321000259 Centerline is valid? [True, True] Translation: X:143.01, Y:-88.58, Z:-10.05 [[ 7.26134284e-01 6.84888740e-01 6.04683035e-02 1.43005013e+02] [-6.82544670e-01 7.28647643e-01 -5.66161161e-02 -8.85804855e+01] [-8.28358272e-02 -1.61415304e-04 9.96563194e-01 -1.00468922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44864 meters 0.027920288011478344 Centerline is valid? [True, True] Translation: X:143.03, Y:-88.60, Z:-10.05 [[ 7.28503509e-01 6.82333799e-01 6.08541217e-02 1.43029996e+02] [-6.79949514e-01 7.31040742e-01 -5.69920361e-02 -8.86007011e+01] [-8.33744348e-02 1.41167747e-04 9.96518281e-01 -1.00491302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47864 meters 0.02805084637136918 Centerline is valid? [True, True] Translation: X:143.05, Y:-88.62, Z:-10.05 [[ 7.29604383e-01 6.81206645e-01 6.02905569e-02 1.43054555e+02] [-6.78861364e-01 7.32091134e-01 -5.64784876e-02 -8.86220798e+01] [-8.26117033e-02 2.78022413e-04 9.96581772e-01 -1.00508423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50864 meters 0.028182678985265205 Centerline is valid? [True, True] Translation: X:143.08, Y:-88.64, Z:-10.05 [[ 7.32051489e-01 6.78613704e-01 5.98669976e-02 1.43079443e+02] [-6.76291467e-01 7.34495137e-01 -5.60958529e-02 -8.86422279e+01] [-8.20394332e-02 5.77512991e-04 9.96628917e-01 -1.00528505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53864000000002 meters 0.0282206437762737 Centerline is valid? [True, True] Translation: X:143.10, Y:-88.66, Z:-10.05 [[ 7.32391457e-01 6.78299225e-01 5.92698571e-02 1.43102821e+02] [-6.76021001e-01 7.34785534e-01 -5.55502006e-02 -8.86637571e+01] [-8.12302916e-02 6.16824223e-04 9.96695169e-01 -1.00544710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864000000002 meters 0.02817698095548381 Centerline is valid? [True, True] Translation: X:143.13, Y:-88.69, Z:-10.06 [[ 7.33244179e-01 6.77415036e-01 5.88374240e-02 1.43126994e+02] [-6.75166035e-01 7.35600674e-01 -5.51586307e-02 -8.86856068e+01] [-8.06461346e-02 7.19714675e-04 9.96742536e-01 -1.00557048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59864000000002 meters 0.02849823433859453 Centerline is valid? [True, True] Translation: X:143.15, Y:-88.71, Z:-10.06 [[ 7.34056520e-01 6.76521585e-01 5.89878854e-02 1.43151047e+02] [-6.74257206e-01 7.36422337e-01 -5.53115037e-02 -8.87063110e+01] [-8.08594226e-02 8.28763049e-04 9.96725171e-01 -1.00585003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864000000002 meters 0.028335551886552807 Centerline is valid? [True, True] Translation: X:143.17, Y:-88.73, Z:-10.06 [[ 7.33814947e-01 6.76807986e-01 5.87075274e-02 1.43174260e+02] [-6.74565316e-01 7.36159161e-01 -5.50574516e-02 -8.87280524e+01] [-8.04814070e-02 7.99919195e-04 9.96755789e-01 -1.00593799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65864000000002 meters 0.02847490237137647 Centerline is valid? [True, True] Translation: X:143.20, Y:-88.75, Z:-10.06 [[ 7.33463244e-01 6.77052596e-01 6.02615293e-02 1.43197329e+02] [-6.74689048e-01 7.35934193e-01 -5.65292130e-02 -8.87504190e+01] [-8.26217703e-02 8.04306164e-04 9.96580652e-01 -1.00627198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68864000000002 meters 0.02879954130090812 Centerline is valid? [True, True] Translation: X:143.22, Y:-88.77, Z:-10.06 [[ 7.33458623e-01 6.77047095e-01 6.03794551e-02 1.43220935e+02] [-6.74673074e-01 7.35939239e-01 -5.66540354e-02 -8.87720095e+01] [-8.27930603e-02 8.16998212e-04 9.96566426e-01 -1.00645369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71864000000002 meters 0.028669055596753805 Centerline is valid? [True, True] Translation: X:143.24, Y:-88.79, Z:-10.07 [[ 7.32966663e-01 6.77555444e-01 6.06505652e-02 1.43244830e+02] [-6.75160566e-01 7.35471293e-01 -5.69226484e-02 -8.87932581e+01] [-8.31749999e-02 7.73533775e-04 9.96534656e-01 -1.00661868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters 0.028541904455542996 Centerline is valid? [True, True] Translation: X:143.27, Y:-88.82, Z:-10.07 [[ 7.32973806e-01 6.77657235e-01 5.94144068e-02 1.43268847e+02] [-6.75358364e-01 7.35377522e-01 -5.57761697e-02 -8.88152994e+01] [-8.14891442e-02 7.56454772e-04 9.96673942e-01 -1.00675530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77864 meters 0.028805004015272015 Centerline is valid? [True, True] Translation: X:143.29, Y:-88.84, Z:-10.07 [[ 7.34311918e-01 6.76213230e-01 5.93436993e-02 1.43292458e+02] [-6.73913991e-01 7.36705376e-01 -5.57236174e-02 -8.88368243e+01] [-8.13998696e-02 9.25967164e-04 9.96681094e-01 -1.00691779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80864 meters 0.0291314712807155 Centerline is valid? [True, True] Translation: X:143.32, Y:-88.86, Z:-10.07 [[ 7.36980361e-01 6.73340653e-01 5.89263289e-02 1.43316302e+02] [-6.71063391e-01 7.39331329e-01 -5.53453839e-02 -8.88589866e+01] [-8.08323780e-02 1.24515891e-03 9.96726932e-01 -1.00702347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83864 meters 0.02948137290200163 Centerline is valid? [True, True] Translation: X:143.34, Y:-88.88, Z:-10.07 [[ 7.37793050e-01 6.72365967e-01 5.98783998e-02 1.43339547e+02] [-6.70010028e-01 7.40217597e-01 -5.62536457e-02 -8.88815513e+01] [-8.21460820e-02 1.38442053e-03 9.96619338e-01 -1.00724734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86864 meters 0.029406466256222844 Centerline is valid? [True, True] Translation: X:143.36, Y:-88.90, Z:-10.07 [[ 7.38682847e-01 6.71470139e-01 5.89534085e-02 1.43362313e+02] [-6.69182607e-01 7.41030153e-01 -5.53981129e-02 -8.89040572e+01] [-8.08844320e-02 1.47104020e-03 9.96722401e-01 -1.00733111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89864 meters 0.02974451600282224 Centerline is valid? [True, True] Translation: X:143.39, Y:-88.93, Z:-10.08 [[ 7.39138176e-01 6.70877912e-01 5.99798680e-02 1.43385060e+02] [-6.68506787e-01 7.41566149e-01 -5.63766172e-02 -8.89272262e+01] [-8.23008669e-02 1.57316117e-03 9.96606288e-01 -1.00753224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters 0.029640676503541415 Centerline is valid? [True, True] Translation: X:143.41, Y:-88.95, Z:-10.08 [[ 7.38854517e-01 6.71205130e-01 5.98136804e-02 1.43407505e+02] [-6.68847086e-01 7.41270055e-01 -5.62341611e-02 -8.89508576e+01] [-8.20827476e-02 1.54265806e-03 9.96624324e-01 -1.00763141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95864 meters 0.02960822449140601 Centerline is valid? [True, True] Translation: X:143.43, Y:-88.97, Z:-10.08 [[ 7.38591697e-01 6.71595283e-01 5.86692453e-02 1.43429779e+02] [-6.69326839e-01 7.40916717e-01 -5.51724589e-02 -8.89748714e+01] [-8.05225878e-02 1.48101950e-03 9.96751684e-01 -1.00778984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98864 meters 0.029397836180914773 Centerline is valid? [True, True] Translation: X:143.45, Y:-89.00, Z:-10.08 [[ 7.37526457e-01 6.72779616e-01 5.85005486e-02 1.43452271e+02] [-6.70526656e-01 7.39841699e-01 -5.50296653e-02 -8.89974272e+01] [-8.03039823e-02 1.35965685e-03 9.96769493e-01 -1.00799063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01864 meters 0.02915666101531093 Centerline is valid? [True, True] Translation: X:143.47, Y:-89.02, Z:-10.08 [[ 7.36512480e-01 6.73961973e-01 5.76595683e-02 1.43474925e+02] [-6.71775993e-01 7.38765026e-01 -5.42517475e-02 -8.90203441e+01] [-7.91604873e-02 1.22277538e-03 9.96861135e-01 -1.00808605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04864 meters 0.02883919475581592 Centerline is valid? [True, True] Translation: X:143.50, Y:-89.04, Z:-10.08 [[ 7.33768282e-01 6.76884245e-01 5.84108522e-02 1.43496966e+02] [-6.74648942e-01 7.36088890e-01 -5.49722763e-02 -8.90433606e+01] [-8.02054471e-02 9.30093068e-04 9.96777920e-01 -1.00833097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07864 meters 0.028710383165433655 Centerline is valid? [True, True] Translation: X:143.52, Y:-89.07, Z:-10.08 [[ 7.32731161e-01 6.77940497e-01 5.91753950e-02 1.43520372e+02] [-6.75648488e-01 7.35116306e-01 -5.57058019e-02 -8.90661169e+01] [-8.12660168e-02 8.35610766e-04 9.96692097e-01 -1.00847889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10864 meters 0.0284615770146791 Centerline is valid? [True, True] Translation: X:143.54, Y:-89.09, Z:-10.09 [[ 7.31743992e-01 6.79160911e-01 5.73688789e-02 1.43543692e+02] [-6.77009620e-01 7.33989090e-01 -5.40184256e-02 -8.90878267e+01] [-7.87953343e-02 6.88375495e-04 9.96890576e-01 -1.00865409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13864 meters 0.028445967594860427 Centerline is valid? [True, True] Translation: X:143.57, Y:-89.11, Z:-10.09 [[ 7.31305682e-01 6.79611040e-01 5.76266770e-02 1.43567262e+02] [-6.77440647e-01 7.33572361e-01 -5.42748699e-02 -8.91098625e+01] [-7.91591383e-02 6.52867467e-04 9.96861778e-01 -1.00890232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16864 meters 0.02859669514066431 Centerline is valid? [True, True] Translation: X:143.59, Y:-89.13, Z:-10.09 [[ 7.31989487e-01 6.78885132e-01 5.75010246e-02 1.43590963e+02] [-6.76720893e-01 7.34244121e-01 -5.41701278e-02 -8.91311026e+01] [-7.89950836e-02 7.39819319e-04 9.96874731e-01 -1.00915186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19864 meters 0.028792998832003463 Centerline is valid? [True, True] Translation: X:143.62, Y:-89.15, Z:-10.09 [[ 7.33700383e-01 6.76968063e-01 5.82922885e-02 1.43615444e+02] [-6.74736588e-01 7.36011754e-01 -5.49293642e-02 -8.91517938e+01] [-8.00892347e-02 9.69755641e-04 9.96787226e-01 -1.00937622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22864 meters 0.02886085611744944 Centerline is valid? [True, True] Translation: X:143.64, Y:-89.17, Z:-10.10 [[ 7.34801902e-01 6.75811466e-01 5.78362053e-02 1.43638922e+02] [-6.73610029e-01 7.37073711e-01 -5.45148941e-02 -8.91748175e+01] [-7.94713369e-02 1.09859992e-03 9.96836546e-01 -1.00952960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25864 meters 0.02896208328438202 Centerline is valid? [True, True] Translation: X:143.66, Y:-89.20, Z:-10.10 [[ 7.36315066e-01 6.74203352e-01 5.73582077e-02 1.43661625e+02] [-6.72031901e-01 7.38544659e-01 -5.40824416e-02 -8.91976812e+01] [-7.88241614e-02 1.27517118e-03 9.96887720e-01 -1.00964427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864000000002 meters 0.02945927265206762 Centerline is valid? [True, True] Translation: X:143.68, Y:-89.22, Z:-10.10 [[ 7.38750705e-01 6.71568629e-01 5.69471065e-02 1.43683690e+02] [-6.69419439e-01 7.40940726e-01 -5.37071221e-02 -8.92205730e+01] [-7.82624487e-02 1.55467424e-03 9.96931578e-01 -1.00972002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31864000000002 meters 0.02957948767830974 Centerline is valid? [True, True] Translation: X:143.71, Y:-89.24, Z:-10.10 [[ 7.39209585e-01 6.71029043e-01 5.73516627e-02 1.43706656e+02] [-6.68846670e-01 7.41429270e-01 -5.40996333e-02 -8.92434777e+01] [-7.88246265e-02 1.63149887e-03 9.96887163e-01 -1.00992564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864000000002 meters 0.030015953258875405 Centerline is valid? [True, True] Translation: X:143.73, Y:-89.27, Z:-10.10 [[ 7.41025545e-01 6.69009632e-01 5.75087394e-02 1.43727624e+02] [-6.66807935e-01 7.43251398e-01 -5.42635955e-02 -8.92673353e+01] [-7.90463190e-02 1.86342670e-03 9.96869203e-01 -1.01015346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37864000000002 meters 0.030274810229560235 Centerline is valid? [True, True] Translation: X:143.75, Y:-89.29, Z:-10.10 [[ 7.41739993e-01 6.68192695e-01 5.77953796e-02 1.43749832e+02] [-6.65964903e-01 7.43985633e-01 -5.45538910e-02 -8.92912270e+01] [-7.94514435e-02 1.97510835e-03 9.96836781e-01 -1.01037103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864000000002 meters 0.030427946226563234 Centerline is valid? [True, True] Translation: X:143.77, Y:-89.32, Z:-10.11 [[ 7.42185601e-01 6.67670714e-01 5.81063793e-02 1.43771594e+02] [-6.65416179e-01 7.44453899e-01 -5.48607493e-02 -8.93154773e+01] [-7.98864363e-02 2.05193329e-03 9.96801859e-01 -1.01055840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43864000000002 meters 0.030754779389283626 Centerline is valid? [True, True] Translation: X:143.79, Y:-89.34, Z:-10.11 [[ 7.43467695e-01 6.66289708e-01 5.75657218e-02 1.43792443e+02] [-6.64071833e-01 7.45689769e-01 -5.43633099e-02 -8.93399473e+01] [-7.91478837e-02 2.18959027e-03 9.96860481e-01 -1.01065512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864000000002 meters 0.03117551694037198 Centerline is valid? [True, True] Translation: X:143.81, Y:-89.36, Z:-10.11 [[ 7.44411668e-01 6.65170222e-01 5.83081816e-02 1.43814188e+02] [-6.62890167e-01 7.46688060e-01 -5.50778262e-02 -8.93633963e+01] [-8.01741529e-02 2.34865619e-03 9.96778104e-01 -1.01086617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49864 meters 0.031109334255367445 Centerline is valid? [True, True] Translation: X:143.84, Y:-89.39, Z:-10.11 [[ 7.44747125e-01 6.64765251e-01 5.86419713e-02 1.43835167e+02] [-6.62456649e-01 7.47048408e-01 -5.54063608e-02 -8.93874714e+01] [-8.06406147e-02 2.41596417e-03 9.96740314e-01 -1.01104792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters 0.03129139674730679 Centerline is valid? [True, True] Translation: X:143.85, Y:-89.41, Z:-10.11 [[ 7.45665608e-01 6.63806586e-01 5.78240242e-02 1.43854562e+02] [-6.61557408e-01 7.47900102e-01 -5.46555914e-02 -8.94133345e+01] [-7.95273352e-02 2.50088326e-03 9.96829548e-01 -1.01124838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55864 meters 0.031264021597210825 Centerline is valid? [True, True] Translation: X:143.88, Y:-89.44, Z:-10.12 [[ 7.44782163e-01 6.64790083e-01 5.79109197e-02 1.43876407e+02] [-6.62533429e-01 7.47026252e-01 -5.47835180e-02 -8.94368841e+01] [-7.96805168e-02 2.43386687e-03 9.96817482e-01 -1.01150691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters 0.03093591606443072 Centerline is valid? [True, True] Translation: X:143.90, Y:-89.46, Z:-10.12 [[ 7.43344255e-01 6.66296108e-01 5.90661952e-02 1.43897670e+02] [-6.63949032e-01 7.45683545e-01 -5.59261502e-02 -8.94629673e+01] [-8.13080660e-02 2.35543932e-03 9.96686235e-01 -1.01173736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61864 meters 0.03081311222196376 Centerline is valid? [True, True] Translation: X:143.92, Y:-89.49, Z:-10.12 [[ 7.42128870e-01 6.67591100e-01 5.97232346e-02 1.43920156e+02] [-6.65191073e-01 7.44524632e-01 -5.66030803e-02 -8.94867097e+01] [-8.22531319e-02 2.27941750e-03 9.96608863e-01 -1.01192832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters 0.03063316122435699 Centerline is valid? [True, True] Translation: X:143.94, Y:-89.51, Z:-10.12 [[ 7.40233774e-01 6.69652716e-01 6.01597775e-02 1.43942191e+02] [-6.67219758e-01 7.42671399e-01 -5.70700214e-02 -8.95104737e+01] [-8.28960410e-02 2.10536518e-03 9.96555976e-01 -1.01216302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67864 meters 0.03022991536208904 Centerline is valid? [True, True] Translation: X:143.96, Y:-89.54, Z:-10.12 [[ 7.37654064e-01 6.72542738e-01 5.96049344e-02 1.43962924e+02] [-6.70159992e-01 7.40056097e-01 -5.65911560e-02 -8.95353074e+01] [-8.21709661e-02 1.79985383e-03 9.96616623e-01 -1.01232530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters 0.029416700312451916 Centerline is valid? [True, True] Translation: X:143.99, Y:-89.56, Z:-10.12 [[ 7.35648114e-01 6.74745745e-01 5.94981682e-02 1.43985587e+02] [-6.72375468e-01 7.38048563e-01 -5.65291750e-02 -8.95588562e+01] [-8.20553579e-02 1.58047226e-03 9.96626520e-01 -1.01248672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73864 meters 0.029104394901686405 Centerline is valid? [True, True] Translation: X:144.01, Y:-89.58, Z:-10.13 [[ 7.32064241e-01 6.78548266e-01 6.04499532e-02 1.44007556e+02] [-6.76111743e-01 7.34554844e-01 -5.74638296e-02 -8.95820860e+01] [-8.33957879e-02 1.19629160e-03 9.96515786e-01 -1.01278304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76864 meters 0.028924014742939277 Centerline is valid? [True, True] Translation: X:144.03, Y:-89.61, Z:-10.13 [[ 7.29559547e-01 6.81146824e-01 6.14969307e-02 1.44030472e+02] [-6.78629598e-01 7.32146223e-01 -5.85130432e-02 -8.96064164e+01] [-8.48807191e-02 9.55111909e-04 9.96390662e-01 -1.01298132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79864 meters 0.028604826737435418 Centerline is valid? [True, True] Translation: X:144.05, Y:-89.63, Z:-10.13 [[ 7.28243002e-01 6.82550816e-01 6.15346449e-02 1.44053592e+02] [-6.80031613e-01 7.30837671e-01 -5.85944056e-02 -8.96295030e+01] [-8.49654960e-02 8.25461992e-04 9.96383552e-01 -1.01314833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82864 meters 0.028579542146178954 Centerline is valid? [True, True] Translation: X:144.08, Y:-89.65, Z:-10.13 [[ 7.25429851e-01 6.85560768e-01 6.13022350e-02 1.44077436e+02] [-6.83069715e-01 7.28015245e-01 -5.83914941e-02 -8.96517585e+01] [-8.46598792e-02 4.85232615e-04 9.96409790e-01 -1.01330762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85864 meters 0.0284736533726726 Centerline is valid? [True, True] Translation: X:144.10, Y:-89.67, Z:-10.13 [[ 7.23667628e-01 6.87424404e-01 6.12605348e-02 1.44102462e+02] [-6.84940696e-01 7.26255881e-01 -5.83835464e-02 -8.96736621e+01] [-8.46250982e-02 2.90449249e-04 9.96412820e-01 -1.01346755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88864 meters 0.02856585563319313 Centerline is valid? [True, True] Translation: X:144.13, Y:-89.70, Z:-10.14 [[ 7.22140794e-01 6.89012987e-01 6.14310812e-02 1.44127262e+02] [-6.86516031e-01 7.24748979e-01 -5.86059450e-02 -8.96961566e+01] [-8.49023706e-02 1.48321586e-04 9.96389264e-01 -1.01371534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91864 meters 0.028525692248489734 Centerline is valid? [True, True] Translation: X:144.15, Y:-89.72, Z:-10.14 [[ 7.20761641e-01 6.90432260e-01 6.16923919e-02 1.44152732e+02] [-6.87913986e-01 7.23397052e-01 -5.89156531e-02 -8.97176702e+01] [-8.53053619e-02 2.50836062e-05 9.96354854e-01 -1.01397245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94864 meters 0.028525692248489734 Centerline is valid? [True, True] Translation: X:144.18, Y:-89.74, Z:-10.14 [[ 7.20410993e-01 6.90800805e-01 6.16623736e-02 1.44176508e+02] [-6.88281191e-01 7.23045121e-01 -5.89470596e-02 -8.97399072e+01] [-8.53053546e-02 2.50578466e-05 9.96354854e-01 -1.01415824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97864 meters 0.028642982156263104 Centerline is valid? [True, True] Translation: X:144.20, Y:-89.76, Z:-10.14 [[ 7.20815820e-01 6.90454408e-01 6.08051305e-02 1.44201009e+02] [-6.87998497e-01 7.23375905e-01 -5.81839150e-02 -8.97612046e+01] [-8.41583068e-02 1.06048042e-04 9.96452391e-01 -1.01434183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00864 meters 0.028701589263844154 Centerline is valid? [True, True] Translation: X:144.23, Y:-89.78, Z:-10.15 [[ 7.21566049e-01 6.89629679e-01 6.12645309e-02 1.44226153e+02] [-6.87128807e-01 7.24162169e-01 -5.86784139e-02 -8.97823308e+01] [-8.48318313e-02 2.43727259e-04 9.96395253e-01 -1.01457915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03864000000002 meters 0.02882327232620489 Centerline is valid? [True, True] Translation: X:144.25, Y:-89.80, Z:-10.15 [[ 7.22004843e-01 6.89148531e-01 6.15086083e-02 1.44250105e+02] [-6.86620785e-01 7.24620027e-01 -5.89721472e-02 -8.98048148e+01] [-8.52109380e-02 3.45086988e-04 9.96362874e-01 -1.01471069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864000000002 meters 0.028849528436013447 Centerline is valid? [True, True] Translation: X:144.27, Y:-89.83, Z:-10.15 [[ 7.22566496e-01 6.88609224e-01 6.09507529e-02 1.44274294e+02] [-6.86120300e-01 7.25132495e-01 -5.84961400e-02 -8.98273048e+01] [-8.44783532e-02 4.47802087e-04 9.96425214e-01 -1.01492767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09864000000002 meters 0.028938443185036786 Centerline is valid? [True, True] Translation: X:144.30, Y:-89.85, Z:-10.15 [[ 7.23690006e-01 6.87483731e-01 6.03232522e-02 1.44298738e+02] [-6.85038142e-01 7.26199526e-01 -5.79395573e-02 -8.98490095e+01] [-8.36392202e-02 6.06550012e-04 9.96495917e-01 -1.01509232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864000000002 meters 0.028855775889667323 Centerline is valid? [True, True] Translation: X:144.32, Y:-89.87, Z:-10.15 [[ 7.23973347e-01 6.87238885e-01 5.97102036e-02 1.44323277e+02] [-6.84839489e-01 7.26431202e-01 -5.73810279e-02 -8.98716155e+01] [-8.28098286e-02 6.50429460e-04 9.96565156e-01 -1.01519555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15864000000002 meters 0.0292315013564525 Centerline is valid? [True, True] Translation: X:144.35, Y:-89.89, Z:-10.15 [[ 7.25013534e-01 6.86075614e-01 6.04617839e-02 1.44345987e+02] [-6.83606508e-01 7.27529762e-01 -5.81600121e-02 -8.98944235e+01] [-8.38899133e-02 8.34726946e-04 9.96474679e-01 -1.01542060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864000000002 meters 0.029315369082322185 Centerline is valid? [True, True] Translation: X:144.37, Y:-89.92, Z:-10.16 [[ 7.24543872e-01 6.86538326e-01 6.08383424e-02 1.44369247e+02] [-6.84035355e-01 7.27093148e-01 -5.85763467e-02 -8.99179472e+01] [-8.44500489e-02 8.25555938e-04 9.96427372e-01 -1.01562243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21864000000002 meters 0.029408319957495047 Centerline is valid? [True, True] Translation: X:144.39, Y:-89.94, Z:-10.16 [[ 7.25040270e-01 6.85932490e-01 6.17513264e-02 1.44392693e+02] [-6.83346505e-01 7.27664561e-01 -5.95133771e-02 -8.99394341e+01] [-8.57564107e-02 9.52041943e-04 9.96315679e-01 -1.01585194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters 0.02929578169796371 Centerline is valid? [True, True] Translation: X:144.42, Y:-89.96, Z:-10.16 [[ 7.25878292e-01 6.85131574e-01 6.07900622e-02 1.44416321e+02] [-6.82618514e-01 7.28418552e-01 -5.86376752e-02 -8.99619636e+01] [-8.44551318e-02 1.06739357e-03 9.96426712e-01 -1.01601919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27864 meters 0.029705206925395886 Centerline is valid? [True, True] Translation: X:144.44, Y:-89.98, Z:-10.16 [[ 7.26344299e-01 6.84663586e-01 6.04957254e-02 1.44439586e+02] [-6.82168727e-01 7.28858312e-01 -5.84070970e-02 -8.99846793e+01] [-8.40820248e-02 1.15536989e-03 9.96458167e-01 -1.01629435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters 0.029990234917052012 Centerline is valid? [True, True] Translation: X:144.46, Y:-90.01, Z:-10.16 [[ 7.28011533e-01 6.82950413e-01 5.98158983e-02 1.44462167e+02] [-6.80500826e-01 7.30463434e-01 -5.78082837e-02 -9.00084290e+01] [-8.31735177e-02 1.38032905e-03 9.96534124e-01 -1.01636971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33864 meters 0.029936948317459453 Centerline is valid? [True, True] Translation: X:144.49, Y:-90.03, Z:-10.16 [[ 7.28174235e-01 6.82776597e-01 5.98197453e-02 1.44486362e+02] [-6.80321333e-01 7.30625786e-01 -5.78692146e-02 -9.00317389e+01] [-8.32175939e-02 1.44222225e-03 9.96530357e-01 -1.01641424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters 0.030159071014622715 Centerline is valid? [True, True] Translation: X:144.51, Y:-90.06, Z:-10.17 [[ 7.27619759e-01 6.83331198e-01 6.02325466e-02 1.44510033e+02] [-6.80838903e-01 7.30107133e-01 -5.83263407e-02 -9.00551130e+01] [-8.38324203e-02 1.43073697e-03 9.96478840e-01 -1.01658573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39864 meters 0.03001841229299218 Centerline is valid? [True, True] Translation: X:144.53, Y:-90.08, Z:-10.17 [[ 7.26834915e-01 6.84089681e-01 6.10926656e-02 1.44532021e+02] [-6.81523380e-01 7.29396556e-01 -5.92160969e-02 -9.00793075e+01] [-8.50699007e-02 1.40424678e-03 9.96373996e-01 -1.01683435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters 0.030163595303355085 Centerline is valid? [True, True] Translation: X:144.56, Y:-90.10, Z:-10.17 [[ 7.27037487e-01 6.83933591e-01 6.04262831e-02 1.44555787e+02] [-6.81418047e-01 7.29542838e-01 -5.86233126e-02 -9.01023465e+01] [-8.41780148e-02 1.44578610e-03 9.96449683e-01 -1.01710529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45864 meters 0.030270074050022917 Centerline is valid? [True, True] Translation: X:144.58, Y:-90.13, Z:-10.17 [[ 7.26951484e-01 6.83970176e-01 6.10437489e-02 1.44578093e+02] [-6.81398125e-01 7.29508433e-01 -5.92793490e-02 -9.01253696e+01] [-8.50772364e-02 1.49811467e-03 9.96373233e-01 -1.01737636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48864 meters 0.030243736090981795 Centerline is valid? [True, True] Translation: X:144.60, Y:-90.15, Z:-10.18 [[ 7.27140577e-01 6.83751041e-01 6.12461861e-02 1.44598586e+02] [-6.81156714e-01 7.29713684e-01 -5.95270586e-02 -9.01500274e+01] [-8.53938684e-02 1.56628882e-03 9.96346041e-01 -1.01753597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51864 meters 0.030350528713473254 Centerline is valid? [True, True] Translation: X:144.62, Y:-90.17, Z:-10.18 [[ 7.26855429e-01 6.84103701e-01 6.06902967e-02 1.44621103e+02] [-6.81553274e-01 7.29383116e-01 -5.90373120e-02 -9.01735032e+01] [-8.46541214e-02 1.54792032e-03 9.96409195e-01 -1.01770513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54864 meters 0.0299327193393444 Centerline is valid? [True, True] Translation: X:144.64, Y:-90.20, Z:-10.18 [[ 7.24644562e-01 6.86529384e-01 5.97299209e-02 1.44641965e+02] [-6.84063211e-01 7.27100931e-01 -5.81529019e-02 -9.01979289e+01] [-8.33533570e-02 1.28114265e-03 9.96519230e-01 -1.01776965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57864 meters 0.029950870137658302 Centerline is valid? [True, True] Translation: X:144.66, Y:-90.22, Z:-10.18 [[ 7.23942032e-01 6.87303048e-01 5.93502641e-02 1.44664456e+02] [-6.84866623e-01 7.26369761e-01 -5.78332053e-02 -9.02213450e+01] [-8.28591754e-02 1.22087325e-03 9.96560518e-01 -1.01790328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60864 meters 0.02982768463784315 Centerline is valid? [True, True] Translation: X:144.69, Y:-90.24, Z:-10.18 [[ 7.22495606e-01 6.88834303e-01 5.92233284e-02 1.44686774e+02] [-6.86409249e-01 7.24918021e-01 -5.77599026e-02 -9.02448103e+01] [-8.27190603e-02 1.07983547e-03 9.96572321e-01 -1.01807029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63864 meters 0.029887198725212512 Centerline is valid? [True, True] Translation: X:144.71, Y:-90.27, Z:-10.18 [[ 7.21656426e-01 6.89653860e-01 5.99129067e-02 1.44709900e+02] [-6.87170188e-01 7.24138439e-01 -5.84863522e-02 -9.02690335e+01] [-8.37205773e-02 1.03668850e-03 9.96488731e-01 -1.01830976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66864 meters 0.029846141628848976 Centerline is valid? [True, True] Translation: X:144.73, Y:-90.29, Z:-10.19 [[ 7.19684508e-01 6.91576620e-01 6.14490648e-02 1.44730098e+02] [-6.88965599e-01 7.22302575e-01 -6.00449363e-02 -9.02938229e+01] [-8.59104918e-02 8.77118727e-04 9.96302473e-01 -1.01869123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69864 meters 0.029718161165183665 Centerline is valid? [True, True] Translation: X:144.75, Y:-90.32, Z:-10.19 [[ 7.18813571e-01 6.92446175e-01 6.18493639e-02 1.44752157e+02] [-6.89799278e-01 7.21469073e-01 -6.04924243e-02 -9.03178658e+01] [-8.65101511e-02 8.19129050e-04 9.96250633e-01 -1.01889533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72864 meters 0.029740048669469672 Centerline is valid? [True, True] Translation: X:144.77, Y:-90.34, Z:-10.19 [[ 7.17849569e-01 6.93381239e-01 6.25655964e-02 1.44774072e+02] [-6.90670866e-01 7.20570526e-01 -6.12525296e-02 -9.03417168e+01] [-8.75542796e-02 7.57867350e-04 9.96159462e-01 -1.01908168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75864 meters 0.029697504485893766 Centerline is valid? [True, True] Translation: X:144.80, Y:-90.37, Z:-10.19 [[ 7.17454285e-01 6.93982287e-01 6.03981341e-02 1.44796193e+02] [-6.91454591e-01 7.19991735e-01 -5.91814979e-02 -9.03652468e+01] [-8.45570686e-02 6.97452197e-04 9.96418394e-01 -1.01916874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864000000002 meters 0.029558345862300814 Centerline is valid? [True, True] Translation: X:144.82, Y:-90.39, Z:-10.19 [[ 7.16096926e-01 6.95438889e-01 5.97490187e-02 1.44819179e+02] [-6.92966055e-01 7.18585028e-01 -5.85969633e-02 -9.03884234e+01] [-8.36853573e-02 5.57063485e-04 9.96492073e-01 -1.01933414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81864000000002 meters 0.029470269899674977 Centerline is valid? [True, True] Translation: X:144.84, Y:-90.41, Z:-10.20 [[ 7.13560342e-01 6.97957187e-01 6.07239970e-02 1.44842393e+02] [-6.95407126e-01 7.16139421e-01 -5.96092172e-02 -9.04120383e+01] [-8.50915297e-02 3.06873181e-04 9.96373091e-01 -1.01964804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864000000002 meters 0.02951077870433233 Centerline is valid? [True, True] Translation: X:144.87, Y:-90.43, Z:-10.20 [[ 7.11973125e-01 6.99481625e-01 6.18039356e-02 1.44865740e+02] [-6.96840399e-01 7.14650563e-01 -6.07291512e-02 -9.04342048e+01] [-8.66471428e-02 1.70044357e-04 9.96239050e-01 -1.01998077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87864000000002 meters 0.029652543796737627 Centerline is valid? [True, True] Translation: X:144.89, Y:-90.46, Z:-10.20 [[ 7.11242389e-01 7.00157675e-01 6.25579252e-02 1.44889405e+02] [-6.97449211e-01 7.13988245e-01 -6.15254797e-02 -9.04553479e+01] [-8.77431600e-02 1.28553578e-04 9.96143123e-01 -1.02025330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864000000002 meters 0.029755212186253585 Centerline is valid? [True, True] Translation: X:144.91, Y:-90.48, Z:-10.20 [[ 7.10376104e-01 7.01020973e-01 6.27326653e-02 1.44914199e+02] [-6.98295523e-01 7.13140654e-01 -6.17557324e-02 -9.04767149e+01] [-8.80292776e-02 6.38572294e-05 9.96117886e-01 -1.02040855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93864000000002 meters 0.029811289852190066 Centerline is valid? [True, True] Translation: X:144.94, Y:-90.50, Z:-10.21 [[ 7.10474215e-01 7.00909469e-01 6.28673727e-02 1.44938867e+02] [-6.98166169e-01 7.13250237e-01 -6.19524004e-02 -9.04986742e+01] [-8.82631925e-02 1.23710259e-04 9.96097181e-01 -1.02058526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864000000002 meters 0.029502195901411513 Centerline is valid? [True, True] Translation: X:144.96, Y:-90.52, Z:-10.21 [[ 7.10864579e-01 7.00642324e-01 6.14156652e-02 1.44963622e+02] [-6.98018422e-01 7.13512646e-01 -6.05804148e-02 -9.05200243e+01] [-8.62660564e-02 1.95205375e-04 9.96272116e-01 -1.02059080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99864 meters 0.029830524022929333 Centerline is valid? [True, True] Translation: X:144.99, Y:-90.54, Z:-10.21 [[ 7.11380471e-01 7.00172794e-01 6.07937881e-02 1.44989736e+02] [-6.97595587e-01 7.13973372e-01 -6.00201647e-02 -9.05398048e+01] [-8.54296323e-02 2.87694750e-04 9.96344165e-01 -1.02074937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters 0.02989689308032061 Centerline is valid? [True, True] Translation: X:145.01, Y:-90.56, Z:-10.21 [[ 7.11032528e-01 7.00556691e-01 6.04406053e-02 1.45014903e+02] [-6.98006046e-01 7.13596696e-01 -5.97270094e-02 -9.05613840e+01] [-8.49723723e-02 2.79938568e-04 9.96383268e-01 -1.02091527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05864 meters 0.029935376041067902 Centerline is valid? [True, True] Translation: X:145.04, Y:-90.58, Z:-10.21 [[ 7.10311852e-01 7.01188392e-01 6.15785010e-02 1.45042497e+02] [-6.98537757e-01 7.12975999e-01 -6.09116315e-02 -9.05793679e+01] [-8.66145222e-02 2.51345845e-04 9.96241869e-01 -1.02123645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters 0.029968186876144772 Centerline is valid? [True, True] Translation: X:145.07, Y:-90.60, Z:-10.21 [[ 7.09643508e-01 7.01829131e-01 6.19835610e-02 1.45067923e+02] [-6.99140833e-01 7.12345299e-01 -6.13699587e-02 -9.06009939e+01] [-8.72249231e-02 2.15554392e-04 9.96188620e-01 -1.02141324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11864 meters 0.03025050149272247 Centerline is valid? [True, True] Translation: X:145.09, Y:-90.62, Z:-10.22 [[ 7.09581937e-01 7.01807827e-01 6.29225621e-02 1.45092357e+02] [-6.99031781e-01 7.12366271e-01 -6.23607683e-02 -9.06224150e+01] [-8.85891862e-02 2.65204106e-04 9.96068213e-01 -1.02160842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters 0.030621387839671655 Centerline is valid? [True, True] Translation: X:145.12, Y:-90.64, Z:-10.22 [[ 7.11261036e-01 7.00206098e-01 6.17993356e-02 1.45117357e+02] [-6.97517736e-01 7.13940596e-01 -6.13011651e-02 -9.06426872e+01] [-8.70445041e-02 4.94997598e-04 9.96204301e-01 -1.02157048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17864 meters 0.03069627989191487 Centerline is valid? [True, True] Translation: X:145.14, Y:-90.66, Z:-10.22 [[ 7.12185842e-01 6.99349909e-01 6.08361044e-02 1.45142358e+02] [-6.96737207e-01 7.14779204e-01 -6.03982872e-02 -9.06633311e+01] [-8.57239189e-02 6.28027511e-04 9.96318732e-01 -1.02158653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters 0.03070935855104585 Centerline is valid? [True, True] Translation: X:145.17, Y:-90.68, Z:-10.22 [[ 7.14938332e-01 6.96640325e-01 5.96274951e-02 1.45168510e+02] [-6.94116652e-01 7.17419899e-01 -5.92516895e-02 -9.06835057e+01] [-8.40550677e-02 9.72866835e-04 9.96460636e-01 -1.02182878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23864 meters 0.030865205917142542 Centerline is valid? [True, True] Translation: X:145.19, Y:-90.71, Z:-10.22 [[ 7.16540252e-01 6.94979717e-01 5.97767567e-02 1.45192145e+02] [-6.92432791e-01 7.19028320e-01 -5.94567573e-02 -9.07054764e+01] [-8.43024213e-02 1.21177336e-03 9.96439478e-01 -1.02207589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26864 meters 0.03134969168512331 Centerline is valid? [True, True] Translation: X:145.21, Y:-90.73, Z:-10.22 [[ 7.18230336e-01 6.93136104e-01 6.08894567e-02 1.45214977e+02] [-6.90482085e-01 7.20805182e-01 -6.06166604e-02 -9.07277881e+01] [-8.59050318e-02 1.49364537e-03 9.96302210e-01 -1.02242370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29864 meters 0.03161801736859138 Centerline is valid? [True, True] Translation: X:145.24, Y:-90.75, Z:-10.23 [[ 7.19500852e-01 6.91842766e-01 6.05979383e-02 1.45238210e+02] [-6.89205108e-01 7.22046239e-01 -6.03783735e-02 -9.07504141e+01] [-8.55268544e-02 1.67788256e-03 9.96334453e-01 -1.02252437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32864 meters 0.03221501774705996 Centerline is valid? [True, True] Translation: X:145.26, Y:-90.77, Z:-10.23 [[ 7.21163912e-01 6.90009671e-01 6.17192529e-02 1.45262094e+02] [-6.87261934e-01 7.23797468e-01 -6.15488410e-02 -9.07721125e+01] [-8.71415345e-02 1.96950985e-03 9.96193994e-01 -1.02251676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35864 meters 0.03242441515551973 Centerline is valid? [True, True] Translation: X:145.28, Y:-90.80, Z:-10.23 [[ 7.22140702e-01 6.89110016e-01 6.03339989e-02 1.45284850e+02] [-6.86477029e-01 7.24653786e-01 -6.02177593e-02 -9.07955445e+01] [-8.52179219e-02 2.06779066e-03 9.96360191e-01 -1.02265005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38864 meters 0.03269269783572022 Centerline is valid? [True, True] Translation: X:145.30, Y:-90.82, Z:-10.23 [[ 7.22576764e-01 6.88612547e-01 6.07912895e-02 1.45303282e+02] [-6.85933229e-01 7.25126201e-01 -6.07256007e-02 -9.08224908e+01] [-8.58977674e-02 2.18014257e-03 9.96301571e-01 -1.02284912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41864 meters 0.03258425850061102 Centerline is valid? [True, True] Translation: X:145.32, Y:-90.85, Z:-10.23 [[ 7.21954828e-01 6.89267652e-01 6.07563158e-02 1.45324518e+02] [-6.86589107e-01 7.24503640e-01 -6.07443288e-02 -9.08481647e+01] [-8.58872728e-02 2.14003679e-03 9.96302563e-01 -1.02307542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44864 meters 0.032551358561111556 Centerline is valid? [True, True] Translation: X:145.21, Y:-91.13, Z:-8.48 [[ 7.39259251e-01 -6.73230410e-01 -1.60179507e-02 1.45207436e+02] [-6.72963503e-01 -7.39424643e-01 1.92696953e-02 -9.11321300e+01] [-2.48170123e-02 -3.46580430e-03 -9.99686003e-01 -8.48356949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47864 meters 0.03238399160009706 Centerline is valid? [True, True] Translation: X:145.33, Y:-90.88, Z:-10.23 [[ 7.66466890e-01 6.38698150e-01 6.77729941e-02 1.45333053e+02] [-6.35990137e-01 7.69454908e-01 -5.87851247e-02 -9.08835930e+01] [-8.96942134e-02 1.95389589e-03 9.95967434e-01 -1.02336403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50864 meters 0.0320638710067445 Centerline is valid? [True, True] Translation: X:145.36, Y:-90.91, Z:-10.24 [[ 7.64841384e-01 6.40623320e-01 6.79663057e-02 1.45355580e+02] [-6.37903895e-01 7.67853276e-01 -5.89912517e-02 -9.09075014e+01] [-8.99793220e-02 1.76297944e-03 9.95942073e-01 -1.02352035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53864000000002 meters 0.031836407245515466 Centerline is valid? [True, True] Translation: X:145.38, Y:-90.93, Z:-10.24 [[ 7.62842438e-01 6.42979151e-01 6.81852387e-02 1.45377799e+02] [-6.40249849e-01 7.65882203e-01 -5.91995185e-02 -9.09316963e+01] [-9.02859170e-02 1.50431619e-03 9.95914750e-01 -1.02372362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864000000002 meters 0.031428042751499075 Centerline is valid? [True, True] Translation: X:145.40, Y:-90.96, Z:-10.24 [[ 7.58823096e-01 6.47756971e-01 6.78116163e-02 1.45399599e+02] [-6.45073741e-01 7.61846437e-01 -5.89056467e-02 -9.09560750e+01] [-8.98185815e-02 9.55472250e-04 9.95957685e-01 -1.02382527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59864000000002 meters 0.031202227490593534 Centerline is valid? [True, True] Translation: X:145.42, Y:-90.98, Z:-10.24 [[ 7.56295486e-01 6.50609113e-01 6.87380516e-02 1.45423497e+02] [-6.47858496e-01 7.59412494e-01 -5.97664932e-02 -9.09786748e+01] [-9.10851603e-02 6.68598278e-04 9.95842882e-01 -1.02408551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864000000002 meters 0.031005263243355077 Centerline is valid? [True, True] Translation: X:145.44, Y:-91.00, Z:-10.25 [[ 7.53046553e-01 6.54233837e-01 6.99926731e-02 1.45444958e+02] [-6.51391675e-01 7.56292276e-01 -6.09169845e-02 -9.10029901e+01] [-9.27888706e-02 2.80680639e-04 9.95685767e-01 -1.02450195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65864000000002 meters 0.031012074327689772 Centerline is valid? [True, True] Translation: X:145.47, Y:-91.03, Z:-10.25 [[ 7.50798989e-01 6.56708189e-01 7.09593747e-02 1.45467428e+02] [-6.53792648e-01 7.54144784e-01 -6.18127730e-02 -9.10254737e+01] [-9.41065965e-02 1.62500189e-05 9.95562127e-01 -1.02469305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864000000002 meters 0.030927764796265918 Centerline is valid? [True, True] Translation: X:145.49, Y:-91.05, Z:-10.25 [[ 7.49044792e-01 6.58567220e-01 7.22572962e-02 1.45491510e+02] [-6.55547104e-01 7.52521883e-01 -6.29984833e-02 -9.10470284e+01] [-9.58639326e-02 -1.79375520e-04 9.95394432e-01 -1.02482992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71864000000002 meters 0.030752045747400907 Centerline is valid? [True, True] Translation: X:145.52, Y:-91.07, Z:-10.25 [[ 7.43767477e-01 6.64567120e-01 7.18365059e-02 1.45516426e+02] [-6.61605483e-01 7.47228021e-01 -6.26775038e-02 -9.10670111e+01] [-9.53316583e-02 -9.09937311e-04 9.95445150e-01 -1.02477748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters 0.030904694223275284 Centerline is valid? [True, True] Translation: X:145.54, Y:-91.09, Z:-10.25 [[ 7.40487936e-01 6.68292624e-01 7.11518472e-02 1.45541817e+02] [-6.65400185e-01 7.43897283e-01 -6.21242843e-02 -9.10885688e+01] [-9.44468667e-02 -1.34216925e-03 9.95528999e-01 -1.02496032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77864 meters 0.031347880666422086 Centerline is valid? [True, True] Translation: X:145.57, Y:-91.11, Z:-10.25 [[ 7.34751084e-01 6.74481121e-01 7.22223058e-02 1.45567599e+02] [-6.71525914e-01 7.38289015e-01 -6.31052906e-02 -9.11083432e+01] [-9.58842622e-02 -2.13246917e-03 9.95390205e-01 -1.02508449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters 0.03162917882957132 Centerline is valid? [True, True] Translation: X:145.59, Y:-91.13, Z:-10.25 [[ 7.32163704e-01 6.77226728e-01 7.28029537e-02 1.45594059e+02] [-6.74234121e-01 7.35770187e-01 -6.36441898e-02 -9.11262687e+01] [-9.66677892e-02 -2.48826979e-03 9.95313592e-01 -1.02522474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83864 meters 0.03162917882957132 Centerline is valid? [True, True] Translation: X:145.62, Y:-91.15, Z:-10.25 [[ 7.31815969e-01 6.77605595e-01 7.27739337e-02 1.45618778e+02] [-6.74611559e-01 7.35421265e-01 -6.36773616e-02 -9.11474697e+01] [-9.66676349e-02 -2.49402684e-03 9.95313593e-01 -1.02541026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters 0.031818546586224516 Centerline is valid? [True, True] Translation: X:145.65, Y:-91.17, Z:-10.26 [[ 7.29303586e-01 6.80172775e-01 7.40356420e-02 1.45645045e+02] [-6.77082294e-01 7.33046302e-01 -6.48281326e-02 -9.11662457e+01] [-9.83658844e-02 -2.84883277e-03 9.95146239e-01 -1.02560182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89864 meters 0.03194601460960345 Centerline is valid? [True, True] Translation: X:145.67, Y:-91.19, Z:-10.26 [[ 7.27554040e-01 6.82013157e-01 7.43180509e-02 1.45671302e+02] [-6.78905093e-01 7.31333401e-01 -6.51101467e-02 -9.11851498e+01] [-9.87572496e-02 -3.08375293e-03 9.95106776e-01 -1.02580876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters 0.03234502048996131 Centerline is valid? [True, True] Translation: X:145.70, Y:-91.20, Z:-10.26 [[ 7.25804689e-01 6.83666454e-01 7.62084857e-02 1.45697993e+02] [-6.80402618e-01 7.29786869e-01 -6.68087126e-02 -9.12034696e+01] [-1.01290828e-01 -3.36237626e-03 9.94851176e-01 -1.02603774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95864 meters 0.032236116560910966 Centerline is valid? [True, True] Translation: X:145.72, Y:-91.22, Z:-10.26 [[ 7.25607721e-01 6.83805656e-01 7.68326757e-02 1.45724505e+02] [-6.80485004e-01 7.29656344e-01 -6.73927178e-02 -9.12222364e+01] [-1.02144971e-01 -3.38280731e-03 9.94763772e-01 -1.02628398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98864 meters 0.03182756700656169 Centerline is valid? [True, True] Translation: X:145.75, Y:-91.24, Z:-10.26 [[ 7.26179885e-01 6.83385577e-01 7.51460438e-02 1.45751298e+02] [-6.80201294e-01 7.30050594e-01 -6.59721930e-02 -9.12400322e+01] [-9.99448591e-02 -3.20675666e-03 9.94987810e-01 -1.02639615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01864 meters 0.031719636596498436 Centerline is valid? [True, True] Translation: X:145.78, Y:-91.26, Z:-10.27 [[ 7.27117968e-01 6.82592037e-01 7.32637123e-02 1.45780074e+02] [-6.79555991e-01 7.30793575e-01 -6.43770702e-02 -9.12564049e+01] [-9.74839256e-02 -2.97707003e-03 9.95232647e-01 -1.02657648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04864 meters 0.03151899382162953 Centerline is valid? [True, True] Translation: X:145.81, Y:-91.28, Z:-10.27 [[ 7.27741919e-01 6.82013696e-01 7.24501042e-02 1.45806593e+02] [-6.79036443e-01 7.31333944e-01 -6.37194666e-02 -9.12755164e+01] [-9.64427694e-02 -2.82493414e-03 9.95334523e-01 -1.02675493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07864 meters 0.03135873997506985 Centerline is valid? [True, True] Translation: X:145.83, Y:-91.29, Z:-10.27 [[ 7.28036196e-01 6.81734492e-01 7.21205933e-02 1.45832587e+02] [-6.78777430e-01 7.31594569e-01 -6.34869027e-02 -9.12944895e+01] [-9.60442457e-02 -2.73306786e-03 9.95373314e-01 -1.02693529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10864 meters 0.03131092053112706 Centerline is valid? [True, True] Translation: X:145.86, Y:-91.31, Z:-10.27 [[ 7.29882303e-01 6.79631160e-01 7.33028617e-02 1.45861042e+02] [-6.76559760e-01 7.33549909e-01 -6.45865514e-02 -9.13105796e+01] [-9.76663403e-02 -2.45318564e-03 9.95216192e-01 -1.02716124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13864 meters 0.031102401847210158 Centerline is valid? [True, True] Translation: X:145.89, Y:-91.33, Z:-10.27 [[ 7.30668460e-01 6.78780110e-01 7.33564195e-02 1.45887359e+02] [-6.75694218e-01 7.34337988e-01 -6.46919075e-02 -9.13298688e+01] [-9.77799856e-02 -2.29817210e-03 9.95205402e-01 -1.02737556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16864 meters 0.03075679493876066 Centerline is valid? [True, True] Translation: X:145.91, Y:-91.35, Z:-10.27 [[ 7.32288070e-01 6.77134933e-01 7.24048718e-02 1.45913390e+02] [-6.74115210e-01 7.35856132e-01 -6.39096016e-02 -9.13491498e+01] [-9.65549927e-02 -2.00898654e-03 9.95325624e-01 -1.02749849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19864 meters 0.030583208845940776 Centerline is valid? [True, True] Translation: X:145.94, Y:-91.37, Z:-10.28 [[ 7.35846194e-01 6.73589425e-01 6.93373221e-02 1.45938981e+02] [-6.70801607e-01 7.39104311e-01 -6.12374153e-02 -9.13672989e+01] [-9.24963891e-02 -1.45026810e-03 9.95711964e-01 -1.02756811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22864 meters 0.030774662701670015 Centerline is valid? [True, True] Translation: X:145.97, Y:-91.39, Z:-10.28 [[ 7.37746043e-01 6.71517148e-01 6.92495188e-02 1.45965332e+02] [-6.68724843e-01 7.40988093e-01 -6.11860355e-02 -9.13865041e+01] [-9.24005409e-02 -1.16911803e-03 9.95721233e-01 -1.02773720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25864 meters 0.03093185719240561 Centerline is valid? [True, True] Translation: X:145.99, Y:-91.41, Z:-10.28 [[ 7.39413312e-01 6.69705321e-01 6.90125826e-02 1.45991112e+02] [-6.66919161e-01 7.42626404e-01 -6.10316041e-02 -9.14056758e+01] [-9.21237560e-02 -8.98233187e-04 9.95747160e-01 -1.02785016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864000000002 meters 0.03090307335436069 Centerline is valid? [True, True] Translation: X:146.02, Y:-91.43, Z:-10.28 [[ 7.43873154e-01 6.64647947e-01 6.99702516e-02 1.46018075e+02] [-6.61755742e-01 7.47156646e-01 -6.19377479e-02 -9.14251366e+01] [-9.34455355e-02 -2.29387843e-04 9.95624367e-01 -1.02809887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31864000000002 meters 0.031046791086382784 Centerline is valid? [True, True] Translation: X:146.04, Y:-91.45, Z:-10.28 [[ 7.45866497e-01 6.62523234e-01 6.88921848e-02 1.46042754e+02] [-6.59706366e-01 7.49041360e-01 -6.10291062e-02 -9.14465125e+01] [-9.20362967e-02 7.09528049e-05 9.95755650e-01 -1.02832410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864000000002 meters 0.031357067256356966 Centerline is valid? [True, True] Translation: X:146.07, Y:-91.47, Z:-10.28 [[ 7.48898846e-01 6.59119355e-01 6.86454311e-02 1.46069612e+02] [-6.56305076e-01 7.52038171e-01 -6.08460035e-02 -9.14665640e+01] [-9.17287630e-02 5.15156924e-04 9.95783897e-01 -1.02848307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37864000000002 meters 0.03153820897683294 Centerline is valid? [True, True] Translation: X:146.10, Y:-91.49, Z:-10.29 [[ 7.50088234e-01 6.57755948e-01 6.87368508e-02 1.46095100e+02] [-6.54922738e-01 7.53230762e-01 -6.09887424e-02 -9.14874737e+01] [-9.18904186e-02 7.29611525e-04 9.95768858e-01 -1.02865480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864000000002 meters 0.031817326005496124 Centerline is valid? [True, True] Translation: X:146.12, Y:-91.51, Z:-10.29 [[ 7.51033734e-01 6.56788864e-01 6.76514426e-02 1.46119292e+02] [-6.54035507e-01 7.54074013e-01 -6.00827623e-02 -9.15088999e+01] [-9.04758840e-02 8.77735779e-04 9.95898260e-01 -1.02878379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43864000000002 meters 0.03220690722500667 Centerline is valid? [True, True] Translation: X:146.14, Y:-91.53, Z:-10.29 [[ 7.53019049e-01 6.54630753e-01 6.64897632e-02 1.46143785e+02] [-6.51958100e-01 7.55947905e-01 -5.91050087e-02 -9.15318233e+01] [-8.89547535e-02 1.15865776e-03 9.96034994e-01 -1.02880692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864000000002 meters 0.03253637874793956 Centerline is valid? [True, True] Translation: X:146.17, Y:-91.55, Z:-10.29 [[ 7.53263645e-01 6.54250809e-01 6.74519098e-02 1.46167766e+02] [-6.51493357e-01 7.56276589e-01 -6.00177241e-02 -9.15535618e+01] [-9.02789448e-02 1.26469843e-03 9.95915716e-01 -1.02906405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49864 meters 0.03273050044669882 Centerline is valid? [True, True] Translation: X:146.19, Y:-91.58, Z:-10.29 [[ 7.53435818e-01 6.53933086e-01 6.86001975e-02 1.46191932e+02] [-6.51074512e-01 7.56551157e-01 -6.10927612e-02 -9.15753592e+01] [-9.18501367e-02 1.36563437e-03 9.95771905e-01 -1.02925176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters 0.032638561472912726 Centerline is valid? [True, True] Translation: X:146.22, Y:-91.60, Z:-10.30 [[ 7.53036497e-01 6.54296383e-01 6.95145890e-02 1.46215001e+02] [-6.51357462e-01 7.56236960e-01 -6.19606132e-02 -9.15973999e+01] [-9.31101066e-02 1.37975680e-03 9.95654862e-01 -1.02951984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55864 meters 0.032654835297847636 Centerline is valid? [True, True] Translation: X:146.24, Y:-91.62, Z:-10.30 [[ 7.51516653e-01 6.55896678e-01 7.08679680e-02 1.46236873e+02] [-6.52843777e-01 7.54849650e-01 -6.32219042e-02 -9.16207961e+01] [-9.49616978e-02 1.24660192e-03 9.95480146e-01 -1.02982314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters 0.032603575656007557 Centerline is valid? [True, True] Translation: X:146.26, Y:-91.64, Z:-10.30 [[ 7.50331065e-01 6.57221738e-01 7.11539186e-02 1.46260695e+02] [-6.54145817e-01 7.53696451e-01 -6.35209445e-02 -9.16440687e+01] [-9.53758015e-02 1.11669976e-03 9.95440711e-01 -1.03000095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61864 meters 0.032432202192247656 Centerline is valid? [True, True] Translation: X:146.28, Y:-91.67, Z:-10.30 [[ 7.47597449e-01 6.60316638e-01 7.12740568e-02 1.46283349e+02] [-6.57240519e-01 7.50986931e-01 -6.36673438e-02 -9.16671614e+01] [-9.55664916e-02 7.53345796e-04 9.95422764e-01 -1.03035739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters 0.03212804453464478 Centerline is valid? [True, True] Translation: X:146.31, Y:-91.69, Z:-10.31 [[ 7.46499992e-01 6.61610985e-01 7.07719281e-02 1.46306912e+02] [-6.58578691e-01 7.49846993e-01 -6.32739597e-02 -9.16888540e+01] [-9.49308643e-02 6.25126637e-04 9.95483672e-01 -1.03054179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67864 meters 0.03200079169185896 Centerline is valid? [True, True] Translation: X:146.33, Y:-91.71, Z:-10.31 [[ 7.44698281e-01 6.63597310e-01 7.11553269e-02 1.46330999e+02] [-6.60535354e-01 7.48089858e-01 -6.36758245e-02 -9.17111071e+01] [-9.54856842e-02 4.18668098e-04 9.95430715e-01 -1.03080705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70864 meters 0.03214397816240125 Centerline is valid? [True, True] Translation: X:146.35, Y:-91.73, Z:-10.31 [[ 7.42032053e-01 6.66345907e-01 7.32909613e-02 1.46354332e+02] [-6.63104130e-01 7.45642756e-01 -6.56490204e-02 -9.17324253e+01] [-9.83938304e-02 1.14138203e-04 9.95147547e-01 -1.03114281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73864 meters 0.03233059029092396 Centerline is valid? [True, True] Translation: X:146.38, Y:-91.75, Z:-10.31 [[ 7.40153972e-01 6.68346497e-01 7.40611750e-02 1.46378193e+02] [-6.65040357e-01 7.43850084e-01 -6.63956019e-02 -9.17543969e+01] [-9.94656792e-02 -1.10701732e-04 9.95040987e-01 -1.03129948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76864 meters 0.03218035644988976 Centerline is valid? [True, True] Translation: X:146.40, Y:-91.78, Z:-10.32 [[ 7.38970020e-01 6.69691075e-01 7.37371989e-02 1.46402942e+02] [-6.66414348e-01 7.42639755e-01 -6.61673046e-02 -9.17764223e+01] [-9.90718287e-02 -2.43872916e-04 9.95080255e-01 -1.03150915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79864 meters 0.03207484400960574 Centerline is valid? [True, True] Translation: X:146.43, Y:-91.80, Z:-10.32 [[ 7.38872170e-01 6.70002210e-01 7.18676235e-02 1.46430310e+02] [-6.66886482e-01 7.42359064e-01 -6.45402125e-02 -9.17950552e+01] [-9.65936668e-02 -2.40579804e-04 9.95323870e-01 -1.03158852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82864 meters 0.03205732131633415 Centerline is valid? [True, True] Translation: X:146.46, Y:-91.81, Z:-10.32 [[ 7.37532106e-01 6.71564070e-01 7.10499260e-02 1.46455529e+02] [-6.68522287e-01 7.40946376e-01 -6.38468525e-02 -9.18149947e+01] [-9.55214373e-02 -4.09355385e-04 9.95427289e-01 -1.03176765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85864 meters 0.03184334928914253 Centerline is valid? [True, True] Translation: X:146.48, Y:-91.83, Z:-10.32 [[ 7.35825920e-01 6.73550924e-01 6.99240201e-02 1.46482438e+02] [-6.70608744e-01 7.39140565e-01 -6.28898877e-02 -9.18335810e+01] [-9.40432217e-02 -6.15649865e-04 9.95567925e-01 -1.03189524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88864 meters 0.03184284420581837 Centerline is valid? [True, True] Translation: X:146.51, Y:-91.85, Z:-10.32 [[ 7.34611665e-01 6.74816919e-01 7.04828108e-02 1.46508376e+02] [-6.71827879e-01 7.37984807e-01 -6.34486158e-02 -9.18533662e+01] [-9.48314429e-02 -7.42223974e-04 9.95493067e-01 -1.03202521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91864 meters 0.031888112263405814 Centerline is valid? [True, True] Translation: X:146.54, Y:-91.87, Z:-10.32 [[ 7.33763056e-01 6.75713820e-01 7.07291352e-02 1.46535527e+02] [-6.72702222e-01 7.37163595e-01 -6.37303273e-02 -9.18728729e+01] [-9.52024066e-02 -8.16686654e-04 9.95457601e-01 -1.03221795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94864 meters 0.03213035918839621 Centerline is valid? [True, True] Translation: X:146.56, Y:-91.89, Z:-10.33 [[ 7.34692139e-01 6.74689407e-01 7.08637149e-02 1.46564466e+02] [-6.71656863e-01 7.38101472e-01 -6.39005060e-02 -9.18903189e+01] [-9.54176068e-02 -6.48901039e-04 9.95437120e-01 -1.03260417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97864 meters 0.03182384685920546 Centerline is valid? [True, True] Translation: X:146.59, Y:-91.91, Z:-10.33 [[ 7.35952130e-01 6.73511437e-01 6.89696095e-02 1.46590329e+02] [-6.70630696e-01 7.39176661e-01 -6.22280693e-02 -9.19093605e+01] [-9.28920420e-02 -4.56257086e-04 9.95676082e-01 -1.03264300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00864 meters 0.03180625258807379 Centerline is valid? [True, True] Translation: X:146.62, Y:-91.93, Z:-10.33 [[ 7.37181099e-01 6.72266206e-01 6.79865872e-02 1.46615840e+02] [-6.69458289e-01 7.40309447e-01 -6.13801476e-02 -9.19288932e+01] [-9.15949117e-02 -2.65899683e-04 9.95796315e-01 -1.03279626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03864000000002 meters 0.031657041407187766 Centerline is valid? [True, True] Translation: X:146.64, Y:-91.95, Z:-10.33 [[ 7.40550330e-01 6.68761062e-01 6.59078878e-02 1.46643422e+02] [-6.66107315e-01 7.43477378e-01 -5.95183522e-02 -9.19465720e+01] [-8.88045800e-02 1.74609193e-04 9.96049053e-01 -1.03278332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864000000002 meters 0.03167218233384111 Centerline is valid? [True, True] Translation: X:146.67, Y:-91.97, Z:-10.33 [[ 7.41754449e-01 6.67431656e-01 6.58431638e-02 1.46669711e+02] [-6.64776292e-01 7.44670977e-01 -5.94778711e-02 -9.19669401e+01] [-8.87289071e-02 3.47001222e-04 9.96055752e-01 -1.03305548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09864000000002 meters 0.03177907706200456 Centerline is valid? [True, True] Translation: X:146.70, Y:-91.99, Z:-10.33 [[ 7.42292119e-01 6.66808346e-01 6.60987133e-02 1.46695455e+02] [-6.64128013e-01 7.45229118e-01 -5.97289236e-02 -9.19869662e+01] [-8.90864305e-02 4.38302123e-04 9.96023803e-01 -1.03334085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864000000002 meters 0.03194404088951439 Centerline is valid? [True, True] Translation: X:146.72, Y:-92.00, Z:-10.33 [[ 7.43787383e-01 6.65137276e-01 6.61266361e-02 1.46723095e+02] [-6.62446721e-01 7.46720819e-01 -5.97692325e-02 -9.20049457e+01] [-8.91328804e-02 6.50227769e-04 9.96019531e-01 -1.03345758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15864000000002 meters 0.03172655427282787 Centerline is valid? [True, True] Translation: X:146.75, Y:-92.02, Z:-10.34 [[ 7.43728841e-01 6.65110799e-01 6.70450330e-02 1.46748206e+02] [-6.62343458e-01 7.46744382e-01 -6.06132879e-02 -9.20242994e+01] [-9.03800541e-02 6.73011321e-04 9.95907121e-01 -1.03364466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864000000002 meters 0.03202239464602399 Centerline is valid? [True, True] Translation: X:146.77, Y:-92.04, Z:-10.34 [[ 7.45227254e-01 6.63376864e-01 6.75831016e-02 1.46774164e+02] [-6.60556513e-01 7.48284923e-01 -6.11127441e-02 -9.20429840e+01] [-9.11121965e-02 9.00424552e-04 9.95840227e-01 -1.03382087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21864000000002 meters 0.03239711283224626 Centerline is valid? [True, True] Translation: X:146.80, Y:-92.06, Z:-10.34 [[ 7.46269082e-01 6.62172492e-01 6.78973374e-02 1.46799011e+02] [-6.59319396e-01 7.49350691e-01 -6.14123416e-02 -9.20635158e+01] [-9.15444800e-02 1.06410024e-03 9.95800420e-01 -1.03400107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters 0.03253775195014718 Centerline is valid? [True, True] Translation: X:146.82, Y:-92.08, Z:-10.34 [[ 7.46962046e-01 6.61312267e-01 6.86570219e-02 1.46823683e+02] [-6.58389757e-01 7.50109764e-01 -6.21149661e-02 -9.20836442e+01] [-9.25776916e-02 1.19444221e-03 9.95704748e-01 -1.03419490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27864 meters 0.03249288933887079 Centerline is valid? [True, True] Translation: X:146.85, Y:-92.10, Z:-10.34 [[ 7.47635925e-01 6.60514894e-01 6.89970974e-02 1.46849012e+02] [-6.57558473e-01 7.50811798e-01 -6.24379650e-02 -9.21035271e+01] [-9.30450405e-02 1.31123971e-03 9.95661037e-01 -1.03435697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters 0.03246272206656583 Centerline is valid? [True, True] Translation: X:146.88, Y:-92.12, Z:-10.35 [[ 7.48378133e-01 6.59737617e-01 6.83845482e-02 1.46875503e+02] [-6.56829204e-01 7.51494713e-01 -6.18958167e-02 -9.21213502e+01] [-9.22256251e-02 1.40450738e-03 9.95737145e-01 -1.03452608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33864 meters 0.032411625128085125 Centerline is valid? [True, True] Translation: X:146.90, Y:-92.14, Z:-10.35 [[ 7.48128070e-01 6.60027172e-01 6.83265900e-02 1.46899424e+02] [-6.57124072e-01 7.51240469e-01 -6.18523295e-02 -9.21423357e+01] [-9.21539177e-02 1.37441679e-03 9.95743826e-01 -1.03468867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters 0.03198956255264537 Centerline is valid? [True, True] Translation: X:146.92, Y:-92.16, Z:-10.35 [[ 7.47892981e-01 6.60366095e-01 6.76218114e-02 1.46923449e+02] [-6.57523455e-01 7.50942653e-01 -6.12212209e-02 -9.21614396e+01] [-9.12085210e-02 1.32399429e-03 9.95830936e-01 -1.03493356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39864 meters 0.031837090131824244 Centerline is valid? [True, True] Translation: X:146.95, Y:-92.18, Z:-10.35 [[ 7.47833021e-01 6.60553287e-01 6.64464280e-02 1.46946915e+02] [-6.57809793e-01 7.50778080e-01 -6.01543955e-02 -9.21799366e+01] [-8.96217054e-02 1.27633232e-03 9.95975060e-01 -1.03501278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters 0.03178177319903184 Centerline is valid? [True, True] Translation: X:146.97, Y:-92.20, Z:-10.35 [[ 7.47936693e-01 6.60388318e-01 6.69176511e-02 1.46968809e+02] [-6.57607187e-01 7.50923173e-01 -6.05572083e-02 -9.21988857e+01] [-9.02412878e-02 1.28742982e-03 9.95919099e-01 -1.03520477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45864 meters 0.03136699933599666 Centerline is valid? [True, True] Translation: X:146.99, Y:-92.22, Z:-10.35 [[ 7.46700130e-01 6.61865568e-01 6.61277996e-02 1.46989946e+02] [-6.59158723e-01 7.49621789e-01 -5.98076181e-02 -9.22195905e+01] [-8.91554425e-02 1.06964029e-03 9.96017150e-01 -1.03534922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48864 meters 0.031011492575312192 Centerline is valid? [True, True] Translation: X:147.01, Y:-92.24, Z:-10.35 [[ 7.46580373e-01 6.61993443e-01 6.61999185e-02 1.47011155e+02] [-6.59283273e-01 7.49508909e-01 -5.98494918e-02 -9.22395668e+01] [-8.92373998e-02 1.03795699e-03 9.96009844e-01 -1.03540684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51864 meters 0.031200047422858108 Centerline is valid? [True, True] Translation: X:147.03, Y:-92.26, Z:-10.36 [[ 7.46178533e-01 6.62441330e-01 6.62501340e-02 1.47032238e+02] [-6.59733441e-01 7.49113202e-01 -5.98431128e-02 -9.22585777e+01] [-8.92714012e-02 9.46217263e-04 9.96006888e-01 -1.03556580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54864 meters 0.03096537567590158 Centerline is valid? [True, True] Translation: X:147.05, Y:-92.28, Z:-10.36 [[ 7.45631479e-01 6.63063100e-01 6.61892968e-02 1.47053255e+02] [-6.60367273e-01 7.48563045e-01 -5.97363553e-02 -9.22773444e+01] [-8.91558345e-02 8.32061514e-04 9.96017342e-01 -1.03579311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57864 meters 0.03033470378948011 Centerline is valid? [True, True] Translation: X:147.07, Y:-92.30, Z:-10.36 [[ 7.44421025e-01 6.64583475e-01 6.45456608e-02 1.47074325e+02] [-6.62030153e-01 7.47213790e-01 -5.82033390e-02 -9.22965110e+01] [-8.69103851e-02 5.96615604e-04 9.96215955e-01 -1.03576695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60864 meters 0.03018258837584838 Centerline is valid? [True, True] Translation: X:147.10, Y:-92.32, Z:-10.36 [[ 7.43475585e-01 6.65753288e-01 6.33767623e-02 1.47095160e+02] [-6.63300209e-01 7.46171822e-01 -5.71003073e-02 -9.23158861e+01] [-8.53046715e-02 4.14864735e-04 9.96354827e-01 -1.03580966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63864 meters 0.029904990599573644 Centerline is valid? [True, True] Translation: X:147.12, Y:-92.34, Z:-10.36 [[ 7.41681493e-01 6.67828735e-01 6.25567194e-02 1.47116347e+02] [-6.65450309e-01 7.44314961e-01 -5.63127420e-02 -9.23353239e+01] [-8.41691694e-02 1.37730329e-04 9.96451470e-01 -1.03578687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66864 meters 0.02981228620124712 Centerline is valid? [True, True] Translation: X:147.14, Y:-92.35, Z:-10.36 [[ 7.40945059e-01 6.68680661e-01 6.21819395e-02 1.47136771e+02] [-6.66337986e-01 7.43549712e-01 -5.59241800e-02 -9.23543148e+01] [-8.36307808e-02 2.55651747e-06 9.96496810e-01 -1.03585474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69864 meters 0.029845481605084184 Centerline is valid? [True, True] Translation: X:147.16, Y:-92.37, Z:-10.36 [[ 7.41082166e-01 6.68506273e-01 6.24226438e-02 1.47157101e+02] [-6.66149581e-01 7.43706503e-01 -5.60836324e-02 -9.23734965e+01] [-8.39163861e-02 -2.02382331e-05 9.96472799e-01 -1.03606681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72864 meters 0.02980879890086938 Centerline is valid? [True, True] Translation: X:147.18, Y:-92.39, Z:-10.36 [[ 7.42024586e-01 6.67410780e-01 6.29473172e-02 1.47178858e+02] [-6.65015004e-01 7.44689766e-01 -5.64995304e-02 -9.23925979e+01] [-8.45846186e-02 6.31302488e-05 9.96416298e-01 -1.03621811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75864 meters 0.02980879890086938 Centerline is valid? [True, True] Translation: X:147.20, Y:-92.41, Z:-10.36 [[ 7.42362073e-01 6.67032905e-01 6.29734571e-02 1.47198975e+02] [-6.64638245e-01 7.45028254e-01 -5.64703847e-02 -9.24111126e+01] [-8.45846096e-02 6.69038567e-05 9.96416298e-01 -1.03637465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864000000002 meters 0.029704615515427038 Centerline is valid? [True, True] Translation: X:147.22, Y:-92.43, Z:-10.36 [[ 7.43435674e-01 6.65915473e-01 6.21287513e-02 1.47220293e+02] [-6.63585358e-01 7.46027185e-01 -5.56588931e-02 -9.24299180e+01] [-8.34138556e-02 1.51076997e-04 9.96514980e-01 -1.03648565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81864000000002 meters 0.0294347889217288 Centerline is valid? [True, True] Translation: X:147.24, Y:-92.45, Z:-10.36 [[ 7.46005018e-01 6.63376169e-01 5.83829802e-02 1.47241262e+02] [-6.61314676e-01 7.48285986e-01 -5.22588002e-02 -9.24491909e+01] [-7.83544086e-02 3.75805555e-04 9.96925496e-01 -1.03647965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864000000002 meters 0.02951625844858339 Centerline is valid? [True, True] Translation: X:147.26, Y:-92.47, Z:-10.37 [[ 7.47369496e-01 6.61866579e-01 5.80643462e-02 1.47261137e+02] [-6.59826705e-01 7.49621495e-01 -5.19262410e-02 -9.24684445e+01] [-7.78945255e-02 4.95682305e-04 9.96961482e-01 -1.03671088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87864000000002 meters 0.02939220844327836 Centerline is valid? [True, True] Translation: X:147.28, Y:-92.49, Z:-10.37 [[ 7.49573848e-01 6.59496824e-01 5.65949247e-02 1.47282403e+02] [-6.57555938e-01 7.51707036e-01 -5.05640300e-02 -9.24882453e+01] [-7.58896202e-02 6.87145744e-04 9.97115988e-01 -1.03677049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864000000002 meters 0.02960628267130707 Centerline is valid? [True, True] Translation: X:147.30, Y:-92.51, Z:-10.37 [[ 7.50799012e-01 6.58096787e-01 5.66521183e-02 1.47303114e+02] [-6.56151359e-01 7.52932922e-01 -5.05708330e-02 -9.25079606e+01] [-7.59357477e-02 7.96167038e-04 9.97112395e-01 -1.03696590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93864000000002 meters 0.029329843900380608 Centerline is valid? [True, True] Translation: X:147.32, Y:-92.53, Z:-10.37 [[ 7.51712707e-01 6.57059746e-01 5.65729329e-02 1.47322792e+02] [-6.55120317e-01 7.53838008e-01 -5.04542267e-02 -9.25279436e+01] [-7.57982684e-02 8.65005614e-04 9.97122798e-01 -1.03697088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters 0.029333211656759416 Centerline is valid? [True, True] Translation: X:147.34, Y:-92.55, Z:-10.37 [[ 7.51252782e-01 6.57490005e-01 5.76727918e-02 1.47342809e+02] [-6.55479479e-01 7.53462842e-01 -5.13848138e-02 -9.25481896e+01] [-7.72393071e-02 7.99652818e-04 9.97012262e-01 -1.03724925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99864 meters 0.02911672191148526 Centerline is valid? [True, True] Translation: X:147.36, Y:-92.57, Z:-10.37 [[ 7.50497663e-01 6.58404980e-01 5.70625998e-02 1.47362936e+02] [-6.56442862e-01 7.52663564e-01 -5.07969357e-02 -9.25683035e+01] [-7.63938952e-02 6.64645279e-04 9.97077495e-01 -1.03735616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters 0.029035641290170642 Centerline is valid? [True, True] Translation: X:147.38, Y:-92.59, Z:-10.37 [[ 7.50757689e-01 6.58169772e-01 5.63510732e-02 1.47384106e+02] [-6.56258998e-01 7.52869267e-01 -5.01197990e-02 -9.25874704e+01] [-7.54123279e-02 6.46925663e-04 9.97152226e-01 -1.03749060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05864 meters 0.028731324682827547 Centerline is valid? [True, True] Translation: X:147.40, Y:-92.61, Z:-10.38 [[ 7.50811457e-01 6.58114521e-01 5.62799544e-02 1.47404469e+02] [-6.56211878e-01 7.52917590e-01 -5.00107411e-02 -9.26062394e+01] [-7.52869625e-02 6.17062831e-04 9.97161718e-01 -1.03751945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters 0.02842150064870974 Centerline is valid? [True, True] Translation: X:147.43, Y:-92.63, Z:-10.38 [[ 7.50777353e-01 6.58228099e-01 5.53997872e-02 1.47426108e+02] [-6.56388432e-01 7.52818342e-01 -4.91809994e-02 -9.26254967e+01] [-7.40782917e-02 5.60201104e-04 9.97252271e-01 -1.03761492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11864 meters 0.028390082902908207 Centerline is valid? [True, True] Translation: X:147.45, Y:-92.64, Z:-10.38 [[ 7.51255771e-01 6.57624523e-01 5.60781043e-02 1.47447528e+02] [-6.55741124e-01 7.53345628e-01 -4.97387580e-02 -9.26449885e+01] [-7.49556217e-02 5.93809884e-04 9.97186694e-01 -1.03777772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters 0.028386655663763707 Centerline is valid? [True, True] Translation: X:147.47, Y:-92.66, Z:-10.38 [[ 7.51963353e-01 6.56792793e-01 5.63413102e-02 1.47468828e+02] [-6.54892756e-01 7.54070826e-01 -4.99266185e-02 -9.26630397e+01] [-7.52767815e-02 6.45471500e-04 9.97162469e-01 -1.03797348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17864 meters 0.028118340927064917 Centerline is valid? [True, True] Translation: X:147.49, Y:-92.68, Z:-10.38 [[ 7.52878971e-01 6.55854535e-01 5.50280328e-02 1.47492070e+02] [-6.54043108e-01 7.54886984e-01 -4.87160652e-02 -9.26804837e+01] [-7.34905979e-02 6.86595415e-04 9.97295674e-01 -1.03804337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20864 meters 0.02797211300564124 Centerline is valid? [True, True] Translation: X:147.51, Y:-92.70, Z:-10.38 [[ 7.53141522e-01 6.55554030e-01 5.50160170e-02 1.47513019e+02] [-6.53745848e-01 7.55147964e-01 -4.86612539e-02 -9.26984845e+01] [-7.34453143e-02 6.82318100e-04 9.97299012e-01 -1.03827773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23864 meters 0.027803514602524507 Centerline is valid? [True, True] Translation: X:147.53, Y:-92.72, Z:-10.38 [[ 7.53978391e-01 6.54635065e-01 5.44932810e-02 1.47534634e+02] [-6.52862228e-01 7.55944708e-01 -4.81508939e-02 -9.27162365e+01] [-7.27151710e-02 7.28128657e-04 9.97352482e-01 -1.03832612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26864 meters 0.02776365758730142 Centerline is valid? [True, True] Translation: X:147.56, Y:-92.73, Z:-10.38 [[ 7.56937308e-01 6.51296813e-01 5.34637502e-02 1.47557520e+02] [-6.49585319e-01 7.58822424e-01 -4.71957801e-02 -9.27331679e+01] [-7.13079537e-02 9.94979501e-04 9.97453851e-01 -1.03838808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29864 meters 0.027757832784896568 Centerline is valid? [True, True] Translation: X:147.58, Y:-92.75, Z:-10.39 [[ 7.58904036e-01 6.49016180e-01 5.33166186e-02 1.47578832e+02] [-6.47311399e-01 7.60773697e-01 -4.70248384e-02 -9.27517490e+01] [-7.10817620e-02 1.17488466e-03 9.97469800e-01 -1.03850476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32864 meters 0.028484091473466745 Centerline is valid? [True, True] Translation: X:147.60, Y:-92.77, Z:-10.39 [[ 7.63181718e-01 6.44082629e-01 5.20694893e-02 1.47598978e+02] [-6.42447980e-01 7.64954320e-01 -4.58855208e-02 -9.27717448e+01] [-6.93848476e-02 1.56705241e-03 9.97588737e-01 -1.03878567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35864 meters 0.028847625103931226 Centerline is valid? [True, True] Translation: X:147.62, Y:-92.79, Z:-10.39 [[ 7.65584889e-01 6.41229856e-01 5.20004780e-02 1.47619853e+02] [-6.39595696e-01 7.67346764e-01 -4.57852537e-02 -9.27913930e+01] [-6.92612702e-02 1.79321650e-03 9.97596943e-01 -1.03896482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38864 meters 0.02937898229653469 Centerline is valid? [True, True] Translation: X:147.64, Y:-92.81, Z:-10.39 [[ 7.67653855e-01 6.38824692e-01 5.10937468e-02 1.47641161e+02] [-6.37244342e-01 7.69349871e-01 -4.49491287e-02 -9.28106581e+01] [-6.80235809e-02 1.94617085e-03 9.97681815e-01 -1.03908394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41864 meters 0.029587008864772817 Centerline is valid? [True, True] Translation: X:147.66, Y:-92.83, Z:-10.39 [[ 7.69449799e-01 6.36660755e-01 5.10890354e-02 1.47662395e+02] [-6.35078524e-01 7.71141128e-01 -4.49069032e-02 -9.28305299e+01] [-6.79873193e-02 2.10805846e-03 9.97683958e-01 -1.03919910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44864 meters 0.02986139957196086 Centerline is valid? [True, True] Translation: X:147.68, Y:-92.85, Z:-10.39 [[ 7.70906711e-01 6.34910544e-01 5.09062287e-02 1.47680527e+02] [-6.33338364e-01 7.72582455e-01 -4.47086998e-02 -9.28527666e+01] [-6.77152840e-02 2.22536914e-03 9.97702204e-01 -1.03934103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47864 meters 0.029732732695939356 Centerline is valid? [True, True] Translation: X:147.70, Y:-92.87, Z:-10.39 [[ 7.71163562e-01 6.34642350e-01 5.03572077e-02 1.47699784e+02] [-6.33105894e-01 7.72802865e-01 -4.41889088e-02 -9.28733750e+01] [-6.69603473e-02 2.19543134e-03 9.97753222e-01 -1.03944317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50864 meters 0.029194336077203526 Centerline is valid? [True, True] Translation: X:147.72, Y:-92.90, Z:-10.40 [[ 7.69705938e-01 6.36346525e-01 5.11455743e-02 1.47718144e+02] [-6.34768192e-01 7.71400617e-01 -4.48378216e-02 -9.28963911e+01] [-6.79861196e-02 2.04635384e-03 9.97684168e-01 -1.03978397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53864000000002 meters 0.02892992572200416 Centerline is valid? [True, True] Translation: X:147.74, Y:-92.92, Z:-10.40 [[ 7.69132462e-01 6.37092830e-01 5.04775432e-02 1.47738160e+02] [-6.35559563e-01 7.70784675e-01 -4.42156873e-02 -9.29178850e+01] [-6.70768141e-02 1.92623512e-03 9.97745955e-01 -1.03990744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864000000002 meters 0.02855509019685059 Centerline is valid? [True, True] Translation: X:147.76, Y:-92.94, Z:-10.40 [[ 7.68099233e-01 6.38281339e-01 5.11908306e-02 1.47757927e+02] [-6.36709467e-01 7.69801025e-01 -4.48044294e-02 -9.29393339e+01] [-6.80045851e-02 1.82056136e-03 9.97683348e-01 -1.04014200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59864000000002 meters 0.02766473401207579 Centerline is valid? [True, True] Translation: X:147.78, Y:-92.96, Z:-10.40 [[ 7.65300469e-01 6.41624536e-01 5.13141934e-02 1.47776511e+02] [-6.40055124e-01 7.67017411e-01 -4.48745958e-02 -9.29623678e+01] [-6.81515215e-02 1.49863679e-03 9.97673857e-01 -1.04027797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864000000002 meters 0.027353223204671904 Centerline is valid? [True, True] Translation: X:147.80, Y:-92.98, Z:-10.40 [[ 7.64438622e-01 6.42722833e-01 5.04078598e-02 1.47797235e+02] [-6.41213162e-01 7.66097604e-01 -4.40470325e-02 -9.29827820e+01] [-6.69273742e-02 1.34906960e-03 9.97756938e-01 -1.04044065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65864000000002 meters 0.026996367979963225 Centerline is valid? [True, True] Translation: X:147.82, Y:-93.00, Z:-10.41 [[ 7.62985964e-01 6.44459456e-01 5.02436855e-02 1.47817636e+02] [-6.42965909e-01 7.64637597e-01 -4.38655247e-02 -9.30032463e+01] [-6.66877632e-02 1.16380274e-03 9.97773215e-01 -1.04060456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864000000002 meters 0.02642325179874034 Centerline is valid? [True, True] Translation: X:147.84, Y:-93.02, Z:-10.41 [[ 7.60547118e-01 6.47251302e-01 5.13208840e-02 1.47837525e+02] [-6.45702001e-01 7.62276148e-01 -4.47660551e-02 -9.30243125e+01] [-6.80955732e-02 9.08696724e-04 9.97678389e-01 -1.04084892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71864 meters 0.02636661331487153 Centerline is valid? [True, True] Translation: X:147.86, Y:-93.04, Z:-10.41 [[ 7.59778336e-01 6.48155415e-01 5.12975474e-02 1.47858860e+02] [-6.46612269e-01 7.61507664e-01 -4.47062719e-02 -9.30439251e+01] [-6.80400877e-02 7.97233369e-04 9.97682270e-01 -1.04097304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters 0.02623923356724037 Centerline is valid? [True, True] Translation: X:147.88, Y:-93.06, Z:-10.41 [[ 7.58254524e-01 6.49823373e-01 5.27224911e-02 1.47878038e+02] [-6.48200216e-01 7.60084984e-01 -4.59053164e-02 -9.30636090e+01] [-6.99039214e-02 6.33183745e-04 9.97553528e-01 -1.04115783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77864 meters 0.02611132461159375 Centerline is valid? [True, True] Translation: X:147.90, Y:-93.08, Z:-10.41 [[ 7.56913389e-01 6.51324426e-01 5.34659964e-02 1.47898976e+02] [-6.49661651e-01 7.58799228e-01 -4.65131177e-02 -9.30841599e+01] [-7.08650866e-02 4.71594065e-04 9.97485798e-01 -1.04135450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters 0.02588159836285159 Centerline is valid? [True, True] Translation: X:147.92, Y:-93.10, Z:-10.42 [[ 7.56119285e-01 6.52292964e-01 5.28915467e-02 1.47920257e+02] [-6.50668542e-01 7.57966853e-01 -4.60075863e-02 -9.31044840e+01] [-7.01004640e-02 3.72357636e-04 9.97539867e-01 -1.04153516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83864 meters 0.025641753872322207 Centerline is valid? [True, True] Translation: X:147.94, Y:-93.12, Z:-10.42 [[ 7.54069857e-01 6.54654466e-01 5.29734079e-02 1.47941985e+02] [-6.53031224e-01 7.55928243e-01 -4.60728966e-02 -9.31241832e+01] [-7.02059226e-02 1.48893119e-04 9.97532509e-01 -1.04178785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters 0.025663005369382094 Centerline is valid? [True, True] Translation: X:147.96, Y:-93.14, Z:-10.42 [[ 7.52381490e-01 6.56554686e-01 5.34606202e-02 1.47964437e+02] [-6.54906618e-01 7.54278426e-01 -4.64906224e-02 -9.31438586e+01] [-7.08478284e-02 -3.30301643e-05 9.97487135e-01 -1.04197913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89864 meters 0.025714821054509045 Centerline is valid? [True, True] Translation: X:147.99, Y:-93.16, Z:-10.42 [[ 7.50481879e-01 6.58693243e-01 5.38531411e-02 1.47986588e+02] [-6.57026774e-01 7.52411559e-01 -4.68258948e-02 -9.31629443e+01] [-7.13636263e-02 -2.40970051e-04 9.97450337e-01 -1.04213430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters 0.025754666619920458 Centerline is valid? [True, True] Translation: X:148.01, Y:-93.18, Z:-10.42 [[ 7.46795407e-01 6.62893275e-01 5.35642254e-02 1.48008937e+02] [-6.61255866e-01 7.48713626e-01 -4.65680897e-02 -9.31817316e+01] [-7.09739389e-02 -6.42822660e-04 9.97477963e-01 -1.04217247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95864 meters 0.025862591609458647 Centerline is valid? [True, True] Translation: X:148.03, Y:-93.20, Z:-10.42 [[ 7.45284127e-01 6.64499977e-01 5.46932453e-02 1.48030055e+02] [-6.62798244e-01 7.47287829e-01 -4.75330261e-02 -9.32005072e+01] [-7.24572913e-02 -8.24977032e-04 9.97371175e-01 -1.04244384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98864 meters 0.026245319555938316 Centerline is valid? [True, True] Translation: X:148.05, Y:-93.22, Z:-10.43 [[ 7.43207000e-01 6.66818833e-01 5.47357253e-02 1.48051451e+02] [-6.65123854e-01 7.45219075e-01 -4.75267155e-02 -9.32196396e+01] [-7.24818156e-02 -1.08384894e-03 9.97369145e-01 -1.04266593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01864 meters 0.026200356804167338 Centerline is valid? [True, True] Translation: X:148.07, Y:-93.24, Z:-10.43 [[ 7.42812100e-01 6.67246812e-01 5.48805618e-02 1.48073879e+02] [-6.65547165e-01 7.44835784e-01 -4.76090971e-02 -9.32376664e+01] [-7.26440245e-02 -1.16098892e-03 9.97357257e-01 -1.04290649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04864 meters 0.026176329821113897 Centerline is valid? [True, True] Translation: X:148.10, Y:-93.25, Z:-10.43 [[ 7.42819687e-01 6.67268256e-01 5.45159385e-02 1.48095995e+02] [-6.65594380e-01 7.44816530e-01 -4.72488936e-02 -9.32548957e+01] [-7.21320589e-02 -1.18809395e-03 9.97394383e-01 -1.04301309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07864 meters 0.026372874047533773 Centerline is valid? [True, True] Translation: X:148.12, Y:-93.27, Z:-10.43 [[ 7.41661362e-01 6.68505378e-01 5.51269758e-02 1.48118213e+02] [-6.66800241e-01 7.43706073e-01 -4.77358915e-02 -9.32722951e+01] [-7.29099669e-02 -1.35481444e-03 9.97337606e-01 -1.04324870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10864 meters 0.02638410617598626 Centerline is valid? [True, True] Translation: X:148.14, Y:-93.29, Z:-10.43 [[ 7.40277615e-01 6.70092054e-01 5.44581634e-02 1.48141928e+02] [-6.68433879e-01 7.42276475e-01 -4.71358158e-02 -9.32889871e+01] [-7.20083492e-02 -1.50809207e-03 9.97402889e-01 -1.04336496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13864 meters 0.026774226726665608 Centerline is valid? [True, True] Translation: X:148.16, Y:-93.31, Z:-10.44 [[ 7.39592026e-01 6.70833922e-01 5.46395864e-02 1.48164531e+02] [-6.69169792e-01 7.41605848e-01 -4.72499328e-02 -9.33071118e+01] [-7.22178946e-02 -1.61748712e-03 9.97387567e-01 -1.04360799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16864 meters 0.026903367202880873 Centerline is valid? [True, True] Translation: X:148.19, Y:-93.32, Z:-10.44 [[ 7.37359767e-01 6.73295737e-01 5.45291140e-02 1.48189294e+02] [-6.71647705e-01 7.39370887e-01 -4.71174170e-02 -9.33216225e+01] [-7.20411954e-02 -1.88186669e-03 9.97399882e-01 -1.04379353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19864 meters 0.026971000284105963 Centerline is valid? [True, True] Translation: X:148.21, Y:-93.34, Z:-10.44 [[ 7.37647410e-01 6.72897230e-01 5.55483144e-02 1.48213100e+02] [-6.71187424e-01 7.39733554e-01 -4.79761532e-02 -9.33379171e+01] [-7.33739727e-02 -1.89384486e-03 9.97302699e-01 -1.04402277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22864 meters 0.02703980205098049 Centerline is valid? [True, True] Translation: X:148.24, Y:-93.35, Z:-10.44 [[ 7.37458796e-01 6.73037207e-01 5.63510668e-02 1.48236347e+02] [-6.71281291e-01 7.39606005e-01 -4.86249522e-02 -9.33549362e+01] [-7.44039895e-02 -1.96851819e-03 9.97226239e-01 -1.04421234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25864 meters 0.026542413773203835 Centerline is valid? [True, True] Translation: X:148.26, Y:-93.37, Z:-10.44 [[ 7.39073444e-01 6.71253494e-01 5.64729339e-02 1.48262969e+02] [-6.69488005e-01 7.41225618e-01 -4.86867002e-02 -9.33687276e+01] [-7.45403029e-02 -1.82490469e-03 9.97216332e-01 -1.04439522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864000000002 meters 0.02639992726476389 Centerline is valid? [True, True] Translation: X:148.29, Y:-93.38, Z:-10.45 [[ 7.40524216e-01 6.69639318e-01 5.66309887e-02 1.48286895e+02] [-6.67862348e-01 7.42684522e-01 -4.87809828e-02 -9.33845543e+01] [-7.47246228e-02 -1.69820597e-03 9.97202761e-01 -1.04459285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31864000000002 meters 0.02604318467773481 Centerline is valid? [True, True] Translation: X:148.31, Y:-93.40, Z:-10.45 [[ 7.42258286e-01 6.67685004e-01 5.70032699e-02 1.48310741e+02] [-6.65882195e-01 7.44442308e-01 -4.90566334e-02 -9.34002568e+01] [-7.51900242e-02 -1.54476986e-03 9.97168027e-01 -1.04487610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864000000002 meters 0.025840723231131638 Centerline is valid? [True, True] Translation: X:148.34, Y:-93.41, Z:-10.45 [[ 7.45731852e-01 6.63705588e-01 5.81282851e-02 1.48337401e+02] [-6.61822240e-01 7.47992950e-01 -4.99786884e-02 -9.34137259e+01] [-7.66506822e-02 -1.19989201e-03 9.97057287e-01 -1.04511853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37864000000002 meters 0.02552109291069576 Centerline is valid? [True, True] Translation: X:148.36, Y:-93.43, Z:-10.45 [[ 7.47340115e-01 6.61843570e-01 5.87012925e-02 1.48360465e+02] [-6.59920810e-01 7.49641232e-01 -5.04236871e-02 -9.34294024e+01] [-7.73775023e-02 -1.05456040e-03 9.97001309e-01 -1.04525166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864000000002 meters 0.025319286169849648 Centerline is valid? [True, True] Translation: X:148.38, Y:-93.45, Z:-10.45 [[ 7.49880541e-01 6.59003036e-01 5.82595326e-02 1.48384598e+02] [-6.57104369e-01 7.52139861e-01 -4.99947753e-02 -9.34454107e+01] [-7.67660255e-02 -7.92484289e-04 9.97048820e-01 -1.04542976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43864000000002 meters 0.02526960172359728 Centerline is valid? [True, True] Translation: X:148.41, Y:-93.46, Z:-10.46 [[ 7.54636193e-01 6.53581197e-01 5.79295766e-02 1.48411085e+02] [-6.51691391e-01 7.56856357e-01 -4.96667498e-02 -9.34582660e+01] [-7.63056221e-02 -2.71879395e-04 9.97084439e-01 -1.04559230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters 0.025140190239957803 Centerline is valid? [True, True] Translation: X:148.43, Y:-93.47, Z:-10.46 [[ 7.57234966e-01 6.50585745e-01 5.77355599e-02 1.48433474e+02] [-6.48703369e-01 7.59432807e-01 -4.94545249e-02 -9.34741284e+01] [-7.60206872e-02 -4.55673699e-06 9.97106241e-01 -1.04578850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49864 meters 0.025325131588207195 Centerline is valid? [True, True] Translation: X:148.46, Y:-93.49, Z:-10.46 [[ 7.60623355e-01 6.46609474e-01 5.78645024e-02 1.48456722e+02] [-6.44710998e-01 7.62821120e-01 -4.95143095e-02 -9.34898675e+01] [-7.61566861e-02 3.55859054e-04 9.97095799e-01 -1.04595600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters 0.025388733020740555 Centerline is valid? [True, True] Translation: X:148.48, Y:-93.51, Z:-10.46 [[ 7.62024094e-01 6.44972269e-01 5.77066146e-02 1.48479279e+02] [-6.43083263e-01 7.64205825e-01 -4.93292471e-02 -9.35064463e+01] [-7.59157274e-02 4.79916761e-04 9.97114122e-01 -1.04617268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55864 meters 0.025647480269344932 Centerline is valid? [True, True] Translation: X:148.50, Y:-93.52, Z:-10.46 [[ 7.63989294e-01 6.42653751e-01 5.75891961e-02 1.48502838e+02] [-6.40769490e-01 7.66156449e-01 -4.91808554e-02 -9.35225080e+01] [-7.57285952e-02 6.72247147e-04 9.97128240e-01 -1.04630626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters 0.02585143261578409 Centerline is valid? [True, True] Translation: X:148.53, Y:-93.54, Z:-10.46 [[ 7.65959552e-01 6.40324428e-01 5.73636832e-02 1.48525618e+02] [-6.38451603e-01 7.68104079e-01 -4.89456305e-02 -9.35401915e+01] [-7.54023619e-02 8.66437779e-04 9.97152813e-01 -1.04645728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61864 meters 0.026074599146779332 Centerline is valid? [True, True] Translation: X:148.55, Y:-93.56, Z:-10.47 [[ 7.66934312e-01 6.39076156e-01 5.82531316e-02 1.48546371e+02] [-6.37144481e-01 7.69142850e-01 -4.96607118e-02 -9.35598878e+01] [-7.65419564e-02 9.70842524e-04 9.97065889e-01 -1.04672928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters 0.026074599146779332 Centerline is valid? [True, True] Translation: X:148.57, Y:-93.58, Z:-10.47 [[ 7.67247636e-01 6.38697930e-01 5.82753856e-02 1.48566943e+02] [-6.36767149e-01 7.69456955e-01 -4.96345867e-02 -9.35778669e+01] [-7.65419085e-02 9.74168135e-04 9.97065889e-01 -1.04688580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67864 meters 0.026117877117757975 Centerline is valid? [True, True] Translation: X:148.59, Y:-93.60, Z:-10.47 [[ 7.68506350e-01 6.37251371e-01 5.75211269e-02 1.48587425e+02] [-6.35369927e-01 7.70655275e-01 -4.89438764e-02 -9.35965944e+01] [-7.55185122e-02 1.06648563e-03 9.97143830e-01 -1.04695506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70864 meters 0.026401145926186892 Centerline is valid? [True, True] Translation: X:148.61, Y:-93.61, Z:-10.47 [[ 7.70010274e-01 6.35488601e-01 5.69070779e-02 1.48608788e+02] [-6.33645933e-01 7.72109334e-01 -4.83736314e-02 -9.36147524e+01] [-7.46793774e-02 1.18925474e-03 9.97206887e-01 -1.04704965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73864 meters 0.026367223513450982 Centerline is valid? [True, True] Translation: X:148.63, Y:-93.63, Z:-10.47 [[ 7.70401743e-01 6.35004660e-01 5.70108435e-02 1.48628899e+02] [-6.33157543e-01 7.72507371e-01 -4.84137092e-02 -9.36339954e+01] [-7.47842278e-02 1.20116028e-03 9.97199015e-01 -1.04727036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76864 meters 0.02671655540740517 Centerline is valid? [True, True] Translation: X:148.65, Y:-93.66, Z:-10.48 [[ 7.71929358e-01 6.33103142e-01 5.74932900e-02 1.48648084e+02] [-6.31222863e-01 7.74066250e-01 -4.87764052e-02 -9.36552134e+01] [-7.53841108e-02 1.36086005e-03 9.97153641e-01 -1.04751516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79864 meters 0.027010001757078864 Centerline is valid? [True, True] Translation: X:148.67, Y:-93.67, Z:-10.48 [[ 7.73148527e-01 6.31664593e-01 5.69315132e-02 1.48668672e+02] [-6.29820243e-01 7.75240434e-01 -4.82569348e-02 -9.36746611e+01] [-7.46178081e-02 1.45315859e-03 9.97211147e-01 -1.04769126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82864 meters 0.02717616987530163 Centerline is valid? [True, True] Translation: X:148.69, Y:-93.69, Z:-10.48 [[ 7.74155727e-01 6.30403404e-01 5.72228811e-02 1.48689466e+02] [-6.28540158e-01 7.76266163e-01 -4.84573331e-02 -9.36942064e+01] [-7.49678541e-02 1.54664321e-03 9.97184752e-01 -1.04779290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85864 meters 0.02779445201444461 Centerline is valid? [True, True] Translation: X:148.71, Y:-93.72, Z:-10.48 [[ 7.76898360e-01 6.26990834e-01 5.75450478e-02 1.48709150e+02] [-6.25100322e-01 7.79024425e-01 -4.86881165e-02 -9.37155479e+01] [-7.53560006e-02 1.85429000e-03 9.97154970e-01 -1.04795908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88864 meters 0.028151879791869235 Centerline is valid? [True, True] Translation: X:148.73, Y:-93.74, Z:-10.48 [[ 7.78138263e-01 6.25393831e-01 5.81669953e-02 1.48729343e+02] [-6.23460942e-01 7.80306712e-01 -4.91720326e-02 -9.37354145e+01] [-7.61399827e-02 1.99779037e-03 9.97095137e-01 -1.04817079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91864 meters 0.02824573665298269 Centerline is valid? [True, True] Translation: X:148.75, Y:-93.76, Z:-10.48 [[ 7.78382306e-01 6.25054437e-01 5.85485865e-02 1.48749286e+02] [-6.23098487e-01 7.80578575e-01 -4.94506254e-02 -9.37554691e+01] [-7.66111050e-02 2.00995619e-03 9.97059025e-01 -1.04830635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94864 meters 0.02784537515178997 Centerline is valid? [True, True] Translation: X:148.77, Y:-93.78, Z:-10.48 [[ 7.77996018e-01 6.25615474e-01 5.76842698e-02 1.48768486e+02] [-6.23721893e-01 7.80129288e-01 -4.86753938e-02 -9.37771032e+01] [-7.54532679e-02 1.89032058e-03 9.97147547e-01 -1.04839110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97864 meters 0.02798890523197475 Centerline is valid? [True, True] Translation: X:148.79, Y:-93.80, Z:-10.49 [[ 7.77386613e-01 6.26358615e-01 5.78354502e-02 1.48788949e+02] [-6.24460284e-01 7.79532988e-01 -4.87614027e-02 -9.37965157e+01] [-7.56267659e-02 1.79052003e-03 9.97134588e-01 -1.04864634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00864 meters 0.027564287887747438 Centerline is valid? [True, True] Translation: X:148.81, Y:-93.82, Z:-10.49 [[ 7.76364435e-01 6.27688317e-01 5.71457966e-02 1.48809141e+02] [-6.25841705e-01 7.78463093e-01 -4.81391019e-02 -9.38170047e+01] [-7.47022454e-02 1.60926381e-03 9.97204585e-01 -1.04881717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03864000000002 meters 0.027110975897877154 Centerline is valid? [True, True] Translation: X:148.83, Y:-93.84, Z:-10.49 [[ 7.73627574e-01 6.30783047e-01 6.01092769e-02 1.48826972e+02] [-6.28752587e-01 7.75958081e-01 -5.05889393e-02 -9.38389526e+01] [-7.85529244e-02 1.34313502e-03 9.96909040e-01 -1.04907009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864000000002 meters 0.027080655023084203 Centerline is valid? [True, True] Translation: X:148.85, Y:-93.86, Z:-10.49 [[ 7.73261206e-01 6.31187494e-01 6.05760269e-02 1.48846268e+02] [-6.29130571e-01 7.75629246e-01 -5.09313094e-02 -9.38585979e+01] [-7.91317436e-02 1.27297536e-03 9.96863354e-01 -1.04924329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09864000000002 meters 0.026977361028263792 Centerline is valid? [True, True] Translation: X:148.87, Y:-93.88, Z:-10.49 [[ 7.73033197e-01 6.31531692e-01 5.98948936e-02 1.48866694e+02] [-6.29525627e-01 7.75349156e-01 -5.03107468e-02 -9.38786179e+01] [-7.82122863e-02 1.18650704e-03 9.96936021e-01 -1.04940776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864000000002 meters 0.02683641449334854 Centerline is valid? [True, True] Translation: X:148.89, Y:-93.90, Z:-10.50 [[ 7.72641400e-01 6.32071155e-01 5.92564160e-02 1.48885929e+02] [-6.30112639e-01 7.74909592e-01 -4.97311370e-02 -9.39004488e+01] [-7.73519824e-02 1.08611864e-03 9.97003255e-01 -1.04960646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15864000000002 meters 0.026819334517901677 Centerline is valid? [True, True] Translation: X:148.91, Y:-93.92, Z:-10.50 [[ 7.73045853e-01 6.31628879e-01 5.86947035e-02 1.48905854e+02] [-6.29709501e-01 7.75270135e-01 -4.92154630e-02 -9.39193525e+01] [-7.65901584e-02 1.08519715e-03 9.97062069e-01 -1.04972301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864000000002 meters 0.02692356835595488 Centerline is valid? [True, True] Translation: X:148.93, Y:-93.94, Z:-10.50 [[ 7.72315211e-01 6.32441439e-01 5.95570356e-02 1.48925662e+02] [-6.30471496e-01 7.74607555e-01 -4.98881609e-02 -9.39387895e+01] [-7.76846700e-02 9.80372198e-04 9.96977498e-01 -1.04990747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21864 meters 0.02697021393806679 Centerline is valid? [True, True] Translation: X:148.95, Y:-93.96, Z:-10.50 [[ 7.72006496e-01 6.32721541e-01 6.05757542e-02 1.48946575e+02] [-6.30688308e-01 7.74378839e-01 -5.06919259e-02 -9.39580728e+01] [-7.89824556e-02 9.30076118e-04 9.96875572e-01 -1.05016057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters 0.02693882014168834 Centerline is valid? [True, True] Translation: X:148.97, Y:-93.98, Z:-10.50 [[ 7.71384006e-01 6.33472500e-01 6.06572923e-02 1.48966769e+02] [-6.31439768e-01 7.73764772e-01 -5.07138784e-02 -9.39770354e+01] [-7.90603232e-02 8.18448152e-04 9.96869498e-01 -1.05033857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27864 meters 0.026834561226146057 Centerline is valid? [True, True] Translation: X:148.99, Y:-94.00, Z:-10.51 [[ 7.70697091e-01 6.34312077e-01 6.06150404e-02 1.48987095e+02] [-6.32288806e-01 7.73076781e-01 -5.06276325e-02 -9.39963478e+01] [-7.89737990e-02 6.92357622e-04 9.96876452e-01 -1.05051417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters 0.026672894678361796 Centerline is valid? [True, True] Translation: X:149.01, Y:-94.01, Z:-10.51 [[ 7.70872935e-01 6.34206118e-01 5.94770310e-02 1.49009245e+02] [-6.32261597e-01 7.73163743e-01 -4.96296305e-02 -9.40147311e+01] [-7.74608992e-02 6.53096312e-04 9.96995177e-01 -1.05057333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33864 meters 0.026762922582514725 Centerline is valid? [True, True] Translation: X:149.03, Y:-94.03, Z:-10.51 [[ 7.71080713e-01 6.33929621e-01 5.97308016e-02 1.49030192e+02] [-6.31971198e-01 7.73390467e-01 -4.97954857e-02 -9.40321979e+01] [-7.77620659e-02 6.48192360e-04 9.96971735e-01 -1.05084678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters 0.02695127942267896 Centerline is valid? [True, True] Translation: X:149.05, Y:-94.05, Z:-10.51 [[ 7.71878500e-01 6.32836374e-01 6.10057738e-02 1.49051712e+02] [-6.30793931e-01 7.74285207e-01 -5.08078177e-02 -9.40504136e+01] [-7.93889033e-02 7.35390217e-04 9.96843449e-01 -1.05114569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39864 meters 0.02717586296374215 Centerline is valid? [True, True] Translation: X:149.07, Y:-94.07, Z:-10.51 [[ 7.73250528e-01 6.31146351e-01 6.11384017e-02 1.49073440e+02] [-6.29093306e-01 7.75663275e-01 -5.08733400e-02 -9.40686081e+01] [-7.95313358e-02 8.76077800e-04 9.96831981e-01 -1.05131955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters 0.027421912607598325 Centerline is valid? [True, True] Translation: X:149.10, Y:-94.09, Z:-10.51 [[ 7.75252233e-01 6.28685794e-01 6.11403918e-02 1.49095870e+02] [-6.26628513e-01 7.77658650e-01 -5.08304201e-02 -9.40867493e+01] [-7.95027176e-02 1.09408386e-03 9.96834049e-01 -1.05142614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45864 meters 0.02816906243856987 Centerline is valid? [True, True] Translation: X:149.12, Y:-94.10, Z:-10.52 [[ 7.78243431e-01 6.24974681e-01 6.11866807e-02 1.49118980e+02] [-6.22906327e-01 7.80643692e-01 -5.08245496e-02 -9.41041978e+01] [-7.95290530e-02 1.44030130e-03 9.96831508e-01 -1.05160022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48864 meters 0.027784813060669454 Centerline is valid? [True, True] Translation: X:149.14, Y:-94.12, Z:-10.52 [[ 7.79164197e-01 6.23854183e-01 6.09024846e-02 1.49139396e+02] [-6.21805173e-01 7.81539296e-01 -5.05435989e-02 -9.41230368e+01] [-7.91295206e-02 1.51228271e-03 9.96863196e-01 -1.05160420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51864 meters 0.02844493394227867 Centerline is valid? [True, True] Translation: X:149.16, Y:-94.14, Z:-10.52 [[ 7.80691337e-01 6.21973407e-01 6.05814948e-02 1.49159493e+02] [-6.19943919e-01 7.83036609e-01 -5.02315228e-02 -9.41435794e+01] [-7.86801996e-02 1.65818529e-03 9.96898529e-01 -1.05187798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54864 meters 0.02853471454555242 Centerline is valid? [True, True] Translation: X:149.18, Y:-94.16, Z:-10.52 [[ 7.81449491e-01 6.21034519e-01 6.04385502e-02 1.49180245e+02] [-6.19015371e-01 7.83781342e-01 -5.00677475e-02 -9.41619686e+01] [-7.84644075e-02 1.71302427e-03 9.96915444e-01 -1.05202309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57864 meters 0.02839062295541191 Centerline is valid? [True, True] Translation: X:149.20, Y:-94.18, Z:-10.52 [[ 7.82224868e-01 6.20178311e-01 5.91871489e-02 1.49201632e+02] [-6.18243135e-01 7.84458976e-01 -4.89851037e-02 -9.41809212e+01] [-7.68093891e-02 1.72531775e-03 9.97044302e-01 -1.05213904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60864 meters 0.02849217925971995 Centerline is valid? [True, True] Translation: X:149.22, Y:-94.20, Z:-10.52 [[ 7.82624196e-01 6.19637391e-01 5.95724075e-02 1.49222545e+02] [-6.17678640e-01 7.84886245e-01 -4.92613453e-02 -9.42003718e+01] [-7.72817347e-02 1.75651717e-03 9.97007747e-01 -1.05238175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63864 meters 0.02867807220297243 Centerline is valid? [True, True] Translation: X:149.24, Y:-94.22, Z:-10.52 [[ 7.83366503e-01 6.18793365e-01 5.85806569e-02 1.49242131e+02] [-6.16900272e-01 7.85551793e-01 -4.83987056e-02 -9.42211839e+01] [-7.59669380e-02 1.77550156e-03 9.97108756e-01 -1.05246381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66864 meters 0.028851864614861784 Centerline is valid? [True, True] Translation: X:149.26, Y:-94.24, Z:-10.53 [[ 7.84320759e-01 6.17638147e-01 5.80005723e-02 1.49262617e+02] [-6.15782798e-01 7.86460275e-01 -4.78725451e-02 -9.42396923e+01] [-7.51830561e-02 1.83167624e-03 9.97168067e-01 -1.05250421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69864 meters 0.028765698843883934 Centerline is valid? [True, True] Translation: X:149.28, Y:-94.26, Z:-10.53 [[ 7.84557951e-01 6.17283203e-01 5.85684936e-02 1.49284248e+02] [-6.15393841e-01 7.86738861e-01 -4.82947850e-02 -9.42590672e+01] [-7.58896695e-02 1.84736739e-03 9.97114510e-01 -1.05264208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72864 meters 0.02875738543997905 Centerline is valid? [True, True] Translation: X:149.30, Y:-94.28, Z:-10.53 [[ 7.85200771e-01 6.16603354e-01 5.70968688e-02 1.49304824e+02] [-6.14808980e-01 7.87271834e-01 -4.70422955e-02 -9.42799417e+01] [-7.39571938e-02 1.83397901e-03 9.97259730e-01 -1.05289373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75864 meters 0.02886471901469468 Centerline is valid? [True, True] Translation: X:149.32, Y:-94.30, Z:-10.53 [[ 7.85274694e-01 6.16487850e-01 5.73270014e-02 1.49324523e+02] [-6.14681621e-01 7.87362315e-01 -4.71920548e-02 -9.43000219e+01] [-7.42304489e-02 1.82087224e-03 9.97239452e-01 -1.05305164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864000000002 meters 0.029122290591731045 Centerline is valid? [True, True] Translation: X:149.34, Y:-94.32, Z:-10.53 [[ 7.86044449e-01 6.15612821e-01 5.61692007e-02 1.49344044e+02] [-6.13879866e-01 7.88046639e-01 -4.61953021e-02 -9.43215005e+01] [-7.27023700e-02 1.83041943e-03 9.97352002e-01 -1.05311942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81864000000002 meters 0.02904309757923403 Centerline is valid? [True, True] Translation: X:149.37, Y:-94.34, Z:-10.53 [[ 7.86298271e-01 6.15348211e-01 5.55122287e-02 1.49365150e+02] [-6.13657751e-01 7.88253342e-01 -4.56161653e-02 -9.43410055e+01] [-7.18275255e-02 1.80240251e-03 9.97415439e-01 -1.05322667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864000000002 meters 0.028775771255933436 Centerline is valid? [True, True] Translation: X:149.39, Y:-94.36, Z:-10.53 [[ 7.85784567e-01 6.15976330e-01 5.58191322e-02 1.49386164e+02] [-6.14271556e-01 7.87762776e-01 -4.58286438e-02 -9.43610397e+01] [-7.22015943e-02 1.72333585e-03 9.97388570e-01 -1.05334540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87864000000002 meters 0.028436386906176038 Centerline is valid? [True, True] Translation: X:149.41, Y:-94.39, Z:-10.54 [[ 7.84168610e-01 6.17950535e-01 5.67161989e-02 1.49406209e+02] [-6.16197959e-01 7.86215467e-01 -4.65329410e-02 -9.43851519e+01] [-7.33462086e-02 1.54126573e-03 9.97305349e-01 -1.05361774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864000000002 meters 0.02824862832411765 Centerline is valid? [True, True] Translation: X:149.43, Y:-94.41, Z:-10.54 [[ 7.83012222e-01 6.19397302e-01 5.69108267e-02 1.49428067e+02] [-6.17636589e-01 7.85076427e-01 -4.66909832e-02 -9.44065209e+01] [-7.35996175e-02 1.40940169e-03 9.97286874e-01 -1.05379384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93864000000002 meters 0.02783087552759708 Centerline is valid? [True, True] Translation: X:149.45, Y:-94.43, Z:-10.54 [[ 7.82193911e-01 6.20570973e-01 5.53565951e-02 1.49449922e+02] [-6.18908077e-01 7.84149264e-01 -4.54172197e-02 -9.44287486e+01] [-7.15924415e-02 1.26442890e-03 9.97433167e-01 -1.05388855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters 0.027553506762685993 Centerline is valid? [True, True] Translation: X:149.47, Y:-94.45, Z:-10.54 [[ 7.80068772e-01 6.23281484e-01 5.48899172e-02 1.49471674e+02] [-6.21652688e-01 7.81996908e-01 -4.50418828e-02 -9.44534889e+01] [-7.09975172e-02 1.01330163e-03 9.97475978e-01 -1.05409176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99864 meters 0.027388393868794138 Centerline is valid? [True, True] Translation: X:149.49, Y:-94.48, Z:-10.54 [[ 7.78885754e-01 6.24714083e-01 5.54012413e-02 1.49494945e+02] [-6.23057527e-01 7.80853062e-01 -4.54732180e-02 -9.44764316e+01] [-7.16679886e-02 9.00281323e-04 9.97428137e-01 -1.05419622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters 0.027417936604653227 Centerline is valid? [True, True] Translation: X:149.52, Y:-94.50, Z:-10.54 [[ 7.77205649e-01 6.26663528e-01 5.69579008e-02 1.49516795e+02] [-6.24916750e-01 7.79289586e-01 -4.67631950e-02 -9.45000635e+01] [-7.36914878e-02 7.50673087e-04 9.97280804e-01 -1.05435902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05864 meters 0.02728892756868384 Centerline is valid? [True, True] Translation: X:149.54, Y:-94.52, Z:-10.54 [[ 7.75933363e-01 6.28243904e-01 5.68947503e-02 1.49541141e+02] [-6.26504350e-01 7.78016211e-01 -4.67233823e-02 -9.45218965e+01] [-7.36187182e-02 6.09422608e-04 9.97286274e-01 -1.05444700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters 0.027030735838267424 Centerline is valid? [True, True] Translation: X:149.57, Y:-94.54, Z:-10.55 [[ 7.75130570e-01 6.29347824e-01 5.56229792e-02 1.49565369e+02] [-6.27687270e-01 7.77123583e-01 -4.56905557e-02 -9.45432859e+01] [-7.19811807e-02 5.02310535e-04 9.97405864e-01 -1.05463224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11864 meters 0.026904869835272623 Centerline is valid? [True, True] Translation: X:149.59, Y:-94.57, Z:-10.55 [[ 7.73977791e-01 6.30823063e-01 5.49603680e-02 1.49588506e+02] [-6.29204773e-01 7.75926624e-01 -4.51578041e-02 -9.45650988e+01] [-7.11317972e-02 3.69811580e-04 9.97466857e-01 -1.05480912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters 0.0271242185291758 Centerline is valid? [True, True] Translation: X:149.61, Y:-94.59, Z:-10.55 [[ 7.73625760e-01 6.31141511e-01 5.62456784e-02 1.49612541e+02] [-6.29446488e-01 7.75667625e-01 -4.62261107e-02 -9.45860904e+01] [-7.28031692e-02 3.58065294e-04 9.97346264e-01 -1.05504387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17864 meters 0.02721885293233445 Centerline is valid? [True, True] Translation: X:149.64, Y:-94.61, Z:-10.55 [[ 7.73558134e-01 6.31158767e-01 5.69773909e-02 1.49636548e+02] [-6.29418433e-01 7.75653578e-01 -4.68397619e-02 -9.46068887e+01] [-7.37580435e-02 3.70658725e-04 9.97276097e-01 -1.05525754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20864 meters 0.027027922388157766 Centerline is valid? [True, True] Translation: X:149.66, Y:-94.63, Z:-10.55 [[ 7.74606321e-01 6.29844773e-01 5.72765965e-02 1.49661168e+02] [-6.28081581e-01 7.76720866e-01 -4.70980311e-02 -9.46279657e+01] [-7.41523763e-02 5.08057377e-04 9.97246793e-01 -1.05533534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23864 meters 0.027069727564103224 Centerline is valid? [True, True] Translation: X:149.69, Y:-94.65, Z:-10.56 [[ 7.74787976e-01 6.29651764e-01 5.69407451e-02 1.49686548e+02] [-6.27907697e-01 7.76877321e-01 -4.68353734e-02 -9.46494174e+01] [-7.37259489e-02 5.33952027e-04 9.97278396e-01 -1.05553373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26864 meters 0.027230913380740088 Centerline is valid? [True, True] Translation: X:149.71, Y:-94.67, Z:-10.56 [[ 7.74984776e-01 6.29336561e-01 5.77415821e-02 1.49710920e+02] [-6.27540844e-01 7.77132647e-01 -4.75114531e-02 -9.46701290e+01] [-7.47735630e-02 5.85451663e-04 9.97200367e-01 -1.05576991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29864 meters 0.02696845018308671 Centerline is valid? [True, True] Translation: X:149.74, Y:-94.69, Z:-10.56 [[ 7.74509798e-01 6.29982078e-01 5.70714882e-02 1.49735367e+02] [-6.28228707e-01 7.76609493e-01 -4.69722020e-02 -9.46906588e+01] [-7.39139050e-02 5.26483442e-04 9.97264487e-01 -1.05583469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32864 meters 0.026952177518897117 Centerline is valid? [True, True] Translation: X:149.76, Y:-94.71, Z:-10.56 [[ 7.74067819e-01 6.30435262e-01 5.80550736e-02 1.49759796e+02] [-6.28621176e-01 7.76241669e-01 -4.77942303e-02 -9.47110435e+01] [-7.51959353e-02 5.01326950e-04 9.97168652e-01 -1.05610039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35864 meters 0.026845507992722745 Centerline is valid? [True, True] Translation: X:149.79, Y:-94.73, Z:-10.56 [[ 7.72940083e-01 6.31797320e-01 5.82732730e-02 1.49785645e+02] [-6.29972357e-01 7.75133538e-01 -4.79877841e-02 -9.47310741e+01] [-7.54881216e-02 3.81130729e-04 9.97146628e-01 -1.05617227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38864 meters 0.026811392509965917 Centerline is valid? [True, True] Translation: X:149.81, Y:-94.75, Z:-10.56 [[ 7.72578842e-01 6.32216434e-01 5.85176358e-02 1.49811698e+02] [-6.30375877e-01 7.74791749e-01 -4.82078762e-02 -9.47512016e+01] [-7.58167929e-02 3.56279130e-04 9.97121701e-01 -1.05640084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41864 meters 0.026724858442162283 Centerline is valid? [True, True] Translation: X:149.84, Y:-94.77, Z:-10.57 [[ 7.72316060e-01 6.32535301e-01 5.85405522e-02 1.49838560e+02] [-6.30692780e-01 7.74531457e-01 -4.82456145e-02 -9.47708794e+01] [-7.58585535e-02 3.39759309e-04 9.97118531e-01 -1.05661222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44864 meters 0.026748919211720873 Centerline is valid? [True, True] Translation: X:149.86, Y:-94.79, Z:-10.57 [[ 7.72935026e-01 6.31835813e-01 5.79219341e-02 1.49864049e+02] [-6.30028829e-01 7.75102142e-01 -4.77529467e-02 -9.47908179e+01] [-7.50674371e-02 4.17436864e-04 9.97178372e-01 -1.05679077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47864 meters 0.02679037671725069 Centerline is valid? [True, True] Translation: X:149.89, Y:-94.81, Z:-10.57 [[ 7.73490439e-01 6.31116893e-01 5.83438898e-02 1.49889433e+02] [-6.29280448e-01 7.75687577e-01 -4.81134094e-02 -9.48103682e+01] [-7.56218160e-02 5.00592959e-04 9.97136445e-01 -1.05701940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50864 meters 0.026832796689069877 Centerline is valid? [True, True] Translation: X:149.92, Y:-94.83, Z:-10.57 [[ 7.74599795e-01 6.29836507e-01 5.74554773e-02 1.49915215e+02] [-6.28051056e-01 7.76727482e-01 -4.73950503e-02 -9.48303474e+01] [-7.44783811e-02 6.27223015e-04 9.97222431e-01 -1.05712888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53864000000002 meters 0.0269652722424559 Centerline is valid? [True, True] Translation: X:149.94, Y:-94.85, Z:-10.57 [[ 7.75654629e-01 6.28543215e-01 5.73874847e-02 1.49940037e+02] [-6.26757019e-01 7.77774286e-01 -4.73581904e-02 -9.48500173e+01] [-7.44011792e-02 7.65590693e-04 9.97228097e-01 -1.05744202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864000000002 meters 0.0269652722424559 Centerline is valid? [True, True] Translation: X:149.97, Y:-94.87, Z:-10.58 [[ 7.75535539e-01 6.28690766e-01 5.73807398e-02 1.49965139e+02] [-6.26904369e-01 7.77655026e-01 -4.73663615e-02 -9.48706514e+01] [-7.44012149e-02 7.62060218e-04 9.97228098e-01 -1.05762730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59864000000002 meters 0.027037536635905204 Centerline is valid? [True, True] Translation: X:149.99, Y:-94.89, Z:-10.58 [[ 7.76445656e-01 6.27549202e-01 5.75685853e-02 1.49990743e+02] [-6.25746667e-01 7.78576400e-01 -4.75383850e-02 -9.48907625e+01] [-7.46542175e-02 8.87622101e-04 9.97209085e-01 -1.05781315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864000000002 meters 0.027060755309878524 Centerline is valid? [True, True] Translation: X:150.02, Y:-94.91, Z:-10.58 [[ 7.78689438e-01 6.24962451e-01 5.53596764e-02 1.50017498e+02] [-6.23288321e-01 7.80654034e-01 -4.57268820e-02 -9.49109491e+01] [-7.17943390e-02 1.10200027e-03 9.97418848e-01 -1.05782846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65864000000002 meters 0.02720203945012615 Centerline is valid? [True, True] Translation: X:150.04, Y:-94.93, Z:-10.58 [[ 7.79335187e-01 6.24159737e-01 5.53289092e-02 1.50042103e+02] [-6.22484280e-01 7.81295854e-01 -4.57177203e-02 -9.49321114e+01] [-7.17634077e-02 1.18805188e-03 9.97420975e-01 -1.05810842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864000000002 meters 0.027348229626221365 Centerline is valid? [True, True] Translation: X:150.07, Y:-94.95, Z:-10.58 [[ 7.79711442e-01 6.23746280e-01 5.46867905e-02 1.50066977e+02] [-6.22107712e-01 7.81625926e-01 -4.51985174e-02 -9.49531525e+01] [-7.09370204e-02 1.22072706e-03 9.97480049e-01 -1.05826371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71864 meters 0.027572531632115448 Centerline is valid? [True, True] Translation: X:150.09, Y:-94.97, Z:-10.59 [[ 7.81038318e-01 6.22024650e-01 5.53577537e-02 1.50091145e+02] [-6.20340402e-01 7.82996402e-01 -4.57648306e-02 -9.49738549e+01] [-7.18117747e-02 1.40343512e-03 9.97417214e-01 -1.05850927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters 0.027926715989736534 Centerline is valid? [True, True] Translation: X:150.12, Y:-94.99, Z:-10.59 [[ 7.82211550e-01 6.20443149e-01 5.65277696e-02 1.50115705e+02] [-6.18681843e-01 7.84249811e-01 -4.67440960e-02 -9.49942489e+01] [-7.33339468e-02 1.59106709e-03 9.97306172e-01 -1.05877683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77864 meters 0.028187652849785395 Centerline is valid? [True, True] Translation: X:150.14, Y:-95.02, Z:-10.59 [[ 7.82840546e-01 6.19646291e-01 5.65610592e-02 1.50139861e+02] [-6.17879961e-01 7.84879395e-01 -4.67834256e-02 -9.50156931e+01] [-7.33827861e-02 1.67601737e-03 9.97302440e-01 -1.05898246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters 0.028503630755410545 Centerline is valid? [True, True] Translation: X:150.16, Y:-95.04, Z:-10.59 [[ 7.84247607e-01 6.17906016e-01 5.61056618e-02 1.50162914e+02] [-6.16162765e-01 7.86249830e-01 -4.64182306e-02 -9.50383560e+01] [-7.27951710e-02 1.83316661e-03 9.97345227e-01 -1.05909775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83864 meters 0.028663001146630184 Centerline is valid? [True, True] Translation: X:150.19, Y:-95.06, Z:-10.59 [[ 7.85373436e-01 6.16559463e-01 5.51633476e-02 1.50187515e+02] [-6.14870234e-01 7.87305969e-01 -4.56498184e-02 -9.50592336e+01] [-7.15762604e-02 1.93385429e-03 9.97433256e-01 -1.05921212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters 0.02887884689510901 Centerline is valid? [True, True] Translation: X:150.21, Y:-95.08, Z:-10.59 [[ 7.85713881e-01 6.16178770e-01 5.45657488e-02 1.50211736e+02] [-6.14524208e-01 7.87603894e-01 -4.51675052e-02 -9.50810214e+01] [-7.08074540e-02 1.95676218e-03 9.97488083e-01 -1.05942146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89864 meters 0.02894662179919494 Centerline is valid? [True, True] Translation: X:150.24, Y:-95.10, Z:-10.60 [[ 7.85781948e-01 6.15938269e-01 5.62741469e-02 1.50235618e+02] [-6.14176506e-01 7.87791743e-01 -4.65981590e-02 -9.51027210e+01] [-7.30338976e-02 2.05373320e-03 9.97327344e-01 -1.05968448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters 0.029295087369740024 Centerline is valid? [True, True] Translation: X:150.26, Y:-95.12, Z:-10.60 [[ 7.86252932e-01 6.15313169e-01 5.65334558e-02 1.50259760e+02] [-6.13532645e-01 7.88279877e-01 -4.68244485e-02 -9.51240751e+01] [-7.33758854e-02 2.13073920e-03 9.97302080e-01 -1.05984243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95864 meters 0.02937073757401267 Centerline is valid? [True, True] Translation: X:150.28, Y:-95.15, Z:-10.60 [[ 7.86816074e-01 6.14531393e-01 5.71981870e-02 1.50283609e+02] [-6.12705751e-01 7.88889189e-01 -4.73868027e-02 -9.51460813e+01] [-7.42437092e-02 2.23903989e-03 9.97237614e-01 -1.06006782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98864 meters 0.02933023676371425 Centerline is valid? [True, True] Translation: X:150.31, Y:-95.17, Z:-10.60 [[ 7.87329180e-01 6.13964271e-01 5.62195452e-02 1.50307643e+02] [-6.12198294e-01 7.89330573e-01 -4.65885789e-02 -9.51691611e+01] [-7.29795287e-02 2.26303794e-03 9.97330871e-01 -1.06021186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01864 meters 0.02953983913172838 Centerline is valid? [True, True] Translation: X:150.33, Y:-95.19, Z:-10.60 [[ 7.87742780e-01 6.13483267e-01 5.56739944e-02 1.50330752e+02] [-6.11749109e-01 7.89704376e-01 -4.61522041e-02 -9.51919742e+01] [-7.22796020e-02 2.29754910e-03 9.97381763e-01 -1.06037220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04864 meters 0.029109977599883863 Centerline is valid? [True, True] Translation: X:150.35, Y:-95.22, Z:-10.60 [[ 7.86894657e-01 6.14435257e-01 5.71499124e-02 1.50352505e+02] [-6.12609306e-01 7.88963952e-01 -4.73890338e-02 -9.52181080e+01] [-7.42067139e-02 2.27960940e-03 9.97240275e-01 -1.06049486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07864 meters 0.0291934630795416 Centerline is valid? [True, True] Translation: X:150.38, Y:-95.24, Z:-10.61 [[ 7.86521076e-01 6.14906643e-01 5.72225214e-02 1.50376262e+02] [-6.13076072e-01 7.88596699e-01 -4.74655225e-02 -9.52404457e+01] [-7.43123566e-02 2.25087519e-03 9.97232474e-01 -1.06072444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10864 meters 0.028379194008886367 Centerline is valid? [True, True] Translation: X:150.40, Y:-95.27, Z:-10.61 [[ 7.84875368e-01 6.17116461e-01 5.60172309e-02 1.50398290e+02] [-6.15366986e-01 7.86869264e-01 -4.64783127e-02 -9.52651685e+01] [-7.27607692e-02 2.00852825e-03 9.97347400e-01 -1.06085197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13864 meters 0.028452628014707423 Centerline is valid? [True, True] Translation: X:150.42, Y:-95.29, Z:-10.61 [[ 7.83672027e-01 6.18556753e-01 5.69710239e-02 1.50421672e+02] [-6.16749175e-01 7.85737766e-01 -4.72928946e-02 -9.52872170e+01] [-7.40176243e-02 1.92528654e-03 9.97255075e-01 -1.06124804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16864 meters 0.02786847315448977 Centerline is valid? [True, True] Translation: X:150.45, Y:-95.31, Z:-10.61 [[ 7.82085658e-01 6.20590165e-01 5.66557257e-02 1.50445104e+02] [-6.18805298e-01 7.84133141e-01 -4.70661312e-02 -9.53100845e+01] [-7.36344103e-02 1.75088290e-03 9.97283765e-01 -1.06136032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19864 meters 0.027316817254570518 Centerline is valid? [True, True] Translation: X:150.47, Y:-95.33, Z:-10.61 [[ 7.78884826e-01 6.24658006e-01 5.60428748e-02 1.50467872e+02] [-6.22920577e-01 7.80897243e-01 -4.65773617e-02 -9.53334608e+01] [-7.28586483e-02 1.36814026e-03 9.97341339e-01 -1.06149722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22864 meters 0.026781514909986304 Centerline is valid? [True, True] Translation: X:150.49, Y:-95.36, Z:-10.62 [[ 7.76596422e-01 6.27551361e-01 5.54733046e-02 1.50491717e+02] [-6.25853522e-01 7.78574364e-01 -4.61446391e-02 -9.53556322e+01] [-7.21482239e-02 1.11759852e-03 9.97393295e-01 -1.06163074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25864 meters 0.026629199180103813 Centerline is valid? [True, True] Translation: X:150.52, Y:-95.38, Z:-10.62 [[ 7.74418273e-01 6.30212299e-01 5.57565819e-02 1.50515647e+02] [-6.28500906e-01 7.76422331e-01 -4.64217159e-02 -9.53775646e+01] [-7.25461916e-02 9.06762747e-04 9.97364641e-01 -1.06183182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864000000002 meters 0.026250514655492177 Centerline is valid? [True, True] Translation: X:150.54, Y:-95.40, Z:-10.62 [[ 7.71325125e-01 6.33975096e-01 5.59743656e-02 1.50539869e+02] [-6.32257089e-01 7.73353239e-01 -4.66448443e-02 -9.53993712e+01] [-7.28596265e-02 5.88150926e-04 9.97342032e-01 -1.06202656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31864000000002 meters 0.02626393751133944 Centerline is valid? [True, True] Translation: X:150.57, Y:-95.42, Z:-10.62 [[ 7.69578092e-01 6.35980747e-01 5.72542466e-02 1.50565394e+02] [-6.34185297e-01 7.71704796e-01 -4.77568477e-02 -9.54206391e+01] [-7.45558124e-02 4.42822336e-04 9.97216744e-01 -1.06228152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864000000002 meters 0.02602301177059075 Centerline is valid? [True, True] Translation: X:150.59, Y:-95.44, Z:-10.63 [[ 7.66974238e-01 6.39006624e-01 5.84897688e-02 1.50590320e+02] [-6.37137528e-01 7.69201207e-01 -4.88392508e-02 -9.54418914e+01] [-7.61990056e-02 1.92420397e-04 9.97092611e-01 -1.06254395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37864000000002 meters 0.026097146942625073 Centerline is valid? [True, True] Translation: X:150.62, Y:-95.46, Z:-10.63 [[ 7.65447692e-01 6.40785244e-01 5.90262778e-02 1.50615542e+02] [-6.38882912e-01 7.67720175e-01 -4.93392076e-02 -9.54629563e+01] [-7.69315005e-02 5.57023323e-05 9.97036379e-01 -1.06274288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864000000002 meters 0.02599163562489869 Centerline is valid? [True, True] Translation: X:150.64, Y:-95.48, Z:-10.63 [[ 7.62856949e-01 6.43856246e-01 5.91473497e-02 1.50641116e+02] [-6.41951228e-01 7.65146449e-01 -4.94927549e-02 -9.54846272e+01] [-7.71226040e-02 -2.13821747e-04 9.97021594e-01 -1.06289582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43864000000002 meters 0.025946749913756714 Centerline is valid? [True, True] Translation: X:150.67, Y:-95.51, Z:-10.63 [[ 7.61208352e-01 6.45835648e-01 5.88061291e-02 1.50666781e+02] [-6.43954483e-01 7.63476376e-01 -4.92589682e-02 -9.55051645e+01] [-7.67102880e-02 -3.72132480e-04 9.97053355e-01 -1.06298453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters 0.0262386608805878 Centerline is valid? [True, True] Translation: X:150.69, Y:-95.52, Z:-10.63 [[ 7.58152607e-01 6.49334544e-01 5.97434046e-02 1.50692359e+02] [-6.47399612e-01 7.60502573e-01 -5.00956983e-02 -9.55244478e+01] [-7.79638803e-02 -6.97672656e-04 9.96955940e-01 -1.06324950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49864 meters 0.026121492640532505 Centerline is valid? [True, True] Translation: X:150.72, Y:-95.54, Z:-10.63 [[ 7.56724626e-01 6.50955030e-01 6.02112064e-02 1.50718034e+02] [-6.48991054e-01 7.59115835e-01 -5.05347478e-02 -9.55442308e+01] [-7.86031285e-02 -8.35646209e-04 9.96905637e-01 -1.06344459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters 0.026034031478724257 Centerline is valid? [True, True] Translation: X:150.74, Y:-95.56, Z:-10.64 [[ 7.56870267e-01 6.50793503e-01 6.01266657e-02 1.50744525e+02] [-6.48830730e-01 7.59254376e-01 -5.05121400e-02 -9.55634122e+01] [-7.85244066e-02 -7.80891561e-04 9.96911886e-01 -1.06370848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55864 meters 0.025768983300620163 Centerline is valid? [True, True] Translation: X:150.77, Y:-95.58, Z:-10.64 [[ 7.56911241e-01 6.50700469e-01 6.06157858e-02 1.50770506e+02] [-6.48700955e-01 7.59334154e-01 -5.09775801e-02 -9.55836261e+01] [-7.91987717e-02 -7.36014643e-04 9.96858572e-01 -1.06386491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters 0.025893097516788616 Centerline is valid? [True, True] Translation: X:150.80, Y:-95.60, Z:-10.64 [[ 7.57908517e-01 6.49435637e-01 6.17092695e-02 1.50798110e+02] [-6.47354488e-01 7.60416351e-01 -5.19532498e-02 -9.56027884e+01] [-8.06650294e-02 -5.71962058e-04 9.96741103e-01 -1.06403181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61864 meters 0.025826640532681158 Centerline is valid? [True, True] Translation: X:150.82, Y:-95.62, Z:-10.64 [[ 7.58173141e-01 6.49136639e-01 6.16044799e-02 1.50824728e+02] [-6.47057139e-01 7.60671662e-01 -5.19199567e-02 -9.56229573e+01] [-8.05639282e-02 -4.97301866e-04 9.96749320e-01 -1.06423518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters 0.025802568275282406 Centerline is valid? [True, True] Translation: X:150.85, Y:-95.64, Z:-10.64 [[ 7.58971320e-01 6.48274017e-01 6.08550328e-02 1.50849800e+02] [-6.46238008e-01 7.61407032e-01 -5.13397326e-02 -9.56428845e+01] [-7.96176646e-02 -3.61450605e-04 9.96825409e-01 -1.06437121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67864 meters 0.025779246215635737 Centerline is valid? [True, True] Translation: X:150.87, Y:-95.66, Z:-10.65 [[ 7.59106183e-01 6.48032496e-01 6.17388625e-02 1.50874559e+02] [-6.45932082e-01 7.61612625e-01 -5.21340034e-02 -9.56636731e+01] [-8.08056255e-02 -3.03867641e-04 9.96729832e-01 -1.06471857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70864 meters 0.02570765009143367 Centerline is valid? [True, True] Translation: X:150.90, Y:-95.68, Z:-10.65 [[ 7.59912481e-01 6.47156099e-01 6.10082304e-02 1.50899937e+02] [-6.45098595e-01 7.62357497e-01 -5.15640318e-02 -9.56839622e+01] [-7.98800595e-02 -1.72172364e-04 9.96804468e-01 -1.06476478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73864 meters 0.025640838066553873 Centerline is valid? [True, True] Translation: X:150.93, Y:-95.70, Z:-10.65 [[ 7.59101000e-01 6.48084036e-01 6.12597219e-02 1.50926732e+02] [-6.46008506e-01 7.61568794e-01 -5.18264686e-02 -9.57041970e+01] [-8.02413994e-02 -2.32777227e-04 9.96775433e-01 -1.06482821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76864 meters 0.025713258271706785 Centerline is valid? [True, True] Translation: X:150.95, Y:-95.73, Z:-10.65 [[ 7.58307236e-01 6.49028434e-01 6.10919691e-02 1.50952094e+02] [-6.46963689e-01 7.60764092e-01 -5.17298866e-02 -9.57254903e+01] [-8.00507437e-02 -2.97138335e-04 9.96790745e-01 -1.06495740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79864 meters 0.025595371708501728 Centerline is valid? [True, True] Translation: X:150.98, Y:-95.75, Z:-10.65 [[ 7.57113308e-01 6.50351322e-01 6.18271549e-02 1.50976636e+02] [-6.48238339e-01 7.59633453e-01 -5.23838984e-02 -9.57462851e+01] [-8.10339127e-02 -4.18185590e-04 9.96711257e-01 -1.06525062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82864 meters 0.025790966061205775 Centerline is valid? [True, True] Translation: X:151.00, Y:-95.77, Z:-10.65 [[ 7.56433385e-01 6.51197249e-01 6.12427721e-02 1.51002706e+02] [-6.49122855e-01 7.58908377e-01 -5.19383698e-02 -9.57672147e+01] [-8.02997764e-02 -4.66166162e-04 9.96770650e-01 -1.06543055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85864 meters 0.02573935732120558 Centerline is valid? [True, True] Translation: X:151.03, Y:-95.79, Z:-10.66 [[ 7.55912247e-01 6.51812640e-01 6.11306568e-02 1.51030134e+02] [-6.49743467e-01 7.58379881e-01 -5.18978221e-02 -9.57857222e+01] [-8.01879167e-02 -4.89045514e-04 9.96779644e-01 -1.06554727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88864 meters 0.025941760311045323 Centerline is valid? [True, True] Translation: X:151.06, Y:-95.81, Z:-10.66 [[ 7.55699853e-01 6.51981869e-01 6.19465502e-02 1.51055639e+02] [-6.49853192e-01 7.58234409e-01 -5.26441827e-02 -9.58057455e+01] [-8.12930585e-02 -4.72962169e-04 9.96690130e-01 -1.06585908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91864 meters 0.025910038529510564 Centerline is valid? [True, True] Translation: X:151.08, Y:-95.83, Z:-10.66 [[ 7.56119258e-01 6.51541985e-01 6.14549332e-02 1.51080554e+02] [-6.49441708e-01 7.58612479e-01 -5.22740366e-02 -9.58264961e+01] [-8.06792088e-02 -3.85990987e-04 9.96740045e-01 -1.06594206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94864 meters 0.025802271800414216 Centerline is valid? [True, True] Translation: X:151.11, Y:-95.85, Z:-10.66 [[ 7.56260713e-01 6.51451269e-01 6.06710619e-02 1.51105864e+02] [-6.49400289e-01 7.58690405e-01 -5.16539817e-02 -9.58465222e+01] [-7.96806045e-02 -3.35928155e-04 9.96820389e-01 -1.06602690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97864 meters 0.02598858884508172 Centerline is valid? [True, True] Translation: X:151.13, Y:-95.87, Z:-10.66 [[ 7.56284167e-01 6.51356419e-01 6.13927760e-02 1.51131550e+02] [-6.49251895e-01 7.58771856e-01 -5.23187102e-02 -9.58666205e+01] [-8.06612383e-02 -2.91563929e-04 9.96741531e-01 -1.06631603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00864 meters 0.02604496262507279 Centerline is valid? [True, True] Translation: X:151.16, Y:-95.89, Z:-10.67 [[ 7.57328361e-01 6.50129678e-01 6.15236143e-02 1.51156850e+02] [-6.48007624e-01 7.59823261e-01 -5.24855443e-02 -9.58879479e+01] [-8.08694832e-02 -1.18979849e-04 9.96724692e-01 -1.06657898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03864000000002 meters 0.02609284849789774 Centerline is valid? [True, True] Translation: X:151.18, Y:-95.91, Z:-10.67 [[ 7.57202746e-01 6.50276588e-01 6.15171566e-02 1.51181758e+02] [-6.48151011e-01 7.59697539e-01 -5.25349024e-02 -9.59101651e+01] [-8.08966496e-02 -9.28348629e-05 9.96722491e-01 -1.06683916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864000000002 meters 0.026097758856147433 Centerline is valid? [True, True] Translation: X:151.21, Y:-95.93, Z:-10.67 [[ 7.57176861e-01 6.50264104e-01 6.19660845e-02 1.51206789e+02] [-6.48102761e-01 7.59708229e-01 -5.29737479e-02 -9.59313138e+01] [-8.15230710e-02 -4.98943293e-05 9.96671454e-01 -1.06689524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09864000000002 meters 0.026024111587900613 Centerline is valid? [True, True] Translation: X:151.23, Y:-95.95, Z:-10.67 [[ 7.57046554e-01 6.50400602e-01 6.21254584e-02 1.51232307e+02] [-6.48223979e-01 7.59591375e-01 -5.31659386e-02 -9.59530662e+01] [-8.17691208e-02 -2.21212738e-05 9.96651298e-01 -1.06706862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864000000002 meters 0.026291301234870865 Centerline is valid? [True, True] Translation: X:151.26, Y:-95.98, Z:-10.67 [[ 7.56726868e-01 6.50693708e-01 6.29455755e-02 1.51255768e+02] [-6.48455581e-01 7.59340304e-01 -5.39227393e-02 -9.59751908e+01] [-8.28842997e-02 -1.26241024e-05 9.96559177e-01 -1.06739196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15864000000002 meters 0.02619209719784674 Centerline is valid? [True, True] Translation: X:151.28, Y:-96.00, Z:-10.68 [[ 7.57759019e-01 6.49568418e-01 6.21461189e-02 1.51276981e+02] [-6.47379906e-01 7.60303131e-01 -5.32766949e-02 -9.59996365e+01] [-8.18567472e-02 1.38747490e-04 9.96644096e-01 -1.06756356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864000000002 meters 0.02606157290575497 Centerline is valid? [True, True] Translation: X:151.30, Y:-96.02, Z:-10.68 [[ 7.57984487e-01 6.49404336e-01 6.11025863e-02 1.51300618e+02] [-6.47286204e-01 7.60443278e-01 -5.24079361e-02 -9.60213770e+01] [-8.04989920e-02 1.73541415e-04 9.96754675e-01 -1.06769141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21864 meters 0.026027538359546014 Centerline is valid? [True, True] Translation: X:151.33, Y:-96.04, Z:-10.68 [[ 7.57893166e-01 6.49555963e-01 6.06217744e-02 1.51325670e+02] [-6.47467625e-01 7.60313760e-01 -5.20448034e-02 -9.60434842e+01] [-7.98975816e-02 1.93764616e-04 9.96803059e-01 -1.06789029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters 0.026003308044381657 Centerline is valid? [True, True] Translation: X:151.35, Y:-96.07, Z:-10.68 [[ 7.55606031e-01 6.52050998e-01 6.23620174e-02 1.51348337e+02] [-6.49844776e-01 7.58175108e-01 -5.35935840e-02 -9.60670875e+01] [-8.22270793e-02 -2.99959351e-05 9.96613619e-01 -1.06812690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27864 meters 0.02615132469602921 Centerline is valid? [True, True] Translation: X:151.37, Y:-96.09, Z:-10.68 [[ 7.54528905e-01 6.53307862e-01 6.22492473e-02 1.51372376e+02] [-6.51109708e-01 7.57092346e-01 -5.35474329e-02 -9.60899675e+01] [-8.21113876e-02 -1.28003361e-04 9.96623150e-01 -1.06823861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters 0.026082625681227534 Centerline is valid? [True, True] Translation: X:151.40, Y:-96.11, Z:-10.68 [[ 7.52610385e-01 6.55512199e-01 6.23006002e-02 1.51396236e+02] [-6.53313427e-01 7.55184514e-01 -5.36462133e-02 -9.61121428e+01] [-8.22141957e-02 -3.27121411e-04 9.96614629e-01 -1.06838414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33864 meters 0.026193886143850306 Centerline is valid? [True, True] Translation: X:151.42, Y:-96.13, Z:-10.69 [[ 7.48792939e-01 6.59978875e-01 6.11311601e-02 1.51421993e+02] [-6.57872621e-01 7.51283770e-01 -5.26907113e-02 -9.61334438e+01] [-8.07016048e-02 -7.62083962e-04 9.96738015e-01 -1.06860536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters 0.026299978984519398 Centerline is valid? [True, True] Translation: X:151.45, Y:-96.15, Z:-10.69 [[ 7.47195772e-01 6.61756051e-01 6.14606140e-02 1.51446844e+02] [-6.59628640e-01 7.49718670e-01 -5.30280353e-02 -9.61545983e+01] [-8.11697930e-02 -9.18857475e-04 9.96699865e-01 -1.06881724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39864 meters 0.026398737017406033 Centerline is valid? [True, True] Translation: X:151.47, Y:-96.18, Z:-10.69 [[ 7.46260416e-01 6.62815031e-01 6.14135704e-02 1.51472196e+02] [-6.60690344e-01 7.48782508e-01 -5.30379555e-02 -9.61765498e+01] [-8.11397614e-02 -9.95226218e-04 9.96702237e-01 -1.06897520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters 0.026276127847655983 Centerline is valid? [True, True] Translation: X:151.50, Y:-96.20, Z:-10.69 [[ 7.46393716e-01 6.62696363e-01 6.10733352e-02 1.51498373e+02] [-6.60590339e-01 7.48887612e-01 -5.27991335e-02 -9.61968857e+01] [-8.07268579e-02 -9.35513727e-04 9.96735822e-01 -1.06909809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45864 meters 0.026276127847655983 Centerline is valid? [True, True] Translation: X:151.52, Y:-96.22, Z:-10.69 [[ 7.46050163e-01 6.63085643e-01 6.10457631e-02 1.51523203e+02] [-6.60978313e-01 7.48542955e-01 -5.28309979e-02 -9.62179269e+01] [-8.07268521e-02 -9.35350890e-04 9.96735823e-01 -1.06928339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48864 meters 0.026232713861815755 Centerline is valid? [True, True] Translation: X:151.55, Y:-96.24, Z:-10.69 [[ 7.46329153e-01 6.62745047e-01 6.13335052e-02 1.51549495e+02] [-6.60612063e-01 7.48844618e-01 -5.31360459e-02 -9.62374397e+01] [-8.11449165e-02 -8.60673350e-04 9.96701942e-01 -1.06946520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51864 meters 0.025994418454371913 Centerline is valid? [True, True] Translation: X:151.58, Y:-96.26, Z:-10.70 [[ 7.47982957e-01 6.60969458e-01 6.03396350e-02 1.51576214e+02] [-6.58895175e-01 7.50412549e-01 -5.23273720e-02 -9.62562876e+01] [-7.98664140e-02 -6.17511931e-04 9.96805385e-01 -1.06958937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54864 meters 0.02615113051565264 Centerline is valid? [True, True] Translation: X:151.60, Y:-96.28, Z:-10.70 [[ 7.47475478e-01 6.61430403e-01 6.15648617e-02 1.51601324e+02] [-6.59268388e-01 7.50006272e-01 -5.34395378e-02 -9.62767220e+01] [-8.15205675e-02 -6.43023108e-04 9.96671452e-01 -1.06988626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57864 meters 0.02619754721017883 Centerline is valid? [True, True] Translation: X:151.63, Y:-96.30, Z:-10.70 [[ 7.47247124e-01 6.61711140e-01 6.13196889e-02 1.51629247e+02] [-6.59563145e-01 7.49758606e-01 -5.32774786e-02 -9.62953694e+01] [-8.12292656e-02 -6.32764286e-04 9.96695242e-01 -1.06994143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60864 meters 0.025982048062323126 Centerline is valid? [True, True] Translation: X:151.66, Y:-96.32, Z:-10.70 [[ 7.46452145e-01 6.62653181e-01 6.08272765e-02 1.51655886e+02] [-6.60538270e-01 7.48926090e-01 -5.29046790e-02 -9.63151013e+01] [-8.06125882e-02 -6.87932923e-04 9.96745272e-01 -1.07008304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63864 meters 0.02619799125198882 Centerline is valid? [True, True] Translation: X:151.68, Y:-96.34, Z:-10.70 [[ 7.44666911e-01 6.64769844e-01 5.96007209e-02 1.51682226e+02] [-6.62742010e-01 7.47047734e-01 -5.18913361e-02 -9.63352645e+01] [-7.90203789e-02 -8.58140620e-04 9.96872631e-01 -1.07032055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66864 meters 0.026230366584507645 Centerline is valid? [True, True] Translation: X:151.71, Y:-96.36, Z:-10.71 [[ 7.43787489e-01 6.65720285e-01 5.99722756e-02 1.51707765e+02] [-6.63665742e-01 7.46200810e-01 -5.22698165e-02 -9.63556603e+01] [-7.95484377e-02 -9.23909236e-04 9.96830574e-01 -1.07055542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69864 meters 0.026101907858667783 Centerline is valid? [True, True] Translation: X:151.73, Y:-96.38, Z:-10.71 [[ 7.43440238e-01 6.66066086e-01 6.04365842e-02 1.51733139e+02] [-6.63977117e-01 7.45892146e-01 -5.27190079e-02 -9.63753209e+01] [-8.01935168e-02 -9.35077131e-04 9.96778875e-01 -1.07068924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72864 meters 0.026344334060332836 Centerline is valid? [True, True] Translation: X:151.76, Y:-96.40, Z:-10.71 [[ 7.43005099e-01 6.66604539e-01 5.98482424e-02 1.51759999e+02] [-6.64555620e-01 7.45410935e-01 -5.22337618e-02 -9.63950688e+01] [-7.94307970e-02 -9.62534425e-04 9.96839918e-01 -1.07090423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75864 meters 0.026413204215852318 Centerline is valid? [True, True] Translation: X:151.79, Y:-96.42, Z:-10.71 [[ 7.43175764e-01 6.66342132e-01 6.06460812e-02 1.51785398e+02] [-6.64232682e-01 7.45645590e-01 -5.29867791e-02 -9.64157922e+01] [-8.05278063e-02 -9.04619138e-04 9.96751952e-01 -1.07117187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864000000002 meters 0.02639402338085535 Centerline is valid? [True, True] Translation: X:151.81, Y:-96.43, Z:-10.71 [[ 7.45080732e-01 6.64234162e-01 6.03960271e-02 1.51812190e+02] [-6.62131324e-01 7.47524294e-01 -5.28160937e-02 -9.64348433e+01] [-8.02297513e-02 -6.37847618e-04 9.96776194e-01 -1.07132766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81864000000002 meters 0.02627023722356571 Centerline is valid? [True, True] Translation: X:151.84, Y:-96.45, Z:-10.72 [[ 7.46720533e-01 6.62392386e-01 6.03719551e-02 1.51836950e+02] [-6.60283115e-01 7.49156960e-01 -5.28209960e-02 -9.64547942e+01] [-8.02162959e-02 -4.20060239e-04 9.96777392e-01 -1.07159883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864000000002 meters 0.026293590819836527 Centerline is valid? [True, True] Translation: X:151.86, Y:-96.48, Z:-10.72 [[ 7.47986758e-01 6.60954232e-01 6.04591876e-02 1.51862148e+02] [-6.58832054e-01 7.50426174e-01 -5.29233628e-02 -9.64758194e+01] [-8.03500775e-02 -2.46476216e-04 9.96766675e-01 -1.07184915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87864000000002 meters 0.026353437787497856 Centerline is valid? [True, True] Translation: X:151.89, Y:-96.50, Z:-10.72 [[ 7.49648847e-01 6.59122600e-01 5.98665603e-02 1.51886791e+02] [-6.57031875e-01 7.52035503e-01 -5.24568156e-02 -9.64968288e+01] [-7.95972515e-02 -1.00470753e-05 9.96827105e-01 -1.07205801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864000000002 meters 0.026347155961113755 Centerline is valid? [True, True] Translation: X:151.91, Y:-96.52, Z:-10.72 [[ 7.52081567e-01 6.56393838e-01 5.93333457e-02 1.51910754e+02] [-6.54327885e-01 7.54418340e-01 -5.20383204e-02 -9.65195118e+01] [-7.89197970e-02 3.13598954e-04 9.96880919e-01 -1.07227485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93864000000002 meters 0.02635223538725551 Centerline is valid? [True, True] Translation: X:151.93, Y:-96.54, Z:-10.72 [[ 7.54229239e-01 6.53982550e-01 5.86947912e-02 1.51934984e+02] [-6.51949460e-01 7.56509395e-01 -5.15309351e-02 -9.65428045e+01] [-7.81034933e-02 6.00100533e-04 9.96945076e-01 -1.07238623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters 0.026468849096320017 Centerline is valid? [True, True] Translation: X:151.96, Y:-96.57, Z:-10.73 [[ 7.54302265e-01 6.53928632e-01 5.83561344e-02 1.51959255e+02] [-6.51914744e-01 7.56555968e-01 -5.12858009e-02 -9.65652596e+01] [-7.76869353e-02 6.41771333e-04 9.96977597e-01 -1.07256381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99864 meters 0.02653540994946113 Centerline is valid? [True, True] Translation: X:151.98, Y:-96.59, Z:-10.73 [[ 7.54329647e-01 6.53892277e-01 5.84095359e-02 1.51983435e+02] [-6.51870492e-01 7.56587351e-01 -5.13852266e-02 -9.65874954e+01] [-7.77923189e-02 6.85946884e-04 9.96969350e-01 -1.07274706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters 0.02647896023370727 Centerline is valid? [True, True] Translation: X:152.01, Y:-96.61, Z:-10.73 [[ 7.53639799e-01 6.54678169e-01 5.85110957e-02 1.52007453e+02] [-6.52647565e-01 7.55907453e-01 -5.15274554e-02 -9.66103326e+01] [-7.79628735e-02 6.46017028e-04 9.96956054e-01 -1.07299021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05864 meters 0.026354342326420706 Centerline is valid? [True, True] Translation: X:152.03, Y:-96.63, Z:-10.73 [[ 7.52293065e-01 6.56196006e-01 5.88383053e-02 1.52030041e+02] [-6.54143652e-01 7.54590303e-01 -5.18609467e-02 -9.66344615e+01] [-7.84297607e-02 5.25926627e-04 9.96919503e-01 -1.07316722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters 0.026258518776361536 Centerline is valid? [True, True] Translation: X:152.05, Y:-96.66, Z:-10.73 [[ 7.51021244e-01 6.57692625e-01 5.83738207e-02 1.52053703e+02] [-6.55674829e-01 7.53286307e-01 -5.14806631e-02 -9.66567891e+01] [-7.78306523e-02 3.88826724e-04 9.96966518e-01 -1.07334640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11864 meters 0.02618414460558767 Centerline is valid? [True, True] Translation: X:152.08, Y:-96.68, Z:-10.74 [[ 7.48424602e-01 6.60684613e-01 5.79349385e-02 1.52076807e+02] [-6.58702451e-01 7.50663593e-01 -5.11395278e-02 -9.66797304e+01] [-7.72767482e-02 1.12194748e-04 9.97009675e-01 -1.07356162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters 0.026106944349172833 Centerline is valid? [True, True] Translation: X:152.10, Y:-96.70, Z:-10.74 [[ 7.46894504e-01 6.62380088e-01 5.83199707e-02 1.52100779e+02] [-6.60372790e-01 7.49167950e-01 -5.15282444e-02 -9.67020984e+01] [-7.78227360e-02 -2.67592321e-05 9.96967212e-01 -1.07376006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17864 meters 0.02608754450679404 Centerline is valid? [True, True] Translation: X:152.13, Y:-96.72, Z:-10.74 [[ 7.44959100e-01 6.64516282e-01 5.87711673e-02 1.52125531e+02] [-6.62480112e-01 7.47273756e-01 -5.19811084e-02 -9.67243521e+01] [-7.84604438e-02 -2.10929735e-04 9.96917205e-01 -1.07387120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20864 meters 0.026295585940565247 Centerline is valid? [True, True] Translation: X:152.15, Y:-96.75, Z:-10.74 [[ 7.41419026e-01 6.68319267e-01 6.03919286e-02 1.52149432e+02] [-6.66177171e-01 7.43874325e-01 -5.34692929e-02 -9.67459784e+01] [-8.06585637e-02 -5.88573056e-04 9.96741616e-01 -1.07398791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23864 meters 0.0262475093737334 Centerline is valid? [True, True] Translation: X:152.17, Y:-96.77, Z:-10.74 [[ 7.40037964e-01 6.69869802e-01 6.01519807e-02 1.52174920e+02] [-6.67745755e-01 7.42478239e-01 -5.33073370e-02 -9.67673772e+01] [-8.03705119e-02 -7.16776615e-04 9.96764800e-01 -1.07411651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26864 meters 0.02643575335992719 Centerline is valid? [True, True] Translation: X:152.20, Y:-96.79, Z:-10.74 [[ 7.38725386e-01 6.71249634e-01 6.08993726e-02 1.52200700e+02] [-6.69072584e-01 7.41230888e-01 -5.40245221e-02 -9.67863250e+01] [-8.14044367e-02 -8.36814650e-04 9.96680800e-01 -1.07441245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29864 meters 0.026553828373147233 Centerline is valid? [True, True] Translation: X:152.23, Y:-96.81, Z:-10.75 [[ 7.37284145e-01 6.72896015e-01 6.01917230e-02 1.52226651e+02] [-6.70770729e-01 7.39736449e-01 -5.34473079e-02 -9.68076179e+01] [-8.04904920e-02 -9.68993244e-04 9.96754906e-01 -1.07457377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32864 meters 0.026574727880465214 Centerline is valid? [True, True] Translation: X:152.25, Y:-96.83, Z:-10.75 [[ 7.36585460e-01 6.73755949e-01 5.91166656e-02 1.52251484e+02] [-6.71704671e-01 7.38953253e-01 -5.25445065e-02 -9.68276629e+01] [-7.90866262e-02 -1.00542095e-03 9.96867240e-01 -1.07473023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35864 meters 0.026783893562518053 Centerline is valid? [True, True] Translation: X:152.28, Y:-96.85, Z:-10.75 [[ 7.35143458e-01 6.75177983e-01 6.08176634e-02 1.52278009e+02] [-6.73007618e-01 7.37653954e-01 -5.41053550e-02 -9.68455272e+01] [-8.13931343e-02 -1.15555308e-03 9.96681405e-01 -1.07492431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38864 meters 0.026843637577514234 Centerline is valid? [True, True] Translation: X:152.31, Y:-96.86, Z:-10.75 [[ 7.34531569e-01 6.75862532e-01 6.06070301e-02 1.52305367e+02] [-6.73705566e-01 7.37026742e-01 -5.39665768e-02 -9.68647994e+01] [-8.11429892e-02 -1.19113914e-03 9.96701759e-01 -1.07498535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41864 meters 0.02680806187247612 Centerline is valid? [True, True] Translation: X:152.33, Y:-96.88, Z:-10.75 [[ 7.34338629e-01 6.76008044e-01 6.13180393e-02 1.52334271e+02] [-6.73795874e-01 7.36893299e-01 -5.46569918e-02 -9.68825777e+01] [-8.21334184e-02 -1.17910143e-03 9.96620646e-01 -1.07518378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44864 meters 0.026776249673067926 Centerline is valid? [True, True] Translation: X:152.36, Y:-96.90, Z:-10.75 [[ 7.34687498e-01 6.75728471e-01 6.02105846e-02 1.52359799e+02] [-6.73591214e-01 7.37149804e-01 -5.37125975e-02 -9.69023327e+01] [-8.06793520e-02 -1.09534692e-03 9.96739506e-01 -1.07537441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47864 meters 0.02679538434015929 Centerline is valid? [True, True] Translation: X:152.39, Y:-96.92, Z:-10.76 [[ 7.35364008e-01 6.74978444e-01 6.03645310e-02 1.52385227e+02] [-6.72826556e-01 7.37836764e-01 -5.38640491e-02 -9.69220344e+01] [-8.08962422e-02 -1.00517645e-03 9.96722021e-01 -1.07564093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50864 meters 0.02684467199010409 Centerline is valid? [True, True] Translation: X:152.41, Y:-96.94, Z:-10.76 [[ 7.35902851e-01 6.74345681e-01 6.08678583e-02 1.52413401e+02] [-6.72154188e-01 7.38415218e-01 -5.43296727e-02 -9.69393487e+01] [-8.15827331e-02 -9.31224824e-04 9.96666138e-01 -1.07590923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53864000000002 meters 0.027009881117634606 Centerline is valid? [True, True] Translation: X:152.44, Y:-96.96, Z:-10.76 [[ 7.36091201e-01 6.74062864e-01 6.17170978e-02 1.52438279e+02] [-6.71806735e-01 7.38673443e-01 -5.51113114e-02 -9.69589383e+01] [-8.27372695e-02 -8.95010523e-04 9.96570993e-01 -1.07619195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864000000002 meters 0.026813023830601572 Centerline is valid? [True, True] Translation: X:152.47, Y:-96.98, Z:-10.76 [[ 7.37062642e-01 6.73072229e-01 6.09297643e-02 1.52465309e+02] [-6.70868037e-01 7.39576367e-01 -5.44322867e-02 -9.69778376e+01] [-8.16990743e-02 -7.55826356e-04 9.96656756e-01 -1.07614378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59864000000002 meters 0.026922862211297457 Centerline is valid? [True, True] Translation: X:152.49, Y:-97.00, Z:-10.76 [[ 7.37151052e-01 6.72977020e-01 6.09118813e-02 1.52491319e+02] [-6.70772273e-01 7.39663029e-01 -5.44349275e-02 -9.69985837e+01] [-8.16877219e-02 -7.31236992e-04 9.96657705e-01 -1.07640879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864000000002 meters 0.026944995042957297 Centerline is valid? [True, True] Translation: X:152.52, Y:-97.02, Z:-10.77 [[ 7.37975173e-01 6.72109924e-01 6.05053245e-02 1.52516391e+02] [-6.69930097e-01 7.40451126e-01 -5.40906264e-02 -9.70182727e+01] [-8.11560824e-02 -6.16798576e-04 9.96701214e-01 -1.07666184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65864000000002 meters 0.027254117678203266 Centerline is valid? [True, True] Translation: X:152.54, Y:-97.04, Z:-10.77 [[ 7.38081011e-01 6.71944325e-01 6.10511753e-02 1.52541752e+02] [-6.69723178e-01 7.40601426e-01 -5.45929789e-02 -9.70380010e+01] [-8.18980298e-02 -5.93346097e-04 9.96640537e-01 -1.07706686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864000000002 meters 0.027269087891364 Centerline is valid? [True, True] Translation: X:152.57, Y:-97.06, Z:-10.77 [[ 7.37590387e-01 6.72452325e-01 6.13864092e-02 1.52565702e+02] [-6.70207250e-01 7.40140161e-01 -5.49070528e-02 -9.70590081e+01] [-8.23569221e-02 -6.42702195e-04 9.96602691e-01 -1.07731037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71864 meters 0.02723486674445806 Centerline is valid? [True, True] Translation: X:152.59, Y:-97.08, Z:-10.77 [[ 7.37295399e-01 6.72915280e-01 5.98374494e-02 1.52590165e+02] [-6.70782677e-01 7.39719259e-01 -5.35352051e-02 -9.70803724e+01] [-8.02875712e-02 -6.66664142e-04 9.96771519e-01 -1.07738194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters 0.027380028615975577 Centerline is valid? [True, True] Translation: X:152.61, Y:-97.10, Z:-10.78 [[ 7.35421791e-01 6.74784047e-01 6.18164994e-02 1.52614317e+02] [-6.72513061e-01 7.38014703e-01 -5.53216122e-02 -9.71010321e+01] [-8.29516268e-02 -8.87684072e-04 9.96553180e-01 -1.07759302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77864 meters 0.027581076025827933 Centerline is valid? [True, True] Translation: X:152.64, Y:-97.12, Z:-10.78 [[ 7.34613267e-01 6.75636152e-01 6.21219580e-02 1.52638998e+02] [-6.73344254e-01 7.37234587e-01 -5.56118631e-02 -9.71220989e+01] [-8.33718413e-02 -9.76251003e-04 9.96518029e-01 -1.07784990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters 0.02761920373412671 Centerline is valid? [True, True] Translation: X:152.66, Y:-97.14, Z:-10.78 [[ 7.33297267e-01 6.77049240e-01 6.22851896e-02 1.52664344e+02] [-6.74749120e-01 7.35936853e-01 -5.57725143e-02 -9.71416522e+01] [-8.35987049e-02 -1.12904466e-03 9.96498862e-01 -1.07804588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83864 meters 0.027855192542608015 Centerline is valid? [True, True] Translation: X:152.69, Y:-97.16, Z:-10.78 [[ 7.32744438e-01 6.77674953e-01 6.19858507e-02 1.52689718e+02] [-6.75397778e-01 7.35360632e-01 -5.55210034e-02 -9.71620183e+01] [-8.32071478e-02 -1.18239935e-03 9.96531571e-01 -1.07824315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters 0.027629515166086138 Centerline is valid? [True, True] Translation: X:152.72, Y:-97.18, Z:-10.78 [[ 7.32311263e-01 6.78162210e-01 6.17756464e-02 1.52715401e+02] [-6.75900458e-01 7.34911241e-01 -5.53537492e-02 -9.71814143e+01] [-8.29384379e-02 -1.21801368e-03 9.96553928e-01 -1.07841919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89864 meters 0.02785332518200235 Centerline is valid? [True, True] Translation: X:152.74, Y:-97.20, Z:-10.79 [[ 7.31845967e-01 6.78650845e-01 6.19234274e-02 1.52741854e+02] [-6.76378444e-01 7.34459962e-01 -5.55046393e-02 -9.72001972e+01] [-8.31485485e-02 -1.26282505e-03 9.96536364e-01 -1.07861108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92864 meters 0.027959191279315437 Centerline is valid? [True, True] Translation: X:152.77, Y:-97.22, Z:-10.79 [[ 7.31954982e-01 6.78453828e-01 6.27877997e-02 1.52767181e+02] [-6.76115456e-01 7.34641987e-01 -5.62942373e-02 -9.72204590e+01] [-8.43195947e-02 -1.24695436e-03 9.96437982e-01 -1.07887912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95864 meters 0.027704978804117895 Centerline is valid? [True, True] Translation: X:152.79, Y:-97.24, Z:-10.79 [[ 7.34302638e-01 6.76059522e-01 6.11813605e-02 1.52794889e+02] [-6.73830180e-01 7.36846418e-01 -5.48657061e-02 -9.72370724e+01] [-8.21737494e-02 -9.37814375e-04 9.96617577e-01 -1.07890194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98864 meters 0.02772182265277309 Centerline is valid? [True, True] Translation: X:152.82, Y:-97.26, Z:-10.79 [[ 7.35208588e-01 6.75110008e-01 6.07849450e-02 1.52819609e+02] [-6.72905868e-01 7.37716613e-01 -5.45150637e-02 -9.72553161e+01] [-8.16457288e-02 -8.22603221e-04 9.96661075e-01 -1.07907165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01864 meters 0.027603769320437142 Centerline is valid? [True, True] Translation: X:152.84, Y:-97.27, Z:-10.79 [[ 7.36281661e-01 6.73951725e-01 6.06497160e-02 1.52842884e+02] [-6.71753640e-01 7.38775061e-01 -5.43916880e-02 -9.72729900e+01] [-8.14638696e-02 -6.94065098e-04 9.96676054e-01 -1.07930695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04864 meters 0.027588833014281174 Centerline is valid? [True, True] Translation: X:152.87, Y:-97.29, Z:-10.80 [[ 7.39214260e-01 6.70621163e-01 6.18832311e-02 1.52865823e+02] [-6.68322628e-01 7.41799929e-01 -5.54772922e-02 -9.72899676e+01] [-8.31092226e-02 -3.48358170e-04 9.96540383e-01 -1.07969980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07864 meters 0.02782509228712005 Centerline is valid? [True, True] Translation: X:152.89, Y:-97.31, Z:-10.80 [[ 7.40691688e-01 6.69003100e-01 6.17306763e-02 1.52888378e+02] [-6.66713293e-01 7.43259588e-01 -5.53043350e-02 -9.73084718e+01] [-8.28806886e-02 -1.93201232e-04 9.96559458e-01 -1.07985805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10864 meters 0.02772542064125057 Centerline is valid? [True, True] Translation: X:152.91, Y:-97.33, Z:-10.80 [[ 7.43818450e-01 6.65566120e-01 6.12850206e-02 1.52911300e+02] [-6.63299255e-01 7.46338871e-01 -5.48852223e-02 -9.73257624e+01] [-8.22691375e-02 1.74332495e-04 9.96610134e-01 -1.07990507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13864 meters 0.027809942228878136 Centerline is valid? [True, True] Translation: X:152.93, Y:-97.34, Z:-10.80 [[ 7.44912381e-01 6.64368493e-01 6.09922187e-02 1.52931749e+02] [-6.62123431e-01 7.47405134e-01 -5.45722252e-02 -9.73445000e+01] [-8.18419644e-02 2.67149086e-04 9.96645284e-01 -1.08014844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16864 meters 0.027873237923300924 Centerline is valid? [True, True] Translation: X:152.95, Y:-97.36, Z:-10.80 [[ 7.46187662e-01 6.62937085e-01 6.09786375e-02 1.52952515e+02] [-6.60692643e-01 7.48675012e-01 -5.45064933e-02 -9.73646760e+01] [-8.17875580e-02 3.83935671e-04 9.96649712e-01 -1.08028543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19864 meters 0.02800160532672511 Centerline is valid? [True, True] Translation: X:152.97, Y:-97.39, Z:-10.80 [[ 7.48449322e-01 6.60499286e-01 5.97018121e-02 1.52973464e+02] [-6.58343023e-01 7.50826425e-01 -5.33305182e-02 -9.73860659e+01] [-8.00504673e-02 6.10918762e-04 9.96790625e-01 -1.08041425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22864 meters 0.02796326895742283 Centerline is valid? [True, True] Translation: X:153.00, Y:-97.41, Z:-10.80 [[ 7.48747823e-01 6.60151066e-01 5.98102610e-02 1.52995170e+02] [-6.57986378e-01 7.51132581e-01 -5.34207110e-02 -9.74068232e+01] [-8.01911751e-02 6.44304100e-04 9.96779294e-01 -1.08048267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25864 meters 0.02816878242146077 Centerline is valid? [True, True] Translation: X:153.02, Y:-97.43, Z:-10.81 [[ 7.47749117e-01 6.61147788e-01 6.12769161e-02 1.53015221e+02] [-6.58879185e-01 7.50255492e-01 -5.47258269e-02 -9.74296507e+01] [-8.21552022e-02 5.47104157e-04 9.96619397e-01 -1.08082911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864000000002 meters 0.0280364157115909 Centerline is valid? [True, True] Translation: X:153.04, Y:-97.45, Z:-10.81 [[ 7.46907310e-01 6.62140728e-01 6.08204457e-02 1.53037825e+02] [-6.59908676e-01 7.49379385e-01 -5.43238026e-02 -9.74533145e+01] [-8.15475905e-02 4.38905437e-04 9.96669352e-01 -1.08110000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31864000000002 meters 0.02786332470432203 Centerline is valid? [True, True] Translation: X:153.06, Y:-97.48, Z:-10.81 [[ 7.45512552e-01 6.63674725e-01 6.12118785e-02 1.53060238e+02] [-6.61417521e-01 7.48021242e-01 -5.46908174e-02 -9.74771878e+01] [-8.20846986e-02 2.86081986e-04 9.96625316e-01 -1.08128476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864000000002 meters 0.028074722886443082 Centerline is valid? [True, True] Translation: X:153.08, Y:-97.50, Z:-10.81 [[ 7.44382356e-01 6.64986134e-01 6.07317803e-02 1.53082294e+02] [-6.62767487e-01 7.46855688e-01 -5.42755898e-02 -9.75000815e+01] [-8.14503902e-02 1.50742034e-04 9.96677386e-01 -1.08144179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37864000000002 meters 0.028074722886443082 Centerline is valid? [True, True] Translation: X:153.11, Y:-97.52, Z:-10.82 [[ 7.44298782e-01 6.65080305e-01 6.07248785e-02 1.53105925e+02] [-6.62861341e-01 7.46771829e-01 -5.42833109e-02 -9.75211415e+01] [-8.14503895e-02 1.50827810e-04 9.96677386e-01 -1.08162226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864000000002 meters 0.027939764155237 Centerline is valid? [True, True] Translation: X:153.13, Y:-97.54, Z:-10.82 [[ 7.44548908e-01 6.64850053e-01 6.01775002e-02 1.53129952e+02] [-6.62669127e-01 7.46976822e-01 -5.38075732e-02 -9.75432610e+01] [-8.07251658e-02 1.84598342e-04 9.96736381e-01 -1.08172664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43864000000002 meters 0.02793333157253687 Centerline is valid? [True, True] Translation: X:153.15, Y:-97.56, Z:-10.82 [[ 7.45810524e-01 6.63549985e-01 5.88903966e-02 1.53153872e+02] [-6.61456401e-01 7.48131880e-01 -5.26699154e-02 -9.75648721e+01] [-7.90069047e-02 3.28347432e-04 9.96874015e-01 -1.08189044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters 0.027839930272186102 Centerline is valid? [True, True] Translation: X:153.18, Y:-97.59, Z:-10.82 [[ 7.46369908e-01 6.62936557e-01 5.87118466e-02 1.53178507e+02] [-6.60852718e-01 7.48675470e-01 -5.25235780e-02 -9.75860822e+01] [-7.87759193e-02 4.02134710e-04 9.96892267e-01 -1.08195396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49864 meters 0.028225951765101887 Centerline is valid? [True, True] Translation: X:153.20, Y:-97.61, Z:-10.82 [[ 7.49235332e-01 6.59506477e-01 6.08080880e-02 1.53201920e+02] [-6.57258700e-01 7.51698455e-01 -5.44098704e-02 -9.76060367e+01] [-8.15930078e-02 7.99152504e-04 9.96665411e-01 -1.08219566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters 0.02852597722526518 Centerline is valid? [True, True] Translation: X:153.23, Y:-97.63, Z:-10.82 [[ 7.51280781e-01 6.57146355e-01 6.11216597e-02 1.53226188e+02] [-6.54866935e-01 7.53762251e-01 -5.46970354e-02 -9.76276362e+01] [-8.20151573e-02 1.06627747e-03 9.96630512e-01 -1.08238634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55864 meters 0.02874889870124014 Centerline is valid? [True, True] Translation: X:153.25, Y:-97.65, Z:-10.83 [[ 7.52928893e-01 6.55212178e-01 6.16042573e-02 1.53249233e+02] [-6.52889021e-01 7.55443790e-01 -5.51416865e-02 -9.76493712e+01] [-8.26680581e-02 1.29702566e-03 9.96576294e-01 -1.08253154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters 0.02904468231586365 Centerline is valid? [True, True] Translation: X:153.27, Y:-97.67, Z:-10.83 [[ 7.55282692e-01 6.52659370e-01 5.98648664e-02 1.53273070e+02] [-6.50456879e-01 7.57649903e-01 -5.35954700e-02 -9.76711608e+01] [-8.03361958e-02 1.54021671e-03 9.96766634e-01 -1.08264282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61864 meters 0.029063315254178036 Centerline is valid? [True, True] Translation: X:153.30, Y:-97.69, Z:-10.83 [[ 7.55903073e-01 6.52081395e-01 5.83129346e-02 1.53296648e+02] [-6.49989093e-01 7.58147341e-01 -5.22186518e-02 -9.76923404e+01] [-7.82606077e-02 1.56946788e-03 9.96931700e-01 -1.08281100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters 0.029049518183952065 Centerline is valid? [True, True] Translation: X:153.32, Y:-97.71, Z:-10.83 [[ 7.55928197e-01 6.52071678e-01 5.80955088e-02 1.53319895e+02] [-6.49993950e-01 7.58155689e-01 -5.20366804e-02 -9.77145626e+01] [-7.79770860e-02 1.57426475e-03 9.96953909e-01 -1.08295284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67864 meters 0.028777686924250107 Centerline is valid? [True, True] Translation: X:153.34, Y:-97.74, Z:-10.83 [[ 7.54398708e-01 6.53841294e-01 5.80874462e-02 1.53341267e+02] [-6.51768366e-01 7.56630424e-01 -5.20422804e-02 -9.77386016e+01] [-7.79781211e-02 1.40106921e-03 9.96954086e-01 -1.08311990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70864 meters 0.028442824094069667 Centerline is valid? [True, True] Translation: X:153.36, Y:-97.76, Z:-10.83 [[ 7.53234810e-01 6.55116138e-01 5.88231816e-02 1.53364903e+02] [-6.52993116e-01 7.55527079e-01 -5.27145421e-02 -9.77600905e+01] [-7.89766538e-02 1.29529549e-03 9.96875624e-01 -1.08316337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73864 meters 0.027799292054035526 Centerline is valid? [True, True] Translation: X:153.39, Y:-97.78, Z:-10.83 [[ 7.49773864e-01 6.59091382e-01 5.86319207e-02 1.53389360e+02] [-6.56993147e-01 7.52062342e-01 -5.25570011e-02 -9.77816894e+01] [-7.87347261e-02 8.85095741e-04 9.96895210e-01 -1.08324987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76864 meters 0.027558839140307875 Centerline is valid? [True, True] Translation: X:153.41, Y:-97.80, Z:-10.83 [[ 7.48553283e-01 6.60431198e-01 5.91490964e-02 1.53412892e+02] [-6.58298641e-01 7.50886178e-01 -5.30362841e-02 -9.78041671e+01] [-7.94410555e-02 7.62714758e-04 9.96839273e-01 -1.08349683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79864 meters 0.027458086529791755 Centerline is valid? [True, True] Translation: X:153.44, Y:-97.83, Z:-10.84 [[ 7.48084783e-01 6.61052164e-01 5.81308336e-02 1.53436328e+02] [-6.58993368e-01 7.50339626e-01 -5.21362276e-02 -9.78263139e+01] [-7.80826340e-02 6.94484724e-04 9.96946649e-01 -1.08366092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82864 meters 0.02734979722730304 Centerline is valid? [True, True] Translation: X:153.46, Y:-97.85, Z:-10.84 [[ 7.46640843e-01 6.62600813e-01 5.90560228e-02 1.53460684e+02] [-6.60479604e-01 7.48972535e-01 -5.29795738e-02 -9.78468124e+01] [-7.93356478e-02 5.51415130e-04 9.96847807e-01 -1.08392371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85864 meters 0.02731466716317783 Centerline is valid? [True, True] Translation: X:153.48, Y:-97.87, Z:-10.84 [[ 7.46629557e-01 6.62651815e-01 5.86248792e-02 1.53484598e+02] [-6.60560622e-01 7.48927412e-01 -5.26060546e-02 -9.78683179e+01] [-7.87652766e-02 5.51948575e-04 9.96893037e-01 -1.08400762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88864 meters 0.02734058380298582 Centerline is valid? [True, True] Translation: X:153.51, Y:-97.89, Z:-10.84 [[ 7.47201540e-01 6.61899915e-01 5.98194016e-02 1.53506961e+02] [-6.59718974e-01 7.49591938e-01 -5.36917264e-02 -9.78916618e+01] [-8.03786904e-02 6.54546416e-04 9.96764184e-01 -1.08421626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91864 meters 0.02724304391116227 Centerline is valid? [True, True] Translation: X:153.53, Y:-97.91, Z:-10.84 [[ 7.47426413e-01 6.61630072e-01 5.99950366e-02 1.53530303e+02] [-6.59434303e-01 7.49830090e-01 -5.38631313e-02 -9.79131895e+01] [-8.06235511e-02 6.95941943e-04 9.96744380e-01 -1.08429070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94864 meters 0.02717608081457437 Centerline is valid? [True, True] Translation: X:153.55, Y:-97.93, Z:-10.84 [[ 7.47785551e-01 6.61303966e-01 5.91086650e-02 1.53554559e+02] [-6.59170620e-01 7.50117678e-01 -5.30807199e-02 -9.79341356e+01] [-7.94409451e-02 7.30300049e-04 9.96839306e-01 -1.08438488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97864 meters 0.02701575480359063 Centerline is valid? [True, True] Translation: X:153.58, Y:-97.96, Z:-10.85 [[ 7.48125571e-01 6.61012264e-01 5.80596010e-02 1.53579383e+02] [-6.58952192e-01 7.50374715e-01 -5.21516633e-02 -9.79552662e+01] [-7.80393456e-02 7.57491559e-04 9.96949992e-01 -1.08453479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00864 meters 0.0273177246677458 Centerline is valid? [True, True] Translation: X:153.60, Y:-97.98, Z:-10.85 [[ 7.49124890e-01 6.59827796e-01 5.86445136e-02 1.53602597e+02] [-6.57721247e-01 7.51416310e-01 -5.26905222e-02 -9.79780099e+01] [-7.88331151e-02 9.00039078e-04 9.96887421e-01 -1.08486487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03864000000002 meters 0.02727910942195275 Centerline is valid? [True, True] Translation: X:153.63, Y:-98.00, Z:-10.85 [[ 7.49444594e-01 6.59404257e-01 5.93196994e-02 1.53625672e+02] [-6.57246435e-01 7.51787931e-01 -5.33107029e-02 -9.80003553e+01] [-7.97491385e-02 9.65757101e-04 9.96814497e-01 -1.08504029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864000000002 meters 0.0273873700026703 Centerline is valid? [True, True] Translation: X:153.65, Y:-98.02, Z:-10.85 [[ 7.49742568e-01 6.59074837e-01 5.92151993e-02 1.53649780e+02] [-6.56922379e-01 7.52076683e-01 -5.32320429e-02 -9.80224797e+01] [-7.96182707e-02 1.01053894e-03 9.96824914e-01 -1.08516911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09864000000002 meters 0.027451338914529385 Centerline is valid? [True, True] Translation: X:153.67, Y:-98.05, Z:-10.85 [[ 7.49995696e-01 6.58806398e-01 5.89964984e-02 1.53673712e+02] [-6.56667409e-01 7.52311788e-01 -5.30555125e-02 -9.80452809e+01] [-7.93370723e-02 1.05032822e-03 9.96847293e-01 -1.08529407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864000000002 meters 0.0271014218469211 Centerline is valid? [True, True] Translation: X:153.70, Y:-98.07, Z:-10.85 [[ 7.49518885e-01 6.59416780e-01 5.82318753e-02 1.53696566e+02] [-6.57333400e-01 7.51776920e-01 -5.23857126e-02 -9.80683107e+01] [-7.83213978e-02 9.86324332e-04 9.96927673e-01 -1.08543664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15864000000002 meters 0.026662259237719556 Centerline is valid? [True, True] Translation: X:153.72, Y:-98.09, Z:-10.86 [[ 7.47670414e-01 6.61567467e-01 5.75972138e-02 1.53718398e+02] [-6.59534609e-01 7.49885261e-01 -5.18285220e-02 -9.80929479e+01] [-7.74793657e-02 7.63296619e-04 9.96993664e-01 -1.08558789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864000000002 meters 0.02642564411900595 Centerline is valid? [True, True] Translation: X:153.74, Y:-98.11, Z:-10.86 [[ 7.45963199e-01 6.63501370e-01 5.74877085e-02 1.53741831e+02] [-6.61480769e-01 7.48174848e-01 -5.17454306e-02 -9.81148244e+01] [-7.73440217e-02 5.73173321e-04 9.97004300e-01 -1.08583960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21864 meters 0.026225612146503048 Centerline is valid? [True, True] Translation: X:153.76, Y:-98.14, Z:-10.86 [[ 7.44048234e-01 6.65700921e-01 5.68727468e-02 1.53764964e+02] [-6.63728787e-01 7.46218574e-01 -5.12048559e-02 -9.81365851e+01] [-7.65266198e-02 3.50803312e-04 9.97067477e-01 -1.08594974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters 0.02606835127478745 Centerline is valid? [True, True] Translation: X:153.79, Y:-98.16, Z:-10.86 [[ 7.40352555e-01 6.69773947e-01 5.72796195e-02 1.53788120e+02] [-6.67784338e-01 7.42565052e-01 -5.15870246e-02 -9.81595632e+01] [-7.70854887e-02 -5.78474039e-05 9.97024485e-01 -1.08612837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27864 meters 0.02609458188709245 Centerline is valid? [True, True] Translation: X:153.81, Y:-98.18, Z:-10.86 [[ 7.38457824e-01 6.71754497e-01 5.85315146e-02 1.53811282e+02] [-6.69681275e-01 7.40773806e-01 -5.27366925e-02 -9.81816031e+01] [-7.87847232e-02 -2.53636107e-04 9.96891621e-01 -1.08631671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters 0.026095736943527202 Centerline is valid? [True, True] Translation: X:153.83, Y:-98.20, Z:-10.87 [[ 7.36726640e-01 6.73607935e-01 5.90441179e-02 1.53834733e+02] [-6.71502798e-01 7.39088732e-01 -5.32150146e-02 -9.82034606e+01] [-7.94848984e-02 -4.43371462e-04 9.96835972e-01 -1.08655547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33864 meters 0.025856584531947637 Centerline is valid? [True, True] Translation: X:153.86, Y:-98.23, Z:-10.87 [[ 7.35458032e-01 6.75011288e-01 5.88323428e-02 1.53858797e+02] [-6.72924166e-01 7.37807174e-01 -5.30437647e-02 -9.82253572e+01] [-7.92120646e-02 -5.78242438e-04 9.96857620e-01 -1.08671433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters 0.025828926829313738 Centerline is valid? [True, True] Translation: X:153.88, Y:-98.25, Z:-10.87 [[ 7.35308237e-01 6.75241036e-01 5.80632369e-02 1.53882534e+02] [-6.73206734e-01 7.37596918e-01 -5.23782495e-02 -9.82469295e+01] [-7.81952081e-02 -5.74403778e-04 9.96937902e-01 -1.08678473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39864 meters 0.025568057194532375 Centerline is valid? [True, True] Translation: X:153.91, Y:-98.27, Z:-10.87 [[ 7.34820200e-01 6.75770979e-01 5.80763141e-02 1.53906810e+02] [-6.73736194e-01 7.37111390e-01 -5.24055354e-02 -9.82686852e+01] [-7.82228526e-02 -6.19468831e-04 9.96935706e-01 -1.08697418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42864 meters 0.025663383658808683 Centerline is valid? [True, True] Translation: X:153.93, Y:-98.29, Z:-10.87 [[ 7.34603720e-01 6.76016129e-01 5.79617789e-02 1.53931774e+02] [-6.73988534e-01 7.36886556e-01 -5.23226400e-02 -9.82908852e+01] [-7.80822042e-02 -6.29168445e-04 9.96946726e-01 -1.08715484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45864 meters 0.025717510242564735 Centerline is valid? [True, True] Translation: X:153.96, Y:-98.31, Z:-10.87 [[ 7.34253954e-01 6.76338568e-01 5.86282513e-02 1.53955665e+02] [-6.74263525e-01 7.36590598e-01 -5.29432609e-02 -9.83124300e+01] [-7.89925880e-02 -6.57092704e-04 9.96874987e-01 -1.08732474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48864 meters 0.025732366612045025 Centerline is valid? [True, True] Translation: X:153.98, Y:-98.33, Z:-10.87 [[ 7.34715764e-01 6.75773963e-01 5.93489411e-02 1.53980229e+02] [-6.73644542e-01 7.37108675e-01 -5.36081313e-02 -9.83331427e+01] [-7.99735987e-02 -5.93351085e-04 9.96796806e-01 -1.08747275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51864 meters 0.02576999151316986 Centerline is valid? [True, True] Translation: X:154.01, Y:-98.35, Z:-10.88 [[ 7.35127360e-01 6.75310547e-01 5.95267119e-02 1.54005143e+02] [-6.73165524e-01 7.37533309e-01 -5.37847250e-02 -9.83540120e+01] [-8.02243249e-02 -5.32707271e-04 9.96776692e-01 -1.08772629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54864 meters 0.025536710616279677 Centerline is valid? [True, True] Translation: X:154.03, Y:-98.37, Z:-10.88 [[ 7.36335508e-01 6.73990555e-01 5.95546111e-02 1.54029767e+02] [-6.71837671e-01 7.38739867e-01 -5.38289141e-02 -9.83747194e+01] [-8.02755452e-02 -3.74890392e-04 9.96772640e-01 -1.08782644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57864 meters 0.02568058607742383 Centerline is valid? [True, True] Translation: X:154.05, Y:-98.40, Z:-10.88 [[ 7.37496427e-01 6.72638109e-01 6.04730867e-02 1.54054596e+02] [-6.70412478e-01 7.39971571e-01 -5.46734355e-02 -9.83952916e+01] [-8.15238013e-02 -2.20448535e-04 9.96671371e-01 -1.08807426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60864 meters 0.025730797688376442 Centerline is valid? [True, True] Translation: X:154.08, Y:-98.42, Z:-10.88 [[ 7.38232404e-01 6.71839782e-01 6.03674246e-02 1.54079189e+02] [-6.69617942e-01 7.40696492e-01 -5.45941228e-02 -9.84166207e+01] [-8.13924432e-02 -1.19960138e-04 9.96682124e-01 -1.08819399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63864 meters 0.025698349393164732 Centerline is valid? [True, True] Translation: X:154.10, Y:-98.44, Z:-10.88 [[ 7.39864994e-01 6.70029647e-01 6.04984556e-02 1.54104988e+02] [-6.67790335e-01 7.42334334e-01 -5.47339503e-02 -9.84376809e+01] [-8.15834501e-02 9.54497927e-05 9.96666510e-01 -1.08831885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66864 meters 0.025726490346853412 Centerline is valid? [True, True] Translation: X:154.13, Y:-98.46, Z:-10.89 [[ 7.40185737e-01 6.69689870e-01 6.03369948e-02 1.54130108e+02] [-6.67459656e-01 7.42640866e-01 -5.46090797e-02 -9.84594499e+01] [-8.13798655e-02 1.48352103e-04 9.96683147e-01 -1.08855408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69864 meters 0.025615091356519622 Centerline is valid? [True, True] Translation: X:154.15, Y:-98.48, Z:-10.89 [[ 7.40589890e-01 6.69327362e-01 5.93927438e-02 1.54154914e+02] [-6.67163865e-01 7.42967592e-01 -5.37729900e-02 -9.84803833e+01] [-8.01186174e-02 1.99040267e-04 9.96785317e-01 -1.08858291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72864 meters 0.02567003142798346 Centerline is valid? [True, True] Translation: X:154.18, Y:-98.50, Z:-10.89 [[ 7.40675939e-01 6.69210770e-01 5.96330346e-02 1.54180076e+02] [-6.67028042e-01 7.43072604e-01 -5.40064546e-02 -9.85016710e+01] [-8.04533754e-02 2.24375168e-04 9.96758348e-01 -1.08882152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75864 meters 0.025867989433070053 Centerline is valid? [True, True] Translation: X:154.21, Y:-98.52, Z:-10.89 [[ 7.40486018e-01 6.69399503e-01 5.98728854e-02 1.54205588e+02] [-6.67198070e-01 7.42902589e-01 -5.42446189e-02 -9.85229718e+01] [-8.07910426e-02 2.20308288e-04 9.96731036e-01 -1.08904753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864000000002 meters 0.02565399478791305 Centerline is valid? [True, True] Translation: X:154.23, Y:-98.54, Z:-10.89 [[ 7.40875458e-01 6.69030990e-01 5.91700060e-02 1.54229932e+02] [-6.66878291e-01 7.43234459e-01 -5.36272753e-02 -9.85438357e+01] [-7.98554965e-02 2.71939682e-04 9.96806413e-01 -1.08916703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81864000000002 meters 0.025602116557877592 Centerline is valid? [True, True] Translation: X:154.26, Y:-98.56, Z:-10.89 [[ 7.41112818e-01 6.68861802e-01 5.81006164e-02 1.54255154e+02] [-6.66784575e-01 7.43386711e-01 -5.26737844e-02 -9.85639582e+01] [-7.84227085e-02 2.96621969e-04 9.96920153e-01 -1.08938247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864000000002 meters 0.025818716410342363 Centerline is valid? [True, True] Translation: X:154.28, Y:-98.58, Z:-10.90 [[ 7.41630282e-01 6.68318935e-01 5.77436255e-02 1.54279723e+02] [-6.66264498e-01 7.43874768e-01 -5.23636163e-02 -9.85843138e+01] [-7.79496223e-02 3.61915901e-04 9.96957234e-01 -1.08960239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87864000000002 meters 0.025609975946361975 Centerline is valid? [True, True] Translation: X:154.30, Y:-98.61, Z:-10.90 [[ 7.41957559e-01 6.67925901e-01 5.80858905e-02 1.54304603e+02] [-6.65844732e-01 7.44227665e-01 -5.26875294e-02 -9.86053340e+01] [-7.84204922e-02 4.15726510e-04 9.96920284e-01 -1.08984169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864000000002 meters 0.025587316751362443 Centerline is valid? [True, True] Translation: X:154.33, Y:-98.63, Z:-10.90 [[ 7.41872087e-01 6.68191485e-01 5.60887323e-02 1.54329433e+02] [-6.66250973e-01 7.43989242e-01 -5.08885842e-02 -9.86255883e+01] [-7.57327320e-02 3.83647653e-04 9.97128079e-01 -1.09006232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93864000000002 meters 0.025773218048717243 Centerline is valid? [True, True] Translation: X:154.35, Y:-98.65, Z:-10.90 [[ 7.41332109e-01 6.68818479e-01 5.57543453e-02 1.54354275e+02] [-6.66901878e-01 7.43425676e-01 -5.05979234e-02 -9.86467344e+01] [-7.52900380e-02 3.27187644e-04 9.97161623e-01 -1.09021214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters 0.02572152839856776 Centerline is valid? [True, True] Translation: X:154.38, Y:-98.67, Z:-10.90 [[ 7.40420134e-01 6.69758481e-01 5.65827000e-02 1.54378615e+02] [-6.67786280e-01 7.42578964e-01 -5.13611375e-02 -9.86669099e+01] [-7.64166801e-02 2.43669613e-04 9.97075941e-01 -1.09039612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99864 meters 0.025802009487684237 Centerline is valid? [True, True] Translation: X:154.40, Y:-98.69, Z:-10.91 [[ 7.39104383e-01 6.71187954e-01 5.68457608e-02 1.54402905e+02] [-6.69200991e-01 7.41287205e-01 -5.16073042e-02 -9.86869490e+01] [-7.67772360e-02 1.01945243e-04 9.97048266e-01 -1.09057638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters 0.025813206138788933 Centerline is valid? [True, True] Translation: X:154.43, Y:-98.71, Z:-10.91 [[ 7.38519647e-01 6.71690464e-01 5.84863456e-02 1.54425984e+02] [-6.69587803e-01 7.40831909e-01 -5.31060918e-02 -9.87074883e+01] [-7.89994065e-02 5.81484897e-05 9.96874661e-01 -1.09084355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05864 meters 0.025859765560962755 Centerline is valid? [True, True] Translation: X:154.45, Y:-98.73, Z:-10.91 [[ 7.37922517e-01 6.72351861e-01 5.84237537e-02 1.54449962e+02] [-6.70255234e-01 7.40231704e-01 -5.30560603e-02 -9.87275596e+01] [-7.89194556e-02 -7.56517758e-06 9.96880996e-01 -1.09105204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters 0.025811856162461795 Centerline is valid? [True, True] Translation: X:154.47, Y:-98.75, Z:-10.91 [[ 7.37992416e-01 6.72285166e-01 5.83082246e-02 1.54473705e+02] [-6.70196097e-01 7.40292277e-01 -5.29578715e-02 -9.87475545e+01] [-7.87679198e-02 4.56305155e-06 9.96892981e-01 -1.09119445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11864 meters 0.025725195966054368 Centerline is valid? [True, True] Translation: X:154.50, Y:-98.77, Z:-10.91 [[ 7.38280841e-01 6.72073830e-01 5.70803556e-02 1.54497238e+02] [-6.70070817e-01 7.40484143e-01 -5.18491490e-02 -9.87677666e+01] [-7.71135544e-02 3.13528302e-05 9.97022316e-01 -1.09125446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters 0.025974164009588914 Centerline is valid? [True, True] Translation: X:154.52, Y:-98.79, Z:-10.92 [[ 7.40203246e-01 6.69910531e-01 5.76110620e-02 1.54520037e+02] [-6.67863098e-01 7.42441790e-01 -5.23361399e-02 -9.87881790e+01] [-7.78333913e-02 2.63078310e-04 9.96966345e-01 -1.09150065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17864 meters 0.026115148222686457 Centerline is valid? [True, True] Translation: X:154.54, Y:-98.81, Z:-10.92 [[ 7.40861097e-01 6.69135523e-01 5.81591529e-02 1.54542675e+02] [-6.67046355e-01 7.43140317e-01 -5.28358856e-02 -9.88091642e+01] [-7.85747793e-02 3.49201252e-04 9.96908161e-01 -1.09166562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20864 meters 0.026297276018019015 Centerline is valid? [True, True] Translation: X:154.57, Y:-98.83, Z:-10.92 [[ 7.42359441e-01 6.67418692e-01 5.87771155e-02 1.54566494e+02] [-6.65279047e-01 7.44682481e-01 -5.34021803e-02 -9.88280763e+01] [-7.94119016e-02 5.40429364e-04 9.96841742e-01 -1.09179198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23864 meters 0.026256385406012567 Centerline is valid? [True, True] Translation: X:154.59, Y:-98.85, Z:-10.92 [[ 7.42961096e-01 6.66794093e-01 5.82618895e-02 1.54590041e+02] [-6.64689790e-01 7.45241755e-01 -5.29358943e-02 -9.88481380e+01] [-7.87165344e-02 6.03226902e-04 9.96896857e-01 -1.09189813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26864 meters 0.026368106114638808 Centerline is valid? [True, True] Translation: X:154.61, Y:-98.87, Z:-10.92 [[ 7.43306729e-01 6.66367954e-01 5.87269623e-02 1.54612177e+02] [-6.64228157e-01 7.45622772e-01 -5.33632646e-02 -9.88693640e+01] [-7.93477299e-02 6.57171730e-04 9.96846782e-01 -1.09215122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29864 meters 0.026368106114638808 Centerline is valid? [True, True] Translation: X:154.63, Y:-98.89, Z:-10.92 [[ 7.43265571e-01 6.66413944e-01 5.87260301e-02 1.54634990e+02] [-6.64274209e-01 7.45581671e-01 -5.33642904e-02 -9.88900667e+01] [-7.93477589e-02 6.53652575e-04 9.96846782e-01 -1.09232699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32864 meters 0.02655747165662089 Centerline is valid? [True, True] Translation: X:154.66, Y:-98.91, Z:-10.92 [[ 7.43147527e-01 6.66445280e-01 5.98535061e-02 1.54656940e+02] [-6.64222001e-01 7.45553649e-01 -5.43956797e-02 -9.89117989e+01] [-8.08757438e-02 6.67999284e-04 9.96723968e-01 -1.09248935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35864 meters 0.026438301132353386 Centerline is valid? [True, True] Translation: X:154.68, Y:-98.93, Z:-10.93 [[ 7.42709299e-01 6.66968941e-01 5.94586274e-02 1.54681334e+02] [-6.64775925e-01 7.45085267e-01 -5.40454817e-02 -9.89331249e+01] [-8.03484050e-02 6.13417757e-04 9.96766652e-01 -1.09264419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38864 meters 0.026388649637924276 Centerline is valid? [True, True] Translation: X:154.71, Y:-98.95, Z:-10.93 [[ 7.42030691e-01 6.67762647e-01 5.90211832e-02 1.54705304e+02] [-6.65603421e-01 7.44374075e-01 -5.36593186e-02 -9.89530337e+01] [-7.97655273e-02 5.32159864e-04 9.96813512e-01 -1.09283297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41864 meters 0.02615016594350979 Centerline is valid? [True, True] Translation: X:154.73, Y:-98.97, Z:-10.93 [[ 7.42024964e-01 6.67807373e-01 5.85855350e-02 1.54728396e+02] [-6.65679716e-01 7.44333954e-01 -5.32680126e-02 -9.89728521e+01] [-7.91799745e-02 5.26992817e-04 9.96860198e-01 -1.09299697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44864 meters 0.026585530125809952 Centerline is valid? [True, True] Translation: X:154.75, Y:-98.99, Z:-10.93 [[ 7.42875429e-01 6.66773231e-01 5.95781445e-02 1.54750865e+02] [-6.64569422e-01 7.45260383e-01 -5.41705277e-02 -9.89930331e+01] [-8.05206885e-02 6.48140983e-04 9.96752727e-01 -1.09327535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47864 meters 0.026704397271456175 Centerline is valid? [True, True] Translation: X:154.77, Y:-99.01, Z:-10.93 [[ 7.43902870e-01 6.65606561e-01 5.98032244e-02 1.54773903e+02] [-6.63382272e-01 7.46302419e-01 -5.43751782e-02 -9.90125404e+01] [-8.08237665e-02 7.77452265e-04 9.96728105e-01 -1.09339799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50864 meters 0.026980374650943217 Centerline is valid? [True, True] Translation: X:154.80, Y:-99.03, Z:-10.93 [[ 7.47027253e-01 6.62263289e-01 5.79449669e-02 1.54797154e+02] [-6.60165357e-01 7.49270391e-01 -5.26837976e-02 -9.90308383e+01] [-7.83069931e-02 1.10297283e-03 9.96928683e-01 -1.09342578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53864000000002 meters 0.027462187114408478 Centerline is valid? [True, True] Translation: X:154.82, Y:-99.05, Z:-10.94 [[ 7.48862784e-01 6.60249183e-01 5.72323986e-02 1.54818548e+02] [-6.58198019e-01 7.51045515e-01 -5.20192553e-02 -9.90504808e+01] [-7.73298071e-02 1.28503298e-03 9.97004739e-01 -1.09368748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864000000002 meters 0.027936194144456084 Centerline is valid? [True, True] Translation: X:154.84, Y:-99.07, Z:-10.94 [[ 7.51176428e-01 6.57661170e-01 5.67076675e-02 1.54839619e+02] [-6.55642788e-01 7.53312353e-01 -5.15076060e-02 -9.90710166e+01] [-7.65931388e-02 1.51132628e-03 9.97061285e-01 -1.09389162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59864000000002 meters 0.028580370297066334 Centerline is valid? [True, True] Translation: X:154.86, Y:-99.09, Z:-10.94 [[ 7.54177965e-01 6.54082579e-01 5.82372515e-02 1.54859516e+02] [-6.51943426e-01 7.56420707e-01 -5.28912408e-02 -9.90936818e+01] [-7.86471021e-02 1.92201514e-03 9.96900667e-01 -1.09414687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864000000002 meters 0.02907601778767339 Centerline is valid? [True, True] Translation: X:154.88, Y:-99.11, Z:-10.94 [[ 7.55313465e-01 6.52720549e-01 5.88001202e-02 1.54881971e+02] [-6.50535769e-01 7.57595899e-01 -5.34010034e-02 -9.91148809e+01] [-7.94026622e-02 2.08291557e-03 9.96840448e-01 -1.09427632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65864000000002 meters 0.029152039409154343 Centerline is valid? [True, True] Translation: X:154.91, Y:-99.14, Z:-10.94 [[ 7.55730035e-01 6.52189078e-01 5.93423945e-02 1.54905070e+02] [-6.49961620e-01 7.58053248e-01 -5.38995919e-02 -9.91378091e+01] [-8.01374201e-02 2.16326164e-03 9.96781478e-01 -1.09447803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864000000002 meters 0.02949162687649285 Centerline is valid? [True, True] Translation: X:154.93, Y:-99.16, Z:-10.95 [[ 7.55707438e-01 6.52178455e-01 5.97455583e-02 1.54925416e+02] [-6.49919475e-01 7.58062313e-01 -5.42789593e-02 -9.91634155e+01] [-8.06904240e-02 2.18921141e-03 9.96736807e-01 -1.09481693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71864 meters 0.02943649437851353 Centerline is valid? [True, True] Translation: X:154.95, Y:-99.19, Z:-10.95 [[ 7.55407804e-01 6.52573159e-01 5.92226535e-02 1.54947038e+02] [-6.50353783e-01 7.57722707e-01 -5.38168734e-02 -9.91880714e+01] [-7.99937965e-02 2.13800941e-03 9.96793069e-01 -1.09500145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters 0.02917465242424792 Centerline is valid? [True, True] Translation: X:154.97, Y:-99.21, Z:-10.95 [[ 7.54962731e-01 6.53129692e-01 5.87612100e-02 1.54968667e+02] [-6.50945485e-01 7.57243230e-01 -5.34103542e-02 -9.92121525e+01] [-7.93804167e-02 2.07248253e-03 9.96842241e-01 -1.09517731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77864 meters 0.028975822603329975 Centerline is valid? [True, True] Translation: X:154.99, Y:-99.24, Z:-10.95 [[ 7.54037154e-01 6.54182607e-01 5.89329060e-02 1.54987788e+02] [-6.51987761e-01 7.56334058e-01 -5.35794043e-02 -9.92390542e+01] [-7.96236783e-02 1.97732807e-03 9.96823033e-01 -1.09528744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters 0.028847098816488524 Centerline is valid? [True, True] Translation: X:155.01, Y:-99.26, Z:-10.95 [[ 7.53333989e-01 6.54913740e-01 5.97987849e-02 1.55009762e+02] [-6.52654866e-01 7.55701151e-01 -5.43819381e-02 -9.92639184e+01] [-8.08054891e-02 1.93979443e-03 9.96728002e-01 -1.09548620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83864 meters 0.028514593831649927 Centerline is valid? [True, True] Translation: X:155.03, Y:-99.29, Z:-10.96 [[ 7.52341792e-01 6.56115918e-01 5.91077843e-02 1.55029052e+02] [-6.53911313e-01 7.54657969e-01 -5.37712138e-02 -9.92904203e+01] [-7.98863098e-02 1.80308248e-03 9.96802351e-01 -1.09567109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters 0.028530829005463616 Centerline is valid? [True, True] Translation: X:155.05, Y:-99.31, Z:-10.96 [[ 7.51673220e-01 6.56870841e-01 5.92289534e-02 1.55050994e+02] [-6.54658450e-01 7.54001116e-01 -5.38946240e-02 -9.93137442e+01] [-8.00605040e-02 1.73641072e-03 9.96788493e-01 -1.09590688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89864 meters 0.028374150151426362 Centerline is valid? [True, True] Translation: X:155.07, Y:-99.34, Z:-10.96 [[ 7.51395181e-01 6.57262670e-01 5.84043218e-02 1.55073448e+02] [-6.55111713e-01 7.53659710e-01 -5.31571789e-02 -9.93371264e+01] [-7.89552135e-02 1.68069277e-03 9.96876747e-01 -1.09607940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92864 meters 0.028231280427349553 Centerline is valid? [True, True] Translation: X:155.09, Y:-99.36, Z:-10.96 [[ 7.49844123e-01 6.58896938e-01 5.99050585e-02 1.55094793e+02] [-6.56636925e-01 7.52231592e-01 -5.45488879e-02 -9.93625750e+01] [-8.10045728e-02 1.56728967e-03 9.96712498e-01 -1.09630396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95864 meters 0.028270764529590254 Centerline is valid? [True, True] Translation: X:155.12, Y:-99.39, Z:-10.96 [[ 7.49232041e-01 6.59601625e-01 5.98084050e-02 1.55118265e+02] [-6.57346747e-01 7.51613835e-01 -5.45151147e-02 -9.93859940e+01] [-8.09110829e-02 1.52961022e-03 9.96720150e-01 -1.09645920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98864 meters 0.02809226549802814 Centerline is valid? [True, True] Translation: X:155.14, Y:-99.41, Z:-10.97 [[ 7.48370670e-01 6.60583200e-01 5.97593216e-02 1.55141466e+02] [-6.58330730e-01 7.50751420e-01 -5.45248191e-02 -9.94097800e+01] [-8.08825750e-02 1.46337758e-03 9.96722563e-01 -1.09666757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01864 meters 0.027732437144132153 Centerline is valid? [True, True] Translation: X:155.16, Y:-99.43, Z:-10.97 [[ 7.47079138e-01 6.62107613e-01 5.90446454e-02 1.55161661e+02] [-6.59910119e-01 7.49407619e-01 -5.39152531e-02 -9.94349849e+01] [-7.99462067e-02 1.31480183e-03 9.96798312e-01 -1.09676191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04864 meters 0.027901704231428317 Centerline is valid? [True, True] Translation: X:155.19, Y:-99.46, Z:-10.97 [[ 7.46395680e-01 6.62864254e-01 5.91985545e-02 1.55185048e+02] [-6.60655392e-01 7.48738538e-01 -5.40837857e-02 -9.94579297e+01] [-8.01744474e-02 1.25805979e-03 9.96780054e-01 -1.09702024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07864 meters 0.027548259106716853 Centerline is valid? [True, True] Translation: X:155.21, Y:-99.48, Z:-10.97 [[ 7.45586108e-01 6.63794766e-01 5.89734178e-02 1.55207198e+02] [-6.61601885e-01 7.47913829e-01 -5.39244823e-02 -9.94810080e+01] [-7.99018239e-02 1.18842054e-03 9.96802030e-01 -1.09712459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10864 meters 0.02751621865861638 Centerline is valid? [True, True] Translation: X:155.23, Y:-99.51, Z:-10.97 [[ 7.43540533e-01 6.66016033e-01 5.97504782e-02 1.55228388e+02] [-6.63769163e-01 7.45936771e-01 -5.46702187e-02 -9.95061309e+01] [-8.09813209e-02 9.88998638e-04 9.96715129e-01 -1.09737811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13864 meters 0.027240277762613407 Centerline is valid? [True, True] Translation: X:155.25, Y:-99.53, Z:-10.97 [[ 7.42853297e-01 6.66785353e-01 5.97182659e-02 1.55251760e+02] [-6.64538859e-01 7.45249218e-01 -5.46965011e-02 -9.95301522e+01] [-8.09758168e-02 9.46367860e-04 9.96715617e-01 -1.09745902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16864 meters 0.02718180595645542 Centerline is valid? [True, True] Translation: X:155.27, Y:-99.56, Z:-10.98 [[ 7.41260976e-01 6.68600404e-01 5.92086515e-02 1.55272787e+02] [-6.66393653e-01 7.43621469e-01 -5.42826878e-02 -9.95552805e+01] [-8.03222514e-02 7.81368605e-04 9.96768642e-01 -1.09761194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19864 meters 0.027014292892063488 Centerline is valid? [True, True] Translation: X:155.30, Y:-99.58, Z:-10.98 [[ 7.40368523e-01 6.69564122e-01 5.94839194e-02 1.55295487e+02] [-6.67335747e-01 7.42753910e-01 -5.45859869e-02 -9.95788037e+01] [-8.07307321e-02 7.18000685e-04 9.96735689e-01 -1.09779209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22864 meters 0.027038965968258173 Centerline is valid? [True, True] Translation: X:155.32, Y:-99.60, Z:-10.98 [[ 7.39881848e-01 6.70138588e-01 5.90688085e-02 1.55318941e+02] [-6.67938655e-01 7.42235673e-01 -5.42601050e-02 -9.96022441e+01] [-8.02047670e-02 6.91726266e-04 9.96778168e-01 -1.09794546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25864 meters 0.026803346833008484 Centerline is valid? [True, True] Translation: X:155.34, Y:-99.63, Z:-10.98 [[ 7.39344304e-01 6.70718874e-01 5.92131171e-02 1.55342015e+02] [-6.68505531e-01 7.41711360e-01 -5.44482677e-02 -9.96258645e+01] [-8.04385224e-02 6.71720326e-04 9.96759346e-01 -1.09806315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864000000002 meters 0.026661120364683592 Centerline is valid? [True, True] Translation: X:155.37, Y:-99.65, Z:-10.98 [[ 7.38385472e-01 6.71865318e-01 5.81712056e-02 1.55365012e+02] [-6.69729416e-01 7.40673119e-01 -5.35335338e-02 -9.96490349e+01] [-7.90531730e-02 5.69416031e-04 9.96870238e-01 -1.09822440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31864000000002 meters 0.02639662194430587 Centerline is valid? [True, True] Translation: X:155.39, Y:-99.67, Z:-10.98 [[ 7.36764311e-01 6.73715952e-01 5.73163763e-02 1.55386573e+02] [-6.71646733e-01 7.38990307e-01 -5.27635477e-02 -9.96726277e+01] [-7.79038903e-02 3.77941923e-04 9.96960802e-01 -1.09832334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864000000002 meters 0.026398161792985857 Centerline is valid? [True, True] Translation: X:155.41, Y:-99.69, Z:-10.98 [[ 7.35593260e-01 6.75047369e-01 5.66886718e-02 1.55410238e+02] [-6.73025329e-01 7.37774346e-01 -5.22103569e-02 -9.96938528e+01] [-7.70679118e-02 2.52674645e-04 9.97025814e-01 -1.09843960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37864000000002 meters 0.026162446073524293 Centerline is valid? [True, True] Translation: X:155.43, Y:-99.72, Z:-10.99 [[ 7.33628463e-01 6.77218451e-01 5.62534258e-02 1.55434676e+02] [-6.75230014e-01 7.35782010e-01 -5.18580919e-02 -9.97160259e+01] [-7.65095154e-02 6.05707162e-05 9.97068849e-01 -1.09857996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864000000002 meters 0.02626097294442476 Centerline is valid? [True, True] Translation: X:155.46, Y:-99.74, Z:-10.99 [[ 7.31877194e-01 6.79148912e-01 5.57900380e-02 1.55459178e+02] [-6.77194692e-01 7.34000507e-01 -5.14840200e-02 -9.97379908e+01] [-7.59152324e-02 -1.00737563e-04 9.97114270e-01 -1.09872137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43864000000002 meters 0.026304225659219544 Centerline is valid? [True, True] Translation: X:155.48, Y:-99.76, Z:-10.99 [[ 7.27871338e-01 6.83283109e-01 5.76845565e-02 1.55482535e+02] [-6.81202270e-01 7.30153364e-01 -5.32872654e-02 -9.97598042e+01] [-7.85288613e-02 -5.08577641e-04 9.96911711e-01 -1.09903021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters 0.02642529632718866 Centerline is valid? [True, True] Translation: X:155.51, Y:-99.78, Z:-10.99 [[ 7.25899302e-01 6.85396932e-01 5.74565000e-02 1.55507203e+02] [-6.83335187e-01 7.28169321e-01 -5.31268506e-02 -9.97817752e+01] [-7.82510410e-02 -6.97304418e-04 9.96933442e-01 -1.09918467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49864 meters 0.026515041673637985 Centerline is valid? [True, True] Translation: X:155.53, Y:-99.80, Z:-10.99 [[ 7.23146904e-01 6.88296530e-01 5.75016785e-02 1.55532279e+02] [-6.86236429e-01 7.25428799e-01 -5.32223718e-02 -9.98018934e+01] [-7.83461474e-02 -9.72153158e-04 9.96925743e-01 -1.09925347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters 0.026592091403209454 Centerline is valid? [True, True] Translation: X:155.56, Y:-99.82, Z:-10.99 [[ 7.22383488e-01 6.89110215e-01 5.73516175e-02 1.55557903e+02] [-6.87059469e-01 7.24655828e-01 -5.31339454e-02 -9.98234937e+01] [-7.81753284e-02 -1.02088710e-03 9.96939103e-01 -1.09948259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55864 meters 0.02646112672441497 Centerline is valid? [True, True] Translation: X:155.58, Y:-99.84, Z:-11.00 [[ 7.21159586e-01 6.90429472e-01 5.68858123e-02 1.55583313e+02] [-6.88411743e-01 7.23398855e-01 -5.27576441e-02 -9.98448054e+01] [-7.75765638e-02 -1.11418043e-03 9.96985775e-01 -1.09958657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters 0.026623569424783958 Centerline is valid? [True, True] Translation: X:155.61, Y:-99.86, Z:-11.00 [[ 7.20050740e-01 6.91685223e-01 5.56640267e-02 1.55610068e+02] [-6.89753058e-01 7.22198138e-01 -5.16775506e-02 -9.98643765e+01] [-7.59450545e-02 -1.18397400e-03 9.97111301e-01 -1.09979613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61864 meters 0.026617434081080922 Centerline is valid? [True, True] Translation: X:155.64, Y:-99.89, Z:-11.00 [[ 7.19389848e-01 6.92354320e-01 5.58904378e-02 1.55635301e+02] [-6.90404212e-01 7.21556655e-01 -5.19424463e-02 -9.98855124e+01] [-7.62906944e-02 -1.22012511e-03 9.97084872e-01 -1.10001648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters 0.026513390376768538 Centerline is valid? [True, True] Translation: X:155.66, Y:-99.91, Z:-11.00 [[ 7.19434575e-01 6.92321796e-01 5.57173406e-02 1.55660117e+02] [-6.90379533e-01 7.21587938e-01 -5.18357723e-02 -9.99070529e+01] [-7.60919960e-02 -1.17366477e-03 9.97100111e-01 -1.10017122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67864 meters 0.02662347046841873 Centerline is valid? [True, True] Translation: X:155.68, Y:-99.93, Z:-11.00 [[ 7.18827232e-01 6.92883772e-01 5.65640274e-02 1.55684979e+02] [-6.90879474e-01 7.21048270e-01 -5.26777509e-02 -9.99273434e+01] [-7.72849529e-02 -1.21272361e-03 9.97008308e-01 -1.10042532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70864 meters 0.026571883268449892 Centerline is valid? [True, True] Translation: X:155.71, Y:-99.95, Z:-11.01 [[ 7.18370022e-01 6.93333166e-01 5.68650296e-02 1.55710021e+02] [-6.91304925e-01 7.20616128e-01 -5.30084610e-02 -9.99484362e+01] [-7.77303816e-02 -1.23138569e-03 9.96973656e-01 -1.10061960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73864 meters 0.026450083118123503 Centerline is valid? [True, True] Translation: X:155.74, Y:-99.97, Z:-11.01 [[ 7.18873392e-01 6.92829211e-01 5.66456573e-02 1.55735218e+02] [-6.90810919e-01 7.21100824e-01 -5.28571280e-02 -9.99679929e+01] [-7.74681924e-02 -1.13385571e-03 9.96994179e-01 -1.10083065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76864 meters 0.02653550077460137 Centerline is valid? [True, True] Translation: X:155.76, Y:-99.99, Z:-11.01 [[ 7.18725141e-01 6.92977989e-01 5.67069525e-02 1.55760223e+02] [-6.90951871e-01 7.20957880e-01 -5.29645829e-02 -9.99895580e+01] [-7.75866144e-02 -1.11479761e-03 9.96984992e-01 -1.10101823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79864 meters 0.026319407769161134 Centerline is valid? [True, True] Translation: X:155.79, Y:-100.01, Z:-11.01 [[ 7.18925099e-01 6.92739553e-01 5.70842655e-02 1.55785766e+02] [-6.90681181e-01 7.21187075e-01 -5.33732999e-02 -1.00010954e+02] [-7.81422304e-02 -1.05562299e-03 9.96941662e-01 -1.10123252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82864 meters 0.026367345391607233 Centerline is valid? [True, True] Translation: X:155.81, Y:-100.03, Z:-11.02 [[ 7.21159067e-01 6.90278785e-01 5.86924007e-02 1.55810964e+02] [-6.88089726e-01 7.23543094e-01 -5.49356087e-02 -1.00032033e+02] [-8.03873664e-02 -7.68325601e-04 9.96763403e-01 -1.10150173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85864 meters 0.02625475320997993 Centerline is valid? [True, True] Translation: X:155.83, Y:-100.05, Z:-11.02 [[ 7.22942578e-01 6.88440881e-01 5.83368072e-02 1.55834428e+02] [-6.86267925e-01 7.25292274e-01 -5.46575908e-02 -1.00054281e+02] [-7.99397555e-02 -5.20380043e-04 9.96799561e-01 -1.10165555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88864 meters 0.026426872586911742 Centerline is valid? [True, True] Translation: X:155.86, Y:-100.08, Z:-11.02 [[ 7.27117552e-01 6.84048014e-01 5.81238277e-02 1.55857330e+02] [-6.81872874e-01 7.29436984e-01 -5.45075129e-02 -1.00076148e+02] [-7.96834256e-02 3.07905607e-07 9.96820220e-01 -1.10197201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91864 meters 0.026213396500270335 Centerline is valid? [True, True] Translation: X:155.88, Y:-100.10, Z:-11.02 [[ 7.29266030e-01 6.81828362e-01 5.72812557e-02 1.55881049e+02] [-6.79705263e-01 7.31512139e-01 -5.37656586e-02 -1.00097692e+02] [-7.85608848e-02 2.75097408e-04 9.96909280e-01 -1.10210795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94864 meters 0.026081125593802684 Centerline is valid? [True, True] Translation: X:155.90, Y:-100.12, Z:-11.02 [[ 7.30650581e-01 6.80461968e-01 5.58680445e-02 1.55904099e+02] [-6.78434923e-01 7.32783263e-01 -5.24856602e-02 -1.00120170e+02] [-7.66536636e-02 4.45845652e-04 9.97057680e-01 -1.10218190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97864 meters 0.026319764132319137 Centerline is valid? [True, True] Translation: X:155.92, Y:-100.15, Z:-11.02 [[ 7.32888340e-01 6.78040855e-01 5.59935626e-02 1.55924970e+02] [-6.75993951e-01 7.35023848e-01 -5.26509336e-02 -1.00145398e+02] [-7.68560879e-02 7.35945699e-04 9.97041925e-01 -1.10242637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00864 meters 0.026464115801228642 Centerline is valid? [True, True] Translation: X:155.95, Y:-100.17, Z:-11.03 [[ 7.33296256e-01 6.77592201e-01 5.60839569e-02 1.55946933e+02] [-6.75533565e-01 7.35437378e-01 -5.27850926e-02 -1.00170352e+02] [-7.70130052e-02 8.20515394e-04 9.97029751e-01 -1.10257270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03864000000002 meters 0.026515557311778903 Centerline is valid? [True, True] Translation: X:155.97, Y:-100.20, Z:-11.03 [[ 7.33541553e-01 6.77390288e-01 5.53099276e-02 1.55969337e+02] [-6.75383593e-01 7.35623302e-01 -5.21091093e-02 -1.00195038e+02] [-7.59854761e-02 8.68779319e-04 9.97108546e-01 -1.10274151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864000000002 meters 0.026526976612508545 Centerline is valid? [True, True] Translation: X:155.99, Y:-100.22, Z:-11.03 [[ 7.33974392e-01 6.76941300e-01 5.50642196e-02 1.55991248e+02] [-6.74947162e-01 7.36036394e-01 -5.19302825e-02 -1.00219648e+02] [-7.56830225e-02 9.50058760e-04 9.97131475e-01 -1.10296913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09864000000002 meters 0.026341553381698784 Centerline is valid? [True, True] Translation: X:156.01, Y:-100.25, Z:-11.03 [[ 7.33628899e-01 6.77357246e-01 5.45508993e-02 1.56009609e+02] [-6.75397418e-01 7.35653644e-01 -5.14979935e-02 -1.00248171e+02] [-7.50131069e-02 9.36879753e-04 9.97182108e-01 -1.10319576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864000000002 meters 0.026408264997939458 Centerline is valid? [True, True] Translation: X:156.03, Y:-100.27, Z:-11.03 [[ 7.32665454e-01 6.78331375e-01 5.53884340e-02 1.56030517e+02] [-6.76309504e-01 7.34755575e-01 -5.23421489e-02 -1.00273857e+02] [-7.62022825e-02 8.89559921e-04 9.97091982e-01 -1.10346799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15864000000002 meters 0.02617710945324237 Centerline is valid? [True, True] Translation: X:156.05, Y:-100.30, Z:-11.04 [[ 7.30039840e-01 6.81063914e-01 5.65135174e-02 1.56049145e+02] [-6.78962772e-01 7.32223677e-01 -5.34606577e-02 -1.00301736e+02] [-7.77906602e-02 6.57835562e-04 9.96969498e-01 -1.10356706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864000000002 meters 0.02617710945324237 Centerline is valid? [True, True] Translation: X:156.07, Y:-100.32, Z:-11.04 [[ 7.29690201e-01 6.81440781e-01 5.64860403e-02 1.56073001e+02] [-6.79338520e-01 7.31872960e-01 -5.34896780e-02 -1.00323852e+02] [-7.77906535e-02 6.57750773e-04 9.96969499e-01 -1.10375235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21864 meters 0.02615022742880526 Centerline is valid? [True, True] Translation: X:156.09, Y:-100.35, Z:-11.04 [[ 7.27845689e-01 6.83356372e-01 5.71377463e-02 1.56094573e+02] [-6.81206674e-01 7.30084803e-01 -5.41631588e-02 -1.00348746e+02] [-7.87281399e-02 4.99807463e-04 9.96895998e-01 -1.10396617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters 0.025968088311551826 Centerline is valid? [True, True] Translation: X:156.12, Y:-100.37, Z:-11.04 [[ 7.25927449e-01 6.85375114e-01 5.73610556e-02 1.56116489e+02] [-6.83210351e-01 7.28190118e-01 -5.44313237e-02 -1.00373493e+02] [-7.90756285e-02 3.23525049e-04 9.96868567e-01 -1.10416755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27864 meters 0.025721953626785924 Centerline is valid? [True, True] Translation: X:156.14, Y:-100.40, Z:-11.04 [[ 7.21574694e-01 6.89984593e-01 5.70194973e-02 1.56136606e+02] [-6.87855594e-01 7.23824041e-01 -5.41612413e-02 -1.00398968e+02] [-7.86425050e-02 -1.39799071e-04 9.96902872e-01 -1.10431941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters 0.025727011431035007 Centerline is valid? [True, True] Translation: X:156.16, Y:-100.42, Z:-11.04 [[ 7.19643985e-01 6.92058242e-01 5.62843258e-02 1.56159541e+02] [-6.89986281e-01 7.21841592e-01 -5.35130617e-02 -1.00422106e+02] [-7.76625228e-02 -3.25059656e-04 9.96979652e-01 -1.10448590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33864 meters 0.025638012890846013 Centerline is valid? [True, True] Translation: X:156.18, Y:-100.45, Z:-11.05 [[ 7.16540311e-01 6.95251589e-01 5.65261962e-02 1.56181564e+02] [-6.93167349e-01 7.18766183e-01 -5.37977647e-02 -1.00445212e+02] [-7.80320997e-02 -6.33846494e-04 9.96950646e-01 -1.10467131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters 0.025960337707658494 Centerline is valid? [True, True] Translation: X:156.21, Y:-100.47, Z:-11.05 [[ 7.15018517e-01 6.96798172e-01 5.67523366e-02 1.56205177e+02] [-6.94697982e-01 7.17266838e-01 -5.40647412e-02 -1.00467773e+02] [-7.83787819e-02 -7.68442704e-04 9.96923355e-01 -1.10490021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39864 meters 0.026005590393358424 Centerline is valid? [True, True] Translation: X:156.23, Y:-100.49, Z:-11.05 [[ 7.14495671e-01 6.97286693e-01 5.73341406e-02 1.56230089e+02] [-6.95140110e-01 7.16791912e-01 -5.46770682e-02 -1.00490018e+02] [-7.92222404e-02 -7.88732292e-04 9.96856667e-01 -1.10510406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42864 meters 0.025930209147584468 Centerline is valid? [True, True] Translation: X:156.25, Y:-100.51, Z:-11.05 [[ 7.13671650e-01 6.98066019e-01 5.81086010e-02 1.56254804e+02] [-6.95858943e-01 7.16032902e-01 -5.54726525e-02 -1.00511290e+02] [-8.03312440e-02 -8.46130225e-04 9.96767864e-01 -1.10531946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45864 meters 0.026067285336392007 Centerline is valid? [True, True] Translation: X:156.28, Y:-100.53, Z:-11.05 [[ 7.12283371e-01 6.99565309e-01 5.71032207e-02 1.56280736e+02] [-6.97434779e-01 7.14568021e-01 -5.45643883e-02 -1.00532264e+02] [-7.89754886e-02 -9.60465639e-04 9.96876095e-01 -1.10548661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48864 meters 0.02595160866418374 Centerline is valid? [True, True] Translation: X:156.31, Y:-100.55, Z:-11.06 [[ 7.12218715e-01 6.99664999e-01 5.66867905e-02 1.56305756e+02] [-6.97561316e-01 7.14470459e-01 -5.42233739e-02 -1.00554195e+02] [-7.84392341e-02 -9.23610461e-04 9.96918469e-01 -1.10567145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51864 meters 0.02597615134682019 Centerline is valid? [True, True] Translation: X:156.33, Y:-100.57, Z:-11.06 [[ 7.11938212e-01 7.00046435e-01 5.54884891e-02 1.56331896e+02] [-6.98027947e-01 7.14096749e-01 -5.31302018e-02 -1.00573631e+02] [-7.68177580e-02 -9.07095277e-04 9.97044738e-01 -1.10577331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54864 meters 0.02604035548483837 Centerline is valid? [True, True] Translation: X:156.36, Y:-100.59, Z:-11.06 [[ 7.11326305e-01 7.00612737e-01 5.61843368e-02 1.56357384e+02] [-6.98540970e-01 7.13541100e-01 -5.38480389e-02 -1.00594207e+02] [-7.78164554e-02 -9.43534545e-04 9.96967256e-01 -1.10594507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57864 meters 0.026135521241308156 Centerline is valid? [True, True] Translation: X:156.38, Y:-100.61, Z:-11.06 [[ 7.10900315e-01 7.01076536e-01 5.57891843e-02 1.56382814e+02] [-6.99030935e-01 7.13085404e-01 -5.35253128e-02 -1.00614849e+02] [-7.73077939e-02 -9.47203890e-04 9.97006824e-01 -1.10607252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60864 meters 0.02623094730537119 Centerline is valid? [True, True] Translation: X:156.41, Y:-100.63, Z:-11.06 [[ 7.10072020e-01 7.01865927e-01 5.64087544e-02 1.56407663e+02] [-6.99772704e-01 7.12308368e-01 -5.41751972e-02 -1.00634800e+02] [-7.82041527e-02 -1.00501490e-03 9.96936859e-01 -1.10630870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63864 meters 0.026272438435535922 Centerline is valid? [True, True] Translation: X:156.44, Y:-100.65, Z:-11.06 [[ 7.09421907e-01 7.02493711e-01 5.67727429e-02 1.56435258e+02] [-7.00371222e-01 7.11689186e-01 -5.45770472e-02 -1.00654276e+02] [-7.87445796e-02 -1.04384237e-03 9.96894278e-01 -1.10645253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66864 meters 0.02624231772224215 Centerline is valid? [True, True] Translation: X:156.46, Y:-100.67, Z:-11.06 [[ 7.09685193e-01 7.02265177e-01 5.63076187e-02 1.56460134e+02] [-7.00172379e-01 7.11914797e-01 -5.41845191e-02 -1.00674374e+02] [-7.81381279e-02 -9.71088458e-04 9.96942070e-01 -1.10647819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69864 meters 0.026234213923611836 Centerline is valid? [True, True] Translation: X:156.49, Y:-100.69, Z:-11.07 [[ 7.10778435e-01 7.01179565e-01 5.60467058e-02 1.56487136e+02] [-6.99098929e-01 7.12984261e-01 -5.39826825e-02 -1.00692525e+02] [-7.78119730e-02 -8.12465394e-04 9.96967721e-01 -1.10670394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72864 meters 0.026235898532208757 Centerline is valid? [True, True] Translation: X:156.51, Y:-100.71, Z:-11.07 [[ 7.11238080e-01 7.00782181e-01 5.51790637e-02 1.56512386e+02] [-6.98760640e-01 7.13374946e-01 -5.31954454e-02 -1.00712791e+02] [-7.66417818e-02 -7.22331393e-04 9.97058431e-01 -1.10692295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75864 meters 0.026131488317437456 Centerline is valid? [True, True] Translation: X:156.54, Y:-100.73, Z:-11.07 [[ 7.12070804e-01 6.99981594e-01 5.45979736e-02 1.56537462e+02] [-6.97996481e-01 7.14160636e-01 -5.26830041e-02 -1.00733277e+02] [-7.58688567e-02 -5.95164309e-04 9.97117627e-01 -1.10711320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864000000002 meters 0.026216209257866392 Centerline is valid? [True, True] Translation: X:156.56, Y:-100.75, Z:-11.07 [[ 7.13687663e-01 6.98360143e-01 5.42497084e-02 1.56563676e+02] [-6.96392016e-01 7.15746437e-01 -5.23946424e-02 -1.00752317e+02] [-7.54193654e-02 -3.85653882e-04 9.97151829e-01 -1.10730836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81864000000002 meters 0.026173169598841577 Centerline is valid? [True, True] Translation: X:156.59, Y:-100.77, Z:-11.07 [[ 7.14219296e-01 6.97819502e-01 5.42101454e-02 1.56589395e+02] [-6.95848938e-01 7.16273591e-01 -5.24060960e-02 -1.00773127e+02] [-7.53992913e-02 -2.92627125e-04 9.97153379e-01 -1.10743314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864000000002 meters 0.02616040715874878 Centerline is valid? [True, True] Translation: X:156.62, Y:-100.79, Z:-11.08 [[ 7.16086384e-01 6.95902290e-01 5.42244753e-02 1.56617258e+02] [-6.93921038e-01 7.18136478e-01 -5.24746847e-02 -1.00791910e+02] [-7.54578269e-02 -5.10969236e-05 9.97148993e-01 -1.10752643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87864000000002 meters 0.026195845649474078 Centerline is valid? [True, True] Translation: X:156.64, Y:-100.81, Z:-11.08 [[ 7.16285578e-01 6.95766788e-01 5.33249254e-02 1.56642142e+02] [-6.93847137e-01 7.18267761e-01 -5.16485598e-02 -1.00813111e+02] [-7.42369273e-02 -4.22832844e-06 9.97240632e-01 -1.10774260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864000000002 meters 0.026273400625750103 Centerline is valid? [True, True] Translation: X:156.67, Y:-100.83, Z:-11.08 [[ 7.16569433e-01 6.95513890e-01 5.28079252e-02 1.56666541e+02] [-6.93628825e-01 7.18512649e-01 -5.11725108e-02 -1.00834724e+02] [-7.35343543e-02 3.95579299e-05 9.97292684e-01 -1.10797666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93864000000002 meters 0.02618794421834631 Centerline is valid? [True, True] Translation: X:156.69, Y:-100.86, Z:-11.08 [[ 7.17594193e-01 6.94457333e-01 5.27976018e-02 1.56692404e+02] [-6.92566219e-01 7.19533861e-01 -5.12157669e-02 -1.00856131e+02] [-7.35568272e-02 1.86301448e-04 9.97291010e-01 -1.10812527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters 0.026022801200485883 Centerline is valid? [True, True] Translation: X:156.72, Y:-100.88, Z:-11.08 [[ 7.17856563e-01 6.94206075e-01 5.25345573e-02 1.56717169e+02] [-6.92329218e-01 7.19776259e-01 -5.10136276e-02 -1.00877647e+02] [-7.32270974e-02 2.49258395e-04 9.97315261e-01 -1.10824835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99864 meters 0.02614392964205576 Centerline is valid? [True, True] Translation: X:156.74, Y:-100.90, Z:-11.08 [[ 7.19155087e-01 6.92864431e-01 5.24865846e-02 1.56743201e+02] [-6.90983545e-01 7.21067751e-01 -5.10199872e-02 -1.00897967e+02] [-7.31963179e-02 4.23917078e-04 9.97317462e-01 -1.10836943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters 0.026407277742283193 Centerline is valid? [True, True] Translation: X:156.77, Y:-100.92, Z:-11.09 [[ 7.19207329e-01 6.92738038e-01 5.34305887e-02 1.56766536e+02] [-6.90784494e-01 7.21189141e-01 -5.19904462e-02 -1.00919439e+02] [-7.45493201e-02 4.82887839e-04 9.97217211e-01 -1.10866478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05864 meters 0.02639648231779031 Centerline is valid? [True, True] Translation: X:156.79, Y:-100.94, Z:-11.09 [[ 7.19486948e-01 6.92475691e-01 5.30655174e-02 1.56790477e+02] [-6.90544522e-01 7.21441005e-01 -5.16830692e-02 -1.00941639e+02] [-7.40729093e-02 5.41191359e-04 9.97252682e-01 -1.10880194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters 0.026476498866243807 Centerline is valid? [True, True] Translation: X:156.82, Y:-100.96, Z:-11.09 [[ 7.19450399e-01 6.92446495e-01 5.39349090e-02 1.56815273e+02] [-6.90447371e-01 7.21468989e-01 -5.25825694e-02 -1.00961782e+02] [-7.53229801e-02 5.91334486e-04 9.97159014e-01 -1.10887761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11864 meters 0.02640136208815226 Centerline is valid? [True, True] Translation: X:156.84, Y:-100.98, Z:-11.09 [[ 7.18928365e-01 6.93014784e-01 5.35958500e-02 1.56839718e+02] [-6.91038716e-01 7.20923152e-01 -5.23001083e-02 -1.00983830e+02] [-7.48832374e-02 5.63223955e-04 9.97192150e-01 -1.10900825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters 0.02629613954284975 Centerline is valid? [True, True] Translation: X:156.86, Y:-101.01, Z:-11.09 [[ 7.18116574e-01 6.93839458e-01 5.38088483e-02 1.56862108e+02] [-6.91845901e-01 7.20129528e-01 -5.25614970e-02 -1.01008012e+02] [-7.52185812e-02 5.17851030e-04 9.97166935e-01 -1.10937644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17864 meters 0.026251613840630565 Centerline is valid? [True, True] Translation: X:156.89, Y:-101.03, Z:-11.10 [[ 7.17519762e-01 6.94544635e-01 5.26606175e-02 1.56885000e+02] [-6.92633559e-01 7.19449462e-01 -5.14900349e-02 -1.01031187e+02] [-7.36487804e-02 4.70606616e-04 9.97284130e-01 -1.10954353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20864 meters 0.02628359379284148 Centerline is valid? [True, True] Translation: X:156.91, Y:-101.05, Z:-11.10 [[ 7.16291098e-01 6.95892201e-01 5.15859273e-02 1.56908488e+02] [-6.94058687e-01 7.18146167e-01 -5.04838771e-02 -1.01053896e+02] [-7.21775723e-02 3.57490755e-04 9.97391734e-01 -1.10967208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23864 meters 0.025970811037488 Centerline is valid? [True, True] Translation: X:156.93, Y:-101.08, Z:-11.10 [[ 7.14206315e-01 6.97961612e-01 5.25255066e-02 1.56932985e+02] [-6.96062611e-01 7.16135151e-01 -5.14518058e-02 -1.01076065e+02] [-7.35267468e-02 1.86163371e-04 9.97293228e-01 -1.10970178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26864 meters 0.026112639664881265 Centerline is valid? [True, True] Translation: X:156.96, Y:-101.10, Z:-11.10 [[ 7.12463511e-01 6.99657768e-01 5.36167183e-02 1.56956904e+02] [-6.97679561e-01 7.14478135e-01 -5.25759044e-02 -1.01099311e+02] [-7.50931128e-02 5.11249450e-05 9.97176525e-01 -1.10999442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29864 meters 0.026110043757532068 Centerline is valid? [True, True] Translation: X:156.98, Y:-101.12, Z:-11.10 [[ 7.10778815e-01 7.01309843e-01 5.43873177e-02 1.56980452e+02] [-6.99274815e-01 7.12856576e-01 -5.33876024e-02 -1.01122782e+02] [-7.62116081e-02 -8.49047336e-05 9.97091663e-01 -1.11018967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32864 meters 0.026137747528650456 Centerline is valid? [True, True] Translation: X:157.00, Y:-101.15, Z:-11.10 [[ 7.10043508e-01 7.02067401e-01 5.42178990e-02 1.57003880e+02] [-7.00043055e-01 7.12110489e-01 -5.32763807e-02 -1.01145425e+02] [-7.60127447e-02 -1.26315442e-04 9.97106838e-01 -1.11048428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35864 meters 0.026002518685210498 Centerline is valid? [True, True] Translation: X:157.03, Y:-101.17, Z:-11.11 [[ 7.09861241e-01 7.02298182e-01 5.36123304e-02 1.57028026e+02] [-7.00315417e-01 7.11882892e-01 -5.27358092e-02 -1.01168150e+02] [-7.52019637e-02 -1.10434568e-04 9.97168317e-01 -1.11064318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38864 meters 0.025926538586089117 Centerline is valid? [True, True] Translation: X:157.05, Y:-101.19, Z:-11.11 [[ 7.09498819e-01 7.02770782e-01 5.21982210e-02 1.57051712e+02] [-7.00888918e-01 7.11416344e-01 -5.13956348e-02 -1.01190692e+02] [-7.32540179e-02 -1.20012428e-04 9.97313308e-01 -1.11072744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41864 meters 0.025848896288018404 Centerline is valid? [True, True] Translation: X:157.08, Y:-101.21, Z:-11.11 [[ 7.08484036e-01 7.03812705e-01 5.19427345e-02 1.57076281e+02] [-7.01948549e-01 7.10385557e-01 -5.11917456e-02 -1.01213372e+02] [-7.29287693e-02 -1.92592596e-04 9.97337133e-01 -1.11093304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44864 meters 0.025679919316444432 Centerline is valid? [True, True] Translation: X:157.10, Y:-101.24, Z:-11.11 [[ 7.07645711e-01 7.04680597e-01 5.16023554e-02 1.57100632e+02] [-7.02839288e-01 7.09524627e-01 -5.09091241e-02 -1.01235115e+02] [-7.24878140e-02 -2.42539395e-04 9.97369269e-01 -1.11103348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47864 meters 0.02566561776570874 Centerline is valid? [True, True] Translation: X:157.13, Y:-101.26, Z:-11.11 [[ 7.06348822e-01 7.05945385e-01 5.20812397e-02 1.57125511e+02] [-7.04069160e-01 7.08266193e-01 -5.14355762e-02 -1.01257378e+02] [-7.31980890e-02 -3.37336067e-04 9.97317365e-01 -1.11125185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50864 meters 0.025523763557380078 Centerline is valid? [True, True] Translation: X:157.15, Y:-101.28, Z:-11.11 [[ 7.04368577e-01 7.07913610e-01 5.21845501e-02 1.57149675e+02] [-7.06032027e-01 7.06298845e-01 -5.15821443e-02 -1.01278585e+02] [-7.33735895e-02 -5.11122082e-04 9.97304394e-01 -1.11137433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53864000000002 meters 0.025637334938197576 Centerline is valid? [True, True] Translation: X:157.17, Y:-101.30, Z:-11.12 [[ 7.03714930e-01 7.08569594e-01 5.21001592e-02 1.57174240e+02] [-7.06694791e-01 7.05640707e-01 -5.15137404e-02 -1.01301148e+02] [-7.32650634e-02 -5.67922861e-04 9.97312342e-01 -1.11156034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864000000002 meters 0.025657416300533708 Centerline is valid? [True, True] Translation: X:157.20, Y:-101.32, Z:-11.12 [[ 7.03773224e-01 7.08581191e-01 5.11463117e-02 1.57198955e+02] [-7.06773205e-01 7.05629080e-01 -5.05889105e-02 -1.01322282e+02] [-7.19366754e-02 -5.45722034e-04 9.97409052e-01 -1.11171794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59864000000002 meters 0.025700354490496628 Centerline is valid? [True, True] Translation: X:157.22, Y:-101.34, Z:-11.12 [[ 7.04558900e-01 7.07815321e-01 5.09335640e-02 1.57222246e+02] [-7.06019427e-01 7.06397383e-01 -5.03915248e-02 -1.01344033e+02] [-7.16472296e-02 -4.56288409e-04 9.97429931e-01 -1.11189764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864000000002 meters 0.025758394546138028 Centerline is valid? [True, True] Translation: X:157.25, Y:-101.37, Z:-11.12 [[ 7.04965721e-01 7.07368455e-01 5.15092342e-02 1.57246481e+02] [-7.05529412e-01 7.06844894e-01 -5.09759216e-02 -1.01366297e+02] [-7.24677981e-02 -4.05002392e-04 9.97370670e-01 -1.11212698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65864000000002 meters 0.025531434869284473 Centerline is valid? [True, True] Translation: X:157.27, Y:-101.39, Z:-11.12 [[ 7.05564669e-01 7.06739697e-01 5.19374492e-02 1.57271555e+02] [-7.04866712e-01 7.07473599e-01 -5.14200835e-02 -1.01388136e+02] [-7.30849883e-02 -3.28784814e-04 9.97325662e-01 -1.11232100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864000000002 meters 0.025621923974827966 Centerline is valid? [True, True] Translation: X:157.29, Y:-101.41, Z:-11.13 [[ 7.05699492e-01 7.06656971e-01 5.12264865e-02 1.57294871e+02] [-7.04833435e-01 7.07556241e-01 -5.07345594e-02 -1.01410851e+02] [-7.20975503e-02 -3.02787719e-04 9.97397539e-01 -1.11250898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71864 meters 0.02575272173232448 Centerline is valid? [True, True] Translation: X:157.32, Y:-101.43, Z:-11.13 [[ 7.04821083e-01 7.07474486e-01 5.20297267e-02 1.57317729e+02] [-7.05594456e-01 7.06738781e-01 -5.15437513e-02 -1.01433540e+02] [-7.32373146e-02 -3.82764080e-04 9.97314469e-01 -1.11276579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters 0.02558075828546554 Centerline is valid? [True, True] Translation: X:157.34, Y:-101.45, Z:-11.13 [[ 7.04738414e-01 7.07606464e-01 5.13503752e-02 1.57343451e+02] [-7.05774668e-01 7.06606642e-01 -5.08838968e-02 -1.01453715e+02] [-7.22902904e-02 -3.81957318e-04 9.97383561e-01 -1.11283631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77864 meters 0.025431508338525928 Centerline is valid? [True, True] Translation: X:157.37, Y:-101.48, Z:-11.13 [[ 7.04726996e-01 7.07627971e-01 5.12105090e-02 1.57368431e+02] [-7.05805158e-01 7.06585109e-01 -5.07598539e-02 -1.01475519e+02] [-7.21036755e-02 -3.72802028e-04 9.97397073e-01 -1.11298789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters 0.025410824064770552 Centerline is valid? [True, True] Translation: X:157.39, Y:-101.50, Z:-11.13 [[ 7.05947001e-01 7.06398370e-01 5.13826311e-02 1.57393078e+02] [-7.04558554e-01 7.07814445e-01 -5.09505199e-02 -1.01497583e+02] [-7.23607327e-02 -2.33705570e-04 9.97378499e-01 -1.11328424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83864 meters 0.02549058776067119 Centerline is valid? [True, True] Translation: X:157.42, Y:-101.52, Z:-11.14 [[ 7.06760433e-01 7.05496823e-01 5.25730253e-02 1.57416052e+02] [-7.03566713e-01 7.08713070e-01 -5.21503996e-02 -1.01519801e+02] [-7.40511315e-02 -1.30791607e-04 9.97254437e-01 -1.11358904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters 0.02540484749354249 Centerline is valid? [True, True] Translation: X:157.44, Y:-101.54, Z:-11.14 [[ 7.08688255e-01 7.03621330e-01 5.17492075e-02 1.57439773e+02] [-7.01745342e-01 7.10575132e-01 -5.13464462e-02 -1.01541539e+02] [-7.29001547e-02 7.38580622e-05 9.97339241e-01 -1.11366552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89864 meters 0.025562364961728496 Centerline is valid? [True, True] Translation: X:157.46, Y:-101.56, Z:-11.14 [[ 7.09882741e-01 7.02412824e-01 5.17949689e-02 1.57464371e+02] [-7.00529215e-01 7.11769753e-01 -5.14065988e-02 -1.01564007e+02] [-7.29747464e-02 2.08768350e-04 9.97333767e-01 -1.11392597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92864 meters 0.025676151806758994 Centerline is valid? [True, True] Translation: X:157.49, Y:-101.59, Z:-11.14 [[ 7.12505195e-01 6.99862030e-01 5.02940044e-02 1.57488362e+02] [-6.98078512e-01 7.14277900e-01 -4.99346854e-02 -1.01585514e+02] [-7.08712861e-02 4.69558956e-04 9.97485358e-01 -1.11407427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95864 meters 0.025608071799794567 Centerline is valid? [True, True] Translation: X:157.51, Y:-101.61, Z:-11.14 [[ 7.12699969e-01 6.99677980e-01 5.00946954e-02 1.57511723e+02] [-6.97907149e-01 7.14458172e-01 -4.97507087e-02 -1.01608378e+02] [-7.06000398e-02 4.95882553e-04 9.97504581e-01 -1.11423910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98864 meters 0.02566723530275297 Centerline is valid? [True, True] Translation: X:157.54, Y:-101.63, Z:-11.14 [[ 7.13522611e-01 6.98890004e-01 4.93786036e-02 1.57535086e+02] [-6.97166388e-01 7.15228934e-01 -4.90571012e-02 -1.01629940e+02] [-6.96025237e-02 5.78248178e-04 9.97574636e-01 -1.11439826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01864 meters 0.025570976524664682 Centerline is valid? [True, True] Translation: X:157.56, Y:-101.65, Z:-11.15 [[ 7.12915182e-01 6.99424472e-01 5.05702623e-02 1.57557498e+02] [-6.97616953e-01 7.14706308e-01 -5.02541469e-02 -1.01652301e+02] [-7.12918656e-02 5.48271995e-04 9.97455347e-01 -1.11464563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04864 meters 0.025575299630900168 Centerline is valid? [True, True] Translation: X:157.58, Y:-101.68, Z:-11.15 [[ 7.11538435e-01 7.00767174e-01 5.13655801e-02 1.57580245e+02] [-6.98904804e-01 7.13389924e-01 -5.10577342e-02 -1.01675123e+02] [-7.24232714e-02 4.29889599e-04 9.97373894e-01 -1.11487404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07864 meters 0.025524796288369633 Centerline is valid? [True, True] Translation: X:157.60, Y:-101.70, Z:-11.15 [[ 7.11874047e-01 7.00518166e-01 5.00963040e-02 1.57603930e+02] [-6.98745265e-01 7.13634425e-01 -4.98092538e-02 -1.01697625e+02] [-7.06427342e-02 4.53359883e-04 9.97501578e-01 -1.11502392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10864 meters 0.025524796288369633 Centerline is valid? [True, True] Translation: X:157.63, Y:-101.72, Z:-11.15 [[ 7.11785397e-01 7.00608788e-01 5.00886732e-02 1.57626400e+02] [-6.98835570e-01 7.13545457e-01 -4.98169264e-02 -1.01719907e+02] [-7.06427216e-02 4.55214271e-04 9.97501578e-01 -1.11520431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13864 meters 0.025589750371211025 Centerline is valid? [True, True] Translation: X:157.65, Y:-101.74, Z:-11.15 [[ 7.11889812e-01 7.00514136e-01 4.99283668e-02 1.57650223e+02] [-6.98751144e-01 7.13638370e-01 -4.96700644e-02 -1.01742269e+02] [-7.04253805e-02 4.72109361e-04 9.97516939e-01 -1.11535032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16864 meters 0.025827837671369275 Centerline is valid? [True, True] Translation: X:157.67, Y:-101.76, Z:-11.16 [[ 7.13970362e-01 6.98366433e-01 5.03055404e-02 1.57673368e+02] [-6.96570421e-01 7.15740062e-01 -5.00580792e-02 -1.01764582e+02] [-7.09645729e-02 6.98633499e-04 9.97478592e-01 -1.11558927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19864 meters 0.02609286019842869 Centerline is valid? [True, True] Translation: X:157.70, Y:-101.79, Z:-11.16 [[ 7.15356321e-01 6.96899650e-01 5.09530341e-02 1.57695563e+02] [-6.95052386e-01 7.17168133e-01 -5.07153780e-02 -1.01787539e+02] [-7.18854215e-02 8.64538276e-04 9.97412522e-01 -1.11587108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22864 meters 0.026811797007221423 Centerline is valid? [True, True] Translation: X:157.72, Y:-101.81, Z:-11.16 [[ 7.19165715e-01 6.92957461e-01 5.10943506e-02 1.57718243e+02] [-6.91089010e-01 7.20977350e-01 -5.08688612e-02 -1.01809728e+02] [-7.20878263e-02 1.27239674e-03 9.97397477e-01 -1.11610376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25864 meters 0.02699582575313697 Centerline is valid? [True, True] Translation: X:157.74, Y:-101.83, Z:-11.16 [[ 7.20494078e-01 6.91567408e-01 5.12133227e-02 1.57741547e+02] [-6.89685797e-01 7.22310523e-01 -5.10000866e-02 -1.01832439e+02] [-7.22619196e-02 1.42415909e-03 9.97384673e-01 -1.11631327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864000000002 meters 0.02724563671913915 Centerline is valid? [True, True] Translation: X:157.76, Y:-101.86, Z:-11.16 [[ 7.21476798e-01 6.90576562e-01 5.07468305e-02 1.57763678e+02] [-6.88725782e-01 7.23257704e-01 -5.05479204e-02 -1.01855522e+02] [-7.16102451e-02 1.51850129e-03 9.97431535e-01 -1.11644401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31864000000002 meters 0.027255709670497622 Centerline is valid? [True, True] Translation: X:157.79, Y:-101.88, Z:-11.17 [[ 7.22155004e-01 6.89936222e-01 4.98011937e-02 1.57786288e+02] [-6.88151411e-01 7.23868475e-01 -4.96192105e-02 -1.01879530e+02] [-7.02836048e-02 1.56199946e-03 9.97525827e-01 -1.11657110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864000000002 meters 0.02794738446363233 Centerline is valid? [True, True] Translation: X:157.81, Y:-101.90, Z:-11.17 [[ 7.23435880e-01 6.88634947e-01 4.92182648e-02 1.57807025e+02] [-6.86887531e-01 7.25106257e-01 -4.90554439e-02 -1.01904736e+02] [-6.94697647e-02 1.68105585e-03 9.97582641e-01 -1.11685505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37864000000002 meters 0.027648077210058214 Centerline is valid? [True, True] Translation: X:157.83, Y:-101.93, Z:-11.17 [[ 7.23010326e-01 6.89024296e-01 5.00158783e-02 1.57827469e+02] [-6.87219676e-01 7.24736294e-01 -4.98640248e-02 -1.01930862e+02] [-7.06058469e-02 1.68030917e-03 9.97502878e-01 -1.11714703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864000000002 meters 0.02779666277565812 Centerline is valid? [True, True] Translation: X:157.85, Y:-101.96, Z:-11.17 [[ 7.22612129e-01 6.89361084e-01 5.11175723e-02 1.57848754e+02] [-6.87475529e-01 7.24415914e-01 -5.09801966e-02 -1.01955232e+02] [-7.21741464e-02 1.69682833e-03 9.97390602e-01 -1.11735458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43864000000002 meters 0.02771544031368894 Centerline is valid? [True, True] Translation: X:157.87, Y:-101.98, Z:-11.17 [[ 7.22445936e-01 6.89551273e-01 5.09009951e-02 1.57869626e+02] [-6.87681253e-01 7.24234921e-01 -5.07767040e-02 -1.01979879e+02] [-7.18774190e-02 1.67976341e-03 9.97412059e-01 -1.11748000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters 0.027837719606220127 Centerline is valid? [True, True] Translation: X:157.89, Y:-102.00, Z:-11.18 [[ 7.22141442e-01 6.89872229e-01 5.08728314e-02 1.57890700e+02] [-6.88004176e-01 7.23929254e-01 -5.07610911e-02 -1.02003912e+02] [-7.18469979e-02 1.65596708e-03 9.97414290e-01 -1.11768039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49864 meters 0.027791110462735955 Centerline is valid? [True, True] Translation: X:157.91, Y:-102.03, Z:-11.18 [[ 7.22968819e-01 6.89114225e-01 4.93727932e-02 1.57910765e+02] [-6.87352172e-01 7.24650765e-01 -4.92773765e-02 -1.02030865e+02] [-6.97357734e-02 1.68951002e-03 9.97564067e-01 -1.11777071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters 0.027818931551950456 Centerline is valid? [True, True] Translation: X:157.93, Y:-102.06, Z:-11.18 [[ 7.22997388e-01 6.89098379e-01 4.91752038e-02 1.57931798e+02] [-6.87349113e-01 7.24665814e-01 -4.90984248e-02 -1.02056736e+02] [-6.94692341e-02 1.69750016e-03 9.97582650e-01 -1.11804484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55864 meters 0.027959613758491722 Centerline is valid? [True, True] Translation: X:157.95, Y:-102.08, Z:-11.18 [[ 7.22945190e-01 6.89147171e-01 4.92587860e-02 1.57950637e+02] [-6.87390394e-01 7.24619377e-01 -4.92057303e-02 -1.02084265e+02] [-6.96038607e-02 1.71302969e-03 9.97573239e-01 -1.11837420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters 0.027886718142857626 Centerline is valid? [True, True] Translation: X:157.97, Y:-102.11, Z:-11.18 [[ 7.22444189e-01 6.89738818e-01 4.83193220e-02 1.57971042e+02] [-6.88046665e-01 7.24056362e-01 -4.83132644e-02 -1.02108774e+02] [-6.83094463e-02 1.65768879e-03 9.97662805e-01 -1.11849039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61864 meters 0.02737501790060097 Centerline is valid? [True, True] Translation: X:157.85, Y:-102.39, Z:-9.46 [[ 7.40623257e-01 -6.71235257e-01 -3.03384307e-02 1.57846811e+02] [-6.70494468e-01 -7.41237805e-01 3.16809915e-02 -1.02391861e+02] [-4.37533903e-02 -3.12192917e-03 -9.99037484e-01 -9.46271540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64864 meters 0.027125029871429354 Centerline is valid? [True, True] Translation: X:157.97, Y:-102.14, Z:-11.19 [[ 7.65557132e-01 6.41227139e-01 5.24407668e-02 1.57974706e+02] [-6.39613443e-01 7.67350068e-01 -4.54809474e-02 -1.02144293e+02] [-6.94040438e-02 1.27644428e-03 9.97587815e-01 -1.11867888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67864 meters 0.02671997682533274 Centerline is valid? [True, True] Translation: X:158.00, Y:-102.17, Z:-11.19 [[ 7.63017429e-01 6.44144143e-01 5.36910313e-02 1.57996800e+02] [-6.42456685e-01 7.64903381e-01 -4.66071406e-02 -1.02167959e+02] [-7.10901680e-02 1.06789864e-03 9.97469322e-01 -1.11890044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70864 meters 0.0261876041820679 Centerline is valid? [True, True] Translation: X:158.02, Y:-102.19, Z:-11.19 [[ 7.59308290e-01 6.48516740e-01 5.36372878e-02 1.58017073e+02] [-6.46840544e-01 7.61200079e-01 -4.66020344e-02 -1.02193395e+02] [-7.10509072e-02 6.90538599e-04 9.97472452e-01 -1.11913554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73864 meters 0.026233753344399587 Centerline is valid? [True, True] Translation: X:158.04, Y:-102.22, Z:-11.19 [[ 7.57820114e-01 6.50191922e-01 5.43979805e-02 1.58040148e+02] [-6.48468878e-01 7.59769790e-01 -4.73072912e-02 -1.02217023e+02] [-7.20887608e-02 5.75019417e-04 9.97398055e-01 -1.11943351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76864 meters 0.02604808231289304 Centerline is valid? [True, True] Translation: X:158.06, Y:-102.24, Z:-11.20 [[ 7.55170930e-01 6.53241879e-01 5.46983879e-02 1.58061751e+02] [-6.51504077e-01 7.57149221e-01 -4.76182213e-02 -1.02242330e+02] [-7.25210581e-02 3.23673737e-04 9.97366829e-01 -1.11958234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79864 meters 0.026209295649710203 Centerline is valid? [True, True] Translation: X:158.09, Y:-102.26, Z:-11.20 [[ 7.53984216e-01 6.54591181e-01 5.49380406e-02 1.58086118e+02] [-6.52837998e-01 7.55983024e-01 -4.78770920e-02 -1.02264605e+02] [-7.28721482e-02 2.32931195e-04 9.97341263e-01 -1.11984344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82864 meters 0.026078947153709342 Centerline is valid? [True, True] Translation: X:158.11, Y:-102.29, Z:-11.20 [[ 7.52761310e-01 6.56017919e-01 5.46891256e-02 1.58110963e+02] [-6.54280725e-01 7.54745303e-01 -4.77101740e-02 -1.02286912e+02] [-7.25750898e-02 1.32332313e-04 9.97362942e-01 -1.11994578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85864 meters 0.026228734529094775 Centerline is valid? [True, True] Translation: X:158.14, Y:-102.31, Z:-11.20 [[ 7.51025819e-01 6.58060353e-01 5.40073237e-02 1.58136257e+02] [-6.56367987e-01 7.52965186e-01 -4.71645417e-02 -1.02308259e+02] [-7.17027495e-02 -2.68898318e-05 9.97426045e-01 -1.12015648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88864 meters 0.026038010641629587 Centerline is valid? [True, True] Translation: X:158.16, Y:-102.33, Z:-11.20 [[ 7.49719580e-01 6.59557670e-01 5.38909195e-02 1.58161183e+02] [-6.57872882e-01 7.51653951e-01 -4.71127187e-02 -1.02329316e+02] [-7.15808776e-02 -1.32046890e-04 9.97434790e-01 -1.12035657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91864 meters 0.026128948325597662 Centerline is valid? [True, True] Translation: X:158.19, Y:-102.35, Z:-11.21 [[ 7.48357271e-01 6.61079909e-01 5.41733172e-02 1.58186699e+02] [-6.59377736e-01 7.50315464e-01 -4.74099699e-02 -1.02350653e+02] [-7.19888562e-02 -2.41083539e-04 9.97405407e-01 -1.12059934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94864 meters 0.026129218242854853 Centerline is valid? [True, True] Translation: X:158.21, Y:-102.37, Z:-11.21 [[ 7.45804561e-01 6.63879374e-01 5.51337720e-02 1.58214009e+02] [-6.62120158e-01 7.47839518e-01 -4.83006497e-02 -1.02369024e+02] [-7.32970185e-02 -4.82336961e-04 9.97310039e-01 -1.12078819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97864 meters 0.02630281405438922 Centerline is valid? [True, True] Translation: X:158.24, Y:-102.39, Z:-11.21 [[ 7.45044332e-01 6.64722141e-01 5.52577406e-02 1.58240026e+02] [-6.62953914e-01 7.47090485e-01 -4.84553022e-02 -1.02388768e+02] [-7.34918444e-02 -5.31987066e-04 9.97295676e-01 -1.12098038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00864 meters 0.02637255424551605 Centerline is valid? [True, True] Translation: X:158.27, Y:-102.41, Z:-11.21 [[ 7.44550239e-01 6.65311173e-01 5.48268553e-02 1.58266789e+02] [-6.63568343e-01 7.46565967e-01 -4.81280732e-02 -1.02407899e+02] [-7.29520091e-02 -5.47597057e-04 9.97335302e-01 -1.12109488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03864000000002 meters 0.026263790664428122 Centerline is valid? [True, True] Translation: X:158.29, Y:-102.43, Z:-11.21 [[ 7.44558677e-01 6.65271584e-01 5.51914485e-02 1.58293325e+02] [-6.63501578e-01 7.46601273e-01 -4.84994379e-02 -1.02428354e+02] [-7.34713035e-02 -5.08935833e-04 9.97297202e-01 -1.12129514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864000000002 meters 0.026241122270738305 Centerline is valid? [True, True] Translation: X:158.32, Y:-102.45, Z:-11.21 [[ 7.45466643e-01 6.64286165e-01 5.48030556e-02 1.58319221e+02] [-6.62534764e-01 7.47478262e-01 -4.82071964e-02 -1.02447147e+02] [-7.29874664e-02 -3.72072629e-04 9.97332789e-01 -1.12144655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09864000000002 meters 0.026207380242644573 Centerline is valid? [True, True] Translation: X:158.35, Y:-102.47, Z:-11.22 [[ 7.46535523e-01 6.63112303e-01 5.44682158e-02 1.58345321e+02] [-6.61376389e-01 7.48519887e-01 -4.79504909e-02 -1.02466717e+02] [-7.25671032e-02 -2.27247102e-04 9.97363506e-01 -1.12157883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864000000002 meters 0.026317922995047264 Centerline is valid? [True, True] Translation: X:158.37, Y:-102.49, Z:-11.22 [[ 7.48158522e-01 6.61218856e-01 5.52127784e-02 1.58372261e+02] [-6.59428110e-01 7.50193058e-01 -4.86306918e-02 -1.02486009e+02] [-7.35757734e-02 -2.53916407e-05 9.97289629e-01 -1.12184952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15864000000002 meters 0.02641663958867463 Centerline is valid? [True, True] Translation: X:158.40, Y:-102.51, Z:-11.22 [[ 7.48855078e-01 6.60501353e-01 5.43510290e-02 1.58397732e+02] [-6.58760536e-01 7.50824850e-01 -4.79228609e-02 -1.02506536e+02] [-7.24612176e-02 8.29647295e-05 9.97371227e-01 -1.12202462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864000000002 meters 0.026282164263936668 Centerline is valid? [True, True] Translation: X:158.42, Y:-102.53, Z:-11.22 [[ 7.48117918e-01 6.61396783e-01 5.36085434e-02 1.58424226e+02] [-6.59702017e-01 7.50036195e-01 -4.73175958e-02 -1.02527148e+02] [-7.15040536e-02 3.34770790e-05 9.97440309e-01 -1.12208258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21864 meters 0.026371408900920868 Centerline is valid? [True, True] Translation: X:158.45, Y:-102.55, Z:-11.22 [[ 7.46418858e-01 6.63273359e-01 5.41048943e-02 1.58449552e+02] [-6.61548300e-01 7.48377204e-01 -4.78059414e-02 -1.02547945e+02] [-7.21992769e-02 -1.09744633e-04 9.97390221e-01 -1.12234936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters 0.02610779779178983 Centerline is valid? [True, True] Translation: X:158.48, Y:-102.57, Z:-11.23 [[ 7.45858126e-01 6.63910918e-01 5.40180454e-02 1.58475043e+02] [-6.62189430e-01 7.47811658e-01 -4.77795299e-02 -1.02569558e+02] [-7.21166757e-02 -1.33428063e-04 9.97396194e-01 -1.12250020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27864 meters 0.02624368135437446 Centerline is valid? [True, True] Translation: X:158.50, Y:-102.59, Z:-11.23 [[ 7.44464767e-01 6.65415515e-01 5.47211413e-02 1.58498803e+02] [-6.63649120e-01 7.46473129e-01 -4.84531961e-02 -1.02592499e+02] [-7.30893700e-02 -2.43939958e-04 9.97325365e-01 -1.12263217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters 0.026250801597088497 Centerline is valid? [True, True] Translation: X:158.52, Y:-102.61, Z:-11.23 [[ 7.44276532e-01 6.65566839e-01 5.54366955e-02 1.58523186e+02] [-6.63750390e-01 7.46338216e-01 -4.91394566e-02 -1.02614121e+02] [-7.40801172e-02 -2.22783957e-04 9.97252268e-01 -1.12282291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33864 meters 0.02620808740435331 Centerline is valid? [True, True] Translation: X:158.55, Y:-102.64, Z:-11.23 [[ 7.44228867e-01 6.65685548e-01 5.46456287e-02 1.58548097e+02] [-6.63917219e-01 7.46232346e-01 -4.84893029e-02 -1.02635645e+02] [-7.30569639e-02 -1.93034851e-04 9.97327751e-01 -1.12299914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters 0.02615401557080678 Centerline is valid? [True, True] Translation: X:158.57, Y:-102.66, Z:-11.23 [[ 7.44777472e-01 6.65127186e-01 5.39661321e-02 1.58572143e+02] [-6.63398027e-01 7.46730082e-01 -4.79295551e-02 -1.02657681e+02] [-7.21773844e-02 -1.04172609e-04 9.97391806e-01 -1.12324137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39864 meters 0.0260027855401165 Centerline is valid? [True, True] Translation: X:158.60, Y:-102.68, Z:-11.23 [[ 7.44858476e-01 6.65100608e-01 5.31698394e-02 1.58597200e+02] [-6.63420516e-01 7.46753757e-01 -4.72445175e-02 -1.02679637e+02] [-7.11271346e-02 -8.34830158e-05 9.97467254e-01 -1.12333199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42864 meters 0.025979065287028175 Centerline is valid? [True, True] Translation: X:158.62, Y:-102.70, Z:-11.24 [[ 7.44471842e-01 6.65593404e-01 5.24127609e-02 1.58623570e+02] [-6.63958715e-01 7.46314553e-01 -4.66198791e-02 -1.02699133e+02] [-7.01462902e-02 -9.27221215e-05 9.97536711e-01 -1.12352633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45864 meters 0.02587762995555566 Centerline is valid? [True, True] Translation: X:158.65, Y:-102.72, Z:-11.24 [[ 7.43792751e-01 6.66374748e-01 5.21252254e-02 1.58649614e+02] [-6.64756481e-01 7.45616979e-01 -4.64127352e-02 -1.02719735e+02] [-6.97937278e-02 -1.29125444e-04 9.97561436e-01 -1.12370185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48864 meters 0.02590399074921315 Centerline is valid? [True, True] Translation: X:158.67, Y:-102.74, Z:-11.24 [[ 7.42604743e-01 6.67622046e-01 5.30942516e-02 1.58674780e+02] [-6.65942538e-01 7.44500341e-01 -4.73262881e-02 -1.02741336e+02] [-7.11247618e-02 -2.12994667e-04 9.97467404e-01 -1.12395379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51864 meters 0.025869095051664365 Centerline is valid? [True, True] Translation: X:158.70, Y:-102.76, Z:-11.24 [[ 7.42326786e-01 6.67945820e-01 5.29086447e-02 1.58700833e+02] [-6.66275339e-01 7.44209875e-01 -4.72105238e-02 -1.02762280e+02] [-7.09092079e-02 -2.06088814e-04 9.97482753e-01 -1.12415310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54864 meters 0.02597009485732517 Centerline is valid? [True, True] Translation: X:158.73, Y:-102.78, Z:-11.24 [[ 7.42700684e-01 6.67532678e-01 5.28755016e-02 1.58726880e+02] [-6.65859693e-01 7.44580491e-01 -4.72309329e-02 -1.02783275e+02] [-7.08982581e-02 -1.29219114e-04 9.97483544e-01 -1.12431707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57864 meters 0.025861899763189124 Centerline is valid? [True, True] Translation: X:158.75, Y:-102.80, Z:-11.24 [[ 7.45199820e-01 6.64896309e-01 5.08932752e-02 1.58753642e+02] [-6.63337633e-01 7.46935657e-01 -4.55006444e-02 -1.02801685e+02] [-6.82672125e-02 1.47647362e-04 9.97667062e-01 -1.12435813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60864 meters 0.02599920307742949 Centerline is valid? [True, True] Translation: X:158.78, Y:-102.82, Z:-11.25 [[ 7.46461560e-01 6.63440174e-01 5.14030606e-02 1.58778048e+02] [-6.61845777e-01 7.48229276e-01 -4.59686624e-02 -1.02821896e+02] [-6.89587322e-02 2.92940830e-04 9.97619470e-01 -1.12456652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63864 meters 0.025976342975291816 Centerline is valid? [True, True] Translation: X:158.80, Y:-102.84, Z:-11.25 [[ 7.47033041e-01 6.62751335e-01 5.19836809e-02 1.58802603e+02] [-6.61118148e-01 7.48839456e-01 -4.65001392e-02 -1.02842771e+02] [-6.97454607e-02 3.69785553e-04 9.97564752e-01 -1.12477173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66864 meters 0.02625370549191809 Centerline is valid? [True, True] Translation: X:158.83, Y:-102.86, Z:-11.25 [[ 7.48763875e-01 6.60745649e-01 5.26103319e-02 1.58828569e+02] [-6.59066970e-01 7.50609658e-01 -4.70730291e-02 -1.02861956e+02] [-7.05931224e-02 5.72851633e-04 9.97505029e-01 -1.12497115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69864 meters 0.026331820415382953 Centerline is valid? [True, True] Translation: X:158.85, Y:-102.88, Z:-11.25 [[ 7.49201393e-01 6.60283265e-01 5.21850834e-02 1.58854471e+02] [-6.58629604e-01 7.51016394e-01 -4.67056923e-02 -1.02882537e+02] [-7.00308402e-02 6.21328898e-04 9.97544633e-01 -1.12519973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72864 meters 0.026376038858507807 Centerline is valid? [True, True] Translation: X:158.88, Y:-102.90, Z:-11.25 [[ 7.50417750e-01 6.58917664e-01 5.19683801e-02 1.58878658e+02] [-6.57273266e-01 7.52214688e-01 -4.65286698e-02 -1.02903189e+02] [-6.97499413e-02 7.58512787e-04 9.97564219e-01 -1.12533184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75864 meters 0.02638945268261462 Centerline is valid? [True, True] Translation: X:158.90, Y:-102.93, Z:-11.25 [[ 7.49835880e-01 6.59545091e-01 5.24063475e-02 1.58902810e+02] [-6.57873417e-01 7.51664659e-01 -4.69340824e-02 -1.02925134e+02] [-7.03471429e-02 7.16116120e-04 9.97522314e-01 -1.12545945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864000000002 meters 0.026253482083706262 Centerline is valid? [True, True] Translation: X:158.93, Y:-102.95, Z:-11.26 [[ 7.49814007e-01 6.59490757e-01 5.33937800e-02 1.58926993e+02] [-6.57754014e-01 7.51712300e-01 -4.78359312e-02 -1.02945900e+02] [-7.16841156e-02 7.48078109e-04 9.97427104e-01 -1.12559217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81864000000002 meters 0.026370323890180784 Centerline is valid? [True, True] Translation: X:158.95, Y:-102.97, Z:-11.26 [[ 7.50645278e-01 6.58623936e-01 5.24039876e-02 1.58953563e+02] [-6.56948038e-01 7.52471814e-01 -4.69621679e-02 -1.02965994e+02] [-7.03629315e-02 8.25232727e-04 9.97521116e-01 -1.12573872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864000000002 meters 0.026314691771160595 Centerline is valid? [True, True] Translation: X:158.98, Y:-102.99, Z:-11.26 [[ 7.50960714e-01 6.58354788e-01 5.12540703e-02 1.58977471e+02] [-6.56749966e-01 7.52707288e-01 -4.59480257e-02 -1.02987922e+02] [-6.88294149e-02 8.44053241e-04 9.97628087e-01 -1.12595945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87864000000002 meters 0.026591541592524453 Centerline is valid? [True, True] Translation: X:159.00, Y:-103.01, Z:-11.26 [[ 7.51960779e-01 6.57201023e-01 5.13984595e-02 1.59000893e+02] [-6.55583627e-01 7.53714728e-01 -4.60892299e-02 -1.03010249e+02] [-6.90296649e-02 9.61304738e-04 9.97614144e-01 -1.12620216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864000000002 meters 0.02646323755842088 Centerline is valid? [True, True] Translation: X:159.03, Y:-103.03, Z:-11.26 [[ 7.51910417e-01 6.57215823e-01 5.19431108e-02 1.59025284e+02] [-6.55563120e-01 7.53701800e-01 -4.65896242e-02 -1.03031211e+02] [-6.97690543e-02 9.79236049e-04 9.97562690e-01 -1.12634214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93864000000002 meters 0.026929547860062436 Centerline is valid? [True, True] Translation: X:159.05, Y:-103.05, Z:-11.27 [[ 7.52576323e-01 6.56430847e-01 5.22247252e-02 1.59049529e+02] [-6.54757414e-01 7.54385449e-01 -4.68542859e-02 -1.03051780e+02] [-7.01541713e-02 1.06690018e-03 9.97535590e-01 -1.12660279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters 0.026929547860062436 Centerline is valid? [True, True] Translation: X:159.07, Y:-103.07, Z:-11.27 [[ 7.52452404e-01 6.56573411e-01 5.22181491e-02 1.59073754e+02] [-6.54899813e-01 7.54261377e-01 -4.68616138e-02 -1.03073433e+02] [-7.01542227e-02 1.06347795e-03 9.97535590e-01 -1.12678758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99864 meters 0.027175231047548966 Centerline is valid? [True, True] Translation: X:159.10, Y:-103.10, Z:-11.27 [[ 7.54270252e-01 6.54551490e-01 5.13686041e-02 1.59096283e+02] [-6.52926154e-01 7.56016402e-01 -4.61154776e-02 -1.03096025e+02] [-6.90204618e-02 1.24362780e-03 9.97614469e-01 -1.12695044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters 0.027420129515332143 Centerline is valid? [True, True] Translation: X:159.12, Y:-103.12, Z:-11.27 [[ 7.55523039e-01 6.53181979e-01 5.03809560e-02 1.59119171e+02] [-6.51614812e-01 7.57199761e-01 -4.52400165e-02 -1.03118088e+02] [-6.76984113e-02 1.35089758e-03 9.97704916e-01 -1.12711559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05864 meters 0.028065997200864046 Centerline is valid? [True, True] Translation: X:159.14, Y:-103.14, Z:-11.27 [[ 7.57373910e-01 6.50937894e-01 5.16199504e-02 1.59141737e+02] [-6.49286235e-01 7.59129297e-01 -4.63691135e-02 -1.03140418e+02] [-6.93696297e-02 1.60263357e-03 9.97589738e-01 -1.12732695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters 0.02857409762858707 Centerline is valid? [True, True] Translation: X:159.16, Y:-103.16, Z:-11.28 [[ 7.58053395e-01 6.50089390e-01 5.23338822e-02 1.59164987e+02] [-6.48387290e-01 7.59855773e-01 -4.70438821e-02 -1.03162388e+02] [-7.03489311e-02 1.72915046e-03 9.97520946e-01 -1.12763391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11864 meters 0.02851753733826008 Centerline is valid? [True, True] Translation: X:159.19, Y:-103.19, Z:-11.28 [[ 7.58808489e-01 6.49131193e-01 5.32763762e-02 1.59187699e+02] [-6.47363920e-01 7.60674197e-01 -4.79032438e-02 -1.03185861e+02] [-7.16214545e-02 1.86018423e-03 9.97430151e-01 -1.12778896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14864 meters 0.029066083494517177 Centerline is valid? [True, True] Translation: X:159.21, Y:-103.21, Z:-11.28 [[ 7.59993466e-01 6.47768822e-01 5.29668242e-02 1.59208956e+02] [-6.46017487e-01 7.61834359e-01 -4.76425828e-02 -1.03209990e+02] [-7.12133263e-02 1.99055698e-03 9.97459122e-01 -1.12791267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17864 meters 0.029022445125250693 Centerline is valid? [True, True] Translation: X:159.23, Y:-103.23, Z:-11.28 [[ 7.60466669e-01 6.47292076e-01 5.19943586e-02 1.59233079e+02] [-6.45600560e-01 7.62239366e-01 -4.68088157e-02 -1.03233355e+02] [-6.99311224e-02 2.02895711e-03 9.97549759e-01 -1.12794811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20864 meters 0.02939448241662123 Centerline is valid? [True, True] Translation: X:159.25, Y:-103.26, Z:-11.28 [[ 7.61038361e-01 6.46571768e-01 5.25886151e-02 1.59254314e+02] [-6.44836342e-01 7.62850122e-01 -4.73897053e-02 -1.03258216e+02] [-7.07580769e-02 2.15433351e-03 9.97491180e-01 -1.12817383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23864 meters 0.02961558353586527 Centerline is valid? [True, True] Translation: X:159.28, Y:-103.28, Z:-11.28 [[ 7.61507545e-01 6.46005218e-01 5.27590468e-02 1.59276541e+02] [-6.44254289e-01 7.63329691e-01 -4.75835469e-02 -1.03280895e+02] [-7.10117666e-02 2.24498780e-03 9.97472952e-01 -1.12832614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26864 meters 0.02973352537187531 Centerline is valid? [True, True] Translation: X:159.30, Y:-103.31, Z:-11.29 [[ 7.60991020e-01 6.46563037e-01 5.33751432e-02 1.59298139e+02] [-6.44769379e-01 7.62857246e-01 -4.81795589e-02 -1.03306044e+02] [-7.18687367e-02 2.24955375e-03 9.97411562e-01 -1.12854020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29864 meters 0.02971039934113834 Centerline is valid? [True, True] Translation: X:159.32, Y:-103.33, Z:-11.29 [[ 7.60612889e-01 6.47033618e-01 5.30615673e-02 1.59321697e+02] [-6.45258819e-01 7.62458219e-01 -4.79428976e-02 -1.03329221e+02] [-7.14778946e-02 2.22754161e-03 9.97439697e-01 -1.12872783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32864 meters 0.02952010937971624 Centerline is valid? [True, True] Translation: X:159.34, Y:-103.35, Z:-11.29 [[ 7.59678387e-01 6.48128556e-01 5.30859965e-02 1.59343583e+02] [-6.46351514e-01 7.61527877e-01 -4.80105461e-02 -1.03352664e+02] [-7.15434721e-02 2.16036007e-03 9.97435143e-01 -1.12891639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35864 meters 0.02921898573803932 Centerline is valid? [True, True] Translation: X:159.36, Y:-103.38, Z:-11.29 [[ 7.58686517e-01 6.49297296e-01 5.29885874e-02 1.59364745e+02] [-6.47526693e-01 7.60531856e-01 -4.79632926e-02 -1.03377309e+02] [-7.14419450e-02 2.07757861e-03 9.97442596e-01 -1.12910595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38864 meters 0.029173910754031 Centerline is valid? [True, True] Translation: X:159.39, Y:-103.40, Z:-11.29 [[ 7.57739202e-01 6.50395499e-01 5.30753817e-02 1.59387478e+02] [-6.48618791e-01 7.59593088e-01 -4.80833102e-02 -1.03399839e+02] [-7.15888616e-02 2.00891919e-03 9.97432203e-01 -1.12929768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41864 meters 0.029086894281417152 Centerline is valid? [True, True] Translation: X:159.41, Y:-103.43, Z:-11.30 [[ 7.56635160e-01 6.51717992e-01 5.26012741e-02 1.59407548e+02] [-6.49973218e-01 7.58459001e-01 -4.76944298e-02 -1.03425013e+02] [-7.09792279e-02 1.89786305e-03 9.97475988e-01 -1.12959314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44864 meters 0.02869169052830957 Centerline is valid? [True, True] Translation: X:159.43, Y:-103.45, Z:-11.30 [[ 7.55919701e-01 6.52540093e-01 5.26956601e-02 1.59428451e+02] [-6.50788475e-01 7.57751939e-01 -4.78158951e-02 -1.03449826e+02] [-7.11320272e-02 1.85124889e-03 9.97465191e-01 -1.12976110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47864 meters 0.02860309399472126 Centerline is valid? [True, True] Translation: X:159.45, Y:-103.47, Z:-11.30 [[ 7.55211924e-01 6.53338829e-01 5.29464216e-02 1.59451504e+02] [-6.51570878e-01 7.57063492e-01 -4.80651611e-02 -1.03473706e+02] [-7.14866389e-02 1.80103637e-03 9.97439931e-01 -1.12995385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50864 meters 0.028591016095420464 Centerline is valid? [True, True] Translation: X:159.47, Y:-103.50, Z:-11.30 [[ 7.53819745e-01 6.54898885e-01 5.35092775e-02 1.59474384e+02] [-6.53093548e-01 7.55714587e-01 -4.86238664e-02 -1.03496963e+02] [-7.22814574e-02 1.70706667e-03 9.97382814e-01 -1.13005079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53864000000002 meters 0.02860799663735531 Centerline is valid? [True, True] Translation: X:159.50, Y:-103.52, Z:-11.30 [[ 7.52941728e-01 6.55876459e-01 5.38964325e-02 1.59498148e+02] [-6.54044121e-01 7.54866425e-01 -4.90200786e-02 -1.03519944e+02] [-7.28357229e-02 1.65861787e-03 9.97342572e-01 -1.13023307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864000000002 meters 0.02830833637553425 Centerline is valid? [True, True] Translation: X:159.52, Y:-103.54, Z:-11.30 [[ 7.52238631e-01 6.56631133e-01 5.45215358e-02 1.59520977e+02] [-6.54754251e-01 7.54210090e-01 -4.96388125e-02 -1.03543892e+02] [-7.37150820e-02 1.64202504e-03 9.97277991e-01 -1.13045254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59864000000002 meters 0.028518069592390703 Centerline is valid? [True, True] Translation: X:159.54, Y:-103.57, Z:-11.31 [[ 7.52028362e-01 6.56938942e-01 5.37081981e-02 1.59542876e+02] [-6.55114962e-01 7.53942033e-01 -4.89468847e-02 -1.03568524e+02] [-7.26479826e-02 1.62440131e-03 9.97356321e-01 -1.13070416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864000000002 meters 0.02832179836431365 Centerline is valid? [True, True] Translation: X:159.57, Y:-103.59, Z:-11.31 [[ 7.51198241e-01 6.57869814e-01 5.39306174e-02 1.59566663e+02] [-6.56029440e-01 7.53130013e-01 -4.91991529e-02 -1.03591164e+02] [-7.29834042e-02 1.57824434e-03 9.97331907e-01 -1.13094587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65864000000002 meters 0.028490198449310184 Centerline is valid? [True, True] Translation: X:159.59, Y:-103.61, Z:-11.31 [[ 7.51274654e-01 6.57756113e-01 5.42520886e-02 1.59589503e+02] [-6.55889748e-01 7.53229193e-01 -4.95421109e-02 -1.03614896e+02] [-7.34508833e-02 1.63634349e-03 9.97297493e-01 -1.13123018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864000000002 meters 0.028464219671912074 Centerline is valid? [True, True] Translation: X:159.61, Y:-103.64, Z:-11.31 [[ 7.51500120e-01 6.57501037e-01 5.42213515e-02 1.59612969e+02] [-6.55632486e-01 7.53451726e-01 -4.95634921e-02 -1.03637604e+02] [-7.34412184e-02 1.69769083e-03 9.97298103e-01 -1.13131893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71864 meters 0.028419482470779082 Centerline is valid? [True, True] Translation: X:159.64, Y:-103.66, Z:-11.31 [[ 7.51244221e-01 6.57786753e-01 5.43020076e-02 1.59636947e+02] [-6.55909706e-01 7.53202273e-01 -4.96869600e-02 -1.03660622e+02] [-7.35838196e-02 1.70982773e-03 9.97287570e-01 -1.13148268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters 0.02837442753429791 Centerline is valid? [True, True] Translation: X:159.66, Y:-103.68, Z:-11.32 [[ 7.50557391e-01 6.58659304e-01 5.32120738e-02 1.59660280e+02] [-6.56855761e-01 7.52439549e-01 -4.87363791e-02 -1.03682467e+02] [-7.21395384e-02 1.62679232e-03 9.97393223e-01 -1.13163649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77864 meters 0.028273457755735247 Centerline is valid? [True, True] Translation: X:159.68, Y:-103.71, Z:-11.32 [[ 7.50278755e-01 6.59017556e-01 5.27034178e-02 1.59684428e+02] [-6.57246153e-01 7.52125834e-01 -4.83138239e-02 -1.03705127e+02] [-7.14792602e-02 1.60971705e-03 9.97440787e-01 -1.13183741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters 0.0279567991898733 Centerline is valid? [True, True] Translation: X:159.71, Y:-103.73, Z:-11.32 [[ 7.48786066e-01 6.60739935e-01 5.23656843e-02 1.59706159e+02] [-6.58992057e-01 7.50613465e-01 -4.80509728e-02 -1.03729175e+02] [-7.10555844e-02 1.47132896e-03 9.97471272e-01 -1.13208496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83864 meters 0.02804566561041105 Centerline is valid? [True, True] Translation: X:159.73, Y:-103.75, Z:-11.32 [[ 7.48221754e-01 6.61319393e-01 5.31118457e-02 1.59729871e+02] [-6.59519788e-01 7.50102998e-01 -4.87764414e-02 -1.03751333e+02] [-7.20961613e-02 1.46728134e-03 9.97396606e-01 -1.13233365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters 0.02805004687739072 Centerline is valid? [True, True] Translation: X:159.75, Y:-103.77, Z:-11.32 [[ 7.47770728e-01 6.61758107e-01 5.39921033e-02 1.59754517e+02] [-6.59896758e-01 7.49715966e-01 -4.96209455e-02 -1.03773395e+02] [-7.33158049e-02 1.47587658e-03 9.97307683e-01 -1.13247968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89864 meters 0.02808007033062582 Centerline is valid? [True, True] Translation: X:159.78, Y:-103.79, Z:-11.33 [[ 7.47118558e-01 6.62553997e-01 5.32546727e-02 1.59777887e+02] [-6.60741794e-01 7.49012817e-01 -4.89906177e-02 -1.03794919e+02] [-7.23473621e-02 1.41421171e-03 9.97378493e-01 -1.13265736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92864 meters 0.0280724348622351 Centerline is valid? [True, True] Translation: X:159.80, Y:-103.82, Z:-11.33 [[ 7.46955951e-01 6.62684287e-01 5.39105123e-02 1.59801933e+02] [-6.60824107e-01 7.48897472e-01 -4.96394599e-02 -1.03817720e+02] [-7.32687365e-02 1.45312386e-03 9.97311175e-01 -1.13280303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95864 meters 0.028031299215519497 Centerline is valid? [True, True] Translation: X:159.83, Y:-103.84, Z:-11.33 [[ 7.47247779e-01 6.62435614e-01 5.29132692e-02 1.59826526e+02] [-6.60639576e-01 7.49117379e-01 -4.87699068e-02 -1.03839531e+02] [-7.19451727e-02 1.48660480e-03 9.97407480e-01 -1.13289733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98864 meters 0.02817873702279911 Centerline is valid? [True, True] Translation: X:159.85, Y:-103.86, Z:-11.33 [[ 7.47055337e-01 6.62620294e-01 5.33166953e-02 1.59851910e+02] [-6.60793579e-01 7.48953967e-01 -4.91914827e-02 -1.03861154e+02] [-7.25270252e-02 1.51742979e-03 9.97365293e-01 -1.13309272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01864 meters 0.028486451631417924 Centerline is valid? [True, True] Translation: X:159.88, Y:-103.88, Z:-11.33 [[ 7.47300641e-01 6.62379789e-01 5.28655622e-02 1.59876593e+02] [-6.60579749e-01 7.49166582e-01 -4.88244543e-02 -1.03882599e+02] [-7.19454442e-02 1.56462617e-03 9.97407342e-01 -1.13329570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04864 meters 0.028763163665576883 Centerline is valid? [True, True] Translation: X:159.90, Y:-103.91, Z:-11.34 [[ 7.48353780e-01 6.61159053e-01 5.32477876e-02 1.59898404e+02] [-6.59326228e-01 7.50243768e-01 -4.92261591e-02 -1.03905744e+02] [-7.24951415e-02 1.73091932e-03 9.97367264e-01 -1.13353211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07864 meters 0.028735010669463146 Centerline is valid? [True, True] Translation: X:159.92, Y:-103.93, Z:-11.34 [[ 7.48566687e-01 6.60971975e-01 5.25734163e-02 1.59922192e+02] [-6.59181763e-01 7.50408524e-01 -4.86461768e-02 -1.03929082e+02] [-7.16052993e-02 1.75947021e-03 9.97431494e-01 -1.13365030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10864 meters 0.02907811482200244 Centerline is valid? [True, True] Translation: X:159.95, Y:-103.95, Z:-11.34 [[ 7.50362048e-01 6.59123815e-01 5.01257773e-02 1.59945727e+02] [-6.57489515e-01 7.52032093e-01 -4.64248762e-02 -1.03950844e+02] [-6.82959348e-02 1.87829219e-03 9.97663339e-01 -1.13368160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13864 meters 0.029281910673598352 Centerline is valid? [True, True] Translation: X:159.97, Y:-103.97, Z:-11.34 [[ 7.50895532e-01 6.58520681e-01 5.00640983e-02 1.59969170e+02] [-6.56886310e-01 7.52560075e-01 -4.64080731e-02 -1.03972664e+02] [-6.82369175e-02 1.96119398e-03 9.97667217e-01 -1.13392446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16864 meters 0.029571222973626948 Centerline is valid? [True, True] Translation: X:159.99, Y:-104.00, Z:-11.34 [[ 7.50934215e-01 6.58480290e-01 5.00151319e-02 1.59992867e+02] [-6.56846210e-01 7.52595331e-01 -4.64039302e-02 -1.03995455e+02] [-6.81972281e-02 1.99404901e-03 9.97669866e-01 -1.13410736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19864 meters 0.02961432607462935 Centerline is valid? [True, True] Translation: X:160.01, Y:-104.02, Z:-11.34 [[ 7.51136542e-01 6.58212694e-01 5.04969794e-02 1.60013787e+02] [-6.56543160e-01 7.52829167e-01 -4.68969542e-02 -1.04020211e+02] [-6.88837695e-02 2.07256959e-03 9.97622539e-01 -1.13428622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22864 meters 0.029409706315654618 Centerline is valid? [True, True] Translation: X:160.04, Y:-104.04, Z:-11.34 [[ 7.50790327e-01 6.58566837e-01 5.10255499e-02 1.60036845e+02] [-6.56859983e-01 7.52519328e-01 -4.74302017e-02 -1.04044492e+02] [-6.96336704e-02 2.09349486e-03 9.97570433e-01 -1.13442690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25864 meters 0.029476294931583765 Centerline is valid? [True, True] Translation: X:160.06, Y:-104.07, Z:-11.35 [[ 7.50262612e-01 6.59172074e-01 5.09724418e-02 1.60060841e+02] [-6.57466895e-01 7.51989288e-01 -4.74277706e-02 -1.04067006e+02] [-6.95937921e-02 2.07059001e-03 9.97573264e-01 -1.13467511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864000000002 meters 0.029332442103096563 Centerline is valid? [True, True] Translation: X:160.08, Y:-104.09, Z:-11.35 [[ 7.49295704e-01 6.60254464e-01 5.11858374e-02 1.60083790e+02] [-6.58534234e-01 7.51039273e-01 -4.76725606e-02 -1.04089155e+02] [-6.99185951e-02 2.01321862e-03 9.97550669e-01 -1.13485542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31864000000002 meters 0.029100170034366334 Centerline is valid? [True, True] Translation: X:160.11, Y:-104.11, Z:-11.35 [[ 7.48533812e-01 6.61136398e-01 5.09489587e-02 1.60105893e+02] [-6.59431259e-01 7.50263188e-01 -4.74927749e-02 -1.04112305e+02] [-6.96243302e-02 1.95261186e-03 9.97571371e-01 -1.13505421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864000000002 meters 0.02919808481481667 Centerline is valid? [True, True] Translation: X:160.13, Y:-104.14, Z:-11.35 [[ 7.48442308e-01 6.61289261e-01 5.03053188e-02 1.60130058e+02] [-6.59624494e-01 7.50128476e-01 -4.69339575e-02 -1.04135267e+02] [-6.87723742e-02 1.94473903e-03 9.97630482e-01 -1.13523867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37864000000002 meters 0.02888241584290785 Centerline is valid? [True, True] Translation: X:160.15, Y:-104.16, Z:-11.35 [[ 7.47389077e-01 6.62486127e-01 5.02165259e-02 1.60152563e+02] [-6.60826804e-01 7.49071860e-01 -4.68965134e-02 -1.04158827e+02] [-6.86840760e-02 1.86551554e-03 9.97636716e-01 -1.13545613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864000000002 meters 0.028621017603949448 Centerline is valid? [True, True] Translation: X:160.18, Y:-104.18, Z:-11.36 [[ 7.47174423e-01 6.62750311e-01 4.99240167e-02 1.60175439e+02] [-6.61108419e-01 7.48838151e-01 -4.66592171e-02 -1.04181923e+02] [-6.83084190e-02 1.85738586e-03 9.97662523e-01 -1.13563627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43864000000002 meters 0.028556790888420263 Centerline is valid? [True, True] Translation: X:160.20, Y:-104.20, Z:-11.36 [[ 7.46264646e-01 6.63758530e-01 5.01367294e-02 1.60198760e+02] [-6.62103539e-01 7.47944797e-01 -4.68773282e-02 -1.04203987e+02] [-6.86147323e-02 1.78718677e-03 9.97641631e-01 -1.13580996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters 0.028113273156865005 Centerline is valid? [True, True] Translation: X:160.22, Y:-104.23, Z:-11.36 [[ 7.43887941e-01 6.66291498e-01 5.18302056e-02 1.60221885e+02] [-6.64525652e-01 7.45689581e-01 -4.85047128e-02 -1.04226595e+02] [-7.09675220e-02 1.63956979e-03 9.97477279e-01 -1.13601576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49864 meters 0.028072182845454843 Centerline is valid? [True, True] Translation: X:160.25, Y:-104.25, Z:-11.36 [[ 7.43005797e-01 6.67317012e-01 5.12873419e-02 1.60245630e+02] [-6.65587867e-01 7.44772176e-01 -4.80332882e-02 -1.04248888e+02] [-7.02508156e-02 1.55277904e-03 9.97528151e-01 -1.13623070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters 0.02769122962841321 Centerline is valid? [True, True] Translation: X:160.27, Y:-104.27, Z:-11.37 [[ 7.41003957e-01 6.69564643e-01 5.09541460e-02 1.60268726e+02] [-6.67861805e-01 7.42752567e-01 -4.77413127e-02 -1.04271139e+02] [-6.98122177e-02 1.34617372e-03 9.97559242e-01 -1.13654759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55864 meters 0.02784860192206728 Centerline is valid? [True, True] Translation: X:160.29, Y:-104.29, Z:-11.37 [[ 7.40933386e-01 6.69564275e-01 5.19749879e-02 1.60292462e+02] [-6.67789290e-01 7.42752788e-01 -4.87417757e-02 -1.04292225e+02] [-7.12403189e-02 1.40606862e-03 9.97458190e-01 -1.13681146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters 0.02782703403690186 Centerline is valid? [True, True] Translation: X:160.32, Y:-104.31, Z:-11.37 [[ 7.40283172e-01 6.70223235e-01 5.27412642e-02 1.60317090e+02] [-6.68393789e-01 7.42158247e-01 -4.95063550e-02 -1.04314618e+02] [-7.23226736e-02 1.39678812e-03 9.97380309e-01 -1.13702140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61864 meters 0.02788596996552305 Centerline is valid? [True, True] Translation: X:160.34, Y:-104.34, Z:-11.37 [[ 7.41338219e-01 6.69058246e-01 5.27134549e-02 1.60341257e+02] [-6.67224566e-01 7.43208371e-01 -4.95246962e-02 -1.04335297e+02] [-7.23119873e-02 1.54283800e-03 9.97380868e-01 -1.13701646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64864 meters 0.02796972522258539 Centerline is valid? [True, True] Translation: X:160.37, Y:-104.36, Z:-11.37 [[ 7.41621978e-01 6.68710214e-01 5.31365391e-02 1.60365863e+02] [-6.66843954e-01 7.43521389e-01 -4.99508262e-02 -1.04356459e+02] [-7.29107810e-02 1.61085070e-03 9.97337166e-01 -1.13712957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67864 meters 0.028046108123228743 Centerline is valid? [True, True] Translation: X:160.39, Y:-104.38, Z:-11.37 [[ 7.41558037e-01 6.68697491e-01 5.41788059e-02 1.60390513e+02] [-6.66753769e-01 7.43532683e-01 -5.09760802e-02 -1.04376803e+02] [-7.43712898e-02 1.67779891e-03 9.97229209e-01 -1.13737118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70864 meters 0.028125896513859727 Centerline is valid? [True, True] Translation: X:160.42, Y:-104.40, Z:-11.38 [[ 7.41694299e-01 6.68551111e-01 5.41200427e-02 1.60415465e+02] [-6.66607787e-01 7.43664196e-01 -5.09668699e-02 -1.04398489e+02] [-7.43210955e-02 1.72499499e-03 9.97232871e-01 -1.13759599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73864 meters 0.02806187861064568 Centerline is valid? [True, True] Translation: X:160.44, Y:-104.42, Z:-11.38 [[ 7.40536070e-01 6.69761403e-01 5.50090224e-02 1.60439462e+02] [-6.67752965e-01 7.42574493e-01 -5.18565416e-02 -1.04421427e+02] [-7.55798070e-02 1.66920170e-03 9.97138359e-01 -1.13783752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76864 meters 0.027849002380493263 Centerline is valid? [True, True] Translation: X:160.46, Y:-104.44, Z:-11.38 [[ 7.39661700e-01 6.70729851e-01 5.49730557e-02 1.60462482e+02] [-6.68722897e-01 7.41699997e-01 -5.18729364e-02 -1.04443990e+02] [-7.55662421e-02 1.60668331e-03 9.97139490e-01 -1.13801125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79864 meters 0.02783560709360211 Centerline is valid? [True, True] Translation: X:160.49, Y:-104.47, Z:-11.38 [[ 7.39571410e-01 6.70898107e-01 5.41281693e-02 1.60486312e+02] [-6.68949486e-01 7.41547822e-01 -5.11215457e-02 -1.04466151e+02] [-7.44359743e-02 1.59902260e-03 9.97224513e-01 -1.13817072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82864 meters 0.02790649339181764 Centerline is valid? [True, True] Translation: X:160.51, Y:-104.49, Z:-11.38 [[ 7.39416958e-01 6.71054163e-01 5.43035272e-02 1.60510046e+02] [-6.69089423e-01 7.41406544e-01 -5.13388835e-02 -1.04488806e+02] [-7.47121619e-02 1.62692537e-03 9.97203814e-01 -1.13831363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85864 meters 0.028116580286222707 Centerline is valid? [True, True] Translation: X:160.53, Y:-104.51, Z:-11.39 [[ 7.38520049e-01 6.71969716e-01 5.51800560e-02 1.60534128e+02] [-6.69939422e-01 7.40576900e-01 -5.22209309e-02 -1.04511761e+02] [-7.59559589e-02 1.59890963e-03 9.97109892e-01 -1.13862815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88864 meters 0.027938352551258698 Centerline is valid? [True, True] Translation: X:160.56, Y:-104.53, Z:-11.39 [[ 7.37274038e-01 6.73249574e-01 5.62316989e-02 1.60557756e+02] [-6.71140501e-01 7.39413722e-01 -5.32707672e-02 -1.04534426e+02] [-7.74430111e-02 1.53578301e-03 9.96995597e-01 -1.13877790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91864 meters 0.027938352551258698 Centerline is valid? [True, True] Translation: X:160.58, Y:-104.56, Z:-11.39 [[ 7.36936196e-01 6.73621596e-01 5.62048783e-02 1.60581581e+02] [-6.71511447e-01 7.39074818e-01 -5.32990539e-02 -1.04556554e+02] [-7.74430040e-02 1.53578287e-03 9.96995598e-01 -1.13896274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94864 meters 0.027146999862167957 Centerline is valid? [True, True] Translation: X:160.60, Y:-104.58, Z:-11.39 [[ 7.32870640e-01 6.78044866e-01 5.61763703e-02 1.60604690e+02] [-6.75945722e-01 7.35019682e-01 -5.33239878e-02 -1.04578368e+02] [-7.74467941e-02 1.10740789e-03 9.96995871e-01 -1.13911358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97864 meters 0.027047331149866967 Centerline is valid? [True, True] Translation: X:160.63, Y:-104.60, Z:-11.39 [[ 7.30358831e-01 6.80730442e-01 5.64096037e-02 1.60628546e+02] [-6.78618048e-01 7.32533496e-01 -5.35931166e-02 -1.04600023e+02] [-7.78043902e-02 8.61630843e-04 9.96968272e-01 -1.13941762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00864 meters 0.026809319851717486 Centerline is valid? [True, True] Translation: X:160.65, Y:-104.62, Z:-11.40 [[ 7.27781111e-01 6.83467430e-01 5.66297269e-02 1.60653063e+02] [-6.81342927e-01 7.29980755e-01 -5.38508380e-02 -1.04621415e+02] [-7.81439047e-02 6.07358811e-04 9.96941905e-01 -1.13962307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03864000000002 meters 0.02652865075142861 Centerline is valid? [True, True] Translation: X:160.68, Y:-104.64, Z:-11.40 [[ 7.23544257e-01 6.87873918e-01 5.75602328e-02 1.60678913e+02] [-6.85688587e-01 7.25830175e-01 -5.47879407e-02 -1.04642051e+02] [-7.94661493e-02 1.73105109e-04 9.96837550e-01 -1.13981015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864000000002 meters 0.026625843970905172 Centerline is valid? [True, True] Translation: X:160.70, Y:-104.66, Z:-11.40 [[ 7.21991968e-01 6.89448104e-01 5.82143383e-02 1.60704351e+02] [-6.87213165e-01 7.24335081e-01 -5.54685140e-02 -1.04663579e+02] [-8.04093493e-02 4.21619087e-05 9.96761925e-01 -1.14010068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09864000000002 meters 0.026730306808085424 Centerline is valid? [True, True] Translation: X:160.73, Y:-104.68, Z:-11.40 [[ 7.21555734e-01 6.89900227e-01 5.82666342e-02 1.60730110e+02] [-6.87658057e-01 7.23904466e-01 -5.55762578e-02 -1.04684688e+02] [-8.05215496e-02 3.38469703e-05 9.96752868e-01 -1.14026664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864000000002 meters 0.026903770303277407 Centerline is valid? [True, True] Translation: X:160.76, Y:-104.70, Z:-11.40 [[ 7.22571513e-01 6.88930310e-01 5.71439983e-02 1.60756969e+02] [-6.86766523e-01 7.24827563e-01 -5.45595686e-02 -1.04703757e+02] [-7.90072855e-02 1.78604955e-04 9.96874023e-01 -1.14043732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15864000000002 meters 0.02685571918103021 Centerline is valid? [True, True] Translation: X:160.78, Y:-104.72, Z:-11.41 [[ 7.22976749e-01 6.88530441e-01 5.68370717e-02 1.60782507e+02] [-6.86384601e-01 7.25207395e-01 -5.43177217e-02 -1.04724644e+02] [-7.86180695e-02 2.58359052e-04 9.96904776e-01 -1.14058157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864000000002 meters 0.027183101171972243 Centerline is valid? [True, True] Translation: X:160.81, Y:-104.74, Z:-11.41 [[ 7.25527888e-01 6.85891114e-01 5.62375662e-02 1.60811051e+02] [-6.83778102e-01 7.27703954e-01 -5.38002053e-02 -1.04742859e+02] [-7.78253820e-02 5.79533043e-04 9.96966837e-01 -1.14075935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21864 meters 0.0271551954849902 Centerline is valid? [True, True] Translation: X:160.84, Y:-104.76, Z:-11.41 [[ 7.26221428e-01 6.85200265e-01 5.57048887e-02 1.60837185e+02] [-6.83120908e-01 7.28354395e-01 -5.33451029e-02 -1.04763475e+02] [-7.71249792e-02 6.87182569e-04 9.97021196e-01 -1.14088562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters 0.027264233296551088 Centerline is valid? [True, True] Translation: X:160.86, Y:-104.78, Z:-11.41 [[ 7.26725378e-01 6.84605887e-01 5.64358544e-02 1.60862531e+02] [-6.82465502e-01 7.28912986e-01 -5.40989579e-02 -1.04783264e+02] [-7.81732922e-02 7.99561912e-04 9.96939465e-01 -1.14112626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27864 meters 0.027416530743288318 Centerline is valid? [True, True] Translation: X:160.89, Y:-104.80, Z:-11.41 [[ 7.27302546e-01 6.83992835e-01 5.64341008e-02 1.60889086e+02] [-6.81846781e-01 7.29488168e-01 -5.41477628e-02 -1.04802937e+02] [-7.82046906e-02 9.02395720e-04 9.96936915e-01 -1.14137970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters 0.02730187075307172 Centerline is valid? [True, True] Translation: X:160.91, Y:-104.83, Z:-11.42 [[ 7.27040279e-01 6.84259455e-01 5.65811948e-02 1.60913714e+02] [-6.82098602e-01 7.29238067e-01 -5.43446350e-02 -1.04825660e+02] [-7.84469914e-02 9.16784669e-04 9.96917865e-01 -1.14157429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33864 meters 0.02743881097558834 Centerline is valid? [True, True] Translation: X:160.94, Y:-104.85, Z:-11.42 [[ 7.27572717e-01 6.83765254e-01 5.57047390e-02 1.60938171e+02] [-6.81665300e-01 7.29701369e-01 -5.35568066e-02 -1.04847399e+02] [-7.72681078e-02 9.94483705e-04 9.97009855e-01 -1.14172289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters 0.027398839378711813 Centerline is valid? [True, True] Translation: X:160.96, Y:-104.87, Z:-11.42 [[ 7.27406805e-01 6.83972164e-01 5.53300936e-02 1.60963360e+02] [-6.81896828e-01 7.29507415e-01 -5.32508017e-02 -1.04869438e+02] [-7.67857796e-02 1.00558028e-03 9.97047107e-01 -1.14180977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39864 meters 0.027602872369039667 Centerline is valid? [True, True] Translation: X:160.99, Y:-104.89, Z:-11.42 [[ 7.28258567e-01 6.83077574e-01 5.51768768e-02 1.60989419e+02] [-6.81007009e-01 7.30344943e-01 -5.31574826e-02 -1.04890467e+02] [-7.66088372e-02 1.13655223e-03 9.97060577e-01 -1.14207924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42864 meters 0.02766047075134548 Centerline is valid? [True, True] Translation: X:161.01, Y:-104.91, Z:-11.42 [[ 7.28568543e-01 6.82816886e-01 5.43044988e-02 1.61013586e+02] [-6.80806673e-01 7.30588597e-01 -5.23696018e-02 -1.04913107e+02] [-7.54330961e-02 1.18397933e-03 9.97150162e-01 -1.14221775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45864 meters 0.027865878656288628 Centerline is valid? [True, True] Translation: X:161.04, Y:-104.94, Z:-11.42 [[ 7.28664497e-01 6.82730496e-01 5.41028681e-02 1.61037742e+02] [-6.80730991e-01 7.30669257e-01 -5.22279140e-02 -1.04936019e+02] [-7.51888921e-02 1.22712773e-03 9.97168554e-01 -1.14239553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48864 meters 0.02772829979227163 Centerline is valid? [True, True] Translation: X:161.06, Y:-104.96, Z:-11.43 [[ 7.28880522e-01 6.82416790e-01 5.51408104e-02 1.61061948e+02] [-6.80334742e-01 7.30962089e-01 -5.32828634e-02 -1.04957381e+02] [-7.66669626e-02 1.32263227e-03 9.97055880e-01 -1.14256967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51864 meters 0.027898372748657294 Centerline is valid? [True, True] Translation: X:161.09, Y:-104.98, Z:-11.43 [[ 7.28436571e-01 6.82939227e-01 5.45359836e-02 1.61085285e+02] [-6.80900630e-01 7.30474061e-01 -5.27444524e-02 -1.04978908e+02] [-7.58583770e-02 1.28740243e-03 9.97117771e-01 -1.14280977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54864 meters 0.027517703769063824 Centerline is valid? [True, True] Translation: X:161.11, Y:-105.00, Z:-11.43 [[ 7.26802856e-01 6.84725864e-01 5.39268039e-02 1.61108548e+02] [-6.82734080e-01 7.28799858e-01 -5.22009981e-02 -1.05001041e+02] [-7.50452205e-02 1.12216766e-03 9.97179500e-01 -1.14286250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57864 meters 0.027520446642522265 Centerline is valid? [True, True] Translation: X:161.13, Y:-105.02, Z:-11.43 [[ 7.25730672e-01 6.85826040e-01 5.43841459e-02 1.61132789e+02] [-6.83799675e-01 7.27764753e-01 -5.26922149e-02 -1.05023332e+02] [-7.57165576e-02 1.05249528e-03 9.97128826e-01 -1.14303831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60864 meters 0.027437690531650127 Centerline is valid? [True, True] Translation: X:161.16, Y:-105.04, Z:-11.43 [[ 7.23437221e-01 6.88140308e-01 5.56911430e-02 1.61158592e+02] [-6.86017694e-01 7.25577120e-01 -5.40145028e-02 -1.05043749e+02] [-7.75777757e-02 8.70992320e-04 9.96985923e-01 -1.14334027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63864 meters 0.02731495154726206 Centerline is valid? [True, True] Translation: X:161.18, Y:-105.06, Z:-11.44 [[ 7.22172175e-01 6.89403212e-01 5.64850618e-02 1.61183607e+02] [-6.87218942e-01 7.24377383e-01 -5.48409864e-02 -1.05064710e+02] [-7.87240534e-02 7.87030024e-04 9.96896135e-01 -1.14364341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66864 meters 0.027278144354118343 Centerline is valid? [True, True] Translation: X:161.21, Y:-105.09, Z:-11.44 [[ 7.21146933e-01 6.90524730e-01 5.58811107e-02 1.61208061e+02] [-6.88386195e-01 7.23308450e-01 -5.43077712e-02 -1.05085369e+02] [-7.79201385e-02 6.96097507e-04 9.96959361e-01 -1.14373957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69864 meters 0.027333722416385473 Centerline is valid? [True, True] Translation: X:161.23, Y:-105.11, Z:-11.44 [[ 7.20255089e-01 6.91381517e-01 5.67820799e-02 1.61234302e+02] [-6.89171891e-01 7.22489567e-01 -5.52352254e-02 -1.05105287e+02] [-7.92130742e-02 6.50838757e-04 9.96857495e-01 -1.14404905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72864 meters 0.02753686016193791 Centerline is valid? [True, True] Translation: X:161.26, Y:-105.13, Z:-11.44 [[ 7.20224908e-01 6.91398850e-01 5.69535927e-02 1.61260080e+02] [-6.89171355e-01 7.22472941e-01 -5.54589252e-02 -1.05126088e+02] [-7.94916668e-02 6.92114653e-04 9.96835290e-01 -1.14431052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75864 meters 0.02765238269093861 Centerline is valid? [True, True] Translation: X:161.29, Y:-105.15, Z:-11.44 [[ 7.21887143e-01 6.89728002e-01 5.61625784e-02 1.61287376e+02] [-6.87552639e-01 7.24067998e-01 -5.47439822e-02 -1.05145494e+02] [-7.84239832e-02 9.04247934e-04 9.96919686e-01 -1.14444662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864000000002 meters 0.027785868035405923 Centerline is valid? [True, True] Translation: X:161.31, Y:-105.17, Z:-11.45 [[ 7.22854821e-01 6.88727778e-01 5.59906686e-02 1.61312632e+02] [-6.86558390e-01 7.25019272e-01 -5.46317827e-02 -1.05167501e+02] [-7.82207401e-02 1.04998428e-03 9.96935511e-01 -1.14459304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81864000000002 meters 0.02798313063990895 Centerline is valid? [True, True] Translation: X:161.34, Y:-105.19, Z:-11.45 [[ 7.24302406e-01 6.87228528e-01 5.57043579e-02 1.61337413e+02] [-6.85072806e-01 7.26440227e-01 -5.44044777e-02 -1.05187477e+02] [-7.78541955e-02 1.24375327e-03 9.96963980e-01 -1.14482984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864000000002 meters 0.02806434932150749 Centerline is valid? [True, True] Translation: X:161.36, Y:-105.21, Z:-11.45 [[ 7.24547419e-01 6.87018571e-01 5.51046251e-02 1.61362220e+02] [-6.84904911e-01 7.26638719e-01 -5.38649644e-02 -1.05209612e+02] [-7.70473851e-02 1.28629257e-03 9.97026602e-01 -1.14497279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87864000000002 meters 0.02819719214400609 Centerline is valid? [True, True] Translation: X:161.39, Y:-105.23, Z:-11.45 [[ 7.25093011e-01 6.86383236e-01 5.58406539e-02 1.61385233e+02] [-6.84206598e-01 7.27238656e-01 -5.46376113e-02 -1.05231606e+02] [-7.81118225e-02 1.41080629e-03 9.96943606e-01 -1.14517104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864000000002 meters 0.028293038817217706 Centerline is valid? [True, True] Translation: X:161.41, Y:-105.25, Z:-11.45 [[ 7.24824844e-01 6.86695659e-01 5.54798834e-02 1.61409265e+02] [-6.84544206e-01 7.26943671e-01 -5.43335027e-02 -1.05254535e+02] [-7.76413306e-02 1.40383986e-03 9.96980367e-01 -1.14533343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93864000000002 meters 0.028098720527826776 Centerline is valid? [True, True] Translation: X:161.43, Y:-105.28, Z:-11.45 [[ 7.24589379e-01 6.86976571e-01 5.50765110e-02 1.61432382e+02] [-6.84853007e-01 7.26678211e-01 -5.39919946e-02 -1.05277681e+02] [-7.71141358e-02 1.40271164e-03 9.97021285e-01 -1.14544920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters 0.028278220263594212 Centerline is valid? [True, True] Translation: X:161.45, Y:-105.30, Z:-11.46 [[ 7.24767090e-01 6.86784799e-01 5.51298925e-02 1.61454744e+02] [-6.84652809e-01 7.26859346e-01 -5.40927224e-02 -1.05301223e+02] [-7.72217371e-02 1.45978925e-03 9.97012875e-01 -1.14570364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99864 meters 0.02820029070508176 Centerline is valid? [True, True] Translation: X:161.48, Y:-105.32, Z:-11.46 [[ 7.24675232e-01 6.86877914e-01 5.51773456e-02 1.61477768e+02] [-6.84739484e-01 7.26771313e-01 -5.41783811e-02 -1.05324228e+02] [-7.73152453e-02 1.47962375e-03 9.97005599e-01 -1.14592722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters 0.02821679773646546 Centerline is valid? [True, True] Translation: X:161.50, Y:-105.35, Z:-11.46 [[ 7.24392627e-01 6.87247873e-01 5.42741395e-02 1.61501487e+02] [-6.85176166e-01 7.26421537e-01 -5.33420292e-02 -1.05346166e+02] [-7.60851000e-02 1.45322588e-03 9.97100269e-01 -1.14597356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05864 meters 0.02830208327039166 Centerline is valid? [True, True] Translation: X:161.53, Y:-105.37, Z:-11.46 [[ 7.24620107e-01 6.87023581e-01 5.40767984e-02 1.61525139e+02] [-6.84962729e-01 7.26633561e-01 -5.31951777e-02 -1.05368553e+02] [-7.58403581e-02 1.50570391e-03 9.97118836e-01 -1.14611285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters 0.02824221558297726 Centerline is valid? [True, True] Translation: X:161.55, Y:-105.39, Z:-11.46 [[ 7.24462022e-01 6.87222610e-01 5.36643632e-02 1.61548512e+02] [-6.85189896e-01 7.26445321e-01 -5.28393986e-02 -1.05392269e+02] [-7.52966550e-02 1.50985813e-03 9.97160034e-01 -1.14634911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11864 meters 0.02844761510496107 Centerline is valid? [True, True] Translation: X:161.57, Y:-105.42, Z:-11.46 [[ 7.25625372e-01 6.86035537e-01 5.31324904e-02 1.61571268e+02] [-6.84036048e-01 7.27566154e-01 -5.23657957e-02 -1.05415754e+02] [-7.45821985e-02 1.65341122e-03 9.97213499e-01 -1.14643761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14864 meters 0.028361797950550806 Centerline is valid? [True, True] Translation: X:161.59, Y:-105.44, Z:-11.47 [[ 7.25642744e-01 6.85986245e-01 5.35301766e-02 1.61594367e+02] [-6.83953076e-01 7.27612511e-01 -5.28036381e-02 -1.05438409e+02] [-7.51717957e-02 1.70444793e-03 9.97169141e-01 -1.14662085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17864 meters 0.028080098116121183 Centerline is valid? [True, True] Translation: X:161.62, Y:-105.46, Z:-11.47 [[ 7.24293193e-01 6.87324739e-01 5.46266725e-02 1.61618143e+02] [-6.85207309e-01 7.26348424e-01 -5.39343102e-02 -1.05461845e+02] [-7.67483832e-02 1.63365844e-03 9.97049155e-01 -1.14676705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20864 meters 0.027989470162189417 Centerline is valid? [True, True] Translation: X:161.64, Y:-105.48, Z:-11.47 [[ 7.23498382e-01 6.88250850e-01 5.34870012e-02 1.61640701e+02] [-6.86219746e-01 7.25471156e-01 -5.28588944e-02 -1.05484996e+02] [-7.51834556e-02 1.53948823e-03 9.97168530e-01 -1.14694145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23864 meters 0.027834097930994835 Centerline is valid? [True, True] Translation: X:161.66, Y:-105.51, Z:-11.47 [[ 7.22389149e-01 6.89371553e-01 5.40442466e-02 1.61663734e+02] [-6.87297273e-01 7.24406442e-01 -5.34580780e-02 -1.05508737e+02] [-7.60024786e-02 1.47307217e-03 9.97106541e-01 -1.14710981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26864 meters 0.027700936323045582 Centerline is valid? [True, True] Translation: X:161.69, Y:-105.53, Z:-11.47 [[ 7.21244844e-01 6.90547265e-01 5.43171247e-02 1.61687131e+02] [-6.88451133e-01 7.23285924e-01 -5.37820677e-02 -1.05532320e+02] [-7.64258715e-02 1.39535296e-03 9.97074290e-01 -1.14725911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29864 meters 0.027786589931249762 Centerline is valid? [True, True] Translation: X:161.71, Y:-105.56, Z:-11.47 [[ 7.20644418e-01 6.91103862e-01 5.52003108e-02 1.61710462e+02] [-6.88936185e-01 7.22754104e-01 -5.47123188e-02 -1.05555455e+02] [-7.77081461e-02 1.39863564e-03 9.96975169e-01 -1.14746312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32864 meters 0.02768264175622956 Centerline is valid? [True, True] Translation: X:161.73, Y:-105.58, Z:-11.47 [[ 7.21427236e-01 6.90338225e-01 5.45516058e-02 1.61732736e+02] [-6.88214938e-01 7.23485229e-01 -5.41232244e-02 -1.05579473e+02] [-7.68306117e-02 1.50273817e-03 9.97043028e-01 -1.14743841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35864 meters 0.027765625362334984 Centerline is valid? [True, True] Translation: X:161.76, Y:-105.60, Z:-11.48 [[ 7.21726726e-01 6.90045338e-01 5.42951713e-02 1.61755526e+02] [-6.87937062e-01 7.23764451e-01 -5.39223241e-02 -1.05602900e+02] [-7.65057632e-02 1.56552177e-03 9.97067910e-01 -1.14757876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38864 meters 0.027704129244936454 Centerline is valid? [True, True] Translation: X:161.78, Y:-105.63, Z:-11.48 [[ 7.21783839e-01 6.89964420e-01 5.45636229e-02 1.61777974e+02] [-6.87830802e-01 7.23841468e-01 -5.42431319e-02 -1.05626575e+02] [-7.69212440e-02 1.62127542e-03 9.97035854e-01 -1.14766118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41864 meters 0.02760307641697136 Centerline is valid? [True, True] Translation: X:161.80, Y:-105.65, Z:-11.48 [[ 7.21144220e-01 6.90630165e-01 5.45984411e-02 1.61801034e+02] [-6.88491551e-01 7.23206365e-01 -5.43317421e-02 -1.05649858e+02] [-7.70090801e-02 1.59045638e-03 9.97029123e-01 -1.14781910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44864 meters 0.027308720134466686 Centerline is valid? [True, True] Translation: X:161.82, Y:-105.67, Z:-11.48 [[ 7.19572464e-01 6.92282306e-01 5.44121054e-02 1.61823707e+02] [-6.90159583e-01 7.21625341e-01 -5.41905725e-02 -1.05673363e+02] [-7.67803286e-02 1.44100786e-03 9.97046992e-01 -1.14799775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47864 meters 0.026473205625006067 Centerline is valid? [True, True] Translation: X:161.85, Y:-105.70, Z:-11.48 [[ 7.15728725e-01 6.96406572e-01 5.24430904e-02 1.61846113e+02] [-6.94444724e-01 7.17646804e-01 -5.22454693e-02 -1.05697213e+02] [-7.40197044e-02 9.74755725e-04 9.97256303e-01 -1.14806619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50864 meters 0.026288342750559617 Centerline is valid? [True, True] Translation: X:161.87, Y:-105.72, Z:-11.48 [[ 7.14058497e-01 6.98109103e-01 5.25751280e-02 1.61869395e+02] [-6.96140195e-01 7.15990931e-01 -5.24005362e-02 -1.05719512e+02] [-7.42246062e-02 8.17388246e-04 9.97241214e-01 -1.14825996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53864000000002 meters 0.026026708408813482 Centerline is valid? [True, True] Translation: X:161.89, Y:-105.74, Z:-11.48 [[ 7.12216023e-01 7.00052389e-01 5.17203049e-02 1.61892835e+02] [-6.98148852e-01 7.14091203e-01 -5.15939303e-02 -1.05741607e+02] [-7.30514689e-02 6.37552372e-04 9.97327968e-01 -1.14840240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864000000002 meters 0.025937513132630777 Centerline is valid? [True, True] Translation: X:161.92, Y:-105.76, Z:-11.48 [[ 7.12267411e-01 7.00048307e-01 5.10637189e-02 1.61916333e+02] [-6.98189483e-01 7.14095181e-01 -5.09854696e-02 -1.05764374e+02] [-7.21566472e-02 6.63136927e-04 9.97393091e-01 -1.14845140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59864000000002 meters 0.025908412093663482 Centerline is valid? [True, True] Translation: X:161.94, Y:-105.79, Z:-11.49 [[ 7.12389653e-01 6.99967298e-01 5.04654643e-02 1.61940140e+02] [-6.98147982e-01 7.14174552e-01 -5.04391127e-02 -1.05787253e+02] [-7.13468798e-02 6.99939954e-04 9.97451319e-01 -1.14855022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864000000002 meters 0.026009181599301948 Centerline is valid? [True, True] Translation: X:161.85, Y:-106.04, Z:-9.78 [[ 7.46979651e-01 -6.64200096e-01 -2.93195063e-02 1.61853956e+02] [-6.63496186e-01 -7.47546479e-01 3.07745330e-02 -1.06043516e+02] [-4.23581415e-02 -3.53456928e-03 -9.99096239e-01 -9.77855923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65864000000002 meters 0.02604494634412015 Centerline is valid? [True, True] Translation: X:161.96, Y:-105.82, Z:-11.49 [[ 7.61055295e-01 6.46440763e-01 5.39367901e-02 1.61961332e+02] [-6.44747128e-01 7.62963740e-01 -4.67704259e-02 -1.05822580e+02] [-7.13861249e-02 8.19289805e-04 9.97448420e-01 -1.14888152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864000000002 meters 0.02577680144601142 Centerline is valid? [True, True] Translation: X:161.99, Y:-105.84, Z:-11.49 [[ 7.59665583e-01 6.48120405e-01 5.33679981e-02 1.61986927e+02] [-6.46463216e-01 7.61537567e-01 -4.63232642e-02 -1.05842676e+02] [-7.06647881e-02 6.89741824e-04 9.97499881e-01 -1.14892087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71864 meters 0.0255864154398922 Centerline is valid? [True, True] Translation: X:162.01, Y:-105.86, Z:-11.49 [[ 7.57836220e-01 6.50320723e-01 5.26043817e-02 1.62012536e+02] [-6.48713125e-01 7.59659594e-01 -4.57010139e-02 -1.05862758e+02] [-6.96817396e-02 5.08730761e-04 9.97569144e-01 -1.14902016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters 0.025399637189249306 Centerline is valid? [True, True] Translation: X:162.04, Y:-105.88, Z:-11.49 [[ 7.55985613e-01 6.52493316e-01 5.23280552e-02 1.62037424e+02] [-6.50904913e-01 7.57794404e-01 -4.55020411e-02 -1.05882663e+02] [-6.93436851e-02 3.38300163e-04 9.97592772e-01 -1.14915254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77864 meters 0.025399637189249306 Centerline is valid? [True, True] Translation: X:162.06, Y:-105.90, Z:-11.49 [[ 7.55646377e-01 6.52887845e-01 5.23069338e-02 1.62062185e+02] [-6.51298707e-01 7.57454520e-01 -4.55263104e-02 -1.05903767e+02] [-6.93436981e-02 3.34353177e-04 9.97592773e-01 -1.14933691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters 0.025179094948454366 Centerline is valid? [True, True] Translation: X:162.09, Y:-105.92, Z:-11.50 [[ 7.53783563e-01 6.54917311e-01 5.37927121e-02 1.62088308e+02] [-6.53238036e-01 7.55700522e-01 -4.68699186e-02 -1.05923916e+02] [-7.13471017e-02 1.90328644e-04 9.97451530e-01 -1.14950352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83864 meters 0.025254512419095033 Centerline is valid? [True, True] Translation: X:162.11, Y:-105.94, Z:-11.50 [[ 7.54100315e-01 6.54504163e-01 5.43784472e-02 1.62113300e+02] [-6.52783404e-01 7.56058350e-01 -4.74299398e-02 -1.05944710e+02] [-7.21563721e-02 2.69584716e-04 9.97393295e-01 -1.14972348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters 0.025086051754145924 Centerline is valid? [True, True] Translation: X:162.14, Y:-105.97, Z:-11.50 [[ 7.55194450e-01 6.53325772e-01 5.33552039e-02 1.62138978e+02] [-6.51663074e-01 7.57076791e-01 -4.65829451e-02 -1.05966053e+02] [-7.08278252e-02 4.09565444e-04 9.97488472e-01 -1.14986766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89864 meters 0.02514518646658965 Centerline is valid? [True, True] Translation: X:162.16, Y:-105.99, Z:-11.50 [[ 7.56116257e-01 6.52236382e-01 5.36274938e-02 1.62164343e+02] [-6.50550408e-01 7.58015433e-01 -4.68697026e-02 -1.05986530e+02] [-7.12205933e-02 5.51556097e-04 9.97460437e-01 -1.15004818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92864 meters 0.025003538306288944 Centerline is valid? [True, True] Translation: X:162.19, Y:-106.01, Z:-11.50 [[ 7.56786064e-01 6.51433229e-01 5.39407234e-02 1.62190041e+02] [-6.49721885e-01 7.58705675e-01 -4.71929149e-02 -1.06007351e+02] [-7.16681659e-02 6.68471852e-04 9.97428307e-01 -1.15024374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95864 meters 0.025165308222193546 Centerline is valid? [True, True] Translation: X:162.22, Y:-106.03, Z:-11.50 [[ 7.58310542e-01 6.49590760e-01 5.47445576e-02 1.62215403e+02] [-6.47819621e-01 7.60283532e-01 -4.79446487e-02 -1.06027619e+02] [-7.27657864e-02 8.92334029e-04 9.97348657e-01 -1.15034805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98864 meters 0.02526531087116001 Centerline is valid? [True, True] Translation: X:162.24, Y:-106.05, Z:-11.51 [[ 7.58486573e-01 6.49344714e-01 5.52228296e-02 1.62240511e+02] [-6.47538480e-01 7.60493605e-01 -4.84086147e-02 -1.06048565e+02] [-7.34304869e-02 9.58377135e-04 9.97299877e-01 -1.15051784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01864 meters 0.02543670503333834 Centerline is valid? [True, True] Translation: X:162.26, Y:-106.07, Z:-11.51 [[ 7.59040756e-01 6.48700766e-01 5.51765057e-02 1.62264924e+02] [-6.46892201e-01 7.61042836e-01 -4.84177885e-02 -1.06070160e+02] [-7.34003409e-02 1.05782357e-03 9.97301996e-01 -1.15078966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04864 meters 0.025249567865100523 Centerline is valid? [True, True] Translation: X:162.29, Y:-106.09, Z:-11.51 [[ 7.59789057e-01 6.47912460e-01 5.41297777e-02 1.62289246e+02] [-6.46166934e-01 7.61713945e-01 -4.75411264e-02 -1.06092940e+02] [-7.20338947e-02 1.14435509e-03 9.97401528e-01 -1.15082516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07864 meters 0.025404960220635934 Centerline is valid? [True, True] Translation: X:162.31, Y:-106.12, Z:-11.51 [[ 7.59435581e-01 6.48193671e-01 5.57006533e-02 1.62311704e+02] [-6.46343923e-01 7.61474618e-01 -4.89483358e-02 -1.06116058e+02] [-7.41426351e-02 1.17132909e-03 9.97246959e-01 -1.15116114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10864 meters 0.02552829542852873 Centerline is valid? [True, True] Translation: X:162.34, Y:-106.14, Z:-11.51 [[ 7.58753798e-01 6.48926720e-01 5.64516183e-02 1.62336340e+02] [-6.47025205e-01 7.60850044e-01 -4.96547597e-02 -1.06138681e+02] [-7.51735167e-02 1.15011764e-03 9.97169805e-01 -1.15135943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13864 meters 0.0252652579769506 Centerline is valid? [True, True] Translation: X:162.36, Y:-106.16, Z:-11.52 [[ 7.57189367e-01 6.50639134e-01 5.77319594e-02 1.62359397e+02] [-6.48651169e-01 7.59386351e-01 -5.08333658e-02 -1.06162372e+02] [-7.69150391e-02 1.04258109e-03 9.97037106e-01 -1.15158990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16864 meters 0.025179876362410744 Centerline is valid? [True, True] Translation: X:162.38, Y:-106.19, Z:-11.52 [[ 7.56097522e-01 6.51904089e-01 5.77719347e-02 1.62383146e+02] [-6.49913071e-01 7.58300830e-01 -5.09200482e-02 -1.06185050e+02] [-7.70034936e-02 9.53786776e-04 9.97030367e-01 -1.15175751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19864 meters 0.024805654275742987 Centerline is valid? [True, True] Translation: X:162.41, Y:-106.21, Z:-11.52 [[ 7.53652824e-01 6.54698705e-01 5.81121902e-02 1.62406462e+02] [-6.52688456e-01 7.55889608e-01 -5.12706562e-02 -1.06207458e+02] [-7.74932329e-02 7.11119122e-04 9.96992624e-01 -1.15198990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22864 meters 0.024981572235356006 Centerline is valid? [True, True] Translation: X:162.43, Y:-106.23, Z:-11.52 [[ 7.52270267e-01 6.56180759e-01 5.92980341e-02 1.62431554e+02] [-6.54088171e-01 7.54603500e-01 -5.23662398e-02 -1.06229544e+02] [-7.91082230e-02 6.07422515e-04 9.96865849e-01 -1.15220889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25864 meters 0.02483114188978656 Centerline is valid? [True, True] Translation: X:162.46, Y:-106.25, Z:-11.52 [[ 7.50834761e-01 6.57788457e-01 5.96783657e-02 1.62456787e+02] [-6.55669616e-01 7.53202572e-01 -5.27564235e-02 -1.06251153e+02] [-7.96524650e-02 4.82065522e-04 9.96822578e-01 -1.15242566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864000000002 meters 0.02470782568655264 Centerline is valid? [True, True] Translation: X:162.48, Y:-106.27, Z:-11.53 [[ 7.48403255e-01 6.60457431e-01 6.07334254e-02 1.62482274e+02] [-6.58267066e-01 7.50863451e-01 -5.37452152e-02 -1.06271478e+02] [-8.10989361e-02 2.44280316e-04 9.96706026e-01 -1.15275748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31864000000002 meters 0.024786311839353713 Centerline is valid? [True, True] Translation: X:162.51, Y:-106.29, Z:-11.53 [[ 7.47566037e-01 6.61474501e-01 5.99708679e-02 1.62507174e+02] [-6.59337909e-01 7.49967636e-01 -5.31231191e-02 -1.06291995e+02] [-8.01157988e-02 1.71972982e-04 9.96785548e-01 -1.15290703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864000000002 meters 0.02470989981333081 Centerline is valid? [True, True] Translation: X:162.53, Y:-106.31, Z:-11.53 [[ 7.47683824e-01 6.61423609e-01 5.90568259e-02 1.62532814e+02] [-6.59347888e-01 7.50012510e-01 -5.23602588e-02 -1.06311716e+02] [-7.89256696e-02 2.09925116e-04 9.96880482e-01 -1.15313441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37864000000002 meters 0.024786037653915204 Centerline is valid? [True, True] Translation: X:162.56, Y:-106.33, Z:-11.53 [[ 7.47776555e-01 6.61248199e-01 5.98418179e-02 1.62558152e+02] [-6.59112402e-01 7.50167147e-01 -5.31045492e-02 -1.06331431e+02] [-8.00066533e-02 2.67852523e-04 9.96794294e-01 -1.15333637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864000000002 meters 0.024830898461200804 Centerline is valid? [True, True] Translation: X:162.58, Y:-106.35, Z:-11.54 [[ 7.47481432e-01 6.61515106e-01 6.05745205e-02 1.62583739e+02] [-6.59323501e-01 7.49931788e-01 -5.38036726e-02 -1.06350748e+02] [-8.10187007e-02 2.79041298e-04 9.96712542e-01 -1.15355323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43864000000002 meters 0.024962357542069394 Centerline is valid? [True, True] Translation: X:162.61, Y:-106.37, Z:-11.54 [[ 7.47211955e-01 6.61694759e-01 6.19220517e-02 1.62610716e+02] [-6.59400898e-01 7.49773269e-01 -5.50499877e-02 -1.06368164e+02] [-8.28537874e-02 3.02552361e-04 9.96561668e-01 -1.15370092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters 0.02500195273381856 Centerline is valid? [True, True] Translation: X:162.64, Y:-106.39, Z:-11.54 [[ 7.46416914e-01 6.62598835e-01 6.18431423e-02 1.62636988e+02] [-6.60309809e-01 7.48974450e-01 -5.50293592e-02 -1.06388227e+02] [-8.27813228e-02 2.39211049e-04 9.96567707e-01 -1.15389406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49864 meters 0.024850960792416124 Centerline is valid? [True, True] Translation: X:162.66, Y:-106.41, Z:-11.54 [[ 7.45368114e-01 6.63854279e-01 6.10235271e-02 1.62664308e+02] [-6.61625418e-01 7.47861937e-01 -5.43537381e-02 -1.06405303e+02] [-8.17201348e-02 1.38826642e-04 9.96655307e-01 -1.15405697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters 0.025064168202929702 Centerline is valid? [True, True] Translation: X:162.69, Y:-106.43, Z:-11.54 [[ 7.44109507e-01 6.65280827e-01 6.08478642e-02 1.62690428e+02] [-6.63065346e-01 7.46593210e-01 -5.42487411e-02 -1.06425845e+02] [-8.15192496e-02 2.08938623e-05 9.96671767e-01 -1.15432593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55864 meters 0.024857762650120716 Centerline is valid? [True, True] Translation: X:162.72, Y:-106.45, Z:-11.55 [[ 7.43418772e-01 6.66098908e-01 6.03388250e-02 1.62716391e+02] [-6.63918548e-01 7.45863421e-01 -5.38508889e-02 -1.06446424e+02] [-8.08745408e-02 -2.63034068e-05 9.96724289e-01 -1.15453398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters 0.0251378672739692 Centerline is valid? [True, True] Translation: X:162.74, Y:-106.46, Z:-11.55 [[ 7.42537603e-01 6.66998148e-01 6.12485066e-02 1.62742763e+02] [-6.64749934e-01 7.45059369e-01 -5.47180173e-02 -1.06464835e+02] [-8.21305899e-02 -8.47553021e-05 9.96621573e-01 -1.15461806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61864 meters 0.024945959494551355 Centerline is valid? [True, True] Translation: X:162.77, Y:-106.49, Z:-11.55 [[ 7.42380954e-01 6.67174470e-01 6.12270041e-02 1.62769005e+02] [-6.64924157e-01 7.44901485e-01 -5.47507398e-02 -1.06485389e+02] [-8.21363821e-02 -6.54076049e-05 9.96621097e-01 -1.15482188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64864 meters 0.024995396055788273 Centerline is valid? [True, True] Translation: X:162.79, Y:-106.51, Z:-11.55 [[ 7.42256667e-01 6.67328745e-01 6.10523286e-02 1.62794229e+02] [-6.65087112e-01 7.44763281e-01 -5.46515171e-02 -1.06506055e+02] [-8.19400608e-02 -3.96640543e-05 9.96637258e-01 -1.15504569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67864 meters 0.025209681319746425 Centerline is valid? [True, True] Translation: X:162.82, Y:-106.53, Z:-11.55 [[ 7.42420207e-01 6.67104467e-01 6.15131423e-02 1.62820012e+02] [-6.64823250e-01 7.44964180e-01 -5.51218363e-02 -1.06526486e+02] [-8.25971108e-02 2.81979348e-05 9.96583020e-01 -1.15540466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70864 meters 0.025163293337240034 Centerline is valid? [True, True] Translation: X:162.84, Y:-106.55, Z:-11.56 [[ 7.41936966e-01 6.67578321e-01 6.21990655e-02 1.62844829e+02] [-6.65242814e-01 7.44539579e-01 -5.57926007e-02 -1.06547115e+02] [-8.35555967e-02 1.71115425e-05 9.96503117e-01 -1.15555713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73864 meters 0.025287296879554333 Centerline is valid? [True, True] Translation: X:162.87, Y:-106.57, Z:-11.56 [[ 7.41392208e-01 6.68197059e-01 6.20506606e-02 1.62869647e+02] [-6.65870463e-01 7.43984334e-01 -5.57120851e-02 -1.06568181e+02] [-8.33913709e-02 -1.31963186e-05 9.96516873e-01 -1.15581460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76864 meters 0.025415389472198076 Centerline is valid? [True, True] Translation: X:162.89, Y:-106.59, Z:-11.56 [[ 7.41041811e-01 6.68579781e-01 6.21136974e-02 1.62893514e+02] [-6.66244931e-01 7.43640421e-01 -5.58266615e-02 -1.06590425e+02] [-8.35148332e-02 -1.30456648e-05 9.96506534e-01 -1.15601492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79864 meters 0.02531436120785822 Centerline is valid? [True, True] Translation: X:162.92, Y:-106.61, Z:-11.56 [[ 7.40711919e-01 6.68956782e-01 6.19893243e-02 1.62918222e+02] [-6.66627796e-01 7.43301301e-01 -5.57723766e-02 -1.06613058e+02] [-8.33860549e-02 -1.25425036e-05 9.96517318e-01 -1.15619066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82864 meters 0.02542339137709401 Centerline is valid? [True, True] Translation: X:162.94, Y:-106.64, Z:-11.56 [[ 7.41355802e-01 6.68257981e-01 6.18291720e-02 1.62942132e+02] [-6.65933801e-01 7.43929607e-01 -5.56858409e-02 -1.06635612e+02] [-8.32090592e-02 1.08885648e-04 9.96532107e-01 -1.15640461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85864 meters 0.02540008361266021 Centerline is valid? [True, True] Translation: X:162.97, Y:-106.66, Z:-11.57 [[ 7.41458730e-01 6.68235450e-01 6.08303875e-02 1.62965682e+02] [-6.65981358e-01 7.43949838e-01 -5.48404061e-02 -1.06658185e+02] [-8.19010604e-02 1.49993782e-04 9.96640454e-01 -1.15659179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88864 meters 0.02568583968791618 Centerline is valid? [True, True] Translation: X:162.99, Y:-106.68, Z:-11.57 [[ 7.41305951e-01 6.68378516e-01 6.11199323e-02 1.62989085e+02] [-6.66099054e-01 7.43821302e-01 -5.51536167e-02 -1.06681661e+02] [-8.23258001e-02 1.73775280e-04 9.96605455e-01 -1.15687060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91864 meters 0.02542959858074731 Centerline is valid? [True, True] Translation: X:163.01, Y:-106.70, Z:-11.57 [[ 7.40361267e-01 6.69454822e-01 6.07901000e-02 1.63013382e+02] [-6.67198904e-01 7.42852766e-01 -5.49125653e-02 -1.06704541e+02] [-8.19195756e-02 9.60482751e-05 9.96638939e-01 -1.15704735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94864 meters 0.025478546010234332 Centerline is valid? [True, True] Translation: X:163.04, Y:-106.73, Z:-11.57 [[ 7.39396186e-01 6.70569406e-01 6.02490793e-02 1.63036487e+02] [-6.68352832e-01 7.41846798e-01 -5.44777099e-02 -1.06726359e+02] [-8.12266721e-02 1.29681668e-05 9.96695654e-01 -1.15717240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97864 meters 0.025388273175391208 Centerline is valid? [True, True] Translation: X:163.06, Y:-106.75, Z:-11.57 [[ 7.38336019e-01 6.71811213e-01 5.94105805e-02 1.63058852e+02] [-6.69656146e-01 7.40722408e-01 -5.37676484e-02 -1.06750070e+02] [-8.01284574e-02 -8.60688470e-05 9.96784542e-01 -1.15729826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00864 meters 0.025521764606474293 Centerline is valid? [True, True] Translation: X:163.08, Y:-106.77, Z:-11.58 [[ 7.37578933e-01 6.72502177e-01 6.09765487e-02 1.63081369e+02] [-6.70229948e-01 7.40095133e-01 -5.52359577e-02 -1.06773114e+02] [-8.22747487e-02 -1.27430298e-04 9.96609678e-01 -1.15758241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03864000000002 meters 0.0256545518907006 Centerline is valid? [True, True] Translation: X:163.11, Y:-106.79, Z:-11.58 [[ 7.37544458e-01 6.72531711e-01 6.10677487e-02 1.63105786e+02] [-6.70248409e-01 7.40068300e-01 -5.53713020e-02 -1.06794979e+02] [-8.24332615e-02 -9.17644941e-05 9.96596583e-01 -1.15773451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864000000002 meters 0.025651273503120534 Centerline is valid? [True, True] Translation: X:163.13, Y:-106.82, Z:-11.58 [[ 7.37763856e-01 6.72276412e-01 6.12284134e-02 1.63130414e+02] [-6.69975374e-01 7.40300227e-01 -5.55749298e-02 -1.06817644e+02] [-8.26891227e-02 -2.03546080e-05 9.96575390e-01 -1.15798035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09864000000002 meters 0.025709255714183657 Centerline is valid? [True, True] Translation: X:163.15, Y:-106.84, Z:-11.58 [[ 7.38557273e-01 6.71442415e-01 6.08131415e-02 1.63152948e+02] [-6.69165001e-01 7.41056726e-01 -5.52551434e-02 -1.06841324e+02] [-8.21666344e-02 1.15062150e-04 9.96618599e-01 -1.15815155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864000000002 meters 0.02579285803148906 Centerline is valid? [True, True] Translation: X:163.18, Y:-106.86, Z:-11.58 [[ 7.39132274e-01 6.70890696e-01 5.99095654e-02 1.63176353e+02] [-6.68674409e-01 7.41556221e-01 -5.44876629e-02 -1.06863613e+02] [-8.09815770e-02 2.13596952e-04 9.96715576e-01 -1.15828361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15864000000002 meters 0.02568511644948557 Centerline is valid? [True, True] Translation: X:163.20, Y:-106.89, Z:-11.58 [[ 7.39502323e-01 6.70515821e-01 5.95386316e-02 1.63200089e+02] [-6.68321643e-01 7.41895174e-01 -5.42008556e-02 -1.06886184e+02] [-8.05139546e-02 2.90702541e-04 9.96753439e-01 -1.15844343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864000000002 meters 0.025668080070984804 Centerline is valid? [True, True] Translation: X:163.22, Y:-106.91, Z:-11.59 [[ 7.38911942e-01 6.71153940e-01 5.96785615e-02 1.63223884e+02] [-6.68946951e-01 7.41317961e-01 -5.43843468e-02 -1.06909359e+02] [-8.07410582e-02 2.63451534e-04 9.96735076e-01 -1.15868473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21864 meters 0.025755747384158555 Centerline is valid? [True, True] Translation: X:163.25, Y:-106.93, Z:-11.59 [[ 7.38426034e-01 6.71661311e-01 5.99839608e-02 1.63247487e+02] [-6.69428688e-01 7.40858299e-01 -5.47193914e-02 -1.06933073e+02] [-8.11925133e-02 2.51239017e-04 9.96698406e-01 -1.15889538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters 0.025824159378042295 Centerline is valid? [True, True] Translation: X:163.27, Y:-106.96, Z:-11.59 [[ 7.37372792e-01 6.72769361e-01 6.05206825e-02 1.63268799e+02] [-6.70495524e-01 7.39852254e-01 -5.52665788e-02 -1.06958295e+02] [-8.19580242e-02 1.73224763e-04 9.96635767e-01 -1.15915699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27864 meters 0.02590718215877227 Centerline is valid? [True, True] Translation: X:163.29, Y:-106.98, Z:-11.59 [[ 7.36863607e-01 6.73318291e-01 6.06176869e-02 1.63291824e+02] [-6.71034264e-01 7.39352727e-01 -5.54126419e-02 -1.06982366e+02] [-8.21281974e-02 1.55014217e-04 9.96621761e-01 -1.15937820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters 0.025923807372265996 Centerline is valid? [True, True] Translation: X:163.31, Y:-107.01, Z:-11.59 [[ 7.36901299e-01 6.73371690e-01 5.95570542e-02 1.63312421e+02] [-6.71162849e-01 7.39304086e-01 -5.44967717e-02 -1.07007083e+02] [-8.07273568e-02 1.86259635e-04 9.96736203e-01 -1.15949188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33864 meters 0.0259035672925666 Centerline is valid? [True, True] Translation: X:163.34, Y:-107.03, Z:-11.60 [[ 7.36641978e-01 6.73692611e-01 5.91342719e-02 1.63335191e+02] [-6.71511998e-01 7.39011658e-01 -5.41609250e-02 -1.07030662e+02] [-8.01887314e-02 1.87837876e-04 9.96779681e-01 -1.15962887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters 0.02584156545858685 Centerline is valid? [True, True] Translation: X:163.36, Y:-107.06, Z:-11.60 [[ 7.36004060e-01 6.74398582e-01 5.90302980e-02 1.63356754e+02] [-6.72223396e-01 7.38367476e-01 -5.41218723e-02 -1.07055250e+02] [-8.00857661e-02 1.52370358e-04 9.96787965e-01 -1.15988143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39864 meters 0.02581340000451686 Centerline is valid? [True, True] Translation: X:163.38, Y:-107.08, Z:-11.60 [[ 7.36169213e-01 6.74343525e-01 5.75821156e-02 1.63379611e+02] [-6.72269663e-01 7.38417749e-01 -5.28462617e-02 -1.07078460e+02] [-7.81561906e-02 1.93081442e-04 9.96941108e-01 -1.16000714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42864 meters 0.02562813875373365 Centerline is valid? [True, True] Translation: X:163.40, Y:-107.10, Z:-11.60 [[ 7.35416909e-01 6.75157056e-01 5.76621246e-02 1.63401428e+02] [-6.73075956e-01 7.37673999e-01 -5.29700724e-02 -1.07102974e+02] [-7.82989682e-02 1.44097281e-04 9.96929913e-01 -1.16021430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45864 meters 0.02560135587598049 Centerline is valid? [True, True] Translation: X:163.43, Y:-107.13, Z:-11.60 [[ 7.34515992e-01 6.76153907e-01 5.74643573e-02 1.63425478e+02] [-6.74085813e-01 7.36760401e-01 -5.28434389e-02 -1.07126314e+02] [-7.80677606e-02 7.84429586e-05 9.96948052e-01 -1.16036801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48864 meters 0.025570819311139758 Centerline is valid? [True, True] Translation: X:163.45, Y:-107.15, Z:-11.61 [[ 7.33421568e-01 6.77314501e-01 5.77742947e-02 1.63449620e+02] [-6.75223201e-01 7.35693595e-01 -5.31842380e-02 -1.07149290e+02] [-7.85266342e-02 -4.07696110e-06 9.96912016e-01 -1.16056492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51864 meters 0.02566854982839938 Centerline is valid? [True, True] Translation: X:163.47, Y:-107.17, Z:-11.61 [[ 7.30657437e-01 6.80243236e-01 5.83853594e-02 1.63471885e+02] [-6.78112329e-01 7.32986399e-01 -5.38015680e-02 -1.07171962e+02] [-7.93938271e-02 -2.81316267e-04 9.96843288e-01 -1.16086801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54864 meters 0.02564495662202281 Centerline is valid? [True, True] Translation: X:163.50, Y:-107.19, Z:-11.61 [[ 7.29476919e-01 6.81548225e-01 5.79261776e-02 1.63496043e+02] [-6.79450858e-01 7.31773101e-01 -5.34290203e-02 -1.07194675e+02] [-7.88032725e-02 -3.82753925e-04 9.96890113e-01 -1.16098959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57864 meters 0.02572966302217254 Centerline is valid? [True, True] Translation: X:163.52, Y:-107.22, Z:-11.61 [[ 7.28553566e-01 6.82531755e-01 5.79664217e-02 1.63520060e+02] [-6.80430137e-01 7.30855802e-01 -5.35221995e-02 -1.07216702e+02] [-7.88956964e-02 -4.48310947e-04 9.96882776e-01 -1.16116619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60864 meters 0.025589118882499352 Centerline is valid? [True, True] Translation: X:163.54, Y:-107.24, Z:-11.61 [[ 7.27737320e-01 6.83394335e-01 5.80566694e-02 1.63544765e+02] [-6.81284402e-01 7.30049267e-01 -5.36621921e-02 -1.07238889e+02] [-7.90566670e-02 -5.01123472e-04 9.96869998e-01 -1.16130603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63864 meters 0.025718489043943547 Centerline is valid? [True, True] Translation: X:163.57, Y:-107.26, Z:-11.61 [[ 7.27287409e-01 6.83822633e-01 5.86483637e-02 1.63568804e+02] [-6.81666189e-01 7.29648097e-01 -5.42665758e-02 -1.07260927e+02] [-7.99013797e-02 -5.11209274e-04 9.96802643e-01 -1.16146352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66864 meters 0.025707266319305255 Centerline is valid? [True, True] Translation: X:163.59, Y:-107.28, Z:-11.62 [[ 7.26229609e-01 6.84940909e-01 5.87069579e-02 1.63593644e+02] [-6.82779215e-01 7.28598380e-01 -5.43777860e-02 -1.07282956e+02] [-8.00193646e-02 -5.93132354e-04 9.96793133e-01 -1.16172473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69864 meters 0.025821965001828463 Centerline is valid? [True, True] Translation: X:163.62, Y:-107.30, Z:-11.62 [[ 7.25642924e-01 6.85630908e-01 5.79016898e-02 1.63618357e+02] [-6.83526152e-01 7.27949087e-01 -5.36854465e-02 -1.07303918e+02] [-7.89578836e-02 -6.20854804e-04 9.96877759e-01 -1.16192759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72864 meters 0.025821965001828463 Centerline is valid? [True, True] Translation: X:163.64, Y:-107.33, Z:-11.62 [[ 7.25285058e-01 6.86011611e-01 5.78761962e-02 1.63642428e+02] [-6.83905873e-01 7.27590323e-01 -5.37129198e-02 -1.07325798e+02] [-7.89578470e-02 -6.24692304e-04 9.96877760e-01 -1.16211198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75864 meters 0.02580058875065071 Centerline is valid? [True, True] Translation: X:163.67, Y:-107.35, Z:-11.62 [[ 7.24943135e-01 6.86421546e-01 5.72966920e-02 1.63669015e+02] [-6.84354758e-01 7.27203598e-01 -5.32305538e-02 -1.07345923e+02] [-7.82049596e-02 -6.22139209e-04 9.96937108e-01 -1.16233224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864000000002 meters 0.025800022452011448 Centerline is valid? [True, True] Translation: X:163.69, Y:-107.37, Z:-11.62 [[ 7.25229085e-01 6.86123945e-01 5.72425289e-02 1.63693995e+02] [-6.84055762e-01 7.27484455e-01 -5.32361080e-02 -1.07367142e+02] [-7.81696183e-02 -5.48707807e-04 9.96939923e-01 -1.16248279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81864000000002 meters 0.025783813189652276 Centerline is valid? [True, True] Translation: X:163.72, Y:-107.39, Z:-11.63 [[ 7.25264258e-01 6.86031031e-01 5.79066488e-02 1.63719249e+02] [-6.83909658e-01 7.27572107e-01 -5.39111227e-02 -1.07388341e+02] [-7.91159656e-02 -5.03105982e-04 9.96865292e-01 -1.16276377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864000000002 meters 0.025794885467341197 Centerline is valid? [True, True] Translation: X:163.74, Y:-107.41, Z:-11.63 [[ 7.25718303e-01 6.85577905e-01 5.75836921e-02 1.63744857e+02] [-6.83474272e-01 7.27999154e-01 -5.36670425e-02 -1.07409665e+02] [-7.87138177e-02 -4.09817013e-04 9.96897170e-01 -1.16295857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87864000000002 meters 0.025801988101322327 Centerline is valid? [True, True] Translation: X:163.77, Y:-107.43, Z:-11.63 [[ 7.28008910e-01 6.83143952e-01 5.75965981e-02 1.63771586e+02] [-6.81027280e-01 7.30283732e-01 -5.37355955e-02 -1.07428768e+02] [-7.87710057e-02 -1.04862227e-04 9.96892731e-01 -1.16332344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864000000002 meters 0.025733927861226087 Centerline is valid? [True, True] Translation: X:163.80, Y:-107.45, Z:-11.63 [[ 7.30253495e-01 6.80791597e-01 5.70318844e-02 1.63798018e+02] [-6.78704744e-01 7.32477144e-01 -5.32644710e-02 -1.07448765e+02] [-7.80365561e-02 1.88755612e-04 9.96950480e-01 -1.16347186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93864000000002 meters 0.0258043627564748 Centerline is valid? [True, True] Translation: X:163.82, Y:-107.47, Z:-11.64 [[ 7.30740986e-01 6.80240877e-01 5.73581726e-02 1.63823287e+02] [-6.78123922e-01 7.32988584e-01 -5.36253855e-02 -1.07470048e+02] [-7.85210650e-02 2.90318130e-04 9.96912412e-01 -1.16371710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters 0.025988940060647593 Centerline is valid? [True, True] Translation: X:163.85, Y:-107.49, Z:-11.64 [[ 7.30558468e-01 6.80452767e-01 5.71695361e-02 1.63848341e+02] [-6.78346023e-01 7.32791878e-01 -5.35045471e-02 -1.07491592e+02] [-7.83006889e-02 3.07472545e-04 9.96929741e-01 -1.16380828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99864 meters 0.02587607066120991 Centerline is valid? [True, True] Translation: X:163.87, Y:-107.51, Z:-11.64 [[ 7.30439570e-01 6.80591851e-01 5.70330285e-02 1.63874241e+02] [-6.78491248e-01 7.32662693e-01 -5.34322464e-02 -1.07511897e+02] [-7.81515237e-02 3.32616347e-04 9.96941437e-01 -1.16385636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters 0.025771980672642504 Centerline is valid? [True, True] Translation: X:163.90, Y:-107.53, Z:-11.64 [[ 7.29903432e-01 6.81172983e-01 5.69591791e-02 1.63899481e+02] [-6.79075260e-01 7.32122443e-01 -5.34183538e-02 -1.07533674e+02] [-7.80882327e-02 3.10670473e-04 9.96946403e-01 -1.16409721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05864 meters 0.025693211137850704 Centerline is valid? [True, True] Translation: X:163.92, Y:-107.56, Z:-11.64 [[ 7.29183795e-01 6.81964641e-01 5.67029261e-02 1.63924476e+02] [-6.79883876e-01 7.31385096e-01 -5.32330499e-02 -1.07555737e+02] [-7.77747328e-02 2.65272194e-04 9.96970923e-01 -1.16426148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters 0.02557590804451218 Centerline is valid? [True, True] Translation: X:163.95, Y:-107.58, Z:-11.64 [[ 7.27246809e-01 6.84057364e-01 5.63702213e-02 1.63949886e+02] [-6.82002987e-01 7.29428212e-01 -5.29755473e-02 -1.07577000e+02] [-7.73563430e-02 8.16383836e-05 9.97003505e-01 -1.16442450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11864 meters 0.025660798422389552 Centerline is valid? [True, True] Translation: X:163.97, Y:-107.60, Z:-11.65 [[ 7.25831484e-01 6.85553600e-01 5.64350833e-02 1.63974480e+02] [-6.83494697e-01 7.28022156e-01 -5.30918061e-02 -1.07598394e+02] [-7.74832698e-02 -3.73758191e-05 9.96993652e-01 -1.16463233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14864 meters 0.025672958039751694 Centerline is valid? [True, True] Translation: X:164.00, Y:-107.62, Z:-11.65 [[ 7.25236836e-01 6.86167233e-01 5.66220831e-02 1.63999670e+02] [-6.84092149e-01 7.27443829e-01 -5.33236060e-02 -1.07620441e+02] [-7.77782961e-02 -6.24792528e-05 9.96970678e-01 -1.16475778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17864 meters 0.025618634857665277 Centerline is valid? [True, True] Translation: X:164.02, Y:-107.64, Z:-11.65 [[ 7.25448168e-01 6.85956479e-01 5.64682572e-02 1.64024732e+02] [-6.83887729e-01 7.27642569e-01 -5.32340682e-02 -1.07641535e+02] [-7.76049617e-02 6.09038750e-07 9.96984187e-01 -1.16486403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20864 meters 0.02558813509661357 Centerline is valid? [True, True] Translation: X:164.05, Y:-107.66, Z:-11.65 [[ 7.24928271e-01 6.86478905e-01 5.67953722e-02 1.64049539e+02] [-6.84383270e-01 7.27149718e-01 -5.35987557e-02 -1.07663536e+02] [-7.80931540e-02 -1.45492518e-05 9.96946066e-01 -1.16509277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23864 meters 0.02567373334967649 Centerline is valid? [True, True] Translation: X:164.07, Y:-107.69, Z:-11.65 [[ 7.24611751e-01 6.86770861e-01 5.73026611e-02 1.64074664e+02] [-6.84634007e-01 7.26873981e-01 -5.41340197e-02 -1.07685156e+02] [-7.88294808e-02 -5.20364373e-06 9.96888115e-01 -1.16533781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26864 meters 0.025636104681574845 Centerline is valid? [True, True] Translation: X:164.10, Y:-107.71, Z:-11.66 [[ 7.23678530e-01 6.87720261e-01 5.77081324e-02 1.64099169e+02] [-6.85551493e-01 7.25975784e-01 -5.45739144e-02 -1.07707529e+02] [-7.94262933e-02 -6.79262195e-05 9.96840739e-01 -1.16558211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29864 meters 0.025551250097904297 Centerline is valid? [True, True] Translation: X:164.12, Y:-107.73, Z:-11.66 [[ 7.23610247e-01 6.87803663e-01 5.75702318e-02 1.64124011e+02] [-6.85641039e-01 7.25896769e-01 -5.44999617e-02 -1.07728907e+02] [-7.92753186e-02 -3.57828105e-05 9.96852759e-01 -1.16570903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32864 meters 0.025610976132008245 Centerline is valid? [True, True] Translation: X:164.15, Y:-107.75, Z:-11.66 [[ 7.22729512e-01 6.88682319e-01 5.81267223e-02 1.64148491e+02] [-6.86476735e-01 7.25063206e-01 -5.50730429e-02 -1.07749396e+02] [-8.00733785e-02 -9.97291385e-05 9.96788967e-01 -1.16591998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35864 meters 0.02557926837241146 Centerline is valid? [True, True] Translation: X:164.17, Y:-107.77, Z:-11.66 [[ 7.21822905e-01 6.89645165e-01 5.79761967e-02 1.64173129e+02] [-6.87451742e-01 7.24147438e-01 -5.49598968e-02 -1.07771879e+02] [-7.98861414e-02 -1.84525027e-04 9.96803978e-01 -1.16608680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38864 meters 0.0253942344524822 Centerline is valid? [True, True] Translation: X:164.20, Y:-107.79, Z:-11.66 [[ 7.21293299e-01 6.90232374e-01 5.75781865e-02 1.64197380e+02] [-6.88066336e-01 7.23587747e-01 -5.46396398e-02 -1.07794824e+02] [-7.93769185e-02 -2.06405749e-04 9.96844653e-01 -1.16623736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41864 meters 0.025198135395245787 Centerline is valid? [True, True] Translation: X:164.22, Y:-107.82, Z:-11.66 [[ 7.21645129e-01 6.89883014e-01 5.73562098e-02 1.64222165e+02] [-6.87728099e-01 7.23920859e-01 -5.44853271e-02 -1.07817241e+02] [-7.91098584e-02 -1.26406253e-04 9.96865896e-01 -1.16638185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44864 meters 0.02523212812874142 Centerline is valid? [True, True] Translation: X:164.25, Y:-107.84, Z:-11.66 [[ 7.21987555e-01 6.89584922e-01 5.66268991e-02 1.64246552e+02] [-6.87479452e-01 7.24204827e-01 -5.38458041e-02 -1.07839006e+02] [-7.81407283e-02 -5.38290945e-05 9.96942337e-01 -1.16646374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47864 meters 0.025291730407867724 Centerline is valid? [True, True] Translation: X:164.27, Y:-107.86, Z:-11.67 [[ 7.23314834e-01 6.88154271e-01 5.70907239e-02 1.64271417e+02] [-6.86005581e-01 7.25564387e-01 -5.43384121e-02 -1.07860992e+02] [-7.88162065e-02 1.39224342e-04 9.96889154e-01 -1.16681185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50864 meters 0.025264588987933087 Centerline is valid? [True, True] Translation: X:164.29, Y:-107.89, Z:-11.67 [[ 7.24424954e-01 6.86995786e-01 5.69673340e-02 1.64294302e+02] [-6.84848387e-01 7.26661336e-01 -5.42769719e-02 -1.07885345e+02] [-7.86840100e-02 3.05606045e-04 9.96899560e-01 -1.16689772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53864000000002 meters 0.025085268720981952 Centerline is valid? [True, True] Translation: X:164.32, Y:-107.91, Z:-11.67 [[ 7.25250628e-01 6.86251538e-01 5.54107644e-02 1.64317769e+02] [-6.84213940e-01 7.27364184e-01 -5.28453251e-02 -1.07908076e+02] [-7.65689910e-02 4.13287772e-04 9.97064200e-01 -1.16697250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864000000002 meters 0.025115733415750883 Centerline is valid? [True, True] Translation: X:164.34, Y:-107.93, Z:-11.67 [[ 7.26151374e-01 6.85314616e-01 5.52092287e-02 1.64341570e+02] [-6.83285383e-01 7.28246921e-01 -5.27020622e-02 -1.07931346e+02] [-7.63234444e-02 5.46015955e-04 9.97082962e-01 -1.16717949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59864000000002 meters 0.025302603367797008 Centerline is valid? [True, True] Translation: X:164.36, Y:-107.96, Z:-11.67 [[ 7.27416417e-01 6.83972195e-01 5.52031961e-02 1.64364036e+02] [-6.81935404e-01 7.29507717e-01 -5.27503106e-02 -1.07955710e+02] [-7.63509032e-02 7.26428037e-04 9.97080745e-01 -1.16739688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864000000002 meters 0.025124281766291442 Centerline is valid? [True, True] Translation: X:164.38, Y:-107.98, Z:-11.67 [[ 7.28124179e-01 6.83291310e-01 5.42970182e-02 1.64384965e+02] [-6.81315612e-01 7.30145408e-01 -5.19299539e-02 -1.07980878e+02] [-7.51280048e-02 8.18048858e-04 9.97173562e-01 -1.16746929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65864000000002 meters 0.025348322721222154 Centerline is valid? [True, True] Translation: X:164.41, Y:-108.01, Z:-11.68 [[ 7.27900393e-01 6.83508707e-01 5.45606580e-02 1.64407870e+02] [-6.81511851e-01 7.29941895e-01 -5.22152100e-02 -1.08005272e+02] [-7.55156607e-02 8.23736893e-04 9.97144276e-01 -1.16770509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864000000002 meters 0.025214600138927932 Centerline is valid? [True, True] Translation: X:164.43, Y:-108.03, Z:-11.68 [[ 7.27334471e-01 6.84017450e-01 5.57198026e-02 1.64430066e+02] [-6.81932008e-01 7.29465177e-01 -5.33787551e-02 -1.08028797e+02] [-7.71576555e-02 8.27091686e-04 9.97018562e-01 -1.16792871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71864 meters 0.02515233942304708 Centerline is valid? [True, True] Translation: X:164.45, Y:-108.05, Z:-11.68 [[ 7.26867498e-01 6.84530472e-01 5.55128169e-02 1.64453152e+02] [-6.82458223e-01 7.28983802e-01 -5.32295916e-02 -1.08052760e+02] [-7.69052218e-02 8.05681685e-04 9.97038082e-01 -1.16816594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters 0.025226935501802775 Centerline is valid? [True, True] Translation: X:164.48, Y:-108.08, Z:-11.68 [[ 7.25634330e-01 6.85822653e-01 5.56965754e-02 1.64475233e+02] [-6.83736191e-01 7.27768358e-01 -5.34606171e-02 -1.08077318e+02] [-7.71987075e-02 7.11094747e-04 9.97015473e-01 -1.16842035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77864 meters 0.02495568496735582 Centerline is valid? [True, True] Translation: X:164.50, Y:-108.10, Z:-11.68 [[ 7.24782737e-01 6.86854160e-01 5.40494879e-02 1.64496571e+02] [-6.84888536e-01 7.26795005e-01 -5.19299038e-02 -1.08101464e+02] [-7.49511682e-02 6.20023185e-04 9.97187013e-01 -1.16849251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters 0.024967872208941085 Centerline is valid? [True, True] Translation: X:164.52, Y:-108.13, Z:-11.69 [[ 7.23941583e-01 6.87759668e-01 5.38072757e-02 1.64518537e+02] [-6.85810568e-01 7.25938239e-01 -5.17449350e-02 -1.08125684e+02] [-7.46488383e-02 5.58711865e-04 9.97209727e-01 -1.16866919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83864 meters 0.024742380769253367 Centerline is valid? [True, True] Translation: X:164.54, Y:-108.15, Z:-11.69 [[ 7.23578954e-01 6.88070121e-01 5.47083705e-02 1.64540701e+02] [-6.86051931e-01 7.25643975e-01 -5.26646990e-02 -1.08149761e+02] [-7.59358053e-02 5.74284616e-04 9.97112543e-01 -1.16881668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86864 meters 0.025021811913661752 Centerline is valid? [True, True] Translation: X:164.56, Y:-108.17, Z:-11.69 [[ 7.22567460e-01 6.88957728e-01 5.68640073e-02 1.64562430e+02] [-6.86775835e-01 7.24801325e-01 -5.47904389e-02 -1.08173258e+02] [-7.89634041e-02 5.36962226e-04 9.96877371e-01 -1.16908921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89864 meters 0.025015201454851695 Centerline is valid? [True, True] Translation: X:164.59, Y:-108.20, Z:-11.69 [[ 7.22809319e-01 6.88718997e-01 5.66818506e-02 1.64586872e+02] [-6.86546306e-01 7.25028127e-01 -5.46661232e-02 -1.08195661e+02] [-7.87455336e-02 5.98468140e-04 9.96894570e-01 -1.16925906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92864 meters 0.024955423298349804 Centerline is valid? [True, True] Translation: X:164.61, Y:-108.22, Z:-11.70 [[ 7.22308091e-01 6.89276306e-01 5.62956137e-02 1.64610577e+02] [-6.87130510e-01 7.24498340e-01 -5.43490427e-02 -1.08219230e+02] [-7.82475860e-02 5.74319573e-04 9.96933792e-01 -1.16954540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95864 meters 0.024946199670856328 Centerline is valid? [True, True] Translation: X:164.63, Y:-108.24, Z:-11.70 [[ 7.21889882e-01 6.89690369e-01 5.65879231e-02 1.64633901e+02] [-6.87519005e-01 7.24104181e-01 -5.46877734e-02 -1.08243053e+02] [-7.86931824e-02 5.73277655e-04 9.96898718e-01 -1.16966884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98864 meters 0.0248129740663774 Centerline is valid? [True, True] Translation: X:164.66, Y:-108.27, Z:-11.70 [[ 7.20822926e-01 6.90756728e-01 5.71791315e-02 1.64657329e+02] [-6.88538426e-01 7.23087055e-01 -5.53167790e-02 -1.08266742e+02] [-7.95559270e-02 5.03573302e-04 9.96830277e-01 -1.16982920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01864 meters 0.024737670184529464 Centerline is valid? [True, True] Translation: X:164.68, Y:-108.29, Z:-11.70 [[ 7.18963953e-01 6.92645979e-01 5.77267901e-02 1.64681017e+02] [-6.90386296e-01 7.21277639e-01 -5.59046429e-02 -1.08290104e+02] [-8.03591690e-02 3.39638193e-04 9.96765915e-01 -1.17013960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04864 meters 0.024590664153754476 Centerline is valid? [True, True] Translation: X:164.71, Y:-108.31, Z:-11.70 [[ 7.17639055e-01 6.94050495e-01 5.73419369e-02 1.64705957e+02] [-6.91820794e-01 7.19926288e-01 -5.55889166e-02 -1.08312292e+02] [-7.98634829e-02 2.22433241e-04 9.96805786e-01 -1.17031319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07864 meters 0.02465438648134023 Centerline is valid? [True, True] Translation: X:164.73, Y:-108.33, Z:-11.71 [[ 7.16796315e-01 6.94879177e-01 5.78443847e-02 1.64730614e+02] [-6.92608147e-01 7.19126484e-01 -5.61342551e-02 -1.08333823e+02] [-8.06039539e-02 1.73335065e-04 9.96746193e-01 -1.17059141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10864 meters 0.024711935359047643 Centerline is valid? [True, True] Translation: X:164.75, Y:-108.35, Z:-11.71 [[ 7.15493617e-01 6.96113971e-01 5.91119653e-02 1.64754553e+02] [-6.93741641e-01 7.17931288e-01 -5.74212622e-02 -1.08354646e+02] [-8.24100722e-02 7.61147687e-05 9.96598502e-01 -1.17083363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13864 meters 0.02470472577129695 Centerline is valid? [True, True] Translation: X:164.78, Y:-108.38, Z:-11.71 [[ 7.14170165e-01 6.97452180e-01 5.93416541e-02 1.64779187e+02] [-6.95061624e-01 7.16631324e-01 -5.76964810e-02 -1.08376674e+02] [-8.27666247e-02 -4.10011091e-05 9.96568956e-01 -1.17097162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16864 meters 0.024809017556212298 Centerline is valid? [True, True] Translation: X:164.81, Y:-108.40, Z:-11.71 [[ 7.12264771e-01 6.99375764e-01 5.96023229e-02 1.64805005e+02] [-6.96965774e-01 7.14754147e-01 -5.80105076e-02 -1.08397575e+02] [-8.31721506e-02 -2.21938223e-04 9.96535170e-01 -1.17121116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19864 meters 0.024740419270150787 Centerline is valid? [True, True] Translation: X:164.83, Y:-108.42, Z:-11.71 [[ 7.11714664e-01 6.99994728e-01 5.89034640e-02 1.64830008e+02] [-6.97638427e-01 7.14147967e-01 -5.73873355e-02 -1.08417692e+02] [-8.22366214e-02 -2.49911781e-04 9.96612801e-01 -1.17138959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22864 meters 0.02454874348998934 Centerline is valid? [True, True] Translation: X:164.86, Y:-108.44, Z:-11.72 [[ 7.11106076e-01 7.00738455e-01 5.73913473e-02 1.64857060e+02] [-6.98500186e-01 7.13418203e-01 -5.59638950e-02 -1.08435760e+02] [-8.01600852e-02 -2.91600942e-04 9.96781960e-01 -1.17162247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25864 meters 0.02455492368067742 Centerline is valid? [True, True] Translation: X:164.88, Y:-108.46, Z:-11.72 [[ 7.10807693e-01 7.00980842e-01 5.81229975e-02 1.64881960e+02] [-6.98681607e-01 7.13180046e-01 -5.67294739e-02 -1.08455796e+02] [-8.12184364e-02 -2.85722798e-04 9.96696285e-01 -1.17183605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864000000002 meters 0.024597622796970628 Centerline is valid? [True, True] Translation: X:164.91, Y:-108.48, Z:-11.72 [[ 7.10485117e-01 7.01291045e-01 5.83246864e-02 1.64907427e+02] [-6.98972393e-01 7.12875017e-01 -5.69807379e-02 -1.08477019e+02] [-8.15382930e-02 -2.83379403e-04 9.96670169e-01 -1.17201308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31864000000002 meters 0.024726245601914863 Centerline is valid? [True, True] Translation: X:164.94, Y:-108.50, Z:-11.72 [[ 7.11955307e-01 6.99733877e-01 5.90943536e-02 1.64935480e+02] [-6.97343072e-01 7.14403596e-01 -5.77939657e-02 -1.08495911e+02] [-8.26576143e-02 -6.23174859e-05 9.96578002e-01 -1.17218479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864000000002 meters 0.024700920443664 Centerline is valid? [True, True] Translation: X:164.96, Y:-108.52, Z:-11.72 [[ 7.12438699e-01 6.99268401e-01 5.87775771e-02 1.64961422e+02] [-6.96896670e-01 7.14859219e-01 -5.75441491e-02 -1.08516615e+02] [-8.22564980e-02 3.47810133e-05 9.96611192e-01 -1.17237497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37864000000002 meters 0.024534234989518778 Centerline is valid? [True, True] Translation: X:164.99, Y:-108.54, Z:-11.73 [[ 7.15508556e-01 6.96181341e-01 5.81295703e-02 1.64988408e+02] [-6.93846692e-01 7.17865835e-01 -5.69685042e-02 -1.08535836e+02] [-8.13896422e-02 4.28442129e-04 9.96682268e-01 -1.17252502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864000000002 meters 0.02497924144169906 Centerline is valid? [True, True] Translation: X:165.01, Y:-108.56, Z:-11.73 [[ 7.16979717e-01 6.94545966e-01 5.95481798e-02 1.65012928e+02] [-6.92085211e-01 7.19448017e-01 -5.84175591e-02 -1.08556828e+02] [-8.34154999e-02 6.71790423e-04 9.96514628e-01 -1.17291330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43864000000002 meters 0.02501019888305863 Centerline is valid? [True, True] Translation: X:165.04, Y:-108.58, Z:-11.73 [[ 7.18787769e-01 6.92692540e-01 5.93395957e-02 1.65036763e+02] [-6.90238381e-01 7.21232414e-01 -5.82647582e-02 -1.08578128e+02] [-8.31572032e-02 9.21529103e-04 9.96536016e-01 -1.17300877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters 0.025403123994879224 Centerline is valid? [True, True] Translation: X:165.06, Y:-108.60, Z:-11.73 [[ 7.21596097e-01 6.89750949e-01 5.95205916e-02 1.65060810e+02] [-6.87267452e-01 7.24045532e-01 -5.84937384e-02 -1.08599802e+02] [-8.34417299e-02 1.30228800e-03 9.96511807e-01 -1.17311567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49864 meters 0.025605501955310972 Centerline is valid? [True, True] Translation: X:165.08, Y:-108.62, Z:-11.73 [[ 7.22178990e-01 6.89120931e-01 5.97482184e-02 1.65083988e+02] [-6.86611907e-01 7.24644970e-01 -5.87686680e-02 -1.08622274e+02] [-8.37949651e-02 1.41765906e-03 9.96482009e-01 -1.17337017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters 0.025631870422368454 Centerline is valid? [True, True] Translation: X:165.11, Y:-108.65, Z:-11.73 [[ 7.22893957e-01 6.88446630e-01 5.88690448e-02 1.65106756e+02] [-6.86004490e-01 7.25285429e-01 -5.79559033e-02 -1.08646421e+02] [-8.25964067e-02 1.51154325e-03 9.96581933e-01 -1.17349947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55864 meters 0.025471656382450976 Centerline is valid? [True, True] Translation: X:165.13, Y:-108.67, Z:-11.74 [[ 7.22792534e-01 6.88613433e-01 5.81592071e-02 1.65128846e+02] [-6.86226042e-01 7.25127057e-01 -5.73111740e-02 -1.08669559e+02] [-8.16380590e-02 1.51372626e-03 9.96660893e-01 -1.17368000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters 0.025471656382450976 Centerline is valid? [True, True] Translation: X:165.15, Y:-108.69, Z:-11.74 [[ 7.22452598e-01 6.88972244e-01 5.81333944e-02 1.65152259e+02] [-6.86583907e-01 7.24786153e-01 -5.73373487e-02 -1.08692174e+02] [-8.16381211e-02 1.51006347e-03 9.96660894e-01 -1.17386444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61864 meters 0.025469969588740808 Centerline is valid? [True, True] Translation: X:165.17, Y:-108.72, Z:-11.74 [[ 7.22118333e-01 6.89376438e-01 5.74912266e-02 1.65174808e+02] [-6.87037595e-01 7.24401764e-01 -5.67576157e-02 -1.08715636e+02] [-8.07741089e-02 1.48708075e-03 9.96731324e-01 -1.17398703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64864 meters 0.025332306125250073 Centerline is valid? [True, True] Translation: X:165.20, Y:-108.74, Z:-11.74 [[ 7.20950920e-01 6.90593194e-01 5.75396571e-02 1.65195464e+02] [-6.88250265e-01 7.23242086e-01 -5.68547132e-02 -1.08740467e+02] [-8.08785796e-02 1.38777356e-03 9.96722995e-01 -1.17417599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67864 meters 0.025375393357374584 Centerline is valid? [True, True] Translation: X:165.22, Y:-108.77, Z:-11.74 [[ 7.20678375e-01 6.90840057e-01 5.79887565e-02 1.65217908e+02] [-6.88456864e-01 7.23006245e-01 -5.73508089e-02 -1.08765321e+02] [-8.15464692e-02 1.40873031e-03 9.96668545e-01 -1.17447942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70864 meters 0.025443996225770257 Centerline is valid? [True, True] Translation: X:165.24, Y:-108.79, Z:-11.75 [[ 7.20343649e-01 6.91174936e-01 5.81569859e-02 1.65238146e+02] [-6.88774248e-01 7.22686101e-01 -5.75746000e-02 -1.08791202e+02] [-8.18233659e-02 1.41646325e-03 9.96645840e-01 -1.17474301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73864 meters 0.025580582273399773 Centerline is valid? [True, True] Translation: X:165.26, Y:-108.81, Z:-11.75 [[ 7.20485269e-01 6.91043721e-01 5.79616498e-02 1.65261262e+02] [-6.88654069e-01 7.22811470e-01 -5.74382398e-02 -1.08814888e+02] [-8.15876802e-02 1.46787971e-03 9.96665087e-01 -1.17497505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76864 meters 0.025158244744485737 Centerline is valid? [True, True] Translation: X:165.28, Y:-108.84, Z:-11.75 [[ 7.19722662e-01 6.92021753e-01 5.57241645e-02 1.65283871e+02] [-6.89812208e-01 7.21875400e-01 -5.52722780e-02 -1.08837752e+02] [-7.84755223e-02 1.34150213e-03 9.96915138e-01 -1.17504060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79864 meters 0.025013662142364182 Centerline is valid? [True, True] Translation: X:165.31, Y:-108.86, Z:-11.75 [[ 7.18524176e-01 6.93264016e-01 5.57495587e-02 1.65306356e+02] [-6.91052391e-01 7.20682637e-01 -5.53455410e-02 -1.08860345e+02] [-7.85468110e-02 1.24124336e-03 9.96909654e-01 -1.17522415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82864 meters 0.024862377929930558 Centerline is valid? [True, True] Translation: X:165.33, Y:-108.88, Z:-11.75 [[ 7.17388600e-01 6.94442255e-01 5.57095180e-02 1.65328505e+02] [-6.92233540e-01 7.19547525e-01 -5.53541902e-02 -1.08884229e+02] [-7.85259345e-02 1.14646820e-03 9.96911412e-01 -1.17526285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85864 meters 0.024830308742418126 Centerline is valid? [True, True] Translation: X:165.35, Y:-108.91, Z:-11.76 [[ 7.16390301e-01 6.95447965e-01 5.60095032e-02 1.65351367e+02] [-6.93214386e-01 7.18575650e-01 -5.57032342e-02 -1.08907524e+02] [-7.89857660e-02 1.07866336e-03 9.96875160e-01 -1.17554286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88864 meters 0.024581214510588145 Centerline is valid? [True, True] Translation: X:165.37, Y:-108.93, Z:-11.76 [[ 7.15254493e-01 6.96674867e-01 5.52733232e-02 1.65373731e+02] [-6.94499202e-01 7.17386361e-01 -5.50242424e-02 -1.08930700e+02] [-7.79863349e-02 9.69057730e-04 9.96953957e-01 -1.17572003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91864 meters 0.024681849701169968 Centerline is valid? [True, True] Translation: X:165.40, Y:-108.96, Z:-11.76 [[ 7.15220804e-01 6.96733367e-01 5.49710497e-02 1.65395768e+02] [-6.94577757e-01 7.17329512e-01 -5.47732682e-02 -1.08955148e+02] [-7.75947198e-02 9.93312560e-04 9.96984490e-01 -1.17613571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94864 meters 0.024861679869858586 Centerline is valid? [True, True] Translation: X:165.42, Y:-108.98, Z:-11.76 [[ 7.15588248e-01 6.96382937e-01 5.46284189e-02 1.65418584e+02] [-6.94248908e-01 7.17669612e-01 -5.44865256e-02 -1.08978521e+02] [-7.71486429e-02 1.06419724e-03 9.97019034e-01 -1.17632314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97864 meters 0.024968874874177944 Centerline is valid? [True, True] Translation: X:165.44, Y:-109.00, Z:-11.76 [[ 7.17220991e-01 6.94668767e-01 5.50395656e-02 1.65440803e+02] [-6.92493682e-01 7.19328599e-01 -5.49442173e-02 -1.09001162e+02] [-7.77595653e-02 1.29259451e-03 9.96971303e-01 -1.17642108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00864 meters 0.025097390879807023 Centerline is valid? [True, True] Translation: X:165.46, Y:-109.02, Z:-11.77 [[ 7.17631180e-01 6.94208637e-01 5.54964606e-02 1.65462721e+02] [-6.91993300e-01 7.19772513e-01 -5.54328629e-02 -1.09024511e+02] [-7.84267991e-02 1.37717193e-03 9.96918924e-01 -1.17662416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03864000000002 meters 0.025348119636423385 Centerline is valid? [True, True] Translation: X:165.48, Y:-109.05, Z:-11.77 [[ 7.17747694e-01 6.94040421e-01 5.60904839e-02 1.65484535e+02] [-6.91772896e-01 7.19934582e-01 -5.60754638e-02 -1.09048282e+02] [-7.93001176e-02 1.44615837e-03 9.96849738e-01 -1.17688633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864000000002 meters 0.025792423825807896 Centerline is valid? [True, True] Translation: X:165.41, Y:-109.30, Z:-10.04 [[ 7.41295401e-01 -6.70783385e-01 -2.30386535e-02 1.65407574e+02] [-6.70313534e-01 -7.41645857e-01 2.53217289e-02 -1.09295327e+02] [-3.40719169e-02 -3.32775996e-03 -9.99413843e-01 -1.00422046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09864000000002 meters 0.02577851793564789 Centerline is valid? [True, True] Translation: X:165.50, Y:-109.09, Z:-11.77 [[ 7.67486620e-01 6.38270285e-01 5.97940811e-02 1.65500863e+02] [-6.36164959e-01 7.69810381e-01 -5.18278185e-02 -1.09088095e+02] [-7.91102608e-02 1.73825805e-03 9.96864356e-01 -1.17716908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864000000002 meters 0.02614815413899965 Centerline is valid? [True, True] Translation: X:165.52, Y:-109.11, Z:-11.77 [[ 7.68177443e-01 6.37377468e-01 6.04431995e-02 1.65522532e+02] [-6.35221336e-01 7.70549459e-01 -5.24155088e-02 -1.09111628e+02] [-7.99829389e-02 1.86960158e-03 9.96794479e-01 -1.17747109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15864000000002 meters 0.025931052123298 Centerline is valid? [True, True] Translation: X:165.55, Y:-109.14, Z:-11.78 [[ 7.68083623e-01 6.37552937e-01 5.97812741e-02 1.65545858e+02] [-6.35440659e-01 7.70404288e-01 -5.18883641e-02 -1.09135623e+02] [-7.91373288e-02 1.86715048e-03 9.96861975e-01 -1.17759286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864000000002 meters 0.02591553224970382 Centerline is valid? [True, True] Translation: X:165.57, Y:-109.16, Z:-11.78 [[ 7.67716982e-01 6.38089544e-01 5.87568681e-02 1.65569280e+02] [-6.36046926e-01 7.69960017e-01 -5.10478213e-02 -1.09158232e+02] [-7.78135202e-02 1.81815395e-03 9.96966273e-01 -1.17774789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21864 meters 0.025809558663301344 Centerline is valid? [True, True] Translation: X:165.59, Y:-109.18, Z:-11.78 [[ 7.66682835e-01 6.39298968e-01 5.91122662e-02 1.65591493e+02] [-6.37231404e-01 7.68956302e-01 -5.14037252e-02 -1.09183442e+02] [-7.83170981e-02 1.74216141e-03 9.96926977e-01 -1.17793851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters 0.025690905578390714 Centerline is valid? [True, True] Translation: X:165.61, Y:-109.21, Z:-11.78 [[ 7.65985094e-01 6.40153049e-01 5.89144251e-02 1.65613866e+02] [-6.38097967e-01 7.68245551e-01 -5.12811608e-02 -1.09206547e+02] [-7.80885364e-02 1.68742987e-03 9.96945000e-01 -1.17803390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27864 meters 0.025439454324042075 Centerline is valid? [True, True] Translation: X:165.63, Y:-109.23, Z:-11.78 [[ 7.64248061e-01 6.42186738e-01 5.93388168e-02 1.65633711e+02] [-6.40104413e-01 7.66546715e-01 -5.16959812e-02 -1.09232249e+02] [-7.86844487e-02 1.52551494e-03 9.96898405e-01 -1.17817326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters 0.02512764057220328 Centerline is valid? [True, True] Translation: X:165.66, Y:-109.26, Z:-11.78 [[ 7.62870622e-01 6.43903877e-01 5.84483557e-02 1.65656646e+02] [-6.41885262e-01 7.65105183e-01 -5.09643883e-02 -1.09255197e+02] [-7.75353071e-02 1.36209649e-03 9.96988676e-01 -1.17825648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33864 meters 0.025004461289879893 Centerline is valid? [True, True] Translation: X:165.68, Y:-109.28, Z:-11.78 [[ 7.61289903e-01 6.45736242e-01 5.88420753e-02 1.65679830e+02] [-6.43692180e-01 7.63559573e-01 -5.13532469e-02 -1.09277940e+02] [-7.80900825e-02 1.21852467e-03 9.96945562e-01 -1.17845279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36864 meters 0.024677937115713897 Centerline is valid? [True, True] Translation: X:165.70, Y:-109.30, Z:-11.79 [[ 7.59243535e-01 6.48146946e-01 5.87774740e-02 1.65701248e+02] [-6.46111001e-01 7.61514627e-01 -5.13424458e-02 -1.09301961e+02] [-7.80373557e-02 1.00464746e-03 9.96949929e-01 -1.17856981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39864 meters 0.024384730396708236 Centerline is valid? [True, True] Translation: X:165.72, Y:-109.33, Z:-11.79 [[ 7.56488224e-01 6.51353203e-01 5.88606130e-02 1.65722717e+02] [-6.49317527e-01 7.58774341e-01 -5.14611370e-02 -1.09326745e+02] [-7.81812993e-02 7.10516488e-04 9.96938905e-01 -1.17873196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42864 meters 0.024319193060434792 Centerline is valid? [True, True] Translation: X:165.75, Y:-109.35, Z:-11.79 [[ 7.55061215e-01 6.53019444e-01 5.87211026e-02 1.65745951e+02] [-6.50994819e-01 7.57340926e-01 -5.13854722e-02 -1.09349509e+02] [-7.80276067e-02 5.72043433e-04 9.96951035e-01 -1.17894671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45864 meters 0.024189623805500084 Centerline is valid? [True, True] Translation: X:165.77, Y:-109.37, Z:-11.79 [[ 7.54375228e-01 6.53895938e-01 5.77764432e-02 1.65769389e+02] [-6.51935087e-01 7.56584327e-01 -5.06043283e-02 -1.09371736e+02] [-7.68027161e-02 5.08161186e-04 9.97046180e-01 -1.17907830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48864 meters 0.024256395023154464 Centerline is valid? [True, True] Translation: X:165.79, Y:-109.39, Z:-11.79 [[ 7.53165023e-01 6.55258769e-01 5.81239540e-02 1.65793683e+02] [-6.53274522e-01 7.55404381e-01 -5.09570403e-02 -1.09394063e+02] [-7.72971370e-02 4.08162109e-04 9.97008017e-01 -1.17920415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51864 meters 0.024155460776156545 Centerline is valid? [True, True] Translation: X:165.82, Y:-109.42, Z:-11.79 [[ 7.51839417e-01 6.56628688e-01 5.98018101e-02 1.65818414e+02] [-6.54528053e-01 7.54213939e-01 -5.24820154e-02 -1.09415322e+02] [-7.95645557e-02 3.16085545e-04 9.96829665e-01 -1.17939264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54864 meters 0.024090064339698975 Centerline is valid? [True, True] Translation: X:165.84, Y:-109.44, Z:-11.80 [[ 7.51001175e-01 6.57513895e-01 6.06029199e-02 1.65842916e+02] [-6.55355204e-01 7.53442372e-01 -5.32367250e-02 -1.09437083e+02] [-8.06646941e-02 2.64404109e-04 9.96741259e-01 -1.17963997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57864 meters 0.02409768657024266 Centerline is valid? [True, True] Translation: X:165.87, Y:-109.46, Z:-11.80 [[ 7.50702958e-01 6.57986583e-01 5.91500256e-02 1.65866781e+02] [-6.55927665e-01 7.53029611e-01 -5.20125245e-02 -1.09459084e+02] [-7.87652641e-02 2.47817811e-04 9.96893160e-01 -1.17976431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60864 meters 0.024131380247600528 Centerline is valid? [True, True] Translation: X:165.89, Y:-109.48, Z:-11.80 [[ 7.50609556e-01 6.58090679e-01 5.91773014e-02 1.65891210e+02] [-6.56026233e-01 7.52938632e-01 -5.20864581e-02 -1.09481000e+02] [-7.88344889e-02 2.74731133e-04 9.96887681e-01 -1.17994915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63864 meters 0.024122395846076353 Centerline is valid? [True, True] Translation: X:165.92, Y:-109.50, Z:-11.80 [[ 7.50288374e-01 6.58399151e-01 5.98156655e-02 1.65916251e+02] [-6.56286333e-01 7.52668902e-01 -5.27045882e-02 -1.09502208e+02] [-7.97220474e-02 2.87436088e-04 9.96817091e-01 -1.18014177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66864 meters 0.02437510773876823 Centerline is valid? [True, True] Translation: X:165.94, Y:-109.52, Z:-11.80 [[ 7.48948719e-01 6.59811898e-01 6.10252023e-02 1.65941507e+02] [-6.57612779e-01 7.51430786e-01 -5.38257058e-02 -1.09522466e+02] [-8.13710569e-02 1.81740526e-04 9.96683861e-01 -1.18034320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69864 meters 0.02420734608716181 Centerline is valid? [True, True] Translation: X:165.97, Y:-109.54, Z:-11.81 [[ 7.47550481e-01 6.61425840e-01 6.06970911e-02 1.65966705e+02] [-6.59251478e-01 7.50010571e-01 -5.35876086e-02 -1.09544485e+02] [-8.09676890e-02 4.47955293e-05 9.96716726e-01 -1.18050639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72864 meters 0.02424278747677637 Centerline is valid? [True, True] Translation: X:165.99, Y:-109.57, Z:-11.81 [[ 7.45621065e-01 6.63645747e-01 6.01959319e-02 1.65991625e+02] [-6.61509899e-01 7.48046990e-01 -5.32010736e-02 -1.09565625e+02] [-8.03360519e-02 -1.52363730e-04 9.96767824e-01 -1.18076826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75864 meters 0.024109774341126575 Centerline is valid? [True, True] Translation: X:166.02, Y:-109.59, Z:-11.81 [[ 7.45150392e-01 6.64237067e-01 5.94980023e-02 1.66015958e+02] [-6.62148189e-01 7.47521966e-01 -5.26373156e-02 -1.09586125e+02] [-7.94397197e-02 -1.73778096e-04 9.96839656e-01 -1.18093557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864000000002 meters 0.024052088077854618 Centerline is valid? [True, True] Translation: X:166.04, Y:-109.61, Z:-11.81 [[ 7.44826241e-01 6.64616369e-01 5.93207555e-02 1.66041209e+02] [-6.62537127e-01 7.47184750e-01 -5.25309898e-02 -1.09607654e+02] [-7.92365196e-02 -1.75743157e-04 9.96855829e-01 -1.18114177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81864000000002 meters 0.024062773502430985 Centerline is valid? [True, True] Translation: X:166.07, Y:-109.63, Z:-11.81 [[ 7.45042299e-01 6.64343927e-01 5.96583470e-02 1.66066490e+02] [-6.62235526e-01 7.47427010e-01 -5.28864119e-02 -1.09628865e+02] [-7.97250265e-02 -1.05262918e-04 9.96816888e-01 -1.18131740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864000000002 meters 0.024090092047776707 Centerline is valid? [True, True] Translation: X:166.09, Y:-109.65, Z:-11.81 [[ 7.45347563e-01 6.64012684e-01 5.95328967e-02 1.66091856e+02] [-6.61907631e-01 7.47721308e-01 -5.28311767e-02 -1.09649905e+02] [-7.95945869e-02 -2.76898507e-05 9.96827318e-01 -1.18145275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87864000000002 meters 0.02410987329777042 Centerline is valid? [True, True] Translation: X:166.12, Y:-109.67, Z:-11.82 [[ 7.46102717e-01 6.63207620e-01 5.90456476e-02 1.66118260e+02] [-6.61130029e-01 7.48435463e-01 -5.24541861e-02 -1.09670409e+02] [-7.89798726e-02 9.93600718e-05 9.96876206e-01 -1.18163911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864000000002 meters 0.02408381476456709 Centerline is valid? [True, True] Translation: X:166.14, Y:-109.69, Z:-11.82 [[ 7.45930861e-01 6.63410025e-01 5.89431033e-02 1.66143897e+02] [-6.61335853e-01 7.48256056e-01 -5.24191214e-02 -1.09691929e+02] [-7.88799046e-02 1.19852831e-04 9.96884119e-01 -1.18187693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93864000000002 meters 0.024219076151448964 Centerline is valid? [True, True] Translation: X:166.17, Y:-109.71, Z:-11.82 [[ 7.45057198e-01 6.64332230e-01 5.96025167e-02 1.66170059e+02] [-6.62209676e-01 7.47437412e-01 -5.30627997e-02 -1.09712313e+02] [-7.98004788e-02 6.54576235e-05 9.96810854e-01 -1.18217370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters 0.024127554018253124 Centerline is valid? [True, True] Translation: X:166.19, Y:-109.73, Z:-11.82 [[ 7.44210284e-01 6.65349214e-01 5.88343164e-02 1.66194923e+02] [-6.63280087e-01 7.46532266e-01 -5.24318886e-02 -1.09732099e+02] [-7.88072314e-02 -3.27975260e-06 9.96889874e-01 -1.18233929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99864 meters 0.02408673544369158 Centerline is valid? [True, True] Translation: X:166.22, Y:-109.75, Z:-11.82 [[ 7.43361368e-01 6.66281669e-01 5.90136717e-02 1.66220737e+02] [-6.64198809e-01 7.45700163e-01 -5.26422756e-02 -1.09752672e+02] [-7.90810879e-02 -6.45764266e-05 9.96868185e-01 -1.18247428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters 0.024236995244252955 Centerline is valid? [True, True] Translation: X:166.25, Y:-109.77, Z:-11.83 [[ 7.42247362e-01 6.67509023e-01 5.91655122e-02 1.66247573e+02] [-6.65414859e-01 7.44601693e-01 -5.28335506e-02 -1.09772258e+02] [-7.93216123e-02 -1.54047439e-04 9.96849065e-01 -1.18262417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05864 meters 0.024157910613747214 Centerline is valid? [True, True] Translation: X:166.27, Y:-109.79, Z:-11.83 [[ 7.42455501e-01 6.67340645e-01 5.84490563e-02 1.66272785e+02] [-6.65292298e-01 7.44752613e-01 -5.22465677e-02 -1.09792519e+02] [-7.83963456e-02 -9.49553885e-05 9.96922266e-01 -1.18281429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters 0.02432484466210114 Centerline is valid? [True, True] Translation: X:166.30, Y:-109.81, Z:-11.83 [[ 7.44047526e-01 6.65595143e-01 5.81066717e-02 1.66299007e+02] [-6.63561557e-01 7.46312997e-01 -5.19901026e-02 -1.09812796e+02] [-7.79701241e-02 1.25753648e-04 9.96955688e-01 -1.18307839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11864 meters 0.024460888954866294 Centerline is valid? [True, True] Translation: X:166.32, Y:-109.83, Z:-11.83 [[ 7.45300118e-01 6.64228231e-01 5.76939492e-02 1.66324427e+02] [-6.62215163e-01 7.47529774e-01 -5.16750963e-02 -1.09834245e+02] [-7.74520026e-02 3.07647370e-04 9.96996034e-01 -1.18324385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14864 meters 0.02437602588484533 Centerline is valid? [True, True] Translation: X:166.35, Y:-109.86, Z:-11.83 [[ 7.46111850e-01 6.63304795e-01 5.78260818e-02 1.66349646e+02] [-6.61275464e-01 7.48349217e-01 -5.18479538e-02 -1.09855092e+02] [-7.76650994e-02 4.45403618e-04 9.96979405e-01 -1.18347671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17864 meters 0.024530358774283858 Centerline is valid? [True, True] Translation: X:166.37, Y:-109.88, Z:-11.84 [[ 7.46879790e-01 6.62376519e-01 5.85484967e-02 1.66374328e+02] [-6.60289035e-01 7.49170875e-01 -5.25489312e-02 -1.09875618e+02] [-7.86700066e-02 5.88804363e-04 9.96900538e-01 -1.18369335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20864 meters 0.024735308915606526 Centerline is valid? [True, True] Translation: X:166.40, Y:-109.90, Z:-11.84 [[ 7.48662888e-01 6.60322669e-01 5.89733262e-02 1.66398763e+02] [-6.58194526e-01 7.50981528e-01 -5.29783917e-02 -1.09896667e+02] [-7.92707117e-02 8.47035245e-04 9.96852766e-01 -1.18389118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23864 meters 0.02480288068226792 Centerline is valid? [True, True] Translation: X:166.42, Y:-109.92, Z:-11.84 [[ 7.48768487e-01 6.60236361e-01 5.85977860e-02 1.66422595e+02] [-6.58131136e-01 7.51057361e-01 -5.26901123e-02 -1.09918813e+02] [-7.87982265e-02 8.87668116e-04 9.96890190e-01 -1.18405394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26864 meters 0.024820385226392655 Centerline is valid? [True, True] Translation: X:166.45, Y:-109.94, Z:-11.84 [[ 7.49223314e-01 6.59790420e-01 5.78016225e-02 1.66447625e+02] [-6.57736650e-01 7.51449052e-01 -5.20271296e-02 -1.09940221e+02] [-7.77619761e-02 9.61692935e-04 9.96971489e-01 -1.18413540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29864 meters 0.024823831355220018 Centerline is valid? [True, True] Translation: X:166.47, Y:-109.96, Z:-11.84 [[ 7.48938468e-01 6.60184309e-01 5.69899107e-02 1.66472043e+02] [-6.58185150e-01 7.51103045e-01 -5.13470974e-02 -1.09961728e+02] [-7.67038435e-02 9.45903507e-04 9.97053472e-01 -1.18432752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32864 meters 0.024894485536680243 Centerline is valid? [True, True] Translation: X:166.49, Y:-109.98, Z:-11.84 [[ 7.49846050e-01 6.59284635e-01 5.54497307e-02 1.66494884e+02] [-6.57386497e-01 7.51892734e-01 -5.00030979e-02 -1.09984499e+02] [-7.46585237e-02 1.04272120e-03 9.97208613e-01 -1.18449040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35864 meters 0.024832012127692364 Centerline is valid? [True, True] Translation: X:166.52, Y:-110.01, Z:-11.85 [[ 7.50064590e-01 6.59041362e-01 5.53858534e-02 1.66519388e+02] [-6.57143509e-01 7.52105891e-01 -4.99913715e-02 -1.10007308e+02] [-7.46024082e-02 1.10030351e-03 9.97212751e-01 -1.18470066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38864 meters 0.024858695899199944 Centerline is valid? [True, True] Translation: X:166.54, Y:-110.03, Z:-11.85 [[ 7.49848393e-01 6.59221303e-01 5.61663678e-02 1.66542960e+02] [-6.57266174e-01 7.51948126e-01 -5.07463607e-02 -1.10028926e+02] [-7.56872770e-02 1.13582337e-03 9.97130957e-01 -1.18485180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41864 meters 0.024930171511445776 Centerline is valid? [True, True] Translation: X:166.57, Y:-110.05, Z:-11.85 [[ 7.49582222e-01 6.59472613e-01 5.67658775e-02 1.66566800e+02] [-6.57472495e-01 7.51727697e-01 -5.13360293e-02 -1.10051505e+02] [-7.65271877e-02 1.15857185e-03 9.97066822e-01 -1.18508896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44864 meters 0.024919557043369296 Centerline is valid? [True, True] Translation: X:166.59, Y:-110.08, Z:-11.85 [[ 7.49275875e-01 6.59811768e-01 5.68690974e-02 1.66590445e+02] [-6.57801263e-01 7.51430018e-01 -5.14823040e-02 -1.10075207e+02] [-7.67017769e-02 1.16588425e-03 9.97053398e-01 -1.18532577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47864 meters 0.024787927247422993 Centerline is valid? [True, True] Translation: X:166.61, Y:-110.10, Z:-11.86 [[ 7.47782715e-01 6.61588343e-01 5.58737390e-02 1.66612055e+02] [-6.59648899e-01 7.49866559e-01 -5.06307558e-02 -1.10099337e+02] [-7.53945663e-02 1.00375367e-03 9.97153274e-01 -1.18552919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50864 meters 0.024707707279758687 Centerline is valid? [True, True] Translation: X:166.64, Y:-110.12, Z:-11.86 [[ 7.46755140e-01 6.62729710e-01 5.60900450e-02 1.66636514e+02] [-6.60774813e-01 7.48858112e-01 -5.08741084e-02 -1.10121388e+02] [-7.57192683e-02 9.27612887e-04 9.97128744e-01 -1.18571185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53864000000002 meters 0.024707707279758687 Centerline is valid? [True, True] Translation: X:166.66, Y:-110.14, Z:-11.86 [[ 7.46418332e-01 6.63111229e-01 5.60639963e-02 1.66660814e+02] [-6.61155252e-01 7.48520299e-01 -5.09028021e-02 -1.10142990e+02] [-7.57192589e-02 9.27778987e-04 9.97128744e-01 -1.18589572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864000000002 meters 0.0245066072877809 Centerline is valid? [True, True] Translation: X:166.68, Y:-110.17, Z:-11.86 [[ 7.43875155e-01 6.65878056e-01 5.70628394e-02 1.66683903e+02] [-6.63855594e-01 7.46060270e-01 -5.18635130e-02 -1.10166069e+02] [-7.71070926e-02 6.98493622e-04 9.97022572e-01 -1.18604865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59864000000002 meters 0.02456774578848744 Centerline is valid? [True, True] Translation: X:166.71, Y:-110.19, Z:-11.86 [[ 7.42794379e-01 6.67123657e-01 5.65909504e-02 1.66707331e+02] [-6.65134253e-01 7.44946752e-01 -5.14855555e-02 -1.10188085e+02] [-7.65044768e-02 6.02601686e-04 9.97069056e-01 -1.18619065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864000000002 meters 0.0245674285046601 Centerline is valid? [True, True] Translation: X:166.73, Y:-110.21, Z:-11.86 [[ 7.41852310e-01 6.68140767e-01 5.69479139e-02 1.66731229e+02] [-6.66125756e-01 7.44034697e-01 -5.18540921e-02 -1.10210117e+02] [-7.70170568e-02 5.33605838e-04 9.97029633e-01 -1.18633667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65864000000002 meters 0.024458292258665866 Centerline is valid? [True, True] Translation: X:166.76, Y:-110.23, Z:-11.86 [[ 7.41352030e-01 6.68719257e-01 5.66720653e-02 1.66757175e+02] [-6.66722454e-01 7.43514832e-01 -5.16416926e-02 -1.10231173e+02] [-7.66703154e-02 5.00135214e-04 9.97056374e-01 -1.18648590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864000000002 meters 0.024445974254902775 Centerline is valid? [True, True] Translation: X:166.78, Y:-110.25, Z:-11.87 [[ 7.41831440e-01 6.68194621e-01 5.65867701e-02 1.66782249e+02] [-6.66198170e-01 7.43986287e-01 -5.16178527e-02 -1.10251967e+02] [-7.65905526e-02 5.93743316e-04 9.97062453e-01 -1.18672194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71864 meters 0.024649566103132518 Centerline is valid? [True, True] Translation: X:166.81, Y:-110.27, Z:-11.87 [[ 7.42884605e-01 6.66963134e-01 5.72943436e-02 1.66806574e+02] [-6.64908563e-01 7.45090321e-01 -5.23165004e-02 -1.10273024e+02] [-7.75826379e-02 7.69623054e-04 9.96985628e-01 -1.18700815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters 0.024895964218850753 Centerline is valid? [True, True] Translation: X:166.83, Y:-110.29, Z:-11.87 [[ 7.43776563e-01 6.65956530e-01 5.74310357e-02 1.66830740e+02] [-6.63885406e-01 7.45989991e-01 -5.24890594e-02 -1.10293954e+02] [-7.77984097e-02 9.12505727e-04 9.96968693e-01 -1.18725668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77864 meters 0.02502070007665378 Centerline is valid? [True, True] Translation: X:166.86, Y:-110.31, Z:-11.87 [[ 7.45326709e-01 6.64195664e-01 5.77253532e-02 1.66855880e+02] [-6.62094181e-01 7.47557907e-01 -5.28059822e-02 -1.10314677e+02] [-7.82265486e-02 1.13808847e-03 9.96934959e-01 -1.18737478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters 0.025271558262484388 Centerline is valid? [True, True] Translation: X:166.88, Y:-110.34, Z:-11.88 [[ 7.45848155e-01 6.63560015e-01 5.82978120e-02 1.66879459e+02] [-6.61410831e-01 7.48122006e-01 -5.33776785e-02 -1.10335916e+02] [-7.90331693e-02 1.25283884e-03 9.96871200e-01 -1.18765510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83864 meters 0.025123186784368506 Centerline is valid? [True, True] Translation: X:166.90, Y:-110.36, Z:-11.88 [[ 7.45802787e-01 6.63610452e-01 5.83041210e-02 1.66902740e+02] [-6.61457043e-01 7.48077214e-01 -5.34327801e-02 -1.10358717e+02] [-7.90745358e-02 1.28464479e-03 9.96867879e-01 -1.18784326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86864 meters 0.025277717508260245 Centerline is valid? [True, True] Translation: X:166.93, Y:-110.38, Z:-11.88 [[ 7.45389911e-01 6.64046102e-01 5.86229895e-02 1.66927283e+02] [-6.61865992e-01 7.47690524e-01 -5.37800090e-02 -1.10381276e+02] [-7.95442590e-02 1.28651307e-03 9.96830505e-01 -1.18808344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89864 meters 0.0252880101191844 Centerline is valid? [True, True] Translation: X:166.95, Y:-110.40, Z:-11.88 [[ 7.44667313e-01 6.64833159e-01 5.88851696e-02 1.66950925e+02] [-6.62631488e-01 7.46990836e-01 -5.40758926e-02 -1.10403967e+02] [-7.99381287e-02 1.24938210e-03 9.96799044e-01 -1.18830512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92864 meters 0.02515602374389832 Centerline is valid? [True, True] Translation: X:166.97, Y:-110.43, Z:-11.88 [[ 7.44209634e-01 6.65395373e-01 5.83182461e-02 1.66974069e+02] [-6.63233561e-01 7.46490132e-01 -5.36071497e-02 -1.10425933e+02] [-7.92039446e-02 1.21633924e-03 9.96857691e-01 -1.18836841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95864 meters 0.025193325362859998 Centerline is valid? [True, True] Translation: X:167.00, Y:-110.45, Z:-11.89 [[ 7.43470394e-01 6.66293065e-01 5.74919574e-02 1.66997876e+02] [-6.64191865e-01 7.45689123e-01 -5.28857155e-02 -1.10448172e+02] [-7.81085128e-02 1.13327338e-03 9.96944219e-01 -1.18856547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98864 meters 0.025008272767904675 Centerline is valid? [True, True] Translation: X:167.02, Y:-110.47, Z:-11.89 [[ 7.42591533e-01 6.67337969e-01 5.67260971e-02 1.67021410e+02] [-6.65293608e-01 7.44754307e-01 -5.22057143e-02 -1.10470626e+02] [-7.70858606e-02 1.02801161e-03 9.97023928e-01 -1.18882604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01864 meters 0.025189013714341225 Centerline is valid? [True, True] Translation: X:167.04, Y:-110.49, Z:-11.89 [[ 7.42738784e-01 6.67064672e-01 5.79984764e-02 1.67044319e+02] [-6.64922768e-01 7.44998978e-01 -5.34250434e-02 -1.10492616e+02] [-7.88467647e-02 1.11634425e-03 9.96886123e-01 -1.18908057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04864 meters 0.025319695328461886 Centerline is valid? [True, True] Translation: X:167.07, Y:-110.52, Z:-11.89 [[ 7.42728121e-01 6.67106348e-01 5.76546523e-02 1.67068714e+02] [-6.64986061e-01 7.44961621e-01 -5.31575170e-02 -1.10515528e+02] [-7.84122202e-02 1.14204258e-03 9.96920368e-01 -1.18924593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07864 meters 0.025235367217114918 Centerline is valid? [True, True] Translation: X:167.09, Y:-110.54, Z:-11.89 [[ 7.43270736e-01 6.66478336e-01 5.79244388e-02 1.67092631e+02] [-6.64332051e-01 7.45523344e-01 -5.34590421e-02 -1.10536901e+02] [-7.88133148e-02 1.25348038e-03 9.96888605e-01 -1.18936412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10864 meters 0.02542812284064909 Centerline is valid? [True, True] Translation: X:167.12, Y:-110.56, Z:-11.90 [[ 7.44130532e-01 6.65587440e-01 5.71236407e-02 1.67116727e+02] [-6.63493783e-01 7.46318628e-01 -5.27684090e-02 -1.10559212e+02] [-7.77544274e-02 1.36540378e-03 9.96971607e-01 -1.18951643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13864 meters 0.025493197704771545 Centerline is valid? [True, True] Translation: X:167.14, Y:-110.58, Z:-11.90 [[ 7.44841477e-01 6.64840878e-01 5.65489180e-02 1.67138462e+02] [-6.62782960e-01 7.46983567e-01 -5.22905172e-02 -1.10583598e+02] [-7.70059859e-02 1.46848677e-03 9.97029549e-01 -1.18977826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16864 meters 0.02549490037199604 Centerline is valid? [True, True] Translation: X:167.16, Y:-110.61, Z:-11.90 [[ 7.44503034e-01 6.65236173e-01 5.63566117e-02 1.67161446e+02] [-6.63189303e-01 7.46631567e-01 -5.21656226e-02 -1.10607055e+02] [-7.67800844e-02 1.46236228e-03 9.97046980e-01 -1.18997873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19864 meters 0.025452295649880254 Centerline is valid? [True, True] Translation: X:167.18, Y:-110.63, Z:-11.90 [[ 7.43532580e-01 6.66289024e-01 5.67295276e-02 1.67184873e+02] [-6.64213817e-01 7.45692274e-01 -5.25645989e-02 -1.10630503e+02] [-7.73259857e-02 1.40295578e-03 9.97004876e-01 -1.19018916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22864 meters 0.025186472932869183 Centerline is valid? [True, True] Translation: X:167.21, Y:-110.65, Z:-11.90 [[ 7.42717728e-01 6.67248384e-01 5.61245968e-02 1.67207238e+02] [-6.65216100e-01 7.44834097e-01 -5.20548521e-02 -1.10653502e+02] [-7.65370293e-02 1.32707605e-03 9.97065856e-01 -1.19031502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25864 meters 0.024823863288298328 Centerline is valid? [True, True] Translation: X:167.23, Y:-110.68, Z:-11.90 [[ 7.40728424e-01 6.69485768e-01 5.57692403e-02 1.67228146e+02] [-6.67482577e-01 7.42824042e-01 -5.17634149e-02 -1.10678996e+02] [-7.60816021e-02 1.11763656e-03 9.97100968e-01 -1.19047688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864000000002 meters 0.02465466591189445 Centerline is valid? [True, True] Translation: X:167.25, Y:-110.70, Z:-11.91 [[ 7.38088080e-01 6.72366407e-01 5.61195202e-02 1.67249301e+02] [-6.70344318e-01 7.40218009e-01 -5.21132808e-02 -1.10703921e+02] [-7.65798989e-02 8.44789844e-04 9.97063090e-01 -1.19075675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31864000000002 meters 0.02458247311390285 Centerline is valid? [True, True] Translation: X:167.27, Y:-110.73, Z:-11.91 [[ 7.36689771e-01 6.73929018e-01 5.57481866e-02 1.67272241e+02] [-6.71934563e-01 7.38795758e-01 -5.18147849e-02 -1.10727039e+02] [-7.61060109e-02 7.12288634e-04 9.97099477e-01 -1.19094871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864000000002 meters 0.024498236282995335 Centerline is valid? [True, True] Translation: X:167.29, Y:-110.75, Z:-11.91 [[ 7.35206477e-01 6.75437830e-01 5.70541367e-02 1.67294919e+02] [-6.73349400e-01 7.37416688e-01 -5.30774352e-02 -1.10750138e+02] [-7.79231802e-02 6.05505430e-04 9.96959182e-01 -1.19123791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37864000000002 meters 0.024471919122330182 Centerline is valid? [True, True] Translation: X:167.32, Y:-110.77, Z:-11.91 [[ 7.33508687e-01 6.77291415e-01 5.69328164e-02 1.67318037e+02] [-6.75213529e-01 7.35714715e-01 -5.30146120e-02 -1.10774214e+02] [-7.77926524e-02 4.44870539e-04 9.96969461e-01 -1.19146316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864000000002 meters 0.024340125246120364 Centerline is valid? [True, True] Translation: X:167.34, Y:-110.80, Z:-11.92 [[ 7.31452643e-01 6.79462069e-01 5.75180636e-02 1.67340597e+02] [-6.77343400e-01 7.33710590e-01 -5.36161195e-02 -1.10797860e+02] [-7.86317319e-02 2.58171510e-04 9.96903699e-01 -1.19157867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43864000000002 meters 0.02445774749734779 Centerline is valid? [True, True] Translation: X:167.36, Y:-110.82, Z:-11.92 [[ 7.28956188e-01 6.82242815e-01 5.62815976e-02 1.67362978e+02] [-6.80218588e-01 7.31125668e-01 -5.25160026e-02 -1.10821514e+02] [-7.69775860e-02 -1.92377712e-06 9.97032824e-01 -1.19177124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters 0.024258829668419263 Centerline is valid? [True, True] Translation: X:167.39, Y:-110.84, Z:-11.92 [[ 7.27354621e-01 6.83913793e-01 5.67201847e-02 1.67385656e+02] [-6.81859277e-01 7.29562816e-01 -5.29719107e-02 -1.10844913e+02] [-7.76091580e-02 -1.45820115e-04 9.96983850e-01 -1.19193539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49864 meters 0.024502657050267527 Centerline is valid? [True, True] Translation: X:167.41, Y:-110.87, Z:-11.92 [[ 7.25510248e-01 6.85904182e-01 5.63057088e-02 1.67409037e+02] [-6.83882257e-01 7.27691794e-01 -5.26280386e-02 -1.10868736e+02] [-7.70709941e-02 -3.24293930e-04 9.97025555e-01 -1.19213241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters 0.024368479759806515 Centerline is valid? [True, True] Translation: X:167.43, Y:-110.89, Z:-11.92 [[ 7.24210061e-01 6.87298328e-01 5.60428115e-02 1.67432570e+02] [-6.85295127e-01 7.26375126e-01 -5.24381971e-02 -1.10891674e+02] [-7.67487895e-02 -4.29595783e-04 9.97050369e-01 -1.19217945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55864 meters 0.02443103138364126 Centerline is valid? [True, True] Translation: X:167.46, Y:-110.91, Z:-11.92 [[ 7.24198498e-01 6.87384919e-01 5.51226756e-02 1.67455798e+02] [-6.85443331e-01 7.26293204e-01 -5.16296589e-02 -1.10913951e+02] [-7.55246736e-02 -3.93348937e-04 9.97143856e-01 -1.19238552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters 0.02435262513422266 Centerline is valid? [True, True] Translation: X:167.48, Y:-110.94, Z:-11.93 [[ 7.23848969e-01 6.87757324e-01 5.50684489e-02 1.67479506e+02] [-6.85816882e-01 7.25940567e-01 -5.16284498e-02 -1.10936217e+02] [-7.54842655e-02 -3.95671768e-04 9.97146915e-01 -1.19250159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61864 meters 0.02427664280137052 Centerline is valid? [True, True] Translation: X:167.50, Y:-110.96, Z:-11.93 [[ 7.23307678e-01 6.88346101e-01 5.48237920e-02 1.67503171e+02] [-6.86420441e-01 7.25382295e-01 -5.14539088e-02 -1.10958471e+02] [-7.51863056e-02 -4.15164158e-04 9.97169417e-01 -1.19269723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64864 meters 0.024371646276083448 Centerline is valid? [True, True] Translation: X:167.53, Y:-110.98, Z:-11.93 [[ 7.22988157e-01 6.88659742e-01 5.50988598e-02 1.67527737e+02] [-6.86711376e-01 7.25084541e-01 -5.17676924e-02 -1.10980728e+02] [-7.56016572e-02 -4.09585285e-04 9.97138015e-01 -1.19284151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67864 meters 0.02436335823692364 Centerline is valid? [True, True] Translation: X:167.55, Y:-111.00, Z:-11.93 [[ 7.22540183e-01 6.89156745e-01 5.47600587e-02 1.67552039e+02] [-6.87229598e-01 7.24612175e-01 -5.15041200e-02 -1.11002816e+02] [-7.51742170e-02 -4.18936822e-04 9.97170327e-01 -1.19300385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70864 meters 0.024181270788907104 Centerline is valid? [True, True] Translation: X:167.58, Y:-111.02, Z:-11.93 [[ 7.21490336e-01 6.90141731e-01 5.61790436e-02 1.67575913e+02] [-6.88111915e-01 7.23674061e-01 -5.28946778e-02 -1.11024218e+02] [-7.71601412e-02 -4.94470384e-04 9.97018590e-01 -1.19314904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73864 meters 0.02423809427114339 Centerline is valid? [True, True] Translation: X:167.60, Y:-111.05, Z:-11.93 [[ 7.20676276e-01 6.90994642e-01 5.61436569e-02 1.67600901e+02] [-6.88965996e-01 7.22859672e-01 -5.29126822e-02 -1.11046283e+02] [-7.71463653e-02 -5.48155698e-04 9.97019628e-01 -1.19333082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76864 meters 0.024284458827531503 Centerline is valid? [True, True] Translation: X:167.63, Y:-111.07, Z:-11.93 [[ 7.19552800e-01 6.92208468e-01 5.55986014e-02 1.67625283e+02] [-6.90218412e-01 7.21697332e-01 -5.24547916e-02 -1.11067964e+02] [-7.64350132e-02 -6.31186152e-04 9.97074366e-01 -1.19349511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79864 meters 0.02437573400490698 Centerline is valid? [True, True] Translation: X:167.65, Y:-111.09, Z:-11.94 [[ 7.18217072e-01 6.93583068e-01 5.57383603e-02 1.67651538e+02] [-6.91582776e-01 7.20376278e-01 -5.26429644e-02 -1.11088522e+02] [-7.66648614e-02 -7.38614212e-04 9.97056645e-01 -1.19364408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82864 meters 0.024414570711076406 Centerline is valid? [True, True] Translation: X:167.68, Y:-111.11, Z:-11.94 [[ 7.17495002e-01 6.94328491e-01 5.57572315e-02 1.67677949e+02] [-6.92324752e-01 7.19657795e-01 -5.27171327e-02 -1.11108754e+02] [-7.67291335e-02 -7.77832200e-04 9.97051671e-01 -1.19376552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85864 meters 0.024366060397289235 Centerline is valid? [True, True] Translation: X:167.70, Y:-111.13, Z:-11.94 [[ 7.17263013e-01 6.94542374e-01 5.60772843e-02 1.67702751e+02] [-6.92511787e-01 7.19451393e-01 -5.30765270e-02 -1.11130155e+02] [-7.72087774e-02 -7.64350781e-04 9.97014654e-01 -1.19389962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88864 meters 0.024373879735069787 Centerline is valid? [True, True] Translation: X:167.73, Y:-111.15, Z:-11.94 [[ 7.17458430e-01 6.94297887e-01 5.66025139e-02 1.67727616e+02] [-6.92223787e-01 7.19687396e-01 -5.36309679e-02 -1.11151603e+02] [-7.79719835e-02 -7.03616428e-04 9.96955302e-01 -1.19415415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91864 meters 0.02439588834846874 Centerline is valid? [True, True] Translation: X:167.75, Y:-111.17, Z:-11.94 [[ 7.18721471e-01 6.92933976e-01 5.72883213e-02 1.67754217e+02] [-6.90800282e-01 7.21000856e-01 -5.43390880e-02 -1.11171823e+02] [-7.89583290e-02 -5.20119293e-04 9.96877782e-01 -1.19441377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94864 meters 0.02435762311147991 Centerline is valid? [True, True] Translation: X:167.78, Y:-111.19, Z:-11.95 [[ 7.19454491e-01 6.92138957e-01 5.76966158e-02 1.67779411e+02] [-6.89967464e-01 7.21764165e-01 -5.47849365e-02 -1.11193437e+02] [-7.95621385e-02 -3.93519019e-04 9.96829831e-01 -1.19469390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97864 meters 0.024490520096847764 Centerline is valid? [True, True] Translation: X:167.80, Y:-111.21, Z:-11.95 [[ 7.21272964e-01 6.90095102e-01 5.94479743e-02 1.67803228e+02] [-6.87777763e-01 7.23718683e-01 -5.65067776e-02 -1.11214877e+02] [-8.20186601e-02 -1.30183849e-04 9.96630785e-01 -1.19500027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00864 meters 0.02448436076965014 Centerline is valid? [True, True] Translation: X:167.83, Y:-111.24, Z:-11.95 [[ 7.21786608e-01 6.89595986e-01 5.90039765e-02 1.67827095e+02] [-6.87307106e-01 7.24194294e-01 -5.61388105e-02 -1.11237204e+02] [-8.14434415e-02 -3.36107071e-05 9.96677964e-01 -1.19519055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03864000000002 meters 0.02428415714741452 Centerline is valid? [True, True] Translation: X:167.85, Y:-111.26, Z:-11.95 [[ 7.22723259e-01 6.88766145e-01 5.72039229e-02 1.67851179e+02] [-6.86608126e-01 7.24983578e-01 -5.44802173e-02 -1.11258768e+02] [-7.89960339e-02 9.74419239e-05 9.96874926e-01 -1.19532826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864000000002 meters 0.024280032304461466 Centerline is valid? [True, True] Translation: X:167.88, Y:-111.28, Z:-11.96 [[ 7.22921873e-01 6.88588500e-01 5.68317212e-02 1.67875772e+02] [-6.86453904e-01 7.25152298e-01 -5.41773248e-02 -1.11281371e+02] [-7.85175360e-02 1.53616159e-04 9.96912721e-01 -1.19558568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09864000000002 meters 0.024197523119430676 Centerline is valid? [True, True] Translation: X:167.90, Y:-111.30, Z:-11.96 [[ 7.23700397e-01 6.87880954e-01 5.54754788e-02 1.67898860e+02] [-6.85841032e-01 7.25823480e-01 -5.29372768e-02 -1.11303149e+02] [-7.66799496e-02 2.63368635e-04 9.97055724e-01 -1.19568274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864000000002 meters 0.02415487927195643 Centerline is valid? [True, True] Translation: X:167.92, Y:-111.33, Z:-11.96 [[ 7.23554984e-01 6.88098812e-01 5.46645248e-02 1.67920480e+02] [-6.86115217e-01 7.25616945e-01 -5.22107068e-02 -1.11327315e+02] [-7.55916308e-02 2.71154828e-04 9.97138823e-01 -1.19575059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15864000000002 meters 0.024176165239347378 Centerline is valid? [True, True] Translation: X:167.94, Y:-111.35, Z:-11.96 [[ 7.23045544e-01 6.88608703e-01 5.49835805e-02 1.67943576e+02] [-6.86599489e-01 7.25133083e-01 -5.25657104e-02 -1.11350332e+02] [-7.60676189e-02 2.55704396e-04 9.97102629e-01 -1.19596207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864000000002 meters 0.02406502692915613 Centerline is valid? [True, True] Translation: X:167.97, Y:-111.37, Z:-11.96 [[ 7.21152531e-01 6.90583266e-01 5.50797602e-02 1.67967756e+02] [-6.88568500e-01 7.23252891e-01 -5.27131421e-02 -1.11373509e+02] [-7.62394097e-02 8.80279880e-05 9.97089537e-01 -1.19611217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21864 meters 0.02402584701270422 Centerline is valid? [True, True] Translation: X:167.99, Y:-111.40, Z:-11.96 [[ 7.19810721e-01 6.91938154e-01 5.56247786e-02 1.67991527e+02] [-6.89882910e-01 7.21956779e-01 -5.32914695e-02 -1.11396203e+02] [-7.70330870e-02 -1.48129772e-05 9.97028537e-01 -1.19626016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters 0.024140128949585733 Centerline is valid? [True, True] Translation: X:168.01, Y:-111.42, Z:-11.96 [[ 7.18146856e-01 6.93659366e-01 5.56935979e-02 1.68014752e+02] [-6.91599792e-01 7.20303171e-01 -5.34141388e-02 -1.11420297e+02] [-7.71674929e-02 -1.58484885e-04 9.97018131e-01 -1.19644643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27864 meters 0.02430805132800799 Centerline is valid? [True, True] Translation: X:168.04, Y:-111.44, Z:-11.97 [[ 7.15833581e-01 6.95976789e-01 5.65561046e-02 1.68035961e+02] [-6.93855604e-01 7.18064182e-01 -5.42976155e-02 -1.11444760e+02] [-7.84007931e-02 -3.73713544e-04 9.96921851e-01 -1.19658267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters 0.024466270965157313 Centerline is valid? [True, True] Translation: X:168.06, Y:-111.47, Z:-11.97 [[ 7.14648090e-01 6.97145913e-01 5.71461622e-02 1.68059080e+02] [-6.94979904e-01 7.16929114e-01 -5.49142835e-02 -1.11466379e+02] [-7.92530157e-02 -4.71046473e-04 9.96854421e-01 -1.19678070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33864 meters 0.02444593811474307 Centerline is valid? [True, True] Translation: X:168.08, Y:-111.49, Z:-11.97 [[ 7.11049518e-01 7.00790274e-01 5.74593241e-02 1.68082993e+02] [-6.98608349e-01 7.13366859e-01 -5.52639022e-02 -1.11488532e+02] [-7.97179827e-02 -8.46192554e-04 9.96817098e-01 -1.19696081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36864 meters 0.02455785460771373 Centerline is valid? [True, True] Translation: X:168.11, Y:-111.51, Z:-11.97 [[ 7.09206390e-01 7.02669951e-01 5.72820865e-02 1.68106642e+02] [-7.00503375e-01 7.11515220e-01 -5.51462969e-02 -1.11511582e+02] [-7.95067221e-02 -1.01618874e-03 9.96833812e-01 -1.19712332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39864 meters 0.02455785460771373 Centerline is valid? [True, True] Translation: X:168.13, Y:-111.53, Z:-11.97 [[ 7.08835240e-01 7.03046737e-01 5.72528335e-02 1.68130272e+02] [-7.00878937e-01 7.11142920e-01 -5.51766554e-02 -1.11533896e+02] [-7.95067147e-02 -1.01614724e-03 9.96833813e-01 -1.19730722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42864 meters 0.024865580447396392 Centerline is valid? [True, True] Translation: X:168.15, Y:-111.56, Z:-11.97 [[ 7.07597934e-01 7.04296223e-01 5.72013451e-02 1.68153895e+02] [-7.02131736e-01 7.09905338e-01 -5.51854691e-02 -1.11556741e+02] [-7.94744577e-02 -1.11375584e-03 9.96836281e-01 -1.19748319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45864 meters 0.025059725174045436 Centerline is valid? [True, True] Translation: X:168.18, Y:-111.58, Z:-11.98 [[ 7.05882691e-01 7.06091971e-01 5.62472616e-02 1.68178698e+02] [-7.04000414e-01 7.08119028e-01 -5.43218161e-02 -1.11578155e+02] [-7.81859544e-02 -1.25326573e-03 9.96938005e-01 -1.19756449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48864 meters 0.025419168310320074 Centerline is valid? [True, True] Translation: X:168.20, Y:-111.60, Z:-11.98 [[ 7.05802860e-01 7.06067318e-01 5.75435937e-02 1.68203993e+02] [-7.03873371e-01 7.08143635e-01 -5.56315461e-02 -1.11598054e+02] [-8.00287462e-02 -1.23849896e-03 9.96791787e-01 -1.19775650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51864 meters 0.025470828119161664 Centerline is valid? [True, True] Translation: X:168.23, Y:-111.62, Z:-11.98 [[ 7.05313177e-01 7.06526512e-01 5.79103620e-02 1.68229229e+02] [-7.04301593e-01 7.07685453e-01 -5.60407616e-02 -1.11619387e+02] [-8.05766046e-02 -1.26007264e-03 9.96747623e-01 -1.19791207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54864 meters 0.025569546933995317 Centerline is valid? [True, True] Translation: X:168.25, Y:-111.64, Z:-11.98 [[ 7.05285486e-01 7.06541530e-01 5.80641839e-02 1.68254594e+02] [-7.04299966e-01 7.07670524e-01 -5.62493294e-02 -1.11640797e+02] [-8.08327987e-02 -1.22276713e-03 9.96726925e-01 -1.19812891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57864 meters 0.02583472683666911 Centerline is valid? [True, True] Translation: X:168.28, Y:-111.66, Z:-11.98 [[ 7.04792356e-01 7.07038992e-01 5.79965444e-02 1.68279467e+02] [-7.04799514e-01 7.07173484e-01 -5.62432991e-02 -1.11662384e+02] [-8.07798239e-02 -1.23608902e-03 9.96731204e-01 -1.19838873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60864 meters 0.025912362861609157 Centerline is valid? [True, True] Translation: X:168.31, Y:-111.68, Z:-11.99 [[ 7.04415231e-01 7.07367291e-01 5.85721607e-02 1.68306181e+02] [-7.05079224e-01 7.06845082e-01 -5.68622773e-02 -1.11681814e+02] [-8.16239588e-02 -1.24335942e-03 9.96662422e-01 -1.19859375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63864 meters 0.025974744348973743 Centerline is valid? [True, True] Translation: X:168.33, Y:-111.70, Z:-11.99 [[ 7.04081075e-01 7.07741800e-01 5.80636141e-02 1.68332350e+02] [-7.05489786e-01 7.06470115e-01 -5.64281784e-02 -1.11702901e+02] [-8.09567887e-02 -1.23327413e-03 9.96716849e-01 -1.19873337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66864 meters 0.02611635278737363 Centerline is valid? [True, True] Translation: X:168.36, Y:-111.72, Z:-11.99 [[ 7.04565566e-01 7.07231740e-01 5.84005948e-02 1.68360166e+02] [-7.04946775e-01 7.06980883e-01 -5.68161503e-02 -1.11721421e+02] [-8.14702889e-02 -1.13860795e-03 9.96675120e-01 -1.19895063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69864 meters 0.026326980584660955 Centerline is valid? [True, True] Translation: X:168.39, Y:-111.74, Z:-11.99 [[ 7.04394358e-01 7.07267454e-01 6.00111357e-02 1.68385226e+02] [-7.04849546e-01 7.06945166e-01 -5.84435639e-02 -1.11742033e+02] [-8.37598130e-02 -1.13150506e-03 9.96485330e-01 -1.19923915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72864 meters 0.02645161139387633 Centerline is valid? [True, True] Translation: X:168.41, Y:-111.76, Z:-11.99 [[ 7.05234094e-01 7.06424119e-01 6.00819157e-02 1.68413568e+02] [-7.03992666e-01 7.07788089e-01 -5.85691656e-02 -1.11760590e+02] [-8.38999355e-02 -9.92255638e-04 9.96473691e-01 -1.19938187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75864 meters 0.026226476693268025 Centerline is valid? [True, True] Translation: X:168.44, Y:-111.78, Z:-12.00 [[ 7.05934348e-01 7.05791107e-01 5.92925729e-02 1.68439324e+02] [-7.03416182e-01 7.08419485e-01 -5.78576495e-02 -1.11780498e+02] [-8.28394284e-02 -8.63653174e-04 9.96562534e-01 -1.19950561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864000000002 meters 0.02638948418744217 Centerline is valid? [True, True] Translation: X:168.46, Y:-111.80, Z:-12.00 [[ 7.06311735e-01 7.05436488e-01 5.90177465e-02 1.68464019e+02] [-7.03077928e-01 7.08772709e-01 -5.76426468e-02 -1.11800740e+02] [-8.24933943e-02 -7.80397049e-04 9.96591306e-01 -1.19980127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81864000000002 meters 0.026350472424874156 Centerline is valid? [True, True] Translation: X:168.49, Y:-111.82, Z:-12.00 [[ 7.08436397e-01 7.03321760e-01 5.87909258e-02 1.68490119e+02] [-7.00969645e-01 7.10871478e-01 -5.74743297e-02 -1.11819349e+02] [-8.22157391e-02 -4.93747339e-04 9.96614433e-01 -1.20007896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864000000002 meters 0.026439694300721156 Centerline is valid? [True, True] Translation: X:168.52, Y:-111.84, Z:-12.00 [[ 7.09512681e-01 7.02167256e-01 5.96062029e-02 1.68515429e+02] [-6.99740541e-01 7.12011965e-01 -5.83278431e-02 -1.11840643e+02] [-8.33962313e-02 -3.24532307e-04 9.96516414e-01 -1.20030390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87864000000002 meters 0.02643211667591365 Centerline is valid? [True, True] Translation: X:168.54, Y:-111.86, Z:-12.00 [[ 7.13293325e-01 6.98440525e-01 5.82534606e-02 1.68541146e+02] [-6.96105809e-01 7.15668087e-01 -5.70604281e-02 -1.11860091e+02] [-8.15434581e-02 1.50250113e-04 9.96669776e-01 -1.20034306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864000000002 meters 0.02672509544276212 Centerline is valid? [True, True] Translation: X:168.57, Y:-111.88, Z:-12.01 [[ 7.15173555e-01 6.96463968e-01 5.88619267e-02 1.68565459e+02] [-6.94069067e-01 7.17591643e-01 -5.77093131e-02 -1.11881743e+02] [-8.24312839e-02 4.17932050e-04 9.96596663e-01 -1.20060212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93864000000002 meters 0.026853321947257203 Centerline is valid? [True, True] Translation: X:168.59, Y:-111.90, Z:-12.01 [[ 7.17310447e-01 6.94275114e-01 5.87178739e-02 1.68589975e+02] [-6.91880117e-01 7.19709362e-01 -5.76223807e-02 -1.11904338e+02] [-8.22655885e-02 7.07406254e-04 9.96610191e-01 -1.20076806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters 0.02713291638454787 Centerline is valid? [True, True] Translation: X:168.61, Y:-111.93, Z:-12.01 [[ 7.20213547e-01 6.91268928e-01 5.86490942e-02 1.68614316e+02] [-6.88864882e-01 7.22596761e-01 -5.76115988e-02 -1.11925707e+02] [-8.22047536e-02 1.09135258e-03 9.96614864e-01 -1.20096175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99864 meters 0.027406054749601925 Centerline is valid? [True, True] Translation: X:168.64, Y:-111.95, Z:-12.01 [[ 7.20967265e-01 6.90466072e-01 5.88456111e-02 1.68637158e+02] [-6.88038915e-01 7.23363743e-01 -5.78562675e-02 -1.11947747e+02] [-8.25145713e-02 1.22440458e-03 9.96589106e-01 -1.20112688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters 0.02769103095208707 Centerline is valid? [True, True] Translation: X:168.66, Y:-111.97, Z:-12.01 [[ 7.22570667e-01 6.88855095e-01 5.80541953e-02 1.68658801e+02] [-6.86483523e-01 7.24897664e-01 -5.71292427e-02 -1.11972264e+02] [-8.14371205e-02 1.42666649e-03 9.96677460e-01 -1.20110882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05864 meters 0.027620988384311967 Centerline is valid? [True, True] Translation: X:168.68, Y:-112.00, Z:-12.01 [[ 7.23165412e-01 6.88279002e-01 5.74787169e-02 1.68681299e+02] [-6.85948087e-01 7.25444496e-01 -5.66171879e-02 -1.11996038e+02] [-8.06660404e-02 1.51617612e-03 9.96740032e-01 -1.20124021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters 0.027687871687879586 Centerline is valid? [True, True] Translation: X:168.70, Y:-112.02, Z:-12.01 [[ 7.23636796e-01 6.87813291e-01 5.71197279e-02 1.68704064e+02] [-6.85505495e-01 7.25885886e-01 -5.63195932e-02 -1.12019553e+02] [-8.01997691e-02 1.59904257e-03 9.96777528e-01 -1.20132584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11864 meters 0.02776962340350862 Centerline is valid? [True, True] Translation: X:168.73, Y:-112.04, Z:-12.02 [[ 7.23759481e-01 6.87753315e-01 5.62813554e-02 1.68725145e+02] [-6.85508347e-01 7.25942661e-01 -5.55478104e-02 -1.12044635e+02] [-7.90602277e-02 1.62191550e-03 9.96868522e-01 -1.20153534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14864 meters 0.02764008657942644 Centerline is valid? [True, True] Translation: X:168.75, Y:-112.07, Z:-12.02 [[ 7.22903161e-01 6.88681629e-01 5.59341991e-02 1.68746385e+02] [-6.86462906e-01 7.25062214e-01 -5.52581724e-02 -1.12068961e+02] [-7.86110624e-02 1.54955468e-03 9.96904158e-01 -1.20165505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17864 meters 0.027625601756666382 Centerline is valid? [True, True] Translation: X:168.77, Y:-112.09, Z:-12.02 [[ 7.22012586e-01 6.89680328e-01 5.51259551e-02 1.68769531e+02] [-6.87524602e-01 7.24112512e-01 -5.45067973e-02 -1.12091912e+02] [-7.75096597e-02 1.45414331e-03 9.96990541e-01 -1.20178361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20864 meters 0.027248502990539714 Centerline is valid? [True, True] Translation: X:168.79, Y:-112.12, Z:-12.02 [[ 7.20830085e-01 6.90973859e-01 5.43977471e-02 1.68791910e+02] [-6.88875487e-01 7.22878530e-01 -5.38255910e-02 -1.12115650e+02] [-7.65150398e-02 1.32583081e-03 9.97067546e-01 -1.20194995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23864 meters 0.026950172125636634 Centerline is valid? [True, True] Translation: X:168.81, Y:-112.14, Z:-12.02 [[ 7.16784570e-01 6.95181022e-01 5.42515129e-02 1.68813161e+02] [-6.93103990e-01 7.18834159e-01 -5.37057814e-02 -1.12139618e+02] [-7.63330807e-02 8.93535382e-04 9.97081974e-01 -1.20215866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26864 meters 0.02664247616175795 Centerline is valid? [True, True] Translation: X:168.84, Y:-112.16, Z:-12.02 [[ 7.12370911e-01 6.99686420e-01 5.44664988e-02 1.68835581e+02] [-6.97602223e-01 7.14449937e-01 -5.39668895e-02 -1.12162285e+02] [-7.66734863e-02 4.48491534e-04 9.97056155e-01 -1.20230740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29864 meters 0.02674254993870767 Centerline is valid? [True, True] Translation: X:168.86, Y:-112.19, Z:-12.03 [[ 7.10507739e-01 7.01541905e-01 5.49336672e-02 1.68858737e+02] [-6.99423300e-01 7.12628145e-01 -5.44809626e-02 -1.12186043e+02] [-7.73679556e-02 2.87258846e-04 9.97002566e-01 -1.20256802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32864 meters 0.02669978083961263 Centerline is valid? [True, True] Translation: X:168.88, Y:-112.21, Z:-12.03 [[ 7.09387919e-01 7.02734665e-01 5.41550718e-02 1.68881190e+02] [-7.00675158e-01 7.11452004e-01 -5.37621574e-02 -1.12208621e+02] [-7.63092660e-02 1.93111427e-04 9.97084178e-01 -1.20271021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35864 meters 0.026626314926448916 Centerline is valid? [True, True] Translation: X:168.90, Y:-112.23, Z:-12.03 [[ 7.08623530e-01 7.03598451e-01 5.29331033e-02 1.68904916e+02] [-7.01629854e-01 7.10597779e-01 -5.25960535e-02 -1.12230966e+02] [-7.46206474e-02 1.31355482e-04 9.97211984e-01 -1.20273552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38864 meters 0.026705534994651527 Centerline is valid? [True, True] Translation: X:168.93, Y:-112.25, Z:-12.03 [[ 7.08430904e-01 7.03852977e-01 5.21214131e-02 1.68928710e+02] [-7.01941626e-01 7.10345669e-01 -5.18361306e-02 -1.12253287e+02] [-7.35092348e-02 1.36127336e-04 9.97294527e-01 -1.20291193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41864 meters 0.026602450493125842 Centerline is valid? [True, True] Translation: X:168.95, Y:-112.28, Z:-12.03 [[ 7.08066036e-01 7.04199101e-01 5.24033807e-02 1.68952103e+02] [-7.02264267e-01 7.10002540e-01 -5.21660033e-02 -1.12276936e+02] [-7.39417860e-02 1.35953472e-04 9.97262550e-01 -1.20306001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44864 meters 0.02652834300145145 Centerline is valid? [True, True] Translation: X:168.98, Y:-112.30, Z:-12.03 [[ 7.07843186e-01 7.04475364e-01 5.16960882e-02 1.68975986e+02] [-7.02589320e-01 7.09728428e-01 -5.15151119e-02 -1.12300448e+02] [-7.29813106e-02 1.43501550e-04 9.97333298e-01 -1.20311215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47864 meters 0.026558047385432017 Centerline is valid? [True, True] Translation: X:169.00, Y:-112.32, Z:-12.03 [[ 7.07545551e-01 7.04649999e-01 5.33635837e-02 1.69000001e+02] [-7.02636442e-01 7.09555037e-01 -5.32323136e-02 -1.12321953e+02] [-7.53745493e-02 1.69088082e-04 9.97155278e-01 -1.20324088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50864 meters 0.026467959480975817 Centerline is valid? [True, True] Translation: X:169.02, Y:-112.34, Z:-12.03 [[ 7.06777039e-01 7.05484024e-01 5.25215087e-02 1.69022431e+02] [-7.03532377e-01 7.08725814e-01 -5.24396305e-02 -1.12344827e+02] [-7.42186705e-02 1.12544839e-04 9.97241985e-01 -1.20335364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53864000000002 meters 0.026437001265345744 Centerline is valid? [True, True] Translation: X:169.04, Y:-112.37, Z:-12.04 [[ 7.05706061e-01 7.06640645e-01 5.13610142e-02 1.69043077e+02] [-7.04774098e-01 7.07572610e-01 -5.13271116e-02 -1.12369229e+02] [-7.26114701e-02 2.39413131e-05 9.97360303e-01 -1.20361190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864000000002 meters 0.026522379937550033 Centerline is valid? [True, True] Translation: X:169.02, Y:-112.56, Z:-10.33 [[ 7.54662452e-01 -6.55541760e-01 -2.73785469e-02 1.69017607e+02] [-6.54909533e-01 -7.55148329e-01 2.90603715e-02 -1.12556478e+02] [-3.97251510e-02 -4.00029981e-03 -9.99202637e-01 -1.03258771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59864000000002 meters 0.026370081146016938 Centerline is valid? [True, True] Translation: X:169.06, Y:-112.41, Z:-12.04 [[ 7.53729014e-01 6.54885610e-01 5.49309744e-02 1.69064024e+02] [-6.53152509e-01 7.55728019e-01 -4.76126214e-02 -1.12405869e+02] [-7.26936970e-02 8.71038957e-06 9.97354313e-01 -1.20383124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864000000002 meters 0.026354803478248482 Centerline is valid? [True, True] Translation: X:169.09, Y:-112.43, Z:-12.04 [[ 7.53595355e-01 6.55013685e-01 5.52368812e-02 1.69089706e+02] [-6.53257766e-01 7.55617013e-01 -4.79293286e-02 -1.12427031e+02] [-7.31322933e-02 3.53977725e-05 9.97322248e-01 -1.20401773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65864000000002 meters 0.026076772857238435 Centerline is valid? [True, True] Translation: X:169.12, Y:-112.45, Z:-12.04 [[ 7.52796499e-01 6.55956861e-01 5.49365768e-02 1.69115227e+02] [-6.54218801e-01 7.54798381e-01 -4.77196528e-02 -1.12447788e+02] [-7.27680728e-02 -1.73538251e-05 9.97348889e-01 -1.20407381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864000000002 meters 0.026071775372533537 Centerline is valid? [True, True] Translation: X:169.14, Y:-112.47, Z:-12.04 [[ 7.52290585e-01 6.56512290e-01 5.52312308e-02 1.69140775e+02] [-6.54753237e-01 7.54315327e-01 -4.80269330e-02 -1.12468508e+02] [-7.31920357e-02 -3.26175842e-05 9.97317866e-01 -1.20423426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71864 meters 0.02594636806693387 Centerline is valid? [True, True] Translation: X:169.17, Y:-112.49, Z:-12.04 [[ 7.51373071e-01 6.57495059e-01 5.60246013e-02 1.69166272e+02] [-6.55683853e-01 7.53458851e-01 -4.87693003e-02 -1.12489049e+02] [-7.42778057e-02 -9.04875222e-05 9.97237584e-01 -1.20441773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters 0.025767171647871633 Centerline is valid? [True, True] Translation: X:169.19, Y:-112.51, Z:-12.05 [[ 7.51274382e-01 6.57602531e-01 5.60866717e-02 1.69192819e+02] [-6.55783704e-01 7.53365056e-01 -4.88756175e-02 -1.12509480e+02] [-7.43944683e-02 -6.17260642e-05 9.97228890e-01 -1.20459611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77864 meters 0.02566382758062442 Centerline is valid? [True, True] Translation: X:169.22, Y:-112.53, Z:-12.05 [[ 7.51364724e-01 6.57524398e-01 5.57917340e-02 1.69218069e+02] [-6.55720611e-01 7.53433252e-01 -4.86704745e-02 -1.12530375e+02] [-7.40373720e-02 -1.45123019e-05 9.97255467e-01 -1.20474760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters 0.025357497935915567 Centerline is valid? [True, True] Translation: X:169.24, Y:-112.55, Z:-12.05 [[ 7.52361248e-01 6.56376759e-01 5.58757856e-02 1.69243656e+02] [-6.54560488e-01 7.54433252e-01 -4.87958613e-02 -1.12551550e+02] [-7.41830199e-02 1.38033542e-04 9.97244634e-01 -1.20496358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83864 meters 0.025343746003390233 Centerline is valid? [True, True] Translation: X:169.27, Y:-112.57, Z:-12.05 [[ 7.53066843e-01 6.55531781e-01 5.62886731e-02 1.69268842e+02] [-6.53682232e-01 7.55167541e-01 -4.92089852e-02 -1.12573126e+02] [-7.47654325e-02 2.62749608e-04 9.97201114e-01 -1.20527223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86864 meters 0.025092039694875553 Centerline is valid? [True, True] Translation: X:169.29, Y:-112.59, Z:-12.05 [[ 7.53407242e-01 6.55223468e-01 5.53148660e-02 1.69292865e+02] [-6.53432998e-01 7.55435041e-01 -4.84067703e-02 -1.12594091e+02] [-7.35040400e-02 3.25452573e-04 9.97294866e-01 -1.20544850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89864 meters 0.02494443218923458 Centerline is valid? [True, True] Translation: X:169.32, Y:-112.62, Z:-12.06 [[ 7.52885782e-01 6.55844264e-01 5.50572425e-02 1.69317287e+02] [-6.54068762e-01 7.54896160e-01 -4.82269921e-02 -1.12616306e+02] [-7.31918970e-02 2.98194251e-04 9.97317832e-01 -1.20560945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92864 meters 0.02484458629915328 Centerline is valid? [True, True] Translation: X:169.34, Y:-112.64, Z:-12.06 [[ 7.52113117e-01 6.56829015e-01 5.38656149e-02 1.69341311e+02] [-6.55128760e-01 7.54039515e-01 -4.72304817e-02 -1.12637987e+02] [-7.16391529e-02 2.33751357e-04 9.97430588e-01 -1.20570125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95864 meters 0.02469142611849637 Centerline is valid? [True, True] Translation: X:169.37, Y:-112.66, Z:-12.06 [[ 7.51546168e-01 6.57500771e-01 5.35825801e-02 1.69365804e+02] [-6.55816898e-01 7.53453844e-01 -4.70266019e-02 -1.12659910e+02] [-7.12920280e-02 2.02300993e-04 9.97455466e-01 -1.20590889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98864 meters 0.024540368348870894 Centerline is valid? [True, True] Translation: X:169.39, Y:-112.68, Z:-12.06 [[ 7.51334104e-01 6.57737683e-01 5.36488975e-02 1.69389778e+02] [-6.56046682e-01 7.53247033e-01 -4.71344735e-02 -1.12682481e+02] [-7.14129923e-02 2.17556174e-04 9.97446809e-01 -1.20610920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01864 meters 0.02471429766754287 Centerline is valid? [True, True] Translation: X:169.41, Y:-112.71, Z:-12.06 [[ 7.51121361e-01 6.57861262e-01 5.50932026e-02 1.69411755e+02] [-6.56074476e-01 7.53139096e-01 -4.84539363e-02 -1.12705894e+02] [-7.33688125e-02 2.49542576e-04 9.97304846e-01 -1.20633887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04864 meters 0.024816440727750105 Centerline is valid? [True, True] Translation: X:169.44, Y:-112.73, Z:-12.07 [[ 7.51395227e-01 6.57513543e-01 5.55081382e-02 1.69436009e+02] [-6.55695277e-01 7.53442657e-01 -4.88657931e-02 -1.12728033e+02] [-7.39521199e-02 3.21099627e-04 9.97261741e-01 -1.20660659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07864 meters 0.02504346783648555 Centerline is valid? [True, True] Translation: X:169.46, Y:-112.75, Z:-12.07 [[ 7.53157982e-01 6.55392799e-01 5.66862646e-02 1.69459290e+02] [-6.53486471e-01 7.55287986e-01 -4.99548805e-02 -1.12749772e+02] [-7.55545236e-02 5.80210016e-04 9.97141503e-01 -1.20674407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10864 meters 0.025152491647326504 Centerline is valid? [True, True] Translation: X:169.48, Y:-112.77, Z:-12.07 [[ 7.53246243e-01 6.55246765e-01 5.71994244e-02 1.69483608e+02] [-6.53301609e-01 7.55414636e-01 -5.04552931e-02 -1.12772361e+02] [-7.62699499e-02 6.36784015e-04 9.97087002e-01 -1.20700150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13864 meters 0.0253468105207847 Centerline is valid? [True, True] Translation: X:169.51, Y:-112.79, Z:-12.07 [[ 7.55682365e-01 6.52428453e-01 5.72824272e-02 1.69507096e+02] [-6.50465640e-01 7.57849714e-01 -5.05792765e-02 -1.12794384e+02] [-7.64108302e-02 9.61616641e-04 9.97075955e-01 -1.20719963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16864 meters 0.02539573517660783 Centerline is valid? [True, True] Translation: X:169.53, Y:-112.82, Z:-12.07 [[ 7.56356935e-01 6.51701456e-01 5.66515624e-02 1.69531421e+02] [-6.49776151e-01 7.58474845e-01 -5.00685825e-02 -1.12816010e+02] [-7.55985531e-02 1.05888550e-03 9.97137773e-01 -1.20741055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19864 meters 0.025686130575128505 Centerline is valid? [True, True] Translation: X:169.55, Y:-112.84, Z:-12.08 [[ 7.57041218e-01 6.50834707e-01 5.74697960e-02 1.69554992e+02] [-6.48846858e-01 7.59218507e-01 -5.08430367e-02 -1.12837165e+02] [-7.67225456e-02 1.20117794e-03 9.97051758e-01 -1.20771800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22864 meters 0.025890870197738357 Centerline is valid? [True, True] Translation: X:169.58, Y:-112.86, Z:-12.08 [[ 7.57909904e-01 6.49724510e-01 5.85716486e-02 1.69576665e+02] [-6.47652577e-01 7.60168515e-01 -5.18649142e-02 -1.12861370e+02] [-7.82222291e-02 1.37485300e-03 9.96934999e-01 -1.20787984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25864 meters 0.025976418691334633 Centerline is valid? [True, True] Translation: X:169.60, Y:-112.88, Z:-12.08 [[ 7.58230212e-01 6.49322978e-01 5.88779808e-02 1.69600039e+02] [-6.47224399e-01 7.60511368e-01 -5.21827248e-02 -1.12883884e+02] [-7.86608160e-02 1.45925276e-03 9.96900369e-01 -1.20800150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864000000002 meters 0.02632106870693852 Centerline is valid? [True, True] Translation: X:169.62, Y:-112.91, Z:-12.08 [[ 7.58992730e-01 6.48394256e-01 5.92868074e-02 1.69623130e+02] [-6.46259838e-01 7.61303043e-01 -5.25918134e-02 -1.12906277e+02] [-7.92354565e-02 1.60212150e-03 9.96854641e-01 -1.20817743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31864000000002 meters 0.026289658182462275 Centerline is valid? [True, True] Translation: X:169.65, Y:-112.93, Z:-12.08 [[ 7.58918016e-01 6.48329572e-01 6.09279118e-02 1.69645832e+02] [-6.46070980e-01 7.61357936e-01 -5.40960371e-02 -1.12928498e+02] [-8.14600097e-02 1.69070144e-03 9.96675177e-01 -1.20840303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864000000002 meters 0.026289658182462275 Centerline is valid? [True, True] Translation: X:169.67, Y:-112.95, Z:-12.09 [[ 7.58592091e-01 6.48713229e-01 6.09030860e-02 1.69670356e+02] [-6.46453629e-01 7.61031078e-01 -5.41239763e-02 -1.12949846e+02] [-8.14600806e-02 1.68699940e-03 9.96675177e-01 -1.20858651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37864000000002 meters 0.026530674248478544 Centerline is valid? [True, True] Translation: X:169.69, Y:-112.97, Z:-12.09 [[ 7.58538059e-01 6.48803724e-01 6.06113866e-02 1.69693470e+02] [-6.46561605e-01 7.60953876e-01 -5.39192923e-02 -1.12974094e+02] [-8.11055072e-02 1.71083992e-03 9.96704053e-01 -1.20886527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864000000002 meters 0.026547558657811783 Centerline is valid? [True, True] Translation: X:169.71, Y:-113.00, Z:-12.09 [[ 7.58373836e-01 6.48926197e-01 6.13507596e-02 1.69714497e+02] [-6.46624927e-01 7.60849325e-01 -5.46306514e-02 -1.12998698e+02] [-8.21299448e-02 1.75952623e-03 9.96620076e-01 -1.20906178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43864000000002 meters 0.02646170640478042 Centerline is valid? [True, True] Translation: X:169.74, Y:-113.02, Z:-12.09 [[ 7.58041839e-01 6.49315996e-01 6.13294976e-02 1.69736370e+02] [-6.47013445e-01 7.60516704e-01 -5.46621002e-02 -1.13023609e+02] [-8.21350834e-02 1.75514939e-03 9.96619660e-01 -1.20935612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters 0.02624693985244725 Centerline is valid? [True, True] Translation: X:169.76, Y:-113.05, Z:-12.09 [[ 7.56990665e-01 6.50709650e-01 5.95154114e-02 1.69758988e+02] [-6.48541772e-01 7.59324969e-01 -5.30957784e-02 -1.13046948e+02] [-7.97414732e-02 1.59477823e-03 9.96814303e-01 -1.20936748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49864 meters 0.025907058612748116 Centerline is valid? [True, True] Translation: X:169.78, Y:-113.07, Z:-12.10 [[ 7.55630846e-01 6.52378885e-01 5.85133727e-02 1.69781319e+02] [-6.50284891e-01 7.57891646e-01 -5.22476187e-02 -1.13069745e+02] [-7.84320395e-02 1.42955011e-03 9.96918438e-01 -1.20951929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters 0.025460381187978876 Centerline is valid? [True, True] Translation: X:169.80, Y:-113.09, Z:-12.10 [[ 7.52823353e-01 6.55681685e-01 5.77799894e-02 1.69804991e+02] [-6.53646702e-01 7.55036633e-01 -5.16301437e-02 -1.13092287e+02] [-7.74789482e-02 1.10067833e-03 9.96993381e-01 -1.20968771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55864 meters 0.02550199873032816 Centerline is valid? [True, True] Translation: X:169.83, Y:-113.12, Z:-12.10 [[ 7.49817623e-01 6.58948241e-01 5.96720008e-02 1.69828334e+02] [-6.56785554e-01 7.52187848e-01 -5.33495772e-02 -1.13115613e+02] [-8.00391640e-02 8.10745090e-04 9.96791390e-01 -1.21014757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58864 meters 0.025443377770319946 Centerline is valid? [True, True] Translation: X:169.85, Y:-113.14, Z:-12.10 [[ 7.48411848e-01 6.60543252e-01 5.96851535e-02 1.69852116e+02] [-6.58380203e-01 7.50787684e-01 -5.34168629e-02 -1.13138686e+02] [-8.00950265e-02 6.82289552e-04 9.96786999e-01 -1.21038273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61864 meters 0.02565152145177802 Centerline is valid? [True, True] Translation: X:169.88, Y:-113.16, Z:-12.11 [[ 7.47665315e-01 6.61336699e-01 6.02523706e-02 1.69876141e+02] [-6.59130314e-01 7.50088898e-01 -5.39803166e-02 -1.13160453e+02] [-8.08937986e-02 6.45046450e-04 9.96722518e-01 -1.21067621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64864 meters 0.02540285420035277 Centerline is valid? [True, True] Translation: X:169.90, Y:-113.18, Z:-12.11 [[ 7.46739488e-01 6.62488644e-01 5.90671933e-02 1.69900605e+02] [-6.60367955e-01 7.49071757e-01 -5.29685503e-02 -1.13182100e+02] [-7.93366293e-02 5.47626523e-04 9.96847731e-01 -1.21072670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67864 meters 0.025456561633643394 Centerline is valid? [True, True] Translation: X:169.92, Y:-113.20, Z:-12.11 [[ 7.45362698e-01 6.64024713e-01 5.92083623e-02 1.69924976e+02] [-6.61894667e-01 7.47710507e-01 -5.31455377e-02 -1.13204902e+02] [-7.95606650e-02 4.23002092e-04 9.96829936e-01 -1.21102697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70864 meters 0.02578203514609921 Centerline is valid? [True, True] Translation: X:169.95, Y:-113.23, Z:-12.11 [[ 7.43480705e-01 6.66117250e-01 5.93653994e-02 1.69948275e+02] [-6.63978037e-01 7.45847002e-01 -5.33424424e-02 -1.13227747e+02] [-7.98098262e-02 2.41755312e-04 9.96810079e-01 -1.21115628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73864 meters 0.025877784768433363 Centerline is valid? [True, True] Translation: X:169.97, Y:-113.25, Z:-12.11 [[ 7.42213552e-01 6.67433896e-01 6.04238140e-02 1.69973314e+02] [-6.65217377e-01 7.44669037e-01 -5.43494909e-02 -1.13248188e+02] [-8.12704358e-02 1.43957636e-04 9.96692077e-01 -1.21137065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76864 meters 0.025865882216707495 Centerline is valid? [True, True] Translation: X:170.00, Y:-113.27, Z:-12.12 [[ 7.40913820e-01 6.68867678e-01 6.05205834e-02 1.69999451e+02] [-6.66644496e-01 7.43381483e-01 -5.44893272e-02 -1.13268851e+02] [-8.14360308e-02 2.61817664e-05 9.96678570e-01 -1.21154141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79864 meters 0.02626978824315706 Centerline is valid? [True, True] Translation: X:170.03, Y:-113.29, Z:-12.12 [[ 7.38566785e-01 6.71456467e-01 6.05418536e-02 1.70025067e+02] [-6.69236199e-01 7.41043969e-01 -5.45595654e-02 -1.13288874e+02] [-8.14985485e-02 -2.20917165e-04 9.96673436e-01 -1.21179284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82864 meters 0.026388189044879603 Centerline is valid? [True, True] Translation: X:170.05, Y:-113.31, Z:-12.12 [[ 7.37864218e-01 6.72166467e-01 6.12261097e-02 1.70050036e+02] [-6.69894657e-01 7.40400004e-01 -5.52175975e-02 -1.13309773e+02] [-8.24472294e-02 -2.71954332e-04 9.96595395e-01 -1.21195929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85864 meters 0.026830339167732028 Centerline is valid? [True, True] Translation: X:170.08, Y:-113.33, Z:-12.12 [[ 7.38500139e-01 6.71341243e-01 6.25977575e-02 1.70076574e+02] [-6.68958878e-01 7.41148375e-01 -5.65075756e-02 -1.13328627e+02] [-8.43300924e-02 -1.44473139e-04 9.96437863e-01 -1.21220667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88864 meters 0.026887374212827896 Centerline is valid? [True, True] Translation: X:170.10, Y:-113.35, Z:-12.12 [[ 7.39215968e-01 6.70555830e-01 6.25670162e-02 1.70102385e+02] [-6.68168343e-01 7.41859069e-01 -5.65348349e-02 -1.13348983e+02] [-8.43256716e-02 -1.38468321e-05 9.96438247e-01 -1.21243121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91864 meters 0.026567768203388346 Centerline is valid? [True, True] Translation: X:170.13, Y:-113.37, Z:-12.13 [[ 7.40688556e-01 6.69112331e-01 6.05735214e-02 1.70129174e+02] [-6.66865510e-01 7.43161257e-01 -5.47881241e-02 -1.13367552e+02] [-8.16753037e-02 1.86544234e-04 9.96658974e-01 -1.21250323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94864 meters 0.026953031179900427 Centerline is valid? [True, True] Translation: X:170.15, Y:-113.39, Z:-12.13 [[ 7.41293088e-01 6.68356297e-01 6.15176220e-02 1.70154428e+02] [-6.66031870e-01 7.43841221e-01 -5.56936782e-02 -1.13387194e+02] [-8.29825636e-02 3.12641841e-04 9.96550950e-01 -1.21280528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97864 meters 0.026994001173872986 Centerline is valid? [True, True] Translation: X:170.18, Y:-113.41, Z:-12.13 [[ 7.41923257e-01 6.67724860e-01 6.07732899e-02 1.70179577e+02] [-6.65450180e-01 7.44408046e-01 -5.50701351e-02 -1.13407464e+02] [-8.20118242e-02 4.16217353e-04 9.96631270e-01 -1.21299761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00864 meters 0.027113288376998123 Centerline is valid? [True, True] Translation: X:170.20, Y:-113.43, Z:-12.13 [[ 7.43232165e-01 6.66193879e-01 6.15764928e-02 1.70204161e+02] [-6.63848992e-01 7.45778329e-01 -5.58497997e-02 -1.13427750e+02] [-8.31292086e-02 6.31874887e-04 9.96538577e-01 -1.21326955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03864000000002 meters 0.02718081176342387 Centerline is valid? [True, True] Translation: X:170.23, Y:-113.45, Z:-12.14 [[ 7.43677793e-01 6.65683743e-01 6.17129957e-02 1.70228846e+02] [-6.63322796e-01 7.46233628e-01 -5.60200015e-02 -1.13448842e+02] [-8.33439169e-02 7.25194220e-04 9.96520580e-01 -1.21351773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864000000002 meters 0.027027883268247725 Centerline is valid? [True, True] Translation: X:170.25, Y:-113.47, Z:-12.14 [[ 7.42764787e-01 6.66767786e-01 6.10015639e-02 1.70253038e+02] [-6.64461373e-01 7.45265273e-01 -5.54144152e-02 -1.13470703e+02] [-8.24108941e-02 6.26693412e-04 9.96598240e-01 -1.21361614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09864000000002 meters 0.026923865568839613 Centerline is valid? [True, True] Translation: X:170.28, Y:-113.49, Z:-12.14 [[ 7.41494958e-01 6.68235399e-01 6.03877387e-02 1.70277174e+02] [-6.65976047e-01 7.43949733e-01 -5.49062737e-02 -1.13491936e+02] [-8.16157578e-02 4.95937570e-04 9.96663746e-01 -1.21383336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864000000002 meters 0.027070519940350892 Centerline is valid? [True, True] Translation: X:170.30, Y:-113.51, Z:-12.14 [[ 7.41063387e-01 6.68774908e-01 5.97091147e-02 1.70301567e+02] [-6.66563885e-01 7.43464796e-01 -5.43386065e-02 -1.13513106e+02] [-8.07319213e-02 4.68412310e-04 9.96735741e-01 -1.21399130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15864000000002 meters 0.026982867901409992 Centerline is valid? [True, True] Translation: X:170.33, Y:-113.53, Z:-12.14 [[ 7.40693396e-01 6.69173229e-01 5.98371347e-02 1.70326278e+02] [-6.66949751e-01 7.43106300e-01 -5.45073930e-02 -1.13534455e+02] [-8.09402400e-02 4.64903969e-04 9.96718848e-01 -1.21414428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864000000002 meters 0.02711998633388831 Centerline is valid? [True, True] Translation: X:170.35, Y:-113.56, Z:-12.14 [[ 7.39866441e-01 6.70043957e-01 6.03220023e-02 1.70352019e+02] [-6.67782385e-01 7.42321307e-01 -5.50069420e-02 -1.13555324e+02] [-8.16353767e-02 4.15819874e-04 9.96662176e-01 -1.21442075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21864 meters 0.027092813749906134 Centerline is valid? [True, True] Translation: X:170.38, Y:-113.58, Z:-12.15 [[ 7.39218192e-01 6.70739390e-01 6.05403596e-02 1.70377458e+02] [-6.68458957e-01 7.41693012e-01 -5.52639019e-02 -1.13576664e+02] [-8.19700375e-02 3.83336045e-04 9.96634720e-01 -1.21469286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters 0.02718920202552429 Centerline is valid? [True, True] Translation: X:170.40, Y:-113.60, Z:-12.15 [[ 7.38412822e-01 6.71619747e-01 6.06087507e-02 1.70403366e+02] [-6.69332367e-01 7.40895949e-01 -5.53838892e-02 -1.13597498e+02] [-8.21016916e-02 3.28775332e-04 9.96623903e-01 -1.21497614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27864 meters 0.027056458640017423 Centerline is valid? [True, True] Translation: X:170.43, Y:-113.62, Z:-12.15 [[ 7.37450287e-01 6.72727267e-01 6.00424759e-02 1.70428391e+02] [-6.70481709e-01 7.39890509e-01 -5.49209687e-02 -1.13618546e+02] [-8.13716912e-02 2.44102247e-04 9.96683796e-01 -1.21498166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters 0.027023085742272634 Centerline is valid? [True, True] Translation: X:170.45, Y:-113.64, Z:-12.15 [[ 7.36886336e-01 6.73264874e-01 6.09338795e-02 1.70453560e+02] [-6.70949615e-01 7.39401351e-01 -5.57875934e-02 -1.13638464e+02] [-8.26144199e-02 2.25552240e-04 9.96581561e-01 -1.21512347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33864 meters 0.02712364068959014 Centerline is valid? [True, True] Translation: X:170.48, Y:-113.66, Z:-12.15 [[ 7.36165824e-01 6.74162067e-01 5.97108609e-02 1.70480215e+02] [-6.71937892e-01 7.38583429e-01 -5.47173441e-02 -1.13657449e+02] [-8.09898102e-02 1.59048696e-04 9.96714917e-01 -1.21520354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36864 meters 0.02702809002591483 Centerline is valid? [True, True] Translation: X:170.51, Y:-113.68, Z:-12.15 [[ 7.35034651e-01 6.75537703e-01 5.80764456e-02 1.70505653e+02] [-6.73434287e-01 7.37325444e-01 -5.32677249e-02 -1.13677692e+02] [-7.88055975e-02 4.29538691e-05 9.96890002e-01 -1.21539331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39864 meters 0.026860273032436644 Centerline is valid? [True, True] Translation: X:170.53, Y:-113.70, Z:-12.16 [[ 7.34600096e-01 6.76048260e-01 5.76320093e-02 1.70530611e+02] [-6.73975430e-01 7.36857347e-01 -5.28996280e-02 -1.13698782e+02] [-7.82292709e-02 1.75135057e-05 9.96935395e-01 -1.21552909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42864 meters 0.02681661087751045 Centerline is valid? [True, True] Translation: X:170.56, Y:-113.72, Z:-12.16 [[ 7.34025380e-01 6.76713458e-01 5.71457604e-02 1.70556177e+02] [-6.74675383e-01 7.36246491e-01 -5.24807783e-02 -1.13720123e+02] [-7.75878145e-02 -3.26146060e-05 9.96985521e-01 -1.21567951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45864 meters 0.026891424385902887 Centerline is valid? [True, True] Translation: X:170.58, Y:-113.74, Z:-12.16 [[ 7.32564022e-01 6.78117363e-01 5.92182042e-02 1.70581577e+02] [-6.75928550e-01 7.34953618e-01 -5.44405636e-02 -1.13740625e+02] [-8.04397248e-02 -1.46076665e-04 9.96759464e-01 -1.21587619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48864 meters 0.026985002536865248 Centerline is valid? [True, True] Translation: X:170.61, Y:-113.76, Z:-12.16 [[ 7.31709719e-01 6.79055077e-01 5.90346388e-02 1.70606524e+02] [-6.76878687e-01 7.34087296e-01 -5.43238954e-02 -1.13761831e+02] [-8.02254954e-02 -2.09966496e-04 9.96776718e-01 -1.21599322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51864 meters 0.026926825122277325 Centerline is valid? [True, True] Translation: X:170.63, Y:-113.78, Z:-12.16 [[ 7.29673849e-01 6.81398001e-01 5.72087300e-02 1.70631721e+02] [-6.79357459e-01 7.31912968e-01 -5.26958269e-02 -1.13781636e+02] [-7.77786425e-02 -4.14410607e-04 9.96970567e-01 -1.21610525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54864 meters 0.027022534177674255 Centerline is valid? [True, True] Translation: X:170.66, Y:-113.80, Z:-12.16 [[ 7.28627469e-01 6.82513631e-01 5.72464408e-02 1.70657039e+02] [-6.80469889e-01 7.30872695e-01 -5.27809994e-02 -1.13802265e+02] [-7.78636120e-02 -4.96793196e-04 9.96963897e-01 -1.21641873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57864 meters 0.02706404173102543 Centerline is valid? [True, True] Translation: X:170.68, Y:-113.82, Z:-12.16 [[ 7.28147634e-01 6.83081803e-01 5.65709524e-02 1.70682551e+02] [-6.81083591e-01 7.30341693e-01 -5.22125749e-02 -1.13822910e+02] [-7.69815850e-02 -5.11084511e-04 9.97032384e-01 -1.21646110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60864 meters 0.02698566741523435 Centerline is valid? [True, True] Translation: X:170.71, Y:-113.84, Z:-12.17 [[ 7.28395060e-01 6.82743943e-01 5.74573293e-02 1.70708372e+02] [-6.80677053e-01 7.30657590e-01 -5.30870686e-02 -1.13844162e+02] [-7.82265083e-02 -4.41527057e-04 9.96935514e-01 -1.21663535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63864 meters 0.026929889358810206 Centerline is valid? [True, True] Translation: X:170.73, Y:-113.87, Z:-12.17 [[ 7.29221188e-01 6.81934925e-01 5.65792944e-02 1.70732831e+02] [-6.79924312e-01 7.31412784e-01 -5.23284697e-02 -1.13865384e+02] [-7.70674303e-02 -3.10609049e-04 9.97025835e-01 -1.21681654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66864 meters 0.02679602162361607 Centerline is valid? [True, True] Translation: X:170.76, Y:-113.89, Z:-12.17 [[ 7.30166957e-01 6.80946855e-01 5.62813985e-02 1.70757230e+02] [-6.78950670e-01 7.32332816e-01 -5.21021558e-02 -1.13887086e+02] [-7.66955142e-02 -1.69020668e-04 9.97054547e-01 -1.21707356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69864 meters 0.02686844709006317 Centerline is valid? [True, True] Translation: X:170.78, Y:-113.91, Z:-12.17 [[ 7.30754379e-01 6.80303022e-01 5.64432189e-02 1.70781577e+02] [-6.78289156e-01 7.32930962e-01 -5.23070294e-02 -1.13909517e+02] [-7.69536129e-02 -6.12325712e-05 9.97034672e-01 -1.21727168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72864 meters 0.026951331158169292 Centerline is valid? [True, True] Translation: X:170.81, Y:-113.93, Z:-12.17 [[ 7.31849962e-01 6.79014564e-01 5.77482098e-02 1.70806161e+02] [-6.76897968e-01 7.34124791e-01 -5.35717473e-02 -1.13930203e+02] [-7.87703891e-02 1.16835289e-04 9.96892779e-01 -1.21744790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75864 meters 0.027047527610873822 Centerline is valid? [True, True] Translation: X:170.83, Y:-113.95, Z:-12.18 [[ 7.32049617e-01 6.78763635e-01 5.81660297e-02 1.70831363e+02] [-6.76611340e-01 7.34356790e-01 -5.40111115e-02 -1.13951731e+02] [-7.93753972e-02 1.83018165e-04 9.96844779e-01 -1.21768606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864000000002 meters 0.027159168652694868 Centerline is valid? [True, True] Translation: X:170.86, Y:-113.97, Z:-12.18 [[ 7.32189722e-01 6.78577845e-01 5.85689263e-02 1.70855844e+02] [-6.76390423e-01 7.34528452e-01 -5.44421625e-02 -1.13974001e+02] [-7.99637881e-02 2.46531001e-04 9.96797739e-01 -1.21790032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81864000000002 meters 0.027056077252958062 Centerline is valid? [True, True] Translation: X:170.88, Y:-114.00, Z:-12.18 [[ 7.33458118e-01 6.77249387e-01 5.80728545e-02 1.70879212e+02] [-6.75090318e-01 7.35753412e-01 -5.40368371e-02 -1.13997573e+02] [-7.93237157e-02 4.29335026e-04 9.96848817e-01 -1.21811505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864000000002 meters 0.027132525926984886 Centerline is valid? [True, True] Translation: X:170.90, Y:-114.02, Z:-12.18 [[ 7.34315797e-01 6.76436561e-01 5.66911737e-02 1.70902013e+02] [-6.74372712e-01 7.36500702e-01 -5.28030458e-02 -1.14019852e+02] [-7.74709999e-02 5.43130057e-04 9.96994458e-01 -1.21820202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87864000000002 meters 0.02714110763806176 Centerline is valid? [True, True] Translation: X:170.92, Y:-114.04, Z:-12.18 [[ 7.35383855e-01 6.75272064e-01 5.67294109e-02 1.70924642e+02] [-6.73198094e-01 7.37568401e-01 -5.28883724e-02 -1.14044246e+02] [-7.75558612e-02 7.03123841e-04 9.96987760e-01 -1.21837452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864000000002 meters 0.027147545010305637 Centerline is valid? [True, True] Translation: X:170.95, Y:-114.07, Z:-12.19 [[ 7.35434833e-01 6.75216357e-01 5.67316239e-02 1.70949011e+02] [-6.73137802e-01 7.37619352e-01 -5.29451701e-02 -1.14067147e+02] [-7.75957886e-02 7.49521717e-04 9.96984620e-01 -1.21858257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93864000000002 meters 0.026976432382714913 Centerline is valid? [True, True] Translation: X:170.97, Y:-114.09, Z:-12.19 [[ 7.35207052e-01 6.75447406e-01 5.69332304e-02 1.70973173e+02] [-6.73350424e-01 7.37407764e-01 -5.31883004e-02 -1.14089881e+02] [-7.79089058e-02 7.68398680e-04 9.96960186e-01 -1.21875957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters 0.0264236964199887 Centerline is valid? [True, True] Translation: X:171.00, Y:-114.11, Z:-12.19 [[ 7.34076896e-01 6.76711006e-01 5.65095079e-02 1.70996137e+02] [-6.74644854e-01 7.36248442e-01 -5.28446151e-02 -1.14112619e+02] [-7.73655698e-02 6.68162320e-04 9.97002569e-01 -1.21880632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99864 meters 0.02617566739768516 Centerline is valid? [True, True] Translation: X:171.02, Y:-114.14, Z:-12.19 [[ 7.32842980e-01 6.78014931e-01 5.68939320e-02 1.71019418e+02] [-6.75920530e-01 7.35047908e-01 -5.32542014e-02 -1.14136314e+02] [-7.79269094e-02 5.71191003e-04 9.96958911e-01 -1.21885584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters 0.02595061171381083 Centerline is valid? [True, True] Translation: X:171.04, Y:-114.16, Z:-12.19 [[ 7.31798324e-01 6.79116651e-01 5.71995404e-02 1.71043752e+02] [-6.76998606e-01 7.34030195e-01 -5.35962764e-02 -1.14158603e+02] [-7.83843136e-02 4.97656170e-04 9.96923092e-01 -1.21903075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05864 meters 0.02590463161262718 Centerline is valid? [True, True] Translation: X:171.07, Y:-114.18, Z:-12.19 [[ 7.30179707e-01 6.80764044e-01 5.82916155e-02 1.71067659e+02] [-6.78564989e-01 7.32502683e-01 -5.46751728e-02 -1.14180144e+02] [-7.99196565e-02 3.68052244e-04 9.96801241e-01 -1.21931584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08864 meters 0.02570061147259645 Centerline is valid? [True, True] Translation: X:171.09, Y:-114.20, Z:-12.20 [[ 7.29349172e-01 6.81549609e-01 5.94972015e-02 1.71091573e+02] [-6.79256869e-01 7.31771839e-01 -5.58576838e-02 -1.14201833e+02] [-8.16081591e-02 3.25872541e-04 9.96664438e-01 -1.21964367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11864 meters 0.025626836072945882 Centerline is valid? [True, True] Translation: X:171.12, Y:-114.22, Z:-12.20 [[ 7.29473330e-01 6.81473552e-01 5.88426589e-02 1.71115093e+02] [-6.79226798e-01 7.31842649e-01 -5.52928058e-02 -1.14223122e+02] [-8.07441522e-02 3.67116438e-04 9.96734793e-01 -1.21977483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14864 meters 0.025609193044575183 Centerline is valid? [True, True] Translation: X:171.14, Y:-114.24, Z:-12.20 [[ 7.29752967e-01 6.81286372e-01 5.75281372e-02 1.71139777e+02] [-6.79134638e-01 7.32016876e-01 -5.41057951e-02 -1.14243670e+02] [-7.89731081e-02 4.14513885e-04 9.96876661e-01 -1.21978896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17864 meters 0.025661090440502646 Centerline is valid? [True, True] Translation: X:171.16, Y:-114.27, Z:-12.20 [[ 7.29712211e-01 6.81371927e-01 5.70296906e-02 1.71164304e+02] [-6.79253685e-01 7.31937227e-01 -5.36873164e-02 -1.14265582e+02] [-7.83231839e-02 4.38662890e-04 9.96927924e-01 -1.21997666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20864 meters 0.025661090440502646 Centerline is valid? [True, True] Translation: X:171.19, Y:-114.29, Z:-12.20 [[ 7.29361029e-01 6.81750165e-01 5.70017700e-02 1.71188203e+02] [-6.79630760e-01 7.31584937e-01 -5.37169488e-02 -1.14287629e+02] [-7.83231750e-02 4.38892833e-04 9.96927925e-01 -1.22016007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23864 meters 0.025755244737642888 Centerline is valid? [True, True] Translation: X:171.21, Y:-114.31, Z:-12.20 [[ 7.29287962e-01 6.81707937e-01 5.84239507e-02 1.71211811e+02] [-6.79476726e-01 7.31624251e-01 -5.51120224e-02 -1.14308597e+02] [-8.03146823e-02 4.94819698e-04 9.96769435e-01 -1.22048312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26864 meters 0.02567811916577648 Centerline is valid? [True, True] Translation: X:171.24, Y:-114.33, Z:-12.21 [[ 7.29419690e-01 6.81570636e-01 5.83813638e-02 1.71235863e+02] [-6.79338261e-01 7.31752124e-01 -5.51212887e-02 -1.14330498e+02] [-8.02897387e-02 5.45859150e-04 9.96771418e-01 -1.22064347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29864 meters 0.025877177630122587 Centerline is valid? [True, True] Translation: X:171.26, Y:-114.35, Z:-12.21 [[ 7.29664985e-01 6.81211495e-01 5.94971295e-02 1.71259403e+02] [-6.78886983e-01 7.32086396e-01 -5.62314229e-02 -1.14352572e+02] [-8.18625307e-02 6.38273645e-04 9.96643426e-01 -1.22088388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32864 meters 0.025983994821968944 Centerline is valid? [True, True] Translation: X:171.28, Y:-114.38, Z:-12.21 [[ 7.29923707e-01 6.80911280e-01 5.97596059e-02 1.71283141e+02] [-6.78560752e-01 7.32365563e-01 -5.65330605e-02 -1.14375228e+02] [-8.22598760e-02 7.14297941e-04 9.96610657e-01 -1.22110955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35864 meters 0.02620218926845651 Centerline is valid? [True, True] Translation: X:171.31, Y:-114.40, Z:-12.21 [[ 7.31305298e-01 6.79375412e-01 6.03457684e-02 1.71305705e+02] [-6.76968623e-01 7.33790278e-01 -5.71428978e-02 -1.14397425e+02] [-8.31026179e-02 9.36712177e-04 9.96540555e-01 -1.22125841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38864 meters 0.026299042602779262 Centerline is valid? [True, True] Translation: X:171.33, Y:-114.42, Z:-12.22 [[ 7.31631561e-01 6.78959993e-01 6.10621631e-02 1.71328791e+02] [-6.76490647e-01 7.34174553e-01 -5.78630234e-02 -1.14419011e+02] [-8.41169643e-02 1.02643184e-03 9.96455359e-01 -1.22156065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41864 meters 0.02606187882029221 Centerline is valid? [True, True] Translation: X:171.35, Y:-114.44, Z:-12.22 [[ 7.31562064e-01 6.79180028e-01 5.94258926e-02 1.71353143e+02] [-6.76839416e-01 7.33971043e-01 -5.63463693e-02 -1.14440208e+02] [-8.18862130e-02 9.99079760e-04 9.96641184e-01 -1.22163948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44864 meters 0.026111827522195832 Centerline is valid? [True, True] Translation: X:171.38, Y:-114.46, Z:-12.22 [[ 7.30403918e-01 6.80517662e-01 5.83594763e-02 1.71376376e+02] [-6.78260782e-01 7.32731162e-01 -5.53837151e-02 -1.14462193e+02] [-8.04514032e-02 8.69538397e-04 9.96758153e-01 -1.22182785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47864 meters 0.02578052555593691 Centerline is valid? [True, True] Translation: X:171.40, Y:-114.48, Z:-12.22 [[ 7.29327738e-01 6.81700206e-01 5.80161969e-02 1.71400458e+02] [-6.79469651e-01 7.31631215e-01 -5.51067902e-02 -1.14483651e+02] [-8.00127709e-02 7.70665632e-04 9.96793541e-01 -1.22189753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50864 meters 0.025729623810502634 Centerline is valid? [True, True] Translation: X:171.43, Y:-114.51, Z:-12.22 [[ 7.28980227e-01 6.82111834e-01 5.75436700e-02 1.71425471e+02] [-6.79914771e-01 7.31247478e-01 -5.47086012e-02 -1.14505788e+02] [-7.93960478e-02 7.56697355e-04 9.96842864e-01 -1.22204233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53864000000002 meters 0.02579774776840082 Centerline is valid? [True, True] Translation: X:171.45, Y:-114.53, Z:-12.22 [[ 7.27779466e-01 6.83369094e-01 5.78249934e-02 1.71449699e+02] [-6.81149894e-01 7.30072764e-01 -5.50325467e-02 -1.14527766e+02] [-7.98239944e-02 6.64069319e-04 9.96808752e-01 -1.22222665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864000000002 meters 0.025737021658856604 Centerline is valid? [True, True] Translation: X:171.47, Y:-114.55, Z:-12.22 [[ 7.27499408e-01 6.83628517e-01 5.82808895e-02 1.71474126e+02] [-6.81370328e-01 7.29829833e-01 -5.55237938e-02 -1.14549852e+02] [-8.04927806e-02 6.82658309e-04 9.96754958e-01 -1.22242540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59864000000002 meters 0.0258076686205538 Centerline is valid? [True, True] Translation: X:171.50, Y:-114.57, Z:-12.23 [[ 7.27283192e-01 6.83905486e-01 5.77273238e-02 1.71498451e+02] [-6.81686422e-01 7.29570294e-01 -5.50527783e-02 -1.14571639e+02] [-7.97670377e-02 6.87027525e-04 9.96813296e-01 -1.22261795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864000000002 meters 0.02580183100691639 Centerline is valid? [True, True] Translation: X:171.52, Y:-114.59, Z:-12.23 [[ 7.26818456e-01 6.84405012e-01 5.76603196e-02 1.71523653e+02] [-6.82188140e-01 7.29101726e-01 -5.50455669e-02 -1.14593090e+02] [-7.97137004e-02 6.72947758e-04 9.96817573e-01 -1.22284059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65864000000002 meters 0.025650046040941687 Centerline is valid? [True, True] Translation: X:171.55, Y:-114.62, Z:-12.23 [[ 7.25446378e-01 6.85814355e-01 5.81912551e-02 1.71548222e+02] [-6.83556294e-01 7.27776305e-01 -5.56097362e-02 -1.14615223e+02] [-8.04881720e-02 5.64883119e-04 9.96755404e-01 -1.22301155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864000000002 meters 0.025580298429129626 Centerline is valid? [True, True] Translation: X:171.57, Y:-114.64, Z:-12.23 [[ 7.22886064e-01 6.88547927e-01 5.77710104e-02 1.71572443e+02] [-6.86326723e-01 7.25190777e-01 -5.52627097e-02 -1.14637073e+02] [-7.99460281e-02 2.98854506e-04 9.96799149e-01 -1.22317372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71864 meters 0.025577507005009582 Centerline is valid? [True, True] Translation: X:171.60, Y:-114.66, Z:-12.23 [[ 7.21465444e-01 6.90021555e-01 5.79471121e-02 1.71597028e+02] [-6.87787265e-01 7.23788798e-01 -5.54838254e-02 -1.14659612e+02] [-8.02265060e-02 1.74377004e-04 9.96776644e-01 -1.22332447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters 0.025732603863709996 Centerline is valid? [True, True] Translation: X:171.62, Y:-114.68, Z:-12.23 [[ 7.20026823e-01 6.91483976e-01 5.84062044e-02 1.71621683e+02] [-6.89214115e-01 7.22391796e-01 -5.59821107e-02 -1.14681513e+02] [-8.09028954e-02 5.42408540e-05 9.96721987e-01 -1.22349545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77864 meters 0.02561119291100507 Centerline is valid? [True, True] Translation: X:171.65, Y:-114.70, Z:-12.24 [[ 7.18753156e-01 6.92817046e-01 5.82961644e-02 1.71648225e+02] [-6.90555365e-01 7.21113402e-01 -5.59352275e-02 -1.14701976e+02] [-8.07910245e-02 -5.31077719e-05 9.96731061e-01 -1.22363349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters 0.025643990837064208 Centerline is valid? [True, True] Translation: X:171.67, Y:-114.72, Z:-12.24 [[ 7.18637971e-01 6.92946375e-01 5.81789218e-02 1.71674063e+02] [-6.90689475e-01 7.20989126e-01 -5.58813839e-02 -1.14722401e+02] [-8.06691724e-02 -2.50845680e-05 9.96740931e-01 -1.22389231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83864 meters 0.025762023531026183 Centerline is valid? [True, True] Translation: X:171.70, Y:-114.74, Z:-12.24 [[ 7.18397904e-01 6.93169267e-01 5.84877655e-02 1.71699009e+02] [-6.90884213e-01 7.20774838e-01 -5.62373247e-02 -1.14743898e+02] [-8.11384949e-02 -7.49760397e-06 9.96702837e-01 -1.22416140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86864 meters 0.02565262595912771 Centerline is valid? [True, True] Translation: X:171.72, Y:-114.77, Z:-12.24 [[ 7.18678214e-01 6.92890772e-01 5.83438273e-02 1.71724551e+02] [-6.90611302e-01 7.21042560e-01 -5.61574227e-02 -1.14765048e+02] [-8.09793426e-02 6.62097271e-05 9.96715778e-01 -1.22433415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89864 meters 0.025788215415070263 Centerline is valid? [True, True] Translation: X:171.75, Y:-114.78, Z:-12.24 [[ 7.18946483e-01 6.92619089e-01 5.82645033e-02 1.71752135e+02] [-6.90340181e-01 7.21303527e-01 -5.61396132e-02 -1.14783538e+02] [-8.09097595e-02 1.39049703e-04 9.96721421e-01 -1.22447665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92864 meters 0.025743339892039308 Centerline is valid? [True, True] Translation: X:171.78, Y:-114.80, Z:-12.25 [[ 7.19480884e-01 6.92044575e-01 5.84941414e-02 1.71778090e+02] [-6.89740940e-01 7.21854726e-01 -5.64197659e-02 -1.14804164e+02] [-8.12692653e-02 2.47138928e-04 9.96692152e-01 -1.22467397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95864 meters 0.02571379690114131 Centerline is valid? [True, True] Translation: X:171.80, Y:-114.82, Z:-12.25 [[ 7.21490942e-01 6.90030322e-01 5.75236918e-02 1.71804209e+02] [-6.87791660e-01 7.23780282e-01 -5.55403960e-02 -1.14824832e+02] [-7.99590712e-02 5.07577176e-04 9.96798018e-01 -1.22479548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98864 meters 0.02565135145339933 Centerline is valid? [True, True] Translation: X:171.83, Y:-114.85, Z:-12.25 [[ 7.22997774e-01 6.88483933e-01 5.71322417e-02 1.71829123e+02] [-6.86266352e-01 7.25251241e-01 -5.52189402e-02 -1.14846736e+02] [-7.94525823e-02 7.15235731e-04 9.96838390e-01 -1.22495839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01864 meters 0.025857294010677094 Centerline is valid? [True, True] Translation: X:171.85, Y:-114.87, Z:-12.25 [[ 7.23961703e-01 6.87458426e-01 5.72744818e-02 1.71853414e+02] [-6.85222213e-01 7.26223214e-01 -5.54108470e-02 -1.14868482e+02] [-7.96867119e-02 8.69583986e-04 9.96819578e-01 -1.22515616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04864 meters 0.025871040619889096 Centerline is valid? [True, True] Translation: X:171.88, Y:-114.89, Z:-12.25 [[ 7.25547459e-01 6.85740013e-01 5.78058752e-02 1.71877575e+02] [-6.83452562e-01 7.27845735e-01 -5.59748337e-02 -1.14889675e+02] [-8.04579429e-02 1.10482494e-03 9.96757392e-01 -1.22535476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07864 meters 0.026105746533340638 Centerline is valid? [True, True] Translation: X:171.90, Y:-114.91, Z:-12.26 [[ 7.26006938e-01 6.85211627e-01 5.83005412e-02 1.71901137e+02] [-6.82878999e-01 7.28343025e-01 -5.65040720e-02 -1.14911828e+02] [-8.11800396e-02 1.21013307e-03 9.96698719e-01 -1.22562965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10864 meters 0.02609598623868343 Centerline is valid? [True, True] Translation: X:171.92, Y:-114.93, Z:-12.26 [[ 7.25361432e-01 6.85861946e-01 5.86871660e-02 1.71924340e+02] [-6.83496113e-01 7.27730714e-01 -5.69304061e-02 -1.14934635e+02] [-8.17548523e-02 1.18267109e-03 9.96651767e-01 -1.22578987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13864 meters 0.025834840171360535 Centerline is valid? [True, True] Translation: X:171.95, Y:-114.96, Z:-12.26 [[ 7.24003832e-01 6.87364889e-01 5.78615727e-02 1.71946997e+02] [-6.85065883e-01 7.26311528e-01 -5.61809536e-02 -1.14957220e+02] [-8.06423422e-02 1.03623625e-03 9.96742564e-01 -1.22583987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16864 meters 0.02565658770827107 Centerline is valid? [True, True] Translation: X:171.97, Y:-114.98, Z:-12.26 [[ 7.20446646e-01 6.91079652e-01 5.80133189e-02 1.71969441e+02] [-6.88776464e-01 7.22778306e-01 -5.63782068e-02 -1.14980934e+02] [-8.08925999e-02 6.59281325e-04 9.96722606e-01 -1.22601330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19864 meters 0.025583032039779158 Centerline is valid? [True, True] Translation: X:171.99, Y:-115.00, Z:-12.26 [[ 7.17901032e-01 6.93732761e-01 5.79047955e-02 1.71991982e+02] [-6.91442707e-01 7.20232393e-01 -5.63230305e-02 -1.15003631e+02] [-8.07780408e-02 3.96513108e-04 9.96732036e-01 -1.22625825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22864 meters 0.025567709361613383 Centerline is valid? [True, True] Translation: X:172.02, Y:-115.03, Z:-12.26 [[ 7.14137984e-01 6.97555778e-01 5.85053569e-02 1.72016784e+02] [-6.95226249e-01 7.16530485e-01 -5.69607474e-02 -1.15025868e+02] [-8.16541703e-02 3.37348092e-06 9.96660723e-01 -1.22644486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25864 meters 0.025802304170723312 Centerline is valid? [True, True] Translation: X:172.04, Y:-115.05, Z:-12.27 [[ 7.12048402e-01 6.99582016e-01 5.97668486e-02 1.72040658e+02] [-6.97152977e-01 7.14552283e-01 -5.82474167e-02 -1.15046878e+02] [-8.34553834e-02 -1.91656385e-04 9.96511496e-01 -1.22672441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864000000002 meters 0.02589350021656634 Centerline is valid? [True, True] Translation: X:172.07, Y:-115.07, Z:-12.27 [[ 7.10775217e-01 7.00872501e-01 5.98024088e-02 1.72065911e+02] [-6.98440486e-01 7.13286510e-01 -5.83373123e-02 -1.15067735e+02] [-8.35432694e-02 -3.03707621e-04 9.96504104e-01 -1.22696002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31864000000002 meters 0.02576815888152193 Centerline is valid? [True, True] Translation: X:172.09, Y:-115.09, Z:-12.27 [[ 7.11146676e-01 7.00517043e-01 5.95506284e-02 1.72091547e+02] [-6.98099214e-01 7.13635639e-01 -5.81520571e-02 -1.15088725e+02] [-8.32339579e-02 -2.17604771e-04 9.96530010e-01 -1.22715038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864000000002 meters 0.02562288309610119 Centerline is valid? [True, True] Translation: X:172.12, Y:-115.11, Z:-12.27 [[ 7.11711908e-01 6.99938559e-01 5.96001242e-02 1.72117692e+02] [-6.97509600e-01 7.14203054e-01 -5.82610987e-02 -1.15109029e+02] [-8.33457802e-02 -1.06541039e-04 9.96520682e-01 -1.22724249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37864000000002 meters 0.025787231910184564 Centerline is valid? [True, True] Translation: X:172.14, Y:-115.13, Z:-12.27 [[ 7.14402617e-01 6.97251327e-01 5.89023659e-02 1.72144994e+02] [-6.94865116e-01 7.16826706e-01 -5.76363118e-02 -1.15127158e+02] [-8.24097838e-02 2.46332698e-04 9.96598498e-01 -1.22749476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864000000002 meters 0.025809212115759733 Centerline is valid? [True, True] Translation: X:172.17, Y:-115.15, Z:-12.28 [[ 7.14898076e-01 6.96787106e-01 5.83821028e-02 1.72169288e+02] [-6.94436984e-01 7.17277921e-01 -5.71809333e-02 -1.15148938e+02] [-8.17191303e-02 3.35847817e-04 9.96655342e-01 -1.22772259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43864 meters 0.02580465314743124 Centerline is valid? [True, True] Translation: X:172.20, Y:-115.17, Z:-12.28 [[ 7.16459131e-01 6.95165495e-01 5.85768536e-02 1.72195264e+02] [-6.92789569e-01 7.18849509e-01 -5.74281818e-02 -1.15167797e+02] [-8.20300329e-02 5.63512079e-04 9.96629699e-01 -1.22786267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters 0.02584665478901675 Centerline is valid? [True, True] Translation: X:172.22, Y:-115.19, Z:-12.28 [[ 7.16538890e-01 6.95131668e-01 5.79998570e-02 1.72221061e+02] [-6.92797995e-01 7.18882191e-01 -5.69151415e-02 -1.15188722e+02] [-8.12585815e-02 5.99727626e-04 9.96692873e-01 -1.22802980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49864 meters 0.02603881270180311 Centerline is valid? [True, True] Translation: X:172.25, Y:-115.21, Z:-12.28 [[ 7.16259440e-01 6.95338106e-01 5.89689202e-02 1.72245873e+02] [-6.92921586e-01 7.18682492e-01 -5.79236651e-02 -1.15209348e+02] [-8.26564621e-02 6.27534209e-04 9.96577902e-01 -1.22836726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters 0.026047530170122703 Centerline is valid? [True, True] Translation: X:172.27, Y:-115.23, Z:-12.29 [[ 7.17553042e-01 6.94031194e-01 5.86373038e-02 1.72271143e+02] [-6.91633054e-01 7.19944471e-01 -5.76513401e-02 -1.15230177e+02] [-8.22274311e-02 8.12396948e-04 9.96613260e-01 -1.22861035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55864 meters 0.02613776173752103 Centerline is valid? [True, True] Translation: X:172.30, Y:-115.25, Z:-12.29 [[ 7.18804212e-01 6.92733422e-01 5.86592785e-02 1.72295311e+02] [-6.90324494e-01 7.21193040e-01 -5.77294742e-02 -1.15251661e+02] [-8.22957996e-02 1.00225251e-03 9.96607444e-01 -1.22873712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58864 meters 0.026410398660058634 Centerline is valid? [True, True] Translation: X:172.32, Y:-115.27, Z:-12.29 [[ 7.21818705e-01 6.89655898e-01 5.79007639e-02 1.72319240e+02] [-6.87294963e-01 7.24135939e-01 -5.70331101e-02 -1.15273660e+02] [-8.12612448e-02 1.37266222e-03 9.96691891e-01 -1.22880961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61864 meters 0.02688190023040853 Centerline is valid? [True, True] Translation: X:172.34, Y:-115.30, Z:-12.29 [[ 7.22743864e-01 6.88615908e-01 5.87319142e-02 1.72341358e+02] [-6.86178907e-01 7.25124633e-01 -5.79031501e-02 -1.15296768e+02] [-8.24609880e-02 1.54854579e-03 9.96593090e-01 -1.22905045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64864 meters 0.026901792227973006 Centerline is valid? [True, True] Translation: X:172.37, Y:-115.32, Z:-12.29 [[ 7.23395896e-01 6.87969099e-01 5.82829106e-02 1.72365219e+02] [-6.85562913e-01 7.25738110e-01 -5.75125004e-02 -1.15320217e+02] [-8.18649525e-02 1.64770475e-03 9.96642069e-01 -1.22917436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67864 meters 0.026752538646729915 Centerline is valid? [True, True] Translation: X:172.39, Y:-115.34, Z:-12.29 [[ 7.22497503e-01 6.88848655e-01 5.90329498e-02 1.72387834e+02] [-6.86378104e-01 7.24903399e-01 -5.83108978e-02 -1.15343756e+02] [-8.29605694e-02 1.61055389e-03 9.96551529e-01 -1.22942259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70864 meters 0.026577281237077102 Centerline is valid? [True, True] Translation: X:172.41, Y:-115.37, Z:-12.30 [[ 7.20079967e-01 6.91312993e-01 5.97594055e-02 1.72408225e+02] [-6.88784801e-01 7.22554101e-01 -5.90852777e-02 -1.15369105e+02] [-8.40258237e-02 1.38475468e-03 9.96462615e-01 -1.22957101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73864 meters 0.026295648995551996 Centerline is valid? [True, True] Translation: X:172.43, Y:-115.39, Z:-12.30 [[ 7.17991520e-01 6.93526556e-01 5.92376034e-02 1.72429911e+02] [-6.91045641e-01 7.20430140e-01 -5.86202576e-02 -1.15393625e+02] [-8.33312602e-02 1.15296019e-03 9.96521235e-01 -1.22965879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76864 meters 0.02570714784190785 Centerline is valid? [True, True] Translation: X:172.45, Y:-115.42, Z:-12.30 [[ 7.13763020e-01 6.98023704e-01 5.74913870e-02 1.72450660e+02] [-6.95698456e-01 7.16074368e-01 -5.69311684e-02 -1.15418587e+02] [-8.09074136e-02 6.38693562e-04 9.96721417e-01 -1.22973879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79864 meters 0.02549252518665963 Centerline is valid? [True, True] Translation: X:172.47, Y:-115.44, Z:-12.30 [[ 7.11359932e-01 7.00524238e-01 5.68580645e-02 1.72472795e+02] [-6.98255776e-01 7.13628513e-01 -5.63313052e-02 -1.15441840e+02] [-8.00369807e-02 3.70361393e-04 9.96791826e-01 -1.22996356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82864 meters 0.0256879808057456 Centerline is valid? [True, True] Translation: X:172.49, Y:-115.47, Z:-12.30 [[ 7.06905906e-01 7.05037643e-01 5.66212224e-02 1.72492459e+02] [-7.02798418e-01 7.09169875e-01 -5.61468730e-02 -1.15467144e+02] [-7.97397242e-02 -1.02749462e-04 9.96815713e-01 -1.23022629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85864 meters 0.0256294778510575 Centerline is valid? [True, True] Translation: X:172.52, Y:-115.49, Z:-12.30 [[ 7.05113385e-01 7.06824090e-01 5.66993756e-02 1.72516125e+02] [-7.04580178e-01 7.07389309e-01 -5.62773456e-02 -1.15490401e+02] [-7.98867157e-02 -2.67346482e-04 9.96803913e-01 -1.23033793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88864 meters 0.025643949987789745 Centerline is valid? [True, True] Translation: X:172.54, Y:-115.51, Z:-12.30 [[ 7.02800707e-01 7.09069784e-01 5.73690430e-02 1.72539850e+02] [-7.06775272e-01 7.05138144e-01 -5.69992265e-02 -1.15512219e+02] [-8.08695298e-02 -4.87924325e-04 9.96724576e-01 -1.23038943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91864 meters 0.026001845924322458 Centerline is valid? [True, True] Translation: X:172.57, Y:-115.53, Z:-12.31 [[ 6.98121876e-01 7.13610635e-01 5.81868462e-02 1.72565097e+02] [-7.11261439e-01 7.00541849e-01 -5.78643434e-02 -1.15532589e+02] [-8.20549317e-02 -9.89696052e-04 9.96627317e-01 -1.23054584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94864 meters 0.025842282848578813 Centerline is valid? [True, True] Translation: X:172.59, Y:-115.55, Z:-12.31 [[ 6.96458548e-01 7.15330432e-01 5.69900296e-02 1.72589786e+02] [-7.13079480e-01 6.98785429e-01 -5.67148895e-02 -1.15553865e+02] [-8.03936887e-02 -1.13885104e-03 9.96762538e-01 -1.23068656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97864 meters 0.026392185982299587 Centerline is valid? [True, True] Translation: X:172.62, Y:-115.57, Z:-12.31 [[ 6.92687138e-01 7.19009609e-01 5.66543134e-02 1.72616046e+02] [-7.16795668e-01 6.94998423e-01 -5.64017979e-02 -1.15572462e+02] [-7.99280931e-02 -1.54076646e-03 9.96799441e-01 -1.23086451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00864 meters 0.02647953843359941 Centerline is valid? [True, True] Translation: X:172.64, Y:-115.59, Z:-12.31 [[ 6.91942769e-01 7.19778850e-01 5.59786748e-02 1.72642082e+02] [-7.17617138e-01 6.94201625e-01 -5.57651071e-02 -1.15593579e+02] [-7.89990316e-02 -1.58499377e-03 9.96873433e-01 -1.23101866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03864000000002 meters 0.026341326957192948 Centerline is valid? [True, True] Translation: X:172.67, Y:-115.61, Z:-12.31 [[ 6.91696487e-01 7.19980340e-01 5.64294251e-02 1.72667988e+02] [-7.17779585e-01 6.93992661e-01 -5.62730375e-02 -1.15614359e+02] [-7.96770875e-02 -1.58002696e-03 9.96819475e-01 -1.23118890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864000000002 meters 0.026334158910987306 Centerline is valid? [True, True] Translation: X:172.70, Y:-115.63, Z:-12.31 [[ 6.93038804e-01 7.18609027e-01 5.74306792e-02 1.72695741e+02] [-7.16319707e-01 6.95412893e-01 -5.73322374e-02 -1.15633044e+02] [-8.11374981e-02 -1.40526213e-03 9.96701927e-01 -1.23138281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09864000000002 meters 0.026035369675704346 Centerline is valid? [True, True] Translation: X:172.72, Y:-115.65, Z:-12.32 [[ 6.94680365e-01 7.16987342e-01 5.78648669e-02 1.72723189e+02] [-7.14652782e-01 6.97085182e-01 -5.78243122e-02 -1.15650567e+02] [-8.17960411e-02 -1.18387385e-03 9.96648386e-01 -1.23162041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864000000002 meters 0.026006963875188867 Centerline is valid? [True, True] Translation: X:172.75, Y:-115.67, Z:-12.32 [[ 6.95802095e-01 7.15957214e-01 5.71376697e-02 1.72748459e+02] [-7.13673424e-01 6.98143425e-01 -5.71489463e-02 -1.15670892e+02] [-8.08064888e-02 -1.01327983e-03 9.96729294e-01 -1.23180608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15864000000002 meters 0.026006963875188867 Centerline is valid? [True, True] Translation: X:172.62, Y:-115.97, Z:-10.61 [[ 7.62813347e-01 -6.46265294e-01 -2.13767693e-02 1.72617675e+02] [-6.45839873e-01 -7.63100192e-01 2.38527739e-02 -1.15969015e+02] [-3.17278368e-02 -4.38924435e-03 -9.99486908e-01 -1.06050967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters 0.026168159450816166 Centerline is valid? [True, True] Translation: X:172.77, Y:-115.70, Z:-12.32 [[ 7.45470657e-01 6.63714067e-01 6.12954922e-02 1.72766423e+02] [-6.61578855e-01 7.47985859e-01 -5.32031381e-02 -1.15701222e+02] [-8.11598325e-02 -8.90423286e-04 9.96700702e-01 -1.23212762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21864 meters 0.026003040917208103 Centerline is valid? [True, True] Translation: X:172.79, Y:-115.72, Z:-12.32 [[ 7.46140724e-01 6.62987253e-01 6.10075571e-02 1.72794302e+02] [-6.60866189e-01 7.48630283e-01 -5.29960350e-02 -1.15718646e+02] [-8.08078004e-02 -7.75331840e-04 9.96729401e-01 -1.23229164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters 0.025824294661907686 Centerline is valid? [True, True] Translation: X:172.82, Y:-115.74, Z:-12.32 [[ 7.46694480e-01 6.62427081e-01 6.03134807e-02 1.72820001e+02] [-6.60351163e-01 7.49126076e-01 -5.24067074e-02 -1.15738410e+02] [-7.98980233e-02 -6.96277992e-04 9.96802800e-01 -1.23241003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27864 meters 0.025886068901630012 Centerline is valid? [True, True] Translation: X:172.85, Y:-115.76, Z:-12.33 [[ 7.47440333e-01 6.61617020e-01 5.99655502e-02 1.72846076e+02] [-6.59561333e-01 7.49841693e-01 -5.21179749e-02 -1.15757937e+02] [-7.94468089e-02 -5.95881723e-04 9.96838929e-01 -1.23252445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters 0.02584077324159044 Centerline is valid? [True, True] Translation: X:172.87, Y:-115.78, Z:-12.33 [[ 7.47908908e-01 6.61095456e-01 5.98753970e-02 1.72871882e+02] [-6.59043199e-01 7.50301618e-01 -5.20532805e-02 -1.15777040e+02] [-7.93367945e-02 -5.29360988e-04 9.96847728e-01 -1.23266176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33864 meters 0.02577856266384288 Centerline is valid? [True, True] Translation: X:172.90, Y:-115.80, Z:-12.33 [[ 7.48051993e-01 6.60896988e-01 6.02775741e-02 1.72898677e+02] [-6.58814389e-01 7.50476467e-01 -5.24277934e-02 -1.15795780e+02] [-7.98862716e-02 -4.93017727e-04 9.96803863e-01 -1.23290672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36864 meters 0.02571016568690051 Centerline is valid? [True, True] Translation: X:172.93, Y:-115.81, Z:-12.33 [[ 7.49262715e-01 6.59435296e-01 6.12411242e-02 1.72925257e+02] [-6.57277183e-01 7.51761261e-01 -5.33076974e-02 -1.15814096e+02] [-8.11916820e-02 -3.10923589e-04 9.96698457e-01 -1.23318837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39864 meters 0.02602972545593617 Centerline is valid? [True, True] Translation: X:172.95, Y:-115.83, Z:-12.33 [[ 7.51263317e-01 6.57106011e-01 6.17666384e-02 1.72950634e+02] [-6.54901396e-01 7.53798174e-01 -5.37817218e-02 -1.15833580e+02] [-8.18998720e-02 -4.68230032e-05 9.96640561e-01 -1.23349158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42864 meters 0.02619156235825334 Centerline is valid? [True, True] Translation: X:172.98, Y:-115.85, Z:-12.34 [[ 7.51605974e-01 6.56695549e-01 6.19630107e-02 1.72977035e+02] [-6.54474117e-01 7.54155790e-01 -5.39691987e-02 -1.15853915e+02] [-8.21710959e-02 1.03854388e-05 9.96618237e-01 -1.23371406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45864 meters 0.02601396050651399 Centerline is valid? [True, True] Translation: X:173.00, Y:-115.87, Z:-12.34 [[ 7.52399625e-01 6.55859159e-01 6.11847044e-02 1.73002591e+02] [-6.53689008e-01 7.54883270e-01 -5.33097553e-02 -1.15873228e+02] [-8.11510010e-02 1.14471253e-04 9.96701812e-01 -1.23384793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48864 meters 0.026147506921448512 Centerline is valid? [True, True] Translation: X:173.03, Y:-115.89, Z:-12.34 [[ 7.54658947e-01 6.53327010e-01 6.04457778e-02 1.73028170e+02] [-6.51199833e-01 7.57075732e-01 -5.26793525e-02 -1.15892749e+02] [-8.01788753e-02 3.92664264e-04 9.96780414e-01 -1.23411207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51864 meters 0.026163049863406822 Centerline is valid? [True, True] Translation: X:173.05, Y:-115.91, Z:-12.34 [[ 7.55569316e-01 6.52288856e-01 6.02847966e-02 1.73053188e+02] [-6.50168464e-01 7.57970306e-01 -5.25545722e-02 -1.15913714e+02] [-7.99748475e-02 5.13348515e-04 9.96796750e-01 -1.23425026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54864 meters 0.02650786140142722 Centerline is valid? [True, True] Translation: X:173.08, Y:-115.93, Z:-12.34 [[ 7.57470360e-01 6.50008685e-01 6.10521366e-02 1.73078440e+02] [-6.47824955e-01 7.59926380e-01 -5.32421292e-02 -1.15933878e+02] [-8.10029755e-02 7.78237112e-04 9.96713556e-01 -1.23444671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57864 meters 0.026525650635631365 Centerline is valid? [True, True] Translation: X:173.10, Y:-115.96, Z:-12.35 [[ 7.57937764e-01 6.49506602e-01 6.05930646e-02 1.73103813e+02] [-6.47352808e-01 7.60355491e-01 -5.28570674e-02 -1.15955528e+02] [-8.04032836e-02 8.37276942e-04 9.96762063e-01 -1.23457905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60864 meters 0.026745633460091178 Centerline is valid? [True, True] Translation: X:173.13, Y:-115.98, Z:-12.35 [[ 7.59710693e-01 6.47375737e-01 6.11908357e-02 1.73127155e+02] [-6.45170762e-01 7.62170238e-01 -5.33967829e-02 -1.15976974e+02] [-8.12056155e-02 1.08756884e-03 9.96696777e-01 -1.23481432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63864 meters 0.02681577102153996 Centerline is valid? [True, True] Translation: X:173.15, Y:-116.00, Z:-12.35 [[ 7.59614410e-01 6.47424279e-01 6.18688237e-02 1.73150027e+02] [-6.45169123e-01 7.62128980e-01 -5.40020337e-02 -1.15999527e+02] [-8.21142512e-02 1.10486823e-03 9.96622310e-01 -1.23510217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66864 meters 0.026775195645192647 Centerline is valid? [True, True] Translation: X:173.17, Y:-116.02, Z:-12.35 [[ 7.60093417e-01 6.46913732e-01 6.13239000e-02 1.73174839e+02] [-6.44695203e-01 7.62562307e-01 -5.35427218e-02 -1.16022143e+02] [-8.14008166e-02 1.16224620e-03 9.96680769e-01 -1.23516352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69864 meters 0.026792583601572953 Centerline is valid? [True, True] Translation: X:173.20, Y:-116.04, Z:-12.35 [[ 7.59977942e-01 6.47094015e-01 6.08511543e-02 1.73198419e+02] [-6.44908574e-01 7.62409348e-01 -5.31499414e-02 -1.16044730e+02] [-8.07864979e-02 1.14935192e-03 9.96730766e-01 -1.23526616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72864 meters 0.026920880734838407 Centerline is valid? [True, True] Translation: X:173.22, Y:-116.07, Z:-12.35 [[ 7.60369409e-01 6.46567299e-01 6.15555857e-02 1.73220415e+02] [-6.44328044e-01 7.62855960e-01 -5.37787709e-02 -1.16067819e+02] [-8.17296401e-02 1.22974213e-03 9.96653778e-01 -1.23548366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75864 meters 0.027004233281911642 Centerline is valid? [True, True] Translation: X:173.24, Y:-116.09, Z:-12.36 [[ 7.60852180e-01 6.46043161e-01 6.10916883e-02 1.73244350e+02] [-6.43834652e-01 7.63299794e-01 -5.33888123e-02 -1.16090386e+02] [-8.11227502e-02 1.28804836e-03 9.96703286e-01 -1.23565428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864000000002 meters 0.02717239447332864 Centerline is valid? [True, True] Translation: X:173.27, Y:-116.11, Z:-12.36 [[ 7.61386375e-01 6.45425092e-01 6.09691540e-02 1.73267997e+02] [-6.43222014e-01 7.63822353e-01 -5.32996573e-02 -1.16112235e+02] [-8.09705389e-02 1.36493088e-03 9.96715561e-01 -1.23578526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81864000000002 meters 0.027213042964042457 Centerline is valid? [True, True] Translation: X:173.29, Y:-116.14, Z:-12.36 [[ 7.61718216e-01 6.45024932e-01 6.10589620e-02 1.73290144e+02] [-6.42812974e-01 7.64160207e-01 -5.33915612e-02 -1.16136103e+02] [-8.10977172e-02 1.41983178e-03 9.96705144e-01 -1.23613182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864000000002 meters 0.026989009725752536 Centerline is valid? [True, True] Translation: X:173.31, Y:-116.16, Z:-12.36 [[ 7.61778382e-01 6.44965946e-01 6.09313141e-02 1.73313050e+02] [-6.42761730e-01 7.64209963e-01 -5.32962631e-02 -1.16159670e+02] [-8.09385920e-02 1.43562426e-03 9.96718056e-01 -1.23627512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87864000000002 meters 0.026854656424687737 Centerline is valid? [True, True] Translation: X:173.33, Y:-116.18, Z:-12.36 [[ 7.60692736e-01 6.46251632e-01 6.08719034e-02 1.73334440e+02] [-6.44053363e-01 7.63123242e-01 -5.32746009e-02 -1.16184346e+02] [-8.08815620e-02 1.32084787e-03 9.96722844e-01 -1.23643085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864000000002 meters 0.02689522724182852 Centerline is valid? [True, True] Translation: X:173.36, Y:-116.21, Z:-12.37 [[ 7.60004876e-01 6.47043764e-01 6.10487991e-02 1.73358276e+02] [-6.44831234e-01 7.62451792e-01 -5.34784464e-02 -1.16206821e+02] [-8.11496615e-02 1.27770760e-03 9.96701109e-01 -1.23666691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93864 meters 0.02650108015596372 Centerline is valid? [True, True] Translation: X:173.38, Y:-116.23, Z:-12.37 [[ 7.57488223e-01 6.50016375e-01 6.07478729e-02 1.73381044e+02] [-6.47830988e-01 7.59919551e-01 -5.32661957e-02 -1.16230026e+02] [-8.07873957e-02 9.94161395e-04 9.96730861e-01 -1.23687628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters 0.026449092886133813 Centerline is valid? [True, True] Translation: X:173.41, Y:-116.25, Z:-12.37 [[ 7.55666822e-01 6.52109749e-01 6.09961434e-02 1.73405073e+02] [-6.49909201e-01 7.58124144e-01 -5.35332928e-02 -1.16253360e+02] [-8.11522311e-02 8.11378452e-04 9.96701388e-01 -1.23710167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99864 meters 0.02615243650453389 Centerline is valid? [True, True] Translation: X:173.43, Y:-116.28, Z:-12.37 [[ 7.53891421e-01 6.54151196e-01 6.11059653e-02 1.73428794e+02] [-6.51944952e-01 7.56363544e-01 -5.36839663e-02 -1.16276873e+02] [-8.13357552e-02 6.34155980e-04 9.96686557e-01 -1.23725345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters 0.026159048911595466 Centerline is valid? [True, True] Translation: X:173.45, Y:-116.30, Z:-12.37 [[ 7.51664512e-01 6.56705470e-01 6.11423480e-02 1.73451286e+02] [-6.54500692e-01 7.54147046e-01 -5.37687342e-02 -1.16300588e+02] [-8.14205430e-02 3.98340271e-04 9.96679756e-01 -1.23737483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05864 meters 0.026152866610840785 Centerline is valid? [True, True] Translation: X:173.47, Y:-116.32, Z:-12.38 [[ 7.49197935e-01 6.59463407e-01 6.17289948e-02 1.73474305e+02] [-6.57221552e-01 7.51736653e-01 -5.43307996e-02 -1.16324947e+02] [-8.22331222e-02 1.34897063e-04 9.96613112e-01 -1.23756581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08864 meters 0.02619105525793993 Centerline is valid? [True, True] Translation: X:173.50, Y:-116.35, Z:-12.38 [[ 7.48157564e-01 6.60620427e-01 6.19750847e-02 1.73498109e+02] [-6.58360833e-01 7.50720087e-01 -5.45927109e-02 -1.16347134e+02] [-8.25910010e-02 4.19811980e-05 9.96583526e-01 -1.23787792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11864 meters 0.026263447816220628 Centerline is valid? [True, True] Translation: X:173.52, Y:-116.37, Z:-12.38 [[ 7.47412283e-01 6.61430404e-01 6.23273634e-02 1.73522615e+02] [-6.59142987e-01 7.50006547e-01 -5.49609151e-02 -1.16369738e+02] [-8.30987509e-02 -4.18147398e-06 9.96541318e-01 -1.23803338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14864 meters 0.026215306895666233 Centerline is valid? [True, True] Translation: X:173.55, Y:-116.39, Z:-12.38 [[ 7.46750741e-01 6.62242692e-01 6.16274963e-02 1.73546801e+02] [-6.60004784e-01 7.49289406e-01 -5.43973479e-02 -1.16390465e+02] [-8.22010762e-02 -5.31825143e-05 9.96615764e-01 -1.23818550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17864 meters 0.02634587043008232 Centerline is valid? [True, True] Translation: X:173.57, Y:-116.41, Z:-12.38 [[ 7.47152077e-01 6.61775850e-01 6.17778130e-02 1.73571983e+02] [-6.59521134e-01 7.49701756e-01 -5.45815986e-02 -1.16412437e+02] [-8.24357187e-02 3.69814488e-05 9.96596383e-01 -1.23837673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20864 meters 0.02655773056869837 Centerline is valid? [True, True] Translation: X:173.59, Y:-116.44, Z:-12.39 [[ 7.48495445e-01 6.60166184e-01 6.27310027e-02 1.73594073e+02] [-6.57831003e-01 7.51119526e-01 -5.54781852e-02 -1.16435124e+02] [-8.37433028e-02 2.58770425e-04 9.96487327e-01 -1.23876624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23864 meters 0.026633397404859455 Centerline is valid? [True, True] Translation: X:173.62, Y:-116.46, Z:-12.39 [[ 7.48301513e-01 6.60413477e-01 6.24410559e-02 1.73618383e+02] [-6.58096571e-01 7.50902103e-01 -5.52714672e-02 -1.16457256e+02] [-8.33891420e-02 2.67477728e-04 9.96517024e-01 -1.23896001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26864 meters 0.026670280868885194 Centerline is valid? [True, True] Translation: X:173.64, Y:-116.48, Z:-12.39 [[ 7.47921241e-01 6.60796029e-01 6.29477953e-02 1.73642775e+02] [-6.58437882e-01 7.50565477e-01 -5.57765244e-02 -1.16478848e+02] [-8.41033478e-02 2.69234356e-04 9.96457001e-01 -1.23910360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29864 meters 0.02671052809165602 Centerline is valid? [True, True] Translation: X:173.67, Y:-116.50, Z:-12.39 [[ 7.47814507e-01 6.60964765e-01 6.24423139e-02 1.73667424e+02] [-6.58640445e-01 7.50416882e-01 -5.53829231e-02 -1.16500500e+02] [-8.34639272e-02 2.89119980e-04 9.96510757e-01 -1.23919625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32864 meters 0.02676328628509114 Centerline is valid? [True, True] Translation: X:173.69, Y:-116.52, Z:-12.39 [[ 7.47719681e-01 6.61056323e-01 6.26084401e-02 1.73691705e+02] [-6.58715099e-01 7.50336214e-01 -5.55876279e-02 -1.16523253e+02] [-8.37239328e-02 3.22838567e-04 9.96488936e-01 -1.23943271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35864 meters 0.02686486557467376 Centerline is valid? [True, True] Translation: X:173.72, Y:-116.55, Z:-12.40 [[ 7.47480363e-01 6.61373388e-01 6.21156064e-02 1.73715922e+02] [-6.59065303e-01 7.50056754e-01 -5.52068091e-02 -1.16545299e+02] [-8.31025445e-02 3.27764709e-04 9.96540947e-01 -1.23964990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38864 meters 0.026608144159657232 Centerline is valid? [True, True] Translation: X:173.74, Y:-116.57, Z:-12.40 [[ 7.47000738e-01 6.61947226e-01 6.17718969e-02 1.73740959e+02] [-6.59661923e-01 7.49550384e-01 -5.49578871e-02 -1.16567058e+02] [-8.26803699e-02 3.05013960e-04 9.96576070e-01 -1.23982276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41864 meters 0.026863606886008834 Centerline is valid? [True, True] Translation: X:173.77, Y:-116.59, Z:-12.40 [[ 7.46318384e-01 6.62670064e-01 6.22676137e-02 1.73765352e+02] [-6.60345579e-01 7.48911419e-01 -5.54563241e-02 -1.16588765e+02] [-8.33821728e-02 2.69930769e-04 9.96517607e-01 -1.24010388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44864 meters 0.026845648761693004 Centerline is valid? [True, True] Translation: X:173.79, Y:-116.61, Z:-12.40 [[ 7.46065553e-01 6.63100364e-01 6.06967637e-02 1.73789027e+02] [-6.60889031e-01 7.48530455e-01 -5.41095800e-02 -1.16610626e+02] [-8.13134584e-02 2.55468415e-04 9.96688545e-01 -1.24030295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47864 meters 0.02670693146125838 Centerline is valid? [True, True] Translation: X:173.81, Y:-116.63, Z:-12.40 [[ 7.46229875e-01 6.62956482e-01 6.02467939e-02 1.73813265e+02] [-6.60774274e-01 7.48657875e-01 -5.37470471e-02 -1.16632589e+02] [-8.07361899e-02 2.98120739e-04 9.96735461e-01 -1.24035801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50864 meters 0.026768253077701885 Centerline is valid? [True, True] Translation: X:173.84, Y:-116.65, Z:-12.41 [[ 7.46478357e-01 6.62670314e-01 6.03168127e-02 1.73837944e+02] [-6.60479735e-01 7.48911164e-01 -5.38385305e-02 -1.16654905e+02] [-8.08491303e-02 3.51265280e-04 9.96726289e-01 -1.24062764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53864000000002 meters 0.026766024197457595 Centerline is valid? [True, True] Translation: X:173.86, Y:-116.68, Z:-12.41 [[ 7.46357363e-01 6.62791590e-01 6.04813665e-02 1.73862783e+02] [-6.60584876e-01 7.48803822e-01 -5.40412592e-02 -1.16677411e+02] [-8.11067705e-02 3.81015688e-04 9.96705346e-01 -1.24074450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864000000002 meters 0.026682921867537717 Centerline is valid? [True, True] Translation: X:173.89, Y:-116.70, Z:-12.41 [[ 7.46354812e-01 6.62799273e-01 6.04286245e-02 1.73887474e+02] [-6.60591943e-01 7.48796999e-01 -5.40494163e-02 -1.16700004e+02] [-8.10726865e-02 4.21379463e-04 9.96708103e-01 -1.24092057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59864000000002 meters 0.026845520070279967 Centerline is valid? [True, True] Translation: X:173.91, Y:-116.72, Z:-12.41 [[ 7.47108945e-01 6.61910427e-01 6.08507335e-02 1.73910409e+02] [-6.59664828e-01 7.49582732e-01 -5.44797404e-02 -1.16721910e+02] [-8.16733673e-02 5.61212665e-04 9.96658992e-01 -1.24108686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864000000002 meters 0.026816935579952628 Centerline is valid? [True, True] Translation: X:173.93, Y:-116.74, Z:-12.41 [[ 7.47797441e-01 6.61089668e-01 6.13142569e-02 1.73933560e+02] [-6.58803030e-01 7.50306586e-01 -5.49417375e-02 -1.16744344e+02] [-8.23259057e-02 6.91272552e-04 9.96605221e-01 -1.24133258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65864000000002 meters 0.02703872654040478 Centerline is valid? [True, True] Translation: X:173.96, Y:-116.77, Z:-12.41 [[ 7.48722846e-01 6.60088724e-01 6.08027682e-02 1.73956703e+02] [-6.57832701e-01 7.51187183e-01 -5.45339717e-02 -1.16768620e+02] [-8.16715199e-02 8.32781274e-04 9.96658953e-01 -1.24149036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters 0.02695526602000929 Centerline is valid? [True, True] Translation: X:173.98, Y:-116.79, Z:-12.42 [[ 7.48407474e-01 6.60413956e-01 6.11527516e-02 1.73980035e+02] [-6.58129304e-01 7.50901264e-01 -5.48918007e-02 -1.16790925e+02] [-8.21709898e-02 8.35016001e-04 9.96617896e-01 -1.24162959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71864 meters 0.026862569686463743 Centerline is valid? [True, True] Translation: X:174.00, Y:-116.81, Z:-12.42 [[ 7.47847914e-01 6.61026755e-01 6.13769260e-02 1.74004806e+02] [-6.58724870e-01 7.50361913e-01 -5.51230009e-02 -1.16812454e+02] [-8.24926860e-02 7.93113653e-04 9.96591354e-01 -1.24173930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters 0.026727260003781013 Centerline is valid? [True, True] Translation: X:174.03, Y:-116.83, Z:-12.42 [[ 7.44913399e-01 6.64347891e-01 6.12038152e-02 1.74028224e+02] [-6.62065676e-01 7.47423349e-01 -5.50216102e-02 -1.16834600e+02] [-8.22986512e-02 4.65389377e-04 9.96607604e-01 -1.24189978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77864 meters 0.026633936117712833 Centerline is valid? [True, True] Translation: X:174.05, Y:-116.86, Z:-12.42 [[ 7.43506223e-01 6.65930417e-01 6.11160773e-02 1.74051568e+02] [-6.63655834e-01 7.46013788e-01 -5.49942034e-02 -1.16857624e+02] [-8.22157491e-02 3.28491255e-04 9.96614501e-01 -1.24216473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters 0.0265630755681641 Centerline is valid? [True, True] Translation: X:174.07, Y:-116.88, Z:-12.42 [[ 7.41760419e-01 6.67936556e-01 6.04337558e-02 1.74074002e+02] [-6.65714824e-01 7.44218205e-01 -5.44337799e-02 -1.16881282e+02] [-8.13342127e-02 1.45176268e-04 9.96686874e-01 -1.24238933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83864 meters 0.026467227165039842 Centerline is valid? [True, True] Translation: X:174.10, Y:-116.90, Z:-12.42 [[ 7.40731375e-01 6.69158147e-01 5.95348964e-02 1.74098486e+02] [-6.67002178e-01 7.43120025e-01 -5.36723661e-02 -1.16902929e+02] [-8.01568748e-02 4.69000571e-05 9.96782260e-01 -1.24246610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86864 meters 0.026308375708716712 Centerline is valid? [True, True] Translation: X:174.12, Y:-116.92, Z:-12.43 [[ 7.40645038e-01 6.69288194e-01 5.91459373e-02 1.74123042e+02] [-6.67156726e-01 7.43002900e-01 -5.33722287e-02 -1.16924394e+02] [-7.96670054e-02 7.02664544e-05 9.96821530e-01 -1.24254255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89864 meters 0.02621945644641756 Centerline is valid? [True, True] Translation: X:174.15, Y:-116.95, Z:-12.43 [[ 7.40973461e-01 6.68925943e-01 5.91304744e-02 1.74147203e+02] [-6.66789994e-01 7.43329039e-01 -5.34138983e-02 -1.16947124e+02] [-7.96833410e-02 1.50672427e-04 9.96820216e-01 -1.24273012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92864 meters 0.026401434221981972 Centerline is valid? [True, True] Translation: X:174.17, Y:-116.97, Z:-12.43 [[ 7.42060953e-01 6.67729001e-01 5.90213813e-02 1.74171081e+02] [-6.65592695e-01 7.44404378e-01 -5.33712101e-02 -1.16969745e+02] [-7.95732795e-02 3.20490809e-04 9.96828968e-01 -1.24296210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95864 meters 0.02638775799555698 Centerline is valid? [True, True] Translation: X:174.19, Y:-116.99, Z:-12.43 [[ 7.42578132e-01 6.67147624e-01 5.90911616e-02 1.74194907e+02] [-6.64999943e-01 7.44925410e-01 -5.34902626e-02 -1.16992540e+02] [-7.97044094e-02 4.25080163e-04 9.96818452e-01 -1.24319118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98864 meters 0.026398460973710906 Centerline is valid? [True, True] Translation: X:174.22, Y:-117.02, Z:-12.43 [[ 7.41961682e-01 6.67891855e-01 5.84237286e-02 1.74218165e+02] [-6.65790675e-01 7.44258238e-01 -5.29381871e-02 -1.17015189e+02] [-7.88393253e-02 3.80132635e-04 9.96887264e-01 -1.24329054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01864 meters 0.026306346243242604 Centerline is valid? [True, True] Translation: X:174.24, Y:-117.04, Z:-12.43 [[ 7.40514653e-01 6.69469493e-01 5.87251763e-02 1.74242448e+02] [-6.67347490e-01 7.42839508e-01 -5.32615506e-02 -1.17038042e+02] [-7.92803643e-02 2.50859662e-04 9.96852327e-01 -1.24346589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04864 meters 0.026306346243242604 Centerline is valid? [True, True] Translation: X:174.27, Y:-117.06, Z:-12.44 [[ 7.40170009e-01 6.69852934e-01 5.86975677e-02 1.74266769e+02] [-6.67729723e-01 7.42493760e-01 -5.32919642e-02 -1.17059654e+02] [-7.92803563e-02 2.51003056e-04 9.96852327e-01 -1.24364883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07864 meters 0.0262755032883003 Centerline is valid? [True, True] Translation: X:174.29, Y:-117.08, Z:-12.44 [[ 7.38898899e-01 6.71271455e-01 5.85068353e-02 1.74291013e+02] [-6.69162110e-01 7.41211585e-01 -5.31738372e-02 -1.17081435e+02] [-7.90600232e-02 1.39532427e-04 9.96869848e-01 -1.24379950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10864 meters 0.026150874699038203 Centerline is valid? [True, True] Translation: X:174.32, Y:-117.10, Z:-12.44 [[ 7.36978822e-01 6.73441026e-01 5.77875517e-02 1.74316200e+02] [-6.71386531e-01 7.39240949e-01 -5.25637199e-02 -1.17101017e+02] [-7.81174900e-02 -5.94355146e-05 9.96944158e-01 -1.24392271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13864 meters 0.02637469279281093 Centerline is valid? [True, True] Translation: X:174.34, Y:-117.12, Z:-12.44 [[ 7.36536126e-01 6.73875113e-01 5.83683803e-02 1.74341244e+02] [-6.71778140e-01 7.38845265e-01 -5.31206715e-02 -1.17121725e+02] [-7.89218999e-02 -8.53082966e-05 9.96880799e-01 -1.24427905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16864 meters 0.026318442210680443 Centerline is valid? [True, True] Translation: X:174.37, Y:-117.14, Z:-12.44 [[ 7.36493359e-01 6.73875950e-01 5.88959836e-02 1.74366325e+02] [-6.71736283e-01 7.38844505e-01 -5.36578318e-02 -1.17143454e+02] [-7.96736962e-02 -4.39323909e-05 9.96820997e-01 -1.24445530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19864 meters 0.026246812797902763 Centerline is valid? [True, True] Translation: X:174.39, Y:-117.16, Z:-12.45 [[ 7.37550632e-01 6.72774336e-01 5.82559734e-02 1.74392624e+02] [-6.70673194e-01 7.39847741e-01 -5.31299045e-02 -1.17164262e+02] [-7.88449865e-02 1.15274841e-04 9.96886882e-01 -1.24454338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22864 meters 0.026156765194809445 Centerline is valid? [True, True] Translation: X:174.42, Y:-117.18, Z:-12.45 [[ 7.38479552e-01 6.71853321e-01 5.71057408e-02 1.74418107e+02] [-6.69827702e-01 7.40684179e-01 -5.21324924e-02 -1.17184450e+02] [-7.73227070e-02 2.47772546e-04 9.97006087e-01 -1.24473976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25864 meters 0.02627736339030922 Centerline is valid? [True, True] Translation: X:174.44, Y:-117.20, Z:-12.45 [[ 7.40652137e-01 6.69529613e-01 5.62539768e-02 1.74444853e+02] [-6.67553697e-01 7.42785183e-01 -5.14026555e-02 -1.17204096e+02] [-7.62002206e-02 5.18936442e-04 9.97092401e-01 -1.24488525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864000000002 meters 0.02622581806591707 Centerline is valid? [True, True] Translation: X:174.47, Y:-117.22, Z:-12.45 [[ 7.41790045e-01 6.68235353e-01 5.66484051e-02 1.74470457e+02] [-6.66223813e-01 7.43949615e-01 -5.18150756e-02 -1.17224012e+02] [-7.67682245e-02 6.95390861e-04 9.97048723e-01 -1.24501855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31864000000002 meters 0.02633724793627197 Centerline is valid? [True, True] Translation: X:174.50, Y:-117.24, Z:-12.45 [[ 7.41919686e-01 6.68039336e-01 5.72592708e-02 1.74495822e+02] [-6.65979842e-01 7.44125574e-01 -5.24211885e-02 -1.17244454e+02] [-7.76275037e-02 7.58791617e-04 9.96982144e-01 -1.24527175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864000000002 meters 0.026341735590898255 Centerline is valid? [True, True] Translation: X:174.52, Y:-117.26, Z:-12.46 [[ 7.42213228e-01 6.67646107e-01 5.80361946e-02 1.74520461e+02] [-6.65525262e-01 7.44478313e-01 -5.31805166e-02 -1.17264834e+02] [-7.87124531e-02 8.46729269e-04 9.96897002e-01 -1.24552101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37864000000002 meters 0.026322669251339217 Centerline is valid? [True, True] Translation: X:174.54, Y:-117.29, Z:-12.46 [[ 7.42536075e-01 6.67274191e-01 5.81836017e-02 1.74544929e+02] [-6.65137478e-01 7.44811585e-01 -5.33651421e-02 -1.17286633e+02] [-7.89450027e-02 9.25449067e-04 9.96878543e-01 -1.24584294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864000000002 meters 0.02642275458691317 Centerline is valid? [True, True] Translation: X:174.57, Y:-117.31, Z:-12.46 [[ 7.42768608e-01 6.66996418e-01 5.84001105e-02 1.74569072e+02] [-6.64838616e-01 7.45060253e-01 -5.36174787e-02 -1.17308449e+02] [-7.92742673e-02 9.98731400e-04 9.96852343e-01 -1.24604443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43864 meters 0.026485787583315885 Centerline is valid? [True, True] Translation: X:174.59, Y:-117.33, Z:-12.46 [[ 7.42961994e-01 6.66757988e-01 5.86622605e-02 1.74593499e+02] [-6.64575900e-01 7.45273538e-01 -5.39094332e-02 -1.17329897e+02] [-7.96639757e-02 1.06713537e-03 9.96821204e-01 -1.24627104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters 0.02617873402883415 Centerline is valid? [True, True] Translation: X:174.62, Y:-117.35, Z:-12.46 [[ 7.42709976e-01 6.67149490e-01 5.73885872e-02 1.74617583e+02] [-6.65058652e-01 7.44923136e-01 -5.27874195e-02 -1.17351135e+02] [-7.79671863e-02 1.03896664e-03 9.96955384e-01 -1.24636616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49864 meters 0.02582020221551117 Centerline is valid? [True, True] Translation: X:174.64, Y:-117.37, Z:-12.46 [[ 7.41837052e-01 6.68234829e-01 5.60357233e-02 1.74641896e+02] [-6.66241803e-01 7.43949828e-01 -5.15801607e-02 -1.17372925e+02] [-7.61554266e-02 9.30732994e-04 9.97095524e-01 -1.24644012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters 0.02552836444598159 Centerline is valid? [True, True] Translation: X:174.67, Y:-117.39, Z:-12.47 [[ 7.38538465e-01 6.71891023e-01 5.58872856e-02 1.74666184e+02] [-6.69917141e-01 7.40649801e-01 -5.14674387e-02 -1.17393539e+02] [-7.59734170e-02 5.70832616e-04 9.97109680e-01 -1.24671381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55864 meters 0.025427159170875614 Centerline is valid? [True, True] Translation: X:174.69, Y:-117.42, Z:-12.47 [[ 7.33885660e-01 6.76879982e-01 5.69677734e-02 1.74690550e+02] [-6.74839997e-01 7.36093391e-01 -5.25118824e-02 -1.17415852e+02] [-7.74778435e-02 9.35854692e-05 9.96994070e-01 -1.24706900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58864 meters 0.02542755808309492 Centerline is valid? [True, True] Translation: X:174.72, Y:-117.44, Z:-12.47 [[ 7.32470376e-01 6.78381757e-01 5.73178822e-02 1.74715327e+02] [-6.76316883e-01 7.34709596e-01 -5.28893393e-02 -1.17437167e+02] [-7.79911610e-02 -2.51771915e-05 9.96954050e-01 -1.24724716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61864 meters 0.025392799118324545 Centerline is valid? [True, True] Translation: X:174.74, Y:-117.46, Z:-12.47 [[ 7.31286115e-01 6.79640974e-01 5.75218631e-02 1.74740824e+02] [-6.77560900e-01 7.33544908e-01 -5.31328067e-02 -1.17458295e+02] [-7.83061023e-02 -1.19281518e-04 9.96929356e-01 -1.24746208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64864 meters 0.025422915069498557 Centerline is valid? [True, True] Translation: X:174.77, Y:-117.48, Z:-12.48 [[ 7.31324112e-01 6.79737648e-01 5.58728305e-02 1.74766655e+02] [-6.77771683e-01 7.33455330e-01 -5.16606604e-02 -1.17478380e+02] [-7.60959211e-02 -8.83358372e-05 9.97100498e-01 -1.24758820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67864 meters 0.02528876984712622 Centerline is valid? [True, True] Translation: X:174.79, Y:-117.50, Z:-12.48 [[ 7.32064000e-01 6.78995532e-01 5.52029637e-02 1.74792208e+02] [-6.77070770e-01 7.34142402e-01 -5.10891938e-02 -1.17499953e+02] [-7.52161707e-02 2.42463979e-05 9.97167251e-01 -1.24776891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70864 meters 0.025399524609174454 Centerline is valid? [True, True] Translation: X:174.82, Y:-117.52, Z:-12.48 [[ 7.33605631e-01 6.77317075e-01 5.53566454e-02 1.74818780e+02] [-6.75372717e-01 7.35691188e-01 -5.12851691e-02 -1.17520537e+02] [-7.54617170e-02 2.36720838e-04 9.97148672e-01 -1.24794022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73864 meters 0.02549959063848583 Centerline is valid? [True, True] Translation: X:174.84, Y:-117.54, Z:-12.48 [[ 7.33449053e-01 6.77442793e-01 5.58905074e-02 1.74843699e+02] [-6.75456908e-01 7.35575415e-01 -5.18341001e-02 -1.17542010e+02] [-7.62263207e-02 2.66042296e-04 9.97090506e-01 -1.24824839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76864 meters 0.02545425949800361 Centerline is valid? [True, True] Translation: X:174.87, Y:-117.56, Z:-12.48 [[ 7.33012876e-01 6.77813105e-01 5.71097057e-02 1.74869208e+02] [-6.75736433e-01 7.35234195e-01 -5.30184207e-02 -1.17562156e+02] [-7.79255888e-02 2.72076278e-04 9.96959141e-01 -1.24844530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79864 meters 0.02561220948603543 Centerline is valid? [True, True] Translation: X:174.89, Y:-117.58, Z:-12.49 [[ 7.32021954e-01 6.78872893e-01 5.72315883e-02 1.74894501e+02] [-6.76786661e-01 7.34255784e-01 -5.31813719e-02 -1.17583044e+02] [-7.81260165e-02 1.96356234e-04 9.96943472e-01 -1.24859967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82864 meters 0.025422467588498334 Centerline is valid? [True, True] Translation: X:174.92, Y:-117.60, Z:-12.49 [[ 7.31074677e-01 6.79955829e-01 5.64790809e-02 1.74919473e+02] [-6.77924033e-01 7.33253065e-01 -5.25256826e-02 -1.17603827e+02] [-7.71286032e-02 1.11670135e-04 9.97021146e-01 -1.24871878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85864 meters 0.025424540136945322 Centerline is valid? [True, True] Translation: X:174.95, Y:-117.62, Z:-12.49 [[ 7.29587460e-01 6.81523800e-01 5.68106301e-02 1.74945801e+02] [-6.79470615e-01 7.31795947e-01 -5.28618431e-02 -1.17623517e+02] [-7.76003931e-02 -3.38159232e-05 9.96984542e-01 -1.24893049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88864 meters 0.025501319267343663 Centerline is valid? [True, True] Translation: X:174.97, Y:-117.64, Z:-12.49 [[ 7.28902330e-01 6.82306425e-01 5.62079731e-02 1.74971112e+02] [-6.80294763e-01 7.31066301e-01 -5.23555051e-02 -1.17644571e+02] [-7.68142525e-02 -7.59401265e-05 9.97045418e-01 -1.24909235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91864 meters 0.02539974936580302 Centerline is valid? [True, True] Translation: X:175.00, Y:-117.66, Z:-12.49 [[ 7.29455091e-01 6.81696712e-01 5.64345876e-02 1.74998385e+02] [-6.79662734e-01 7.31634876e-01 -5.26210584e-02 -1.17663821e+02] [-7.71611150e-02 2.82128602e-05 9.97018637e-01 -1.24923440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94864 meters 0.025692003679916062 Centerline is valid? [True, True] Translation: X:175.02, Y:-117.69, Z:-12.50 [[ 7.29770627e-01 6.81314991e-01 5.69623978e-02 1.75024418e+02] [-6.79237237e-01 7.31990349e-01 -5.31686536e-02 -1.17685002e+02] [-7.79205262e-02 1.09939992e-04 9.96959568e-01 -1.24950113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97864 meters 0.025718527868821995 Centerline is valid? [True, True] Translation: X:175.05, Y:-117.70, Z:-12.50 [[ 7.30606730e-01 6.80338929e-01 5.79029105e-02 1.75049072e+02] [-6.78184558e-01 7.32897588e-01 -5.41001924e-02 -1.17704984e+02] [-7.92433704e-02 2.57104951e-04 9.96855266e-01 -1.24978330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00864 meters 0.02582277774329428 Centerline is valid? [True, True] Translation: X:175.07, Y:-117.73, Z:-12.50 [[ 7.32819551e-01 6.78048007e-01 5.68014566e-02 1.75073889e+02] [-6.75965301e-01 7.35017434e-01 -5.31063440e-02 -1.17726125e+02] [-7.77587116e-02 5.21553500e-04 9.96972071e-01 -1.24993911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03864000000002 meters 0.025883731568940353 Centerline is valid? [True, True] Translation: X:175.10, Y:-117.75, Z:-12.50 [[ 7.34620189e-01 6.76139594e-01 5.62887798e-02 1.75100371e+02] [-6.74087588e-01 7.36773180e-01 -5.26422363e-02 -1.17746291e+02] [-7.70655636e-02 7.28481772e-04 9.97025761e-01 -1.24999255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864000000002 meters 0.02598050514011641 Centerline is valid? [True, True] Translation: X:175.13, Y:-117.77, Z:-12.50 [[ 7.34958338e-01 6.75727074e-01 5.68257253e-02 1.75125610e+02] [-6.73632989e-01 7.37151472e-01 -5.31629911e-02 -1.17765978e+02] [-7.78128395e-02 7.92900333e-04 9.96967669e-01 -1.25019449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09864000000002 meters 0.025658394866638845 Centerline is valid? [True, True] Translation: X:175.15, Y:-117.79, Z:-12.50 [[ 7.34496065e-01 6.76297094e-01 5.60158037e-02 1.75150327e+02] [-6.74262946e-01 7.36628607e-01 -5.24192291e-02 -1.17786814e+02] [-7.67138157e-02 7.32336654e-04 9.97052884e-01 -1.25022895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864000000002 meters 0.025801122930301446 Centerline is valid? [True, True] Translation: X:175.17, Y:-117.81, Z:-12.51 [[ 7.33407266e-01 6.77427763e-01 5.66163310e-02 1.75174343e+02] [-6.75351672e-01 7.35589032e-01 -5.29990069e-02 -1.17809651e+02] [-7.75493508e-02 6.33922961e-04 9.96988313e-01 -1.25054129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15864000000002 meters 0.025756972200387036 Centerline is valid? [True, True] Translation: X:175.20, Y:-117.83, Z:-12.51 [[ 7.33105326e-01 6.77745104e-01 5.67287905e-02 1.75198311e+02] [-6.75660097e-01 7.35296671e-01 -5.31247442e-02 -1.17831798e+02] [-7.77175260e-02 6.16652785e-04 9.96975228e-01 -1.25067513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters 0.025748442924517178 Centerline is valid? [True, True] Translation: X:175.22, Y:-117.85, Z:-12.51 [[ 7.33227651e-01 6.77618646e-01 5.66584662e-02 1.75224365e+02] [-6.75536860e-01 7.35413187e-01 -5.30791420e-02 -1.17852497e+02] [-7.76347995e-02 6.44212274e-04 9.96981656e-01 -1.25082930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21864 meters 0.02591184513137073 Centerline is valid? [True, True] Translation: X:175.25, Y:-117.87, Z:-12.51 [[ 7.33947612e-01 6.76882297e-01 5.61360771e-02 1.75248874e+02] [-6.74835091e-01 7.36090907e-01 -5.26096633e-02 -1.17874840e+02] [-7.69318056e-02 7.30142061e-04 9.97036090e-01 -1.25096843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters 0.02607370965671858 Centerline is valid? [True, True] Translation: X:175.27, Y:-117.90, Z:-12.51 [[ 7.35050046e-01 6.75683450e-01 5.61543093e-02 1.75271825e+02] [-6.73630009e-01 7.37191373e-01 -5.26449468e-02 -1.17897033e+02] [-7.69677916e-02 8.69442680e-04 9.97033201e-01 -1.25119511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27864 meters 0.02629593702549435 Centerline is valid? [True, True] Translation: X:175.30, Y:-117.92, Z:-12.51 [[ 7.37501588e-01 6.72937718e-01 5.69757417e-02 1.75295566e+02] [-6.70814400e-01 7.39698199e-01 -5.34285938e-02 -1.17919065e+02] [-7.80989695e-02 1.18352480e-03 9.96944908e-01 -1.25136220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters 0.026202970629230417 Centerline is valid? [True, True] Translation: X:175.32, Y:-117.94, Z:-12.51 [[ 7.38150906e-01 6.72246075e-01 5.67314317e-02 1.75319568e+02] [-6.70137881e-01 7.40326701e-01 -5.32127399e-02 -1.17940772e+02] [-7.77718492e-02 1.26115069e-03 9.96970385e-01 -1.25146161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33864 meters 0.02651697298677045 Centerline is valid? [True, True] Translation: X:175.34, Y:-117.96, Z:-12.52 [[ 7.38565370e-01 6.71719095e-01 5.75730103e-02 1.75342369e+02] [-6.69545111e-01 7.40804727e-01 -5.40157387e-02 -1.17963384e+02] [-7.89337614e-02 1.34642643e-03 9.96878954e-01 -1.25176746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36864 meters 0.026610505755357464 Centerline is valid? [True, True] Translation: X:175.36, Y:-117.99, Z:-12.52 [[ 7.38756384e-01 6.71564045e-01 5.69274911e-02 1.75364291e+02] [-6.69437114e-01 7.40945269e-01 -5.34233914e-02 -1.17986658e+02] [-7.80573839e-02 1.35749607e-03 9.96947944e-01 -1.25196604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39864 meters 0.026732878583737067 Centerline is valid? [True, True] Translation: X:175.39, Y:-118.01, Z:-12.52 [[ 7.39985711e-01 6.70265926e-01 5.62559805e-02 1.75385160e+02] [-6.68184199e-01 7.42119517e-01 -5.28062307e-02 -1.18010965e+02] [-7.71428782e-02 1.48649892e-03 9.97018940e-01 -1.25212592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42864 meters 0.02686033496369809 Centerline is valid? [True, True] Translation: X:175.41, Y:-118.03, Z:-12.52 [[ 7.40634152e-01 6.69513664e-01 5.66789815e-02 1.75407560e+02] [-6.67397231e-01 7.42798045e-01 -5.32165419e-02 -1.18033996e+02] [-7.77302386e-02 1.58659309e-03 9.96973166e-01 -1.25227657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45864 meters 0.027114459861363037 Centerline is valid? [True, True] Translation: X:175.43, Y:-118.06, Z:-12.52 [[ 7.41351055e-01 6.68619746e-01 5.78467741e-02 1.75427624e+02] [-6.66410493e-01 7.43602471e-01 -5.43361828e-02 -1.18059429e+02] [-7.93452489e-02 1.73248923e-03 9.96845690e-01 -1.25249671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48864 meters 0.02712724846757121 Centerline is valid? [True, True] Translation: X:175.45, Y:-118.08, Z:-12.53 [[ 7.41343632e-01 6.68622840e-01 5.79061006e-02 1.75450677e+02] [-6.66405196e-01 7.43599600e-01 -5.44403393e-02 -1.18083581e+02] [-7.94590075e-02 1.77007253e-03 9.96836563e-01 -1.25261810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51864 meters 0.026582726685224618 Centerline is valid? [True, True] Translation: X:175.47, Y:-118.11, Z:-12.53 [[ 7.39517325e-01 6.70650751e-01 5.78074054e-02 1.75471003e+02] [-6.68443446e-01 7.41771575e-01 -5.43901611e-02 -1.18109268e+02] [-7.93566925e-02 1.58148513e-03 9.96845030e-01 -1.25271688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54864 meters 0.02651157247757383 Centerline is valid? [True, True] Translation: X:175.49, Y:-118.13, Z:-12.53 [[ 7.37684596e-01 6.72710879e-01 5.72844642e-02 1.75493118e+02] [-6.70547577e-01 7.39904187e-01 -5.39234749e-02 -1.18132341e+02] [-7.86599231e-02 1.36655818e-03 9.96900571e-01 -1.25288491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57864 meters 0.02623190088704533 Centerline is valid? [True, True] Translation: X:175.51, Y:-118.16, Z:-12.53 [[ 7.36349492e-01 6.74210209e-01 5.68332642e-02 1.75514805e+02] [-6.72081712e-01 7.38538475e-01 -5.35452551e-02 -1.18156422e+02] [-7.80743099e-02 1.23142394e-03 9.96946782e-01 -1.25311717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60864 meters 0.02595388130010612 Centerline is valid? [True, True] Translation: X:175.53, Y:-118.18, Z:-12.53 [[ 7.33371710e-01 6.77424225e-01 5.71170248e-02 1.75533866e+02] [-6.75280774e-01 7.35591982e-01 -5.38545474e-02 -1.18183833e+02] [-7.84972005e-02 9.25372857e-04 9.96913905e-01 -1.25320289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63864 meters 0.025907206959141577 Centerline is valid? [True, True] Translation: X:175.56, Y:-118.21, Z:-12.53 [[ 7.32223952e-01 6.78657284e-01 5.72046818e-02 1.75556503e+02] [-6.76508040e-01 7.34454638e-01 -5.39745881e-02 -1.18207666e+02] [-7.86444912e-02 8.22058987e-04 9.96902387e-01 -1.25329515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66864 meters 0.025745585865568993 Centerline is valid? [True, True] Translation: X:175.58, Y:-118.23, Z:-12.54 [[ 7.30904521e-01 6.80015691e-01 5.79417040e-02 1.75577439e+02] [-6.77810384e-01 7.33197199e-01 -5.47261387e-02 -1.18233397e+02] [-7.96973281e-02 7.26093572e-04 9.96818844e-01 -1.25352007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69864 meters 0.025745183018962673 Centerline is valid? [True, True] Translation: X:175.60, Y:-118.26, Z:-12.54 [[ 7.30684216e-01 6.80267667e-01 5.77622498e-02 1.75600024e+02] [-6.78072447e-01 7.32963408e-01 -5.46113458e-02 -1.18257225e+02] [-7.94879483e-02 7.36658353e-04 9.96835555e-01 -1.25372080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72864 meters 0.02581052572798254 Centerline is valid? [True, True] Translation: X:175.62, Y:-118.28, Z:-12.54 [[ 7.29831087e-01 6.81204449e-01 5.75072444e-02 1.75621995e+02] [-6.79027138e-01 7.32092922e-01 -5.44251622e-02 -1.18282190e+02] [-7.91753092e-02 6.72195756e-04 9.96860481e-01 -1.25395525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75864 meters 0.025793965829782425 Centerline is valid? [True, True] Translation: X:175.65, Y:-118.31, Z:-12.54 [[ 7.29281672e-01 6.81764882e-01 5.78350172e-02 1.75645120e+02] [-6.79560316e-01 7.31571063e-01 -5.47864614e-02 -1.18305748e+02] [-7.96619104e-02 6.52379572e-04 9.96821727e-01 -1.25409046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864000000002 meters 0.025811349117493047 Centerline is valid? [True, True] Translation: X:175.67, Y:-118.33, Z:-12.54 [[ 7.28771846e-01 6.82358618e-01 5.72565456e-02 1.75666450e+02] [-6.80196581e-01 7.31017334e-01 -5.42795487e-02 -1.18329426e+02] [-7.88936452e-02 6.11700413e-04 9.96882851e-01 -1.25430281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81864000000002 meters 0.025806251375490058 Centerline is valid? [True, True] Translation: X:175.69, Y:-118.35, Z:-12.54 [[ 7.29024693e-01 6.82157307e-01 5.64305380e-02 1.75689132e+02] [-6.80052979e-01 7.31205152e-01 -5.35441066e-02 -1.18352054e+02] [-7.77878037e-02 6.59220424e-04 9.96969720e-01 -1.25446951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864000000002 meters 0.025920240093615567 Centerline is valid? [True, True] Translation: X:175.71, Y:-118.38, Z:-12.55 [[ 7.29520798e-01 6.81634667e-01 5.63345822e-02 1.75712281e+02] [-6.79532080e-01 7.31692297e-01 -5.35026621e-02 -1.18375967e+02] [-7.76888491e-02 7.50148944e-04 9.96977372e-01 -1.25465829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87864000000002 meters 0.025988746973646396 Centerline is valid? [True, True] Translation: X:175.73, Y:-118.40, Z:-12.55 [[ 7.29914547e-01 6.81124700e-01 5.73924825e-02 1.75734787e+02] [-6.78936450e-01 7.32166925e-01 -5.45608905e-02 -1.18398146e+02] [-7.91836475e-02 8.58939348e-04 9.96859675e-01 -1.25495613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864000000002 meters 0.02610963075532179 Centerline is valid? [True, True] Translation: X:175.76, Y:-118.42, Z:-12.55 [[ 7.30625483e-01 6.80242432e-01 5.87931810e-02 1.75757936e+02] [-6.77939092e-01 7.32986498e-01 -5.59408697e-02 -1.18420454e+02] [-8.11479611e-02 1.01362919e-03 9.96701551e-01 -1.25511641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93864 meters 0.02610963075532179 Centerline is valid? [True, True] Translation: X:175.78, Y:-118.44, Z:-12.55 [[ 7.30282896e-01 6.80612437e-01 5.87673544e-02 1.75781735e+02] [-6.78308111e-01 7.32642949e-01 -5.59679919e-02 -1.18442647e+02] [-8.11479992e-02 1.01009407e-03 9.96701551e-01 -1.25529942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters 0.02645920744255828 Centerline is valid? [True, True] Translation: X:175.80, Y:-118.47, Z:-12.56 [[ 7.32309321e-01 6.78379019e-01 5.93714073e-02 1.75804211e+02] [-6.76015101e-01 7.34710954e-01 -5.65985645e-02 -1.18465592e+02] [-8.20161019e-02 1.31168845e-03 9.96630141e-01 -1.25555784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99864 meters 0.026896347857833833 Centerline is valid? [True, True] Translation: X:175.83, Y:-118.49, Z:-12.56 [[ 7.33239577e-01 6.77235934e-01 6.09197166e-02 1.75827191e+02] [-6.74738566e-01 7.35764359e-01 -5.81263755e-02 -1.18488009e+02] [-8.41878265e-02 1.51567675e-03 9.96448751e-01 -1.25582659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters 0.02702990678403595 Centerline is valid? [True, True] Translation: X:175.85, Y:-118.51, Z:-12.56 [[ 7.34978184e-01 6.75466362e-01 5.96008696e-02 1.75850925e+02] [-6.73066114e-01 7.37388798e-01 -5.69189510e-02 -1.18511311e+02] [-8.23958504e-02 1.71886149e-03 9.96598199e-01 -1.25598376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05864 meters 0.026992784678622594 Centerline is valid? [True, True] Translation: X:175.87, Y:-118.54, Z:-12.56 [[ 7.34766808e-01 6.75727312e-01 5.92481068e-02 1.75874614e+02] [-6.73351689e-01 7.37149672e-01 -5.66380191e-02 -1.18535006e+02] [-8.19465789e-02 1.72092376e-03 9.96635238e-01 -1.25614939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08864 meters 0.027327492592557585 Centerline is valid? [True, True] Translation: X:175.90, Y:-118.56, Z:-12.56 [[ 7.34376993e-01 6.76081766e-01 6.00323027e-02 1.75897070e+02] [-6.73639300e-01 7.36824539e-01 -5.74429436e-02 -1.18557528e+02] [-8.30694005e-02 1.74465780e-03 9.96542237e-01 -1.25644291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11864 meters 0.02725228507819845 Centerline is valid? [True, True] Translation: X:175.92, Y:-118.58, Z:-12.57 [[ 7.33250966e-01 6.77268550e-01 6.04179777e-02 1.75919085e+02] [-6.74794128e-01 7.35734026e-01 -5.78647363e-02 -1.18582843e+02] [-8.36415280e-02 1.65967721e-03 9.96494526e-01 -1.25660406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14864 meters 0.02718634393265117 Centerline is valid? [True, True] Translation: X:175.94, Y:-118.61, Z:-12.57 [[ 7.32293308e-01 6.78322824e-01 6.02051277e-02 1.75941411e+02] [-6.75864830e-01 7.34762321e-01 -5.77153691e-02 -1.18606242e+02] [-8.33861115e-02 1.57405013e-03 9.96516071e-01 -1.25672842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17864 meters 0.027359306120512916 Centerline is valid? [True, True] Translation: X:175.96, Y:-118.63, Z:-12.57 [[ 7.31903262e-01 6.78742740e-01 6.02155118e-02 1.75964320e+02] [-6.76280920e-01 7.34374457e-01 -5.77777967e-02 -1.18630533e+02] [-8.34369938e-02 1.56515613e-03 9.96511826e-01 -1.25700392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20864 meters 0.027137377323484885 Centerline is valid? [True, True] Translation: X:175.99, Y:-118.65, Z:-12.57 [[ 7.31567279e-01 6.79162223e-01 5.95650227e-02 1.75986696e+02] [-6.76750292e-01 7.33986581e-01 -5.72078744e-02 -1.18654281e+02] [-8.25733545e-02 1.54076248e-03 9.96583798e-01 -1.25716575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23864 meters 0.026851243595670215 Centerline is valid? [True, True] Translation: X:176.01, Y:-118.68, Z:-12.57 [[ 7.30686557e-01 6.80210264e-01 5.84050750e-02 1.76007357e+02] [-6.77890925e-01 7.33015656e-01 -5.61421624e-02 -1.18679127e+02] [-8.10003094e-02 1.43005302e-03 9.96713050e-01 -1.25734638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26864 meters 0.027067664183441024 Centerline is valid? [True, True] Translation: X:176.03, Y:-118.70, Z:-12.58 [[ 7.30050533e-01 6.80857312e-01 5.88178464e-02 1.76030410e+02] [-6.78502871e-01 7.32414735e-01 -5.65907244e-02 -1.18702348e+02] [-8.16092659e-02 1.40601081e-03 9.96663409e-01 -1.25750344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29864 meters 0.026781192932541067 Centerline is valid? [True, True] Translation: X:176.05, Y:-118.73, Z:-12.58 [[ 7.27949012e-01 6.83107083e-01 5.87788073e-02 1.76053150e+02] [-6.80758608e-01 7.30317252e-01 -5.66076769e-02 -1.18725735e+02] [-8.15962820e-02 1.19332347e-03 9.96664749e-01 -1.25751309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32864 meters 0.026704563057627494 Centerline is valid? [True, True] Translation: X:176.08, Y:-118.75, Z:-12.58 [[ 7.26992304e-01 6.84141957e-01 5.85830410e-02 1.76076232e+02] [-6.81808437e-01 7.29348032e-01 -5.64686139e-02 -1.18748484e+02] [-8.13599737e-02 1.10983613e-03 9.96684164e-01 -1.25777201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35864 meters 0.026762216273598278 Centerline is valid? [True, True] Translation: X:176.10, Y:-118.77, Z:-12.58 [[ 7.25506277e-01 6.85750683e-01 5.81948641e-02 1.76099408e+02] [-6.83449182e-01 7.27835888e-01 -5.61438862e-02 -1.18771447e+02] [-8.08570189e-02 9.59509586e-04 9.96725249e-01 -1.25795224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38864 meters 0.026578021136335773 Centerline is valid? [True, True] Translation: X:176.12, Y:-118.79, Z:-12.58 [[ 7.24102125e-01 6.87312945e-01 5.72453432e-02 1.76122469e+02] [-6.85087053e-01 7.26360973e-01 -5.52762739e-02 -1.18794278e+02] [-7.95728818e-02 8.07623895e-04 9.96828724e-01 -1.25804509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41864 meters 0.026403235594646936 Centerline is valid? [True, True] Translation: X:176.15, Y:-118.82, Z:-12.58 [[ 7.23554732e-01 6.87914918e-01 5.69351859e-02 1.76146486e+02] [-6.85710950e-01 7.25790924e-01 -5.50275112e-02 -1.18817203e+02] [-7.91772870e-02 7.74335651e-04 9.96860250e-01 -1.25827160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44864 meters 0.026494896719900195 Centerline is valid? [True, True] Translation: X:176.17, Y:-118.84, Z:-12.58 [[ 7.23443855e-01 6.88096475e-01 5.61447234e-02 1.76170220e+02] [-6.85949773e-01 7.25618790e-01 -5.43164753e-02 -1.18839136e+02] [-7.81146414e-02 7.82459953e-04 9.96944076e-01 -1.25825685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47864 meters 0.02632218689675468 Centerline is valid? [True, True] Translation: X:176.19, Y:-118.86, Z:-12.58 [[ 7.23004606e-01 6.88553161e-01 5.62039551e-02 1.76194723e+02] [-6.86399321e-01 7.25185460e-01 -5.44244515e-02 -1.18861198e+02] [-7.82324191e-02 7.70772537e-04 9.96934850e-01 -1.25841534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50864 meters 0.026435418691031446 Centerline is valid? [True, True] Translation: X:176.22, Y:-118.88, Z:-12.59 [[ 7.22353335e-01 6.89232822e-01 5.62474522e-02 1.76220883e+02] [-6.87073294e-01 7.24539558e-01 -5.45226376e-02 -1.18881892e+02] [-7.83322955e-02 7.38486889e-04 9.96927032e-01 -1.25860445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53864000000002 meters 0.026471781233250204 Centerline is valid? [True, True] Translation: X:176.25, Y:-118.90, Z:-12.59 [[ 7.21230362e-01 6.90434219e-01 5.59227517e-02 1.76245343e+02] [-6.88299018e-01 7.23394896e-01 -5.42612781e-02 -1.18903040e+02] [-7.79180764e-02 6.43306157e-04 9.96959558e-01 -1.25878074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864000000002 meters 0.02631396395296174 Centerline is valid? [True, True] Translation: X:176.27, Y:-118.92, Z:-12.59 [[ 7.19375464e-01 6.92484327e-01 5.44462880e-02 1.76271319e+02] [-6.90462857e-01 7.21432783e-01 -5.28751652e-02 -1.18922924e+02] [-7.58945602e-02 4.43956966e-04 9.97115750e-01 -1.25888515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59864000000002 meters 0.026270255578326653 Centerline is valid? [True, True] Translation: X:176.30, Y:-118.94, Z:-12.59 [[ 7.18560395e-01 6.93369801e-01 5.39377191e-02 1.76296417e+02] [-6.91384783e-01 7.20581830e-01 -5.24300413e-02 -1.18944643e+02] [-7.52199476e-02 3.82433042e-04 9.97166893e-01 -1.25908822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864000000002 meters 0.0265283049152148 Centerline is valid? [True, True] Translation: X:176.32, Y:-118.97, Z:-12.59 [[ 7.18644753e-01 6.93309678e-01 5.35855326e-02 1.76321934e+02] [-6.91346348e-01 7.20639653e-01 -5.21413189e-02 -1.18965707e+02] [-7.47659406e-02 4.24922938e-04 9.97201020e-01 -1.25922267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65864000000002 meters 0.02637827138054616 Centerline is valid? [True, True] Translation: X:176.35, Y:-118.99, Z:-12.59 [[ 7.19194343e-01 6.92809117e-01 5.26785014e-02 1.76347203e+02] [-6.90906561e-01 7.21120844e-01 -5.13113401e-02 -1.18986675e+02] [-7.35365296e-02 5.06903298e-04 9.97292395e-01 -1.25918705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters 0.02636237323197163 Centerline is valid? [True, True] Translation: X:176.37, Y:-119.01, Z:-12.59 [[ 7.20530178e-01 6.91486131e-01 5.17995537e-02 1.76372456e+02] [-6.89639461e-01 7.22389426e-01 -5.05067418e-02 -1.19007552e+02] [-7.23441614e-02 6.68615359e-04 9.97379504e-01 -1.25938304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71864 meters 0.026890447363430492 Centerline is valid? [True, True] Translation: X:176.40, Y:-119.03, Z:-12.60 [[ 7.23616361e-01 6.88267781e-01 5.16412888e-02 1.76397130e+02] [-6.86420534e-01 7.25456002e-01 -5.04027757e-02 -1.19028583e+02] [-7.21540895e-02 1.02463221e-03 9.97392970e-01 -1.25963108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters 0.027065400835853588 Centerline is valid? [True, True] Translation: X:176.42, Y:-119.05, Z:-12.60 [[ 7.24947120e-01 6.86834411e-01 5.20592421e-02 1.76420105e+02] [-6.84950077e-01 7.26812925e-01 -5.08563115e-02 -1.19051117e+02] [-7.27671948e-02 1.21015467e-03 9.97348219e-01 -1.25986989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77864 meters 0.027456572043516723 Centerline is valid? [True, True] Translation: X:176.44, Y:-119.07, Z:-12.60 [[ 7.27593452e-01 6.83974068e-01 5.27943376e-02 1.76443517e+02] [-6.82025129e-01 7.29504672e-01 -5.16203145e-02 -1.19072823e+02] [-7.38206725e-02 1.55153790e-03 9.97270325e-01 -1.25996144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80864 meters 0.027814999466762556 Centerline is valid? [True, True] Translation: X:176.47, Y:-119.10, Z:-12.60 [[ 7.27959890e-01 6.83535250e-01 5.34224754e-02 1.76466918e+02] [-6.81534972e-01 7.29915642e-01 -5.22803847e-02 -1.19095346e+02] [-7.47293862e-02 1.64873789e-03 9.97202487e-01 -1.26014287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83864 meters 0.027722161377163577 Centerline is valid? [True, True] Translation: X:176.49, Y:-119.12, Z:-12.60 [[ 7.28616617e-01 6.83001904e-01 5.12467070e-02 1.76487553e+02] [-6.81157109e-01 7.30414696e-01 -5.01932644e-02 -1.19120020e+02] [-7.17134431e-02 1.66458770e-03 9.97423887e-01 -1.26019649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86864 meters 0.027755872796107965 Centerline is valid? [True, True] Translation: X:176.51, Y:-119.14, Z:-12.60 [[ 7.28757893e-01 6.82903042e-01 5.05506493e-02 1.76509924e+02] [-6.81104750e-01 7.30507085e-01 -4.95552043e-02 -1.19144948e+02] [-7.07690072e-02 1.68345894e-03 9.97491310e-01 -1.26035150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89864 meters 0.027991607691465407 Centerline is valid? [True, True] Translation: X:176.53, Y:-119.17, Z:-12.60 [[ 7.29915641e-01 6.81753602e-01 4.93475775e-02 1.76531940e+02] [-6.80034166e-01 7.31579686e-01 -4.84220748e-02 -1.19168220e+02] [-6.91136091e-02 1.78599110e-03 9.97607197e-01 -1.26019428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92864 meters 0.028070663534757474 Centerline is valid? [True, True] Translation: X:176.55, Y:-119.19, Z:-12.60 [[ 7.30283187e-01 6.81253201e-01 5.07990379e-02 1.76553350e+02] [-6.79426632e-01 7.32045346e-01 -4.98905120e-02 -1.19191943e+02] [-7.11752703e-02 1.91998289e-03 9.97461977e-01 -1.26032867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95864 meters 0.028370465652877087 Centerline is valid? [True, True] Translation: X:176.58, Y:-119.22, Z:-12.61 [[ 7.30830566e-01 6.80629418e-01 5.12862382e-02 1.76575642e+02] [-6.78762907e-01 7.32625051e-01 -5.04127986e-02 -1.19215696e+02] [-7.18860167e-02 2.03201800e-03 9.97410784e-01 -1.26050351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98864 meters 0.028722306419643292 Centerline is valid? [True, True] Translation: X:176.60, Y:-119.24, Z:-12.61 [[ 7.32111799e-01 6.79189895e-01 5.20903098e-02 1.76598147e+02] [-6.77257423e-01 7.33959173e-01 -5.12475879e-02 -1.19238812e+02] [-7.30390045e-02 2.24041477e-03 9.97326569e-01 -1.26070271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01864 meters 0.028937251297008422 Centerline is valid? [True, True] Translation: X:176.62, Y:-119.26, Z:-12.61 [[ 7.34032254e-01 6.77162415e-01 5.14559520e-02 1.76619953e+02] [-6.75268713e-01 7.35829525e-01 -5.06663078e-02 -1.19263092e+02] [-7.21721281e-02 2.44410958e-03 9.97389197e-01 -1.26089509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04864 meters 0.029339312433653123 Centerline is valid? [True, True] Translation: X:176.64, Y:-119.29, Z:-12.61 [[ 7.34770830e-01 6.76368152e-01 5.13609757e-02 1.76642213e+02] [-6.74476410e-01 7.36559315e-01 -5.06156868e-02 -1.19286495e+02] [-7.20652436e-02 2.54916376e-03 9.97396663e-01 -1.26112447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07864 meters 0.02923979721908409 Centerline is valid? [True, True] Translation: X:176.66, Y:-119.31, Z:-12.61 [[ 7.35826557e-01 6.75264574e-01 5.07644861e-02 1.76660729e+02] [-6.73410953e-01 7.37570806e-01 -5.00699049e-02 -1.19313340e+02] [-7.12528359e-02 2.65740476e-03 9.97454747e-01 -1.26128262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10864 meters 0.029013718478844472 Centerline is valid? [True, True] Translation: X:176.68, Y:-119.34, Z:-12.61 [[ 7.35342766e-01 6.75813278e-01 5.04720708e-02 1.76682138e+02] [-6.73979207e-01 7.37068208e-01 -4.98245455e-02 -1.19338311e+02] [-7.08734482e-02 2.62099282e-03 9.97481872e-01 -1.26139174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13864 meters 0.028878135509042214 Centerline is valid? [True, True] Translation: X:176.70, Y:-119.36, Z:-12.62 [[ 7.34852945e-01 6.76438824e-01 4.92104313e-02 1.76701991e+02] [-6.74693679e-01 7.36494479e-01 -4.86243031e-02 -1.19363949e+02] [-6.91345774e-02 2.52974537e-03 9.97604135e-01 -1.26157517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16864 meters 0.028671336136886567 Centerline is valid? [True, True] Translation: X:176.72, Y:-119.39, Z:-12.62 [[ 7.34282100e-01 6.77082097e-01 4.88838504e-02 1.76723012e+02] [-6.75358668e-01 7.35903301e-01 -4.83425354e-02 -1.19388923e+02] [-6.87056521e-02 2.48292634e-03 9.97633885e-01 -1.26166812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19864 meters 0.028555465784081788 Centerline is valid? [True, True] Translation: X:176.74, Y:-119.42, Z:-12.62 [[ 7.33486955e-01 6.77909622e-01 4.93500821e-02 1.76742481e+02] [-6.76151983e-01 7.35141137e-01 -4.88467536e-02 -1.19416306e+02] [-6.93929598e-02 2.46030072e-03 9.97586369e-01 -1.26191436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22864 meters 0.02823662379463604 Centerline is valid? [True, True] Translation: X:176.76, Y:-119.44, Z:-12.62 [[ 7.32768082e-01 6.78686733e-01 4.93483159e-02 1.76763409e+02] [-6.76927729e-01 7.34423895e-01 -4.88916331e-02 -1.19441041e+02] [-6.94246851e-02 2.42098481e-03 9.97584258e-01 -1.26208111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25864 meters 0.028240693915774984 Centerline is valid? [True, True] Translation: X:176.79, Y:-119.47, Z:-12.62 [[ 7.32720351e-01 6.78724105e-01 4.95426714e-02 1.76785401e+02] [-6.76948285e-01 7.34389232e-01 -4.91271285e-02 -1.19466322e+02] [-6.97273708e-02 2.45862042e-03 9.97563055e-01 -1.26230329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864000000002 meters 0.02783455983460343 Centerline is valid? [True, True] Translation: X:176.80, Y:-119.49, Z:-12.62 [[ 7.32532936e-01 6.78997927e-01 4.85521571e-02 1.76804407e+02] [-6.77289920e-01 7.34136206e-01 -4.81912369e-02 -1.19493940e+02] [-6.83656464e-02 2.41778170e-03 9.97657402e-01 -1.26242171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31864000000002 meters 0.027829851506926035 Centerline is valid? [True, True] Translation: X:176.83, Y:-119.52, Z:-12.63 [[ 7.32319780e-01 6.79206382e-01 4.88511022e-02 1.76825195e+02] [-6.77474425e-01 7.33943252e-01 -4.85356312e-02 -1.19519209e+02] [-6.88196472e-02 2.44823040e-03 9.97626114e-01 -1.26260012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864000000002 meters 0.027225934970807792 Centerline is valid? [True, True] Translation: X:176.84, Y:-119.55, Z:-12.63 [[ 7.30893679e-01 6.80704960e-01 4.93476310e-02 1.76843359e+02] [-6.78937669e-01 7.32553863e-01 -4.90762582e-02 -1.19547043e+02] [-6.95562501e-02 2.36556130e-03 9.97575226e-01 -1.26263073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37864000000002 meters 0.02686477080315844 Centerline is valid? [True, True] Translation: X:176.86, Y:-119.57, Z:-12.63 [[ 7.29783920e-01 6.81892113e-01 4.93819434e-02 1.76864320e+02] [-6.80122128e-01 7.31449196e-01 -4.91524701e-02 -1.19571359e+02] [-6.96370645e-02 2.28492989e-03 9.97569776e-01 -1.26269120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864000000002 meters 0.025697948424193436 Centerline is valid? [True, True] Translation: X:176.88, Y:-119.60, Z:-12.63 [[ 7.26054691e-01 6.85840917e-01 4.96671105e-02 1.76883098e+02] [-6.84056587e-01 7.27748883e-01 -4.94787740e-02 -1.19598116e+02] [-7.00797519e-02 1.94918190e-03 9.97539487e-01 -1.26287645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43864 meters 0.025279718328289538 Centerline is valid? [True, True] Translation: X:176.90, Y:-119.62, Z:-12.63 [[ 7.24093453e-01 6.87895612e-01 4.98828563e-02 1.76902881e+02] [-6.86097941e-01 7.25807440e-01 -4.97310261e-02 -1.19623211e+02] [-7.04151028e-02 1.78538538e-03 9.97516178e-01 -1.26302967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters 0.024726927756971488 Centerline is valid? [True, True] Translation: X:176.92, Y:-119.65, Z:-12.63 [[ 7.20979005e-01 6.91156266e-01 4.99228420e-02 1.76923181e+02] [-6.89362374e-01 7.22703830e-01 -4.97864670e-02 -1.19648909e+02] [-7.04896577e-02 1.48006861e-03 9.97511412e-01 -1.26322721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49864 meters 0.023846175438077766 Centerline is valid? [True, True] Translation: X:176.94, Y:-119.67, Z:-12.63 [[ 7.14917260e-01 6.97434909e-01 4.97780933e-02 1.76941478e+02] [-6.95665462e-01 7.16647604e-01 -4.96565965e-02 -1.19674718e+02] [-7.03055951e-02 8.71457625e-04 9.97525119e-01 -1.26318582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters 0.023510471495603338 Centerline is valid? [True, True] Translation: X:176.96, Y:-119.70, Z:-12.63 [[ 7.08891955e-01 7.03558100e-01 4.97814761e-02 1.76963037e+02] [-7.01802474e-01 7.10637688e-01 -4.96725639e-02 -1.19699318e+02] [-7.03241277e-02 2.75717827e-04 9.97524156e-01 -1.26336027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55864 meters 0.023530789068451453 Centerline is valid? [True, True] Translation: X:176.99, Y:-119.72, Z:-12.64 [[ 7.05545741e-01 7.06901746e-01 4.99512719e-02 1.76985962e+02] [-7.05140504e-01 7.07311756e-01 -4.98693188e-02 -1.19723624e+02] [-7.05838304e-02 -3.75795957e-05 9.97505850e-01 -1.26360974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58864 meters 0.023391571361276686 Centerline is valid? [True, True] Translation: X:177.01, Y:-119.75, Z:-12.64 [[ 7.02681592e-01 7.09762503e-01 4.97571079e-02 1.77009750e+02] [-7.08019272e-01 7.04440986e-01 -4.97152677e-02 -1.19747220e+02] [-7.03369789e-02 -2.94987920e-04 9.97523244e-01 -1.26373192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61864 meters 0.023671002130294456 Centerline is valid? [True, True] Translation: X:177.06, Y:-119.89, Z:-10.95 [[ 7.61140595e-01 -6.47970512e-01 -2.82703088e-02 1.77063677e+02] [-6.47297645e-01 -7.61652588e-01 2.98511924e-02 -1.19885318e+02] [-4.08748463e-02 -4.42165008e-03 -9.99154491e-01 -1.09513164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64864 meters 0.02386038425017953 Centerline is valid? [True, True] Translation: X:177.05, Y:-119.80, Z:-12.64 [[ 7.47067138e-01 6.62465198e-01 5.50504541e-02 1.77054172e+02] [-6.60761560e-01 7.49092153e-01 -4.74879748e-02 -1.19800391e+02] [-7.26969938e-02 -8.98518493e-04 9.97353668e-01 -1.26413926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67864 meters 0.024043798835953194 Centerline is valid? [True, True] Translation: X:177.08, Y:-119.82, Z:-12.64 [[ 7.45081449e-01 6.64622431e-01 5.59522905e-02 1.77079728e+02] [-6.62865950e-01 7.47178568e-01 -4.83003133e-02 -1.19819304e+02] [-7.39078239e-02 -1.10120078e-03 9.97264469e-01 -1.26444921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70864 meters 0.024232372350467456 Centerline is valid? [True, True] Translation: X:177.11, Y:-119.84, Z:-12.65 [[ 7.44444576e-01 6.65379016e-01 5.54349914e-02 1.77105494e+02] [-6.63653612e-01 7.46504847e-01 -4.78998605e-02 -1.19839464e+02] [-7.32540518e-02 -1.13084096e-03 9.97312672e-01 -1.26467763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73864 meters 0.024091680568294492 Centerline is valid? [True, True] Translation: X:177.13, Y:-119.86, Z:-12.65 [[ 7.44100073e-01 6.65804888e-01 5.49448104e-02 1.77132052e+02] [-6.64107356e-01 7.46125048e-01 -4.75271789e-02 -1.19858538e+02] [-7.26395273e-02 -1.12427545e-03 9.97357626e-01 -1.26481104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76864 meters 0.024006933407674732 Centerline is valid? [True, True] Translation: X:177.16, Y:-119.88, Z:-12.65 [[ 7.44275528e-01 6.65589078e-01 5.51825779e-02 1.77160994e+02] [-6.63872448e-01 7.46317650e-01 -4.77842801e-02 -1.19875266e+02] [-7.29884268e-02 -1.06952283e-03 9.97332214e-01 -1.26497504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79864 meters 0.02415341580189479 Centerline is valid? [True, True] Translation: X:177.19, Y:-119.90, Z:-12.65 [[ 7.44151673e-01 6.65697109e-01 5.55486047e-02 1.77187549e+02] [-6.63954074e-01 7.46221321e-01 -4.81531630e-02 -1.19895599e+02] [-7.35069746e-02 -1.04846560e-03 9.97294152e-01 -1.26524319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82864 meters 0.024174533781257942 Centerline is valid? [True, True] Translation: X:177.22, Y:-119.91, Z:-12.65 [[ 7.44205893e-01 6.65653687e-01 5.53421839e-02 1.77215375e+02] [-6.63919697e-01 7.46260119e-01 -4.80257252e-02 -1.19913871e+02] [-7.32681658e-02 -1.00173820e-03 9.97311773e-01 -1.26543980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85864 meters 0.024174533781257942 Centerline is valid? [True, True] Translation: X:177.24, Y:-119.93, Z:-12.66 [[ 7.43853072e-01 6.66050056e-01 5.53166376e-02 1.77240125e+02] [-6.64314974e-01 7.45906374e-01 -4.80551355e-02 -1.19934938e+02] [-7.32681583e-02 -1.00171055e-03 9.97311774e-01 -1.26562224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88864 meters 0.02384078991414607 Centerline is valid? [True, True] Translation: X:177.27, Y:-119.95, Z:-12.66 [[ 7.44250582e-01 6.65619253e-01 5.51550700e-02 1.77267885e+02] [-6.63889359e-01 7.46290940e-01 -4.79661554e-02 -1.19953926e+02] [-7.30889256e-02 -9.18024988e-04 9.97325005e-01 -1.26584815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91864 meters 0.023987488214268188 Centerline is valid? [True, True] Translation: X:177.29, Y:-119.97, Z:-12.66 [[ 7.44365742e-01 6.65428895e-01 5.58930011e-02 1.77294925e+02] [-6.63647870e-01 7.46460733e-01 -4.86608579e-02 -1.19973041e+02] [-7.41022715e-02 -8.71795472e-04 9.97250266e-01 -1.26610161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94864 meters 0.024063285499939382 Centerline is valid? [True, True] Translation: X:177.32, Y:-119.99, Z:-12.66 [[ 7.45180850e-01 6.64552995e-01 5.54510410e-02 1.77320726e+02] [-6.62793929e-01 7.47240770e-01 -4.83263819e-02 -1.19992063e+02] [-7.35507204e-02 -7.40719033e-04 9.97291203e-01 -1.26633442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97864 meters 0.023940818786765097 Centerline is valid? [True, True] Translation: X:177.35, Y:-120.01, Z:-12.67 [[ 7.46517210e-01 6.63025114e-01 5.57651691e-02 1.77347702e+02] [-6.61238262e-01 7.48596946e-01 -4.86474458e-02 -1.20011117e+02] [-7.40001136e-02 -5.57907934e-04 9.97258077e-01 -1.26659178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00864 meters 0.023832537767586693 Centerline is valid? [True, True] Translation: X:177.37, Y:-120.03, Z:-12.67 [[ 7.46816463e-01 6.62669466e-01 5.59852586e-02 1.77374368e+02] [-6.60863565e-01 7.48911839e-01 -4.88917697e-02 -1.20030709e+02] [-7.43271059e-02 -4.85439086e-04 9.97233797e-01 -1.26689331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03864000000002 meters 0.023871371806672557 Centerline is valid? [True, True] Translation: X:177.40, Y:-120.05, Z:-12.67 [[ 7.46470071e-01 6.63052556e-01 5.60690780e-02 1.77400745e+02] [-6.61238403e-01 7.48572690e-01 -4.90173633e-02 -1.20051322e+02] [-7.44728686e-02 -4.85032926e-04 9.97222922e-01 -1.26712874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864000000002 meters 0.02401702006567305 Centerline is valid? [True, True] Translation: X:177.43, Y:-120.07, Z:-12.67 [[ 7.46201768e-01 6.63248367e-01 5.73107789e-02 1.77426133e+02] [-6.61349429e-01 7.48399210e-01 -5.01553213e-02 -1.20070966e+02] [-7.61567766e-02 -4.76461468e-04 9.97095742e-01 -1.26732935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09864000000002 meters 0.024141895255609558 Centerline is valid? [True, True] Translation: X:177.45, Y:-120.09, Z:-12.68 [[ 7.45664407e-01 6.63812990e-01 5.77659553e-02 1.77452457e+02] [-6.61881696e-01 7.47898430e-01 -5.06019581e-02 -1.20090168e+02] [-7.67933044e-02 -5.02149373e-04 9.97046908e-01 -1.26759817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864000000002 meters 0.024074866595509465 Centerline is valid? [True, True] Translation: X:177.48, Y:-120.11, Z:-12.68 [[ 7.45165395e-01 6.64369483e-01 5.78076492e-02 1.77478490e+02] [-6.62433102e-01 7.47404120e-01 -5.06899085e-02 -1.20110729e+02] [-7.68825035e-02 -5.21334730e-04 9.97040024e-01 -1.26775074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15864000000002 meters 0.024137372737163723 Centerline is valid? [True, True] Translation: X:177.50, Y:-120.13, Z:-12.68 [[ 7.44910813e-01 6.64610259e-01 5.83188154e-02 1.77503909e+02] [-6.62635912e-01 7.47190032e-01 -5.11928182e-02 -1.20131872e+02] [-7.75985097e-02 -5.10057578e-04 9.96984559e-01 -1.26801261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters 0.024040209578154347 Centerline is valid? [True, True] Translation: X:177.53, Y:-120.15, Z:-12.68 [[ 7.44936244e-01 6.64477675e-01 5.94929557e-02 1.77528675e+02] [-6.62418142e-01 7.47307971e-01 -5.22781208e-02 -1.20152044e+02] [-7.91972042e-02 -4.65346190e-04 9.96858860e-01 -1.26814477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21864 meters 0.024152452568839862 Centerline is valid? [True, True] Translation: X:177.55, Y:-120.17, Z:-12.68 [[ 7.44766882e-01 6.64576528e-01 6.05006546e-02 1.77553732e+02] [-6.62442799e-01 7.47220074e-01 -5.32137147e-02 -1.20172098e+02] [-8.05718894e-02 -4.46410565e-04 9.96748700e-01 -1.26836070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters 0.024107220077469904 Centerline is valid? [True, True] Translation: X:177.58, Y:-120.19, Z:-12.69 [[ 7.45541363e-01 6.63698174e-01 6.06037094e-02 1.77580083e+02] [-6.61550044e-01 7.48000425e-01 -5.33563792e-02 -1.20192811e+02] [-8.07441319e-02 -3.12998922e-04 9.96734813e-01 -1.26857049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27864 meters 0.02410780335721228 Centerline is valid? [True, True] Translation: X:177.60, Y:-120.21, Z:-12.69 [[ 7.46214753e-01 6.62952402e-01 6.04785527e-02 1.77604558e+02] [-6.60806132e-01 7.48661524e-01 -5.33027129e-02 -1.20214479e+02] [-8.06151269e-02 -1.89327738e-04 9.96745286e-01 -1.26881033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30864 meters 0.024288388192534954 Centerline is valid? [True, True] Translation: X:177.63, Y:-120.24, Z:-12.69 [[ 7.47777041e-01 6.61132760e-01 6.10980348e-02 1.77628533e+02] [-6.58931458e-01 7.50268932e-01 -5.39060498e-02 -1.20237195e+02] [-8.14790129e-02 5.02892660e-05 9.96675056e-01 -1.26901959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33864 meters 0.024276633330912536 Centerline is valid? [True, True] Translation: X:177.65, Y:-120.26, Z:-12.69 [[ 7.48626489e-01 6.60191955e-01 6.08684030e-02 1.77653235e+02] [-6.57999494e-01 7.51096894e-01 -5.37598514e-02 -1.20258953e+02] [-8.12098898e-02 1.94670423e-04 9.96697003e-01 -1.26923490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36864 meters 0.02425433932148571 Centerline is valid? [True, True] Translation: X:177.68, Y:-120.28, Z:-12.69 [[ 7.49758795e-01 6.58922845e-01 6.06830555e-02 1.77676933e+02] [-6.56735014e-01 7.52210439e-01 -5.36523688e-02 -1.20281610e+02] [-8.09991993e-02 3.73648063e-04 9.96714096e-01 -1.26948519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39864 meters 0.024356906214673114 Centerline is valid? [True, True] Translation: X:177.70, Y:-120.30, Z:-12.70 [[ 7.49265369e-01 6.59487529e-01 6.06432683e-02 1.77701036e+02] [-6.57299861e-01 7.51715420e-01 -5.36732599e-02 -1.20304627e+02] [-8.09833255e-02 3.54703066e-04 9.96715393e-01 -1.26973868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42864 meters 0.0243400638730419 Centerline is valid? [True, True] Translation: X:177.72, Y:-120.33, Z:-12.70 [[ 7.48167946e-01 6.60787563e-01 6.00376699e-02 1.77723817e+02] [-6.58643333e-01 7.50572937e-01 -5.31904684e-02 -1.20326907e+02] [-8.02102502e-02 2.51992501e-04 9.96777935e-01 -1.26989541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45864 meters 0.02412245984070898 Centerline is valid? [True, True] Translation: X:177.75, Y:-120.35, Z:-12.70 [[ 7.45757085e-01 6.63677906e-01 5.81206256e-02 1.77745759e+02] [-6.61673773e-01 7.48018474e-01 -5.15381573e-02 -1.20350290e+02] [-7.76800379e-02 -2.19476302e-05 9.96978340e-01 -1.27011288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48864 meters 0.02426661673706811 Centerline is valid? [True, True] Translation: X:177.77, Y:-120.37, Z:-12.70 [[ 7.43941705e-01 6.65743193e-01 5.77645287e-02 1.77769598e+02] [-6.63765997e-01 7.46180917e-01 -5.12712337e-02 -1.20372966e+02] [-7.72362639e-02 -1.99320954e-04 9.97012798e-01 -1.27034850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51864 meters 0.02437543393360488 Centerline is valid? [True, True] Translation: X:177.79, Y:-120.40, Z:-12.71 [[ 7.41108040e-01 6.69023005e-01 5.62769183e-02 1.77792135e+02] [-6.67152506e-01 7.43241532e-01 -4.99955852e-02 -1.20396358e+02] [-7.52755396e-02 -4.93156969e-04 9.97162650e-01 -1.27050684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54864 meters 0.024636752132236466 Centerline is valid? [True, True] Translation: X:177.82, Y:-120.42, Z:-12.71 [[ 7.39432878e-01 6.70943460e-01 5.54426936e-02 1.77815624e+02] [-6.69131127e-01 7.41508223e-01 -4.92857962e-02 -1.20419499e+02] [-7.41791958e-02 -6.54893906e-04 9.97244713e-01 -1.27067713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57864 meters 0.024833362956003326 Centerline is valid? [True, True] Translation: X:177.84, Y:-120.44, Z:-12.71 [[ 7.37511083e-01 6.72998356e-01 5.61303424e-02 1.77838683e+02] [-6.71142726e-01 7.39643508e-01 -4.99492046e-02 -1.20441950e+02] [-7.51321759e-02 -8.33378975e-04 9.97173236e-01 -1.27086318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60864 meters 0.025086240157274797 Centerline is valid? [True, True] Translation: X:177.86, Y:-120.46, Z:-12.71 [[ 7.36298595e-01 6.74333415e-01 5.60252109e-02 1.77863366e+02] [-6.72484958e-01 7.38426420e-01 -4.99039428e-02 -1.20463692e+02] [-7.50223920e-02 -9.31908621e-04 9.97181414e-01 -1.27097307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63864 meters 0.02532731997164438 Centerline is valid? [True, True] Translation: X:177.89, Y:-120.49, Z:-12.71 [[ 7.34095718e-01 6.76760943e-01 5.56606119e-02 1.77887660e+02] [-6.74939614e-01 7.36201970e-01 -4.96304072e-02 -1.20485218e+02] [-7.45653733e-02 -1.13408250e-03 9.97215483e-01 -1.27118043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66864 meters 0.02538937865822624 Centerline is valid? [True, True] Translation: X:177.91, Y:-120.51, Z:-12.71 [[ 7.32828537e-01 6.78163641e-01 5.52848230e-02 1.77911789e+02] [-6.76367309e-01 7.34909896e-01 -4.93427631e-02 -1.20507099e+02] [-7.40918314e-02 -1.23306207e-03 9.97250661e-01 -1.27134155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69864 meters 0.025818366954906784 Centerline is valid? [True, True] Translation: X:177.94, Y:-120.53, Z:-12.72 [[ 7.30739785e-01 6.80380664e-01 5.56912803e-02 1.77937042e+02] [-6.78560290e-01 7.32857495e-01 -4.97576632e-02 -1.20527341e+02] [-7.46679240e-02 -1.42998717e-03 9.97207429e-01 -1.27153745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72864 meters 0.025986117275160685 Centerline is valid? [True, True] Translation: X:177.96, Y:-120.55, Z:-12.72 [[ 7.29922561e-01 6.81220311e-01 5.61421704e-02 1.77962668e+02] [-6.79369203e-01 7.32076948e-01 -5.02078576e-02 -1.20546902e+02] [-7.53030011e-02 -1.49341358e-03 9.97159580e-01 -1.27168132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75864 meters 0.02607769462319181 Centerline is valid? [True, True] Translation: X:177.99, Y:-120.57, Z:-12.72 [[ 7.29033093e-01 6.82163352e-01 5.62486453e-02 1.77988331e+02] [-6.80304301e-01 7.31198150e-01 -5.03519926e-02 -1.20568095e+02] [-7.54771895e-02 -1.55792640e-03 9.97146312e-01 -1.27186792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864000000002 meters 0.02628446566963065 Centerline is valid? [True, True] Translation: X:178.01, Y:-120.59, Z:-12.72 [[ 7.28557206e-01 6.82652227e-01 5.64830476e-02 1.78013347e+02] [-6.80774961e-01 7.30741716e-01 -5.06161789e-02 -1.20589524e+02] [-7.58277663e-02 -1.57546267e-03 9.97119686e-01 -1.27211761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81864000000002 meters 0.026439157091443 Centerline is valid? [True, True] Translation: X:178.04, Y:-120.61, Z:-12.72 [[ 7.28181638e-01 6.83091535e-01 5.60130025e-02 1.78039033e+02] [-6.81242687e-01 7.30331086e-01 -5.02484583e-02 -1.20609817e+02] [-7.52323335e-02 -1.56844361e-03 9.97164799e-01 -1.27225235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864000000002 meters 0.026455268259349504 Centerline is valid? [True, True] Translation: X:178.06, Y:-120.63, Z:-12.72 [[ 7.27747386e-01 6.83553009e-01 5.60270134e-02 1.78064945e+02] [-6.81700528e-01 7.29899169e-01 -5.03149379e-02 -1.20630917e+02] [-7.52869977e-02 -1.57708011e-03 9.97160659e-01 -1.27246339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87864000000002 meters 0.026411954697382074 Centerline is valid? [True, True] Translation: X:178.09, Y:-120.65, Z:-12.73 [[ 7.27492494e-01 6.83882605e-01 5.53105115e-02 1.78089663e+02] [-6.82074408e-01 7.29590412e-01 -4.97225470e-02 -1.20651635e+02] [-7.43584039e-02 -1.55310471e-03 9.97230372e-01 -1.27260448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864000000002 meters 0.02654672630418971 Centerline is valid? [True, True] Translation: X:178.11, Y:-120.67, Z:-12.73 [[ 7.27297353e-01 6.84024447e-01 5.61169822e-02 1.78114368e+02] [-6.82159742e-01 7.29457428e-01 -5.04970052e-02 -1.20672947e+02] [-7.54761356e-02 -1.55440785e-03 9.97146397e-01 -1.27288306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93864 meters 0.026619292019679844 Centerline is valid? [True, True] Translation: X:178.14, Y:-120.69, Z:-12.73 [[ 7.27028766e-01 6.84309476e-01 5.61223230e-02 1.78140024e+02] [-6.82441157e-01 7.29190069e-01 -5.05560231e-02 -1.20694534e+02] [-7.55198062e-02 -1.54449996e-03 9.97143106e-01 -1.27302182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters 0.026531609678986177 Centerline is valid? [True, True] Translation: X:178.17, Y:-120.71, Z:-12.73 [[ 7.27067094e-01 6.84329040e-01 5.53823574e-02 1.78166023e+02] [-6.82505962e-01 7.29171824e-01 -4.99405988e-02 -1.20713800e+02] [-7.45590566e-02 -1.48862306e-03 9.97215489e-01 -1.27317411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99864 meters 0.026478419472884478 Centerline is valid? [True, True] Translation: X:178.19, Y:-120.73, Z:-12.73 [[ 7.27224248e-01 6.84197323e-01 5.49446664e-02 1.78190328e+02] [-6.82399192e-01 7.29295536e-01 -4.95919759e-02 -1.20734366e+02] [-7.40015971e-02 -1.42970850e-03 9.97257098e-01 -1.27330874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters 0.026498345660825318 Centerline is valid? [True, True] Translation: X:178.21, Y:-120.76, Z:-12.73 [[ 7.28131164e-01 6.83139583e-01 5.60831406e-02 1.78214548e+02] [-6.81259145e-01 7.30286646e-01 -5.06694315e-02 -1.20756203e+02] [-7.55710630e-02 -1.31316032e-03 9.97139554e-01 -1.27348771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05864 meters 0.026452083014151057 Centerline is valid? [True, True] Translation: X:178.24, Y:-120.78, Z:-12.74 [[ 7.28850322e-01 6.82362941e-01 5.61963045e-02 1.78238206e+02] [-6.80468590e-01 7.31012575e-01 -5.08243367e-02 -1.20778025e+02] [-7.57608492e-02 -1.19648584e-03 9.97125299e-01 -1.27373677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08864 meters 0.026331335432038406 Centerline is valid? [True, True] Translation: X:178.26, Y:-120.80, Z:-12.74 [[ 7.29795387e-01 6.81366744e-01 5.60183339e-02 1.78262580e+02] [-6.79477871e-01 7.31941424e-01 -5.07106993e-02 -1.20799220e+02] [-7.55547231e-02 -1.05478379e-03 9.97141099e-01 -1.27394989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11864 meters 0.02610739860538268 Centerline is valid? [True, True] Translation: X:178.29, Y:-120.82, Z:-12.74 [[ 7.30879701e-01 6.80150942e-01 5.66529645e-02 1.78286972e+02] [-6.78211497e-01 7.33071538e-01 -5.13350240e-02 -1.20822124e+02] [-7.64462408e-02 -9.02964927e-04 9.97073296e-01 -1.27420025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14864 meters 0.026128135602229957 Centerline is valid? [True, True] Translation: X:178.31, Y:-120.84, Z:-12.74 [[ 7.31180401e-01 6.79882802e-01 5.59874752e-02 1.78309473e+02] [-6.77983996e-01 7.33320321e-01 -5.07839317e-02 -1.20844575e+02] [-7.55838751e-02 -8.26396673e-04 9.97139105e-01 -1.27430701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17864 meters 0.026079343224593914 Centerline is valid? [True, True] Translation: X:178.33, Y:-120.87, Z:-12.74 [[ 7.31226463e-01 6.79912032e-01 5.50226176e-02 1.78331153e+02] [-6.78074851e-01 7.33293269e-01 -4.99547658e-02 -1.20868211e+02] [-7.43125614e-02 -7.81206492e-04 9.97234693e-01 -1.27437310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20864 meters 0.02606045394841832 Centerline is valid? [True, True] Translation: X:178.36, Y:-120.89, Z:-12.75 [[ 7.30879357e-01 6.80313604e-01 5.46696111e-02 1.78355096e+02] [-6.78497555e-01 7.32920725e-01 -4.96817768e-02 -1.20890564e+02] [-7.38676796e-02 -7.81812303e-04 9.97267745e-01 -1.27459588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23864 meters 0.02600867791062833 Centerline is valid? [True, True] Translation: X:178.38, Y:-120.91, Z:-12.75 [[ 7.30785080e-01 6.80465569e-01 5.40349563e-02 1.78378427e+02] [-6.78688099e-01 7.32779672e-01 -4.91570733e-02 -1.20914027e+02] [-7.30454134e-02 -7.49626042e-04 9.97328334e-01 -1.27476884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26864 meters 0.026175682083022404 Centerline is valid? [True, True] Translation: X:178.40, Y:-120.94, Z:-12.75 [[ 7.30040731e-01 6.81217824e-01 5.46150844e-02 1.78401340e+02] [-6.79400133e-01 7.32080354e-01 -4.97374631e-02 -1.20937195e+02] [-7.38646767e-02 -7.95121605e-04 9.97267957e-01 -1.27491476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29864 meters 0.026303781422193345 Centerline is valid? [True, True] Translation: X:178.42, Y:-120.96, Z:-12.75 [[ 7.28538120e-01 6.82767204e-01 5.53276870e-02 1.78423988e+02] [-6.80902402e-01 7.30635398e-01 -5.04364424e-02 -1.20959538e+02] [-7.48607154e-02 -9.27884066e-04 9.97193568e-01 -1.27508978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32864 meters 0.026480514514250247 Centerline is valid? [True, True] Translation: X:178.45, Y:-120.98, Z:-12.75 [[ 7.25525424e-01 6.85984426e-01 5.51201071e-02 1.78447749e+02] [-6.84139373e-01 7.27615199e-01 -5.02935480e-02 -1.20981720e+02] [-7.46068184e-02 -1.22058777e-03 9.97212281e-01 -1.27515922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35864 meters 0.02669593764605804 Centerline is valid? [True, True] Translation: X:178.47, Y:-121.00, Z:-12.75 [[ 7.23820094e-01 6.87818106e-01 5.46875163e-02 1.78471574e+02] [-6.86003743e-01 7.25881802e-01 -4.99447093e-02 -1.21002937e+02] [-7.40495482e-02 -1.36485670e-03 9.97253630e-01 -1.27538278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38864 meters 0.027106898243917738 Centerline is valid? [True, True] Translation: X:178.50, Y:-121.02, Z:-12.76 [[ 7.20433373e-01 6.91461764e-01 5.34451514e-02 1.78495660e+02] [-6.89735727e-01 7.22411138e-01 -4.88546392e-02 -1.21024238e+02] [-7.23904877e-02 -1.66651787e-03 9.97374975e-01 -1.27552369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41864 meters 0.027198023833293148 Centerline is valid? [True, True] Translation: X:178.52, Y:-121.05, Z:-12.76 [[ 7.18993832e-01 6.92928141e-01 5.38373543e-02 1.78520333e+02] [-6.91177409e-01 7.21004418e-01 -4.92586839e-02 -1.21045465e+02] [-7.29496986e-02 -1.79447315e-03 9.97334007e-01 -1.27564673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44864 meters 0.02758090669647106 Centerline is valid? [True, True] Translation: X:178.55, Y:-121.06, Z:-12.76 [[ 7.16688155e-01 6.95217509e-01 5.50518337e-02 1.78545625e+02] [-6.93390021e-01 7.18796533e-01 -5.04164969e-02 -1.21064888e+02] [-7.46214986e-02 -2.03948596e-03 9.97209844e-01 -1.27582489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47864 meters 0.02760974339779553 Centerline is valid? [True, True] Translation: X:178.57, Y:-121.09, Z:-12.76 [[ 7.15603298e-01 6.96316024e-01 5.52803255e-02 1.78571155e+02] [-6.94473236e-01 7.17732160e-01 -5.06702172e-02 -1.21085212e+02] [-7.49589516e-02 -2.13093196e-03 9.97184343e-01 -1.27603069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50864 meters 0.027709821144909465 Centerline is valid? [True, True] Translation: X:178.60, Y:-121.10, Z:-12.76 [[ 7.14484688e-01 6.97463868e-01 5.52791319e-02 1.78597334e+02] [-6.95621067e-01 7.16616518e-01 -5.07158376e-02 -1.21103583e+02] [-7.49864033e-02 -2.21763927e-03 9.97182090e-01 -1.27620528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53864000000002 meters 0.02792377149211141 Centerline is valid? [True, True] Translation: X:178.62, Y:-121.12, Z:-12.76 [[ 7.13786214e-01 6.98160721e-01 5.55053910e-02 1.78622568e+02] [-6.96301199e-01 7.15937481e-01 -5.09721891e-02 -1.21124643e+02] [-7.53251700e-02 -2.26522445e-03 9.97156451e-01 -1.27642859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864000000002 meters 0.028042008866096042 Centerline is valid? [True, True] Translation: X:178.65, Y:-121.15, Z:-12.77 [[ 7.13558560e-01 6.98426028e-01 5.50932441e-02 1.78648475e+02] [-6.96590860e-01 7.15678751e-01 -5.06468098e-02 -1.21145719e+02] [-7.48021144e-02 -2.23798562e-03 9.97195886e-01 -1.27664594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59864000000002 meters 0.027820111945123037 Centerline is valid? [True, True] Translation: X:178.68, Y:-121.16, Z:-12.77 [[ 7.14339726e-01 6.97593040e-01 5.55221204e-02 1.78676276e+02] [-6.95722699e-01 7.16491042e-01 -5.10931889e-02 -1.21163081e+02] [-7.54233549e-02 -2.13010491e-03 9.97149327e-01 -1.27681631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864000000002 meters 0.027665408878976658 Centerline is valid? [True, True] Translation: X:178.70, Y:-121.18, Z:-12.77 [[ 7.15250444e-01 6.96691813e-01 5.51118924e-02 1.78702077e+02] [-6.94842899e-01 7.17367807e-01 -5.07619439e-02 -1.21182642e+02] [-7.49009281e-02 -1.98660414e-03 9.97189001e-01 -1.27701272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65864000000002 meters 0.027239635034681835 Centerline is valid? [True, True] Translation: X:178.73, Y:-121.20, Z:-12.77 [[ 7.17449477e-01 6.94471176e-01 5.45530338e-02 1.78728902e+02] [-6.92649765e-01 7.19518509e-01 -5.02933205e-02 -1.21201233e+02] [-7.41791790e-02 -1.70322958e-03 9.97243475e-01 -1.27726068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters 0.027166659815707542 Centerline is valid? [True, True] Translation: X:178.75, Y:-121.22, Z:-12.78 [[ 7.18916923e-01 6.93013525e-01 5.37653463e-02 1.78753965e+02] [-6.91236990e-01 7.20923028e-01 -4.96126077e-02 -1.21221273e+02] [-7.31428844e-02 -1.49725286e-03 9.97320348e-01 -1.27750395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71864 meters 0.02680862668403772 Centerline is valid? [True, True] Translation: X:178.78, Y:-121.24, Z:-12.78 [[ 7.21474064e-01 6.90341120e-01 5.38916712e-02 1.78780570e+02] [-6.88545345e-01 7.23483040e-01 -4.97754890e-02 -1.21240416e+02] [-7.33517769e-02 -1.19513499e-03 9.97305414e-01 -1.27768167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters 0.02680862668403772 Centerline is valid? [True, True] Translation: X:178.80, Y:-121.26, Z:-12.78 [[ 7.21111463e-01 6.90721737e-01 5.38677978e-02 1.78804669e+02] [-6.88925093e-01 7.23119662e-01 -4.98013146e-02 -1.21262255e+02] [-7.33517143e-02 -1.19857877e-03 9.97305414e-01 -1.27786414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77864 meters 0.02650663392719886 Centerline is valid? [True, True] Translation: X:178.83, Y:-121.28, Z:-12.78 [[ 7.22657139e-01 6.89092014e-01 5.40264365e-02 1.78830725e+02] [-6.87276414e-01 7.24673167e-01 -4.99993187e-02 -1.21281009e+02] [-7.36056401e-02 -9.98730987e-04 9.97286926e-01 -1.27811064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80864 meters 0.026670313788122492 Centerline is valid? [True, True] Translation: X:178.86, Y:-121.30, Z:-12.78 [[ 7.22871954e-01 6.88819453e-01 5.46250810e-02 1.78855820e+02] [-6.86958921e-01 7.24932318e-01 -5.06021281e-02 -1.21301848e+02] [-7.44552168e-02 -9.46327509e-04 9.97223909e-01 -1.27835777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83864 meters 0.026555769084336493 Centerline is valid? [True, True] Translation: X:178.88, Y:-121.32, Z:-12.79 [[ 7.23124250e-01 6.88513047e-01 5.51461928e-02 1.78880941e+02] [-6.86611816e-01 7.25223415e-01 -5.11391469e-02 -1.21323152e+02] [-7.52032801e-02 -8.84070284e-04 9.97167832e-01 -1.27852010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86864 meters 0.026472060766169304 Centerline is valid? [True, True] Translation: X:178.91, Y:-121.34, Z:-12.79 [[ 7.25057728e-01 6.86371396e-01 5.64410977e-02 1.78906517e+02] [-6.84368872e-01 7.27250921e-01 -5.23960390e-02 -1.21343935e+02] [-7.70099826e-02 -6.36377378e-04 9.97030119e-01 -1.27873734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89864 meters 0.02620324052625661 Centerline is valid? [True, True] Translation: X:178.93, Y:-121.37, Z:-12.79 [[ 7.26380010e-01 6.84988778e-01 5.62357142e-02 1.78930761e+02] [-6.82992574e-01 7.28553480e-01 -5.22586988e-02 -1.21365351e+02] [-7.67673475e-02 -4.48901002e-04 9.97048932e-01 -1.27886933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92864 meters 0.02614774670888497 Centerline is valid? [True, True] Translation: X:178.95, Y:-121.39, Z:-12.79 [[ 7.28671378e-01 6.82443453e-01 5.75235275e-02 1.78954872e+02] [-6.80342740e-01 7.30938377e-01 -5.35055661e-02 -1.21386945e+02] [-7.85606771e-02 -1.47739715e-04 9.96909323e-01 -1.27922317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95864 meters 0.026240783082351362 Centerline is valid? [True, True] Translation: X:178.98, Y:-121.41, Z:-12.79 [[ 7.29354549e-01 6.81764463e-01 5.69136126e-02 1.78978631e+02] [-6.79702268e-01 7.31571743e-01 -5.29868934e-02 -1.21408244e+02] [-7.77609716e-02 -3.80798581e-05 9.96972031e-01 -1.27935165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98864 meters 0.026258296188757888 Centerline is valid? [True, True] Translation: X:179.00, Y:-121.43, Z:-12.80 [[ 7.30130668e-01 6.80895910e-01 5.73582333e-02 1.79003357e+02] [-6.78794603e-01 7.32380195e-01 -5.34521882e-02 -1.21430292e+02] [-7.84034104e-02 9.26226790e-05 9.96921710e-01 -1.27964371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01864 meters 0.02613621106460534 Centerline is valid? [True, True] Translation: X:179.03, Y:-121.45, Z:-12.80 [[ 7.30093022e-01 6.80993114e-01 5.66794337e-02 1.79026718e+02] [-6.78937516e-01 7.32289809e-01 -5.28723394e-02 -1.21451909e+02] [-7.75114708e-02 1.19932122e-04 9.96991453e-01 -1.27976917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04864 meters 0.025970233654275823 Centerline is valid? [True, True] Translation: X:179.05, Y:-121.47, Z:-12.80 [[ 7.29560244e-01 6.81640061e-01 5.57555136e-02 1.79049842e+02] [-6.79649345e-01 7.31687652e-01 -5.20571563e-02 -1.21474882e+02] [-7.62798640e-02 8.46333887e-05 9.97086443e-01 -1.27987661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07864 meters 0.0260401293509556 Centerline is valid? [True, True] Translation: X:179.07, Y:-121.50, Z:-12.80 [[ 7.28602208e-01 6.82749970e-01 5.46927844e-02 1.79071676e+02] [-6.80834185e-01 7.30652091e-01 -5.11109967e-02 -1.21498897e+02] [-7.48574288e-02 2.86781264e-06 9.97194247e-01 -1.28008968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10864 meters 0.026084516329388734 Centerline is valid? [True, True] Translation: X:179.10, Y:-121.52, Z:-12.80 [[ 7.27120383e-01 6.84335309e-01 5.45997671e-02 1.79095689e+02] [-6.82426871e-01 7.29167450e-01 -5.10724532e-02 -1.21521821e+02] [-7.47630559e-02 -1.24526540e-04 9.97201319e-01 -1.28028396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13864 meters 0.026058872160691724 Centerline is valid? [True, True] Translation: X:179.12, Y:-121.55, Z:-12.80 [[ 7.25078650e-01 6.86558485e-01 5.38367709e-02 1.79119894e+02] [-6.84705327e-01 7.27074515e-01 -5.04109685e-02 -1.21545028e+02] [-7.37534222e-02 -3.10406763e-04 9.97276459e-01 -1.28036777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16864 meters 0.026121702877214863 Centerline is valid? [True, True] Translation: X:179.14, Y:-121.57, Z:-12.81 [[ 7.23890801e-01 6.87788966e-01 5.41151213e-02 1.79143391e+02] [-6.85916023e-01 7.25910586e-01 -5.07250526e-02 -1.21568307e+02] [-7.41708709e-02 -3.99029847e-04 9.97245468e-01 -1.28051295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19864 meters 0.0263369016076704 Centerline is valid? [True, True] Translation: X:179.17, Y:-121.59, Z:-12.81 [[ 7.21403501e-01 6.90368827e-01 5.44781722e-02 1.79166147e+02] [-6.88474048e-01 7.23457314e-01 -5.11175058e-02 -1.21591440e+02] [-7.47025647e-02 -6.30460112e-04 9.97205661e-01 -1.28067585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22864 meters 0.026438713214831624 Centerline is valid? [True, True] Translation: X:179.19, Y:-121.61, Z:-12.81 [[ 7.20488118e-01 6.91268893e-01 5.51741839e-02 1.79190961e+02] [-6.89324327e-01 7.22597281e-01 -5.18183504e-02 -1.21612660e+02] [-7.56891290e-02 -6.98401479e-04 9.97131219e-01 -1.28090215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25864 meters 0.02652955662996113 Centerline is valid? [True, True] Translation: X:179.22, Y:-121.63, Z:-12.81 [[ 7.19359076e-01 6.92369358e-01 5.60998418e-02 1.79216006e+02] [-6.90358454e-01 7.21542822e-01 -5.27367084e-02 -1.21632572e+02] [-7.69917191e-02 -7.92370283e-04 9.97031417e-01 -1.28119012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864000000002 meters 0.026636044964338593 Centerline is valid? [True, True] Translation: X:179.24, Y:-121.65, Z:-12.81 [[ 7.19272494e-01 6.92531551e-01 5.52008210e-02 1.79239811e+02] [-6.90581570e-01 7.21387184e-01 -5.19386647e-02 -1.21654183e+02] [-7.57903289e-02 -7.62616778e-04 9.97123485e-01 -1.28134939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31864000000002 meters 0.026479578375474575 Centerline is valid? [True, True] Translation: X:179.26, Y:-121.68, Z:-12.82 [[ 7.18765846e-01 6.93020997e-01 5.56556961e-02 1.79264457e+02] [-6.91036309e-01 7.20916973e-01 -5.24169561e-02 -1.21676385e+02] [-7.64491872e-02 -7.84589034e-04 9.97073170e-01 -1.28153068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864000000002 meters 0.026507249448259138 Centerline is valid? [True, True] Translation: X:179.29, Y:-121.70, Z:-12.82 [[ 7.18137307e-01 6.93696721e-01 5.53504137e-02 1.79291291e+02] [-6.91731590e-01 7.20266756e-01 -5.21843626e-02 -1.21695520e+02] [-7.60671841e-02 -8.12092010e-04 9.97102364e-01 -1.28157437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37864000000002 meters 0.026421898303125312 Centerline is valid? [True, True] Translation: X:179.32, Y:-121.72, Z:-12.82 [[ 7.18249134e-01 6.93639790e-01 5.46079043e-02 1.79316488e+02] [-6.91723026e-01 7.20321642e-01 -5.15362782e-02 -1.21716060e+02] [-7.50828685e-02 -7.57657620e-04 9.97177010e-01 -1.28172359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864000000002 meters 0.026358554403010964 Centerline is valid? [True, True] Translation: X:179.34, Y:-121.74, Z:-12.82 [[ 7.18083508e-01 6.93841010e-01 5.42284845e-02 1.79342364e+02] [-6.91947758e-01 7.20127842e-01 -5.12268621e-02 -1.21736260e+02] [-7.45947392e-02 -7.38113442e-04 9.97213658e-01 -1.28183506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43864 meters 0.02646018929480036 Centerline is valid? [True, True] Translation: X:179.37, Y:-121.76, Z:-12.82 [[ 7.17787493e-01 6.94025231e-01 5.57682150e-02 1.79367128e+02] [-6.92019132e-01 7.19950299e-01 -5.27360298e-02 -1.21756798e+02] [-7.67504783e-02 -7.39409096e-04 9.97050058e-01 -1.28215116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters 0.0265989275410367 Centerline is valid? [True, True] Translation: X:179.39, Y:-121.78, Z:-12.82 [[ 7.18301633e-01 6.93480592e-01 5.59234413e-02 1.79394957e+02] [-6.91457729e-01 7.20475017e-01 -5.29335335e-02 -1.21776057e+02] [-7.69998205e-02 -6.46452162e-04 9.97030897e-01 -1.28226941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49864 meters 0.026369392649939715 Centerline is valid? [True, True] Translation: X:179.42, Y:-121.80, Z:-12.83 [[ 7.18358203e-01 6.93399346e-01 5.62035490e-02 1.79420162e+02] [-6.91351530e-01 7.20553250e-01 -5.32548192e-02 -1.21797350e+02] [-7.74245067e-02 -6.00373386e-04 9.96998037e-01 -1.28255488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters 0.02638913634099522 Centerline is valid? [True, True] Translation: X:179.44, Y:-121.82, Z:-12.83 [[ 7.19432750e-01 6.92302946e-01 5.59745416e-02 1.79443715e+02] [-6.90264353e-01 7.21606843e-01 -5.30913162e-02 -1.21818560e+02] [-7.71468868e-02 -4.41599103e-04 9.97019640e-01 -1.28277652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55864 meters 0.026365517112345065 Centerline is valid? [True, True] Translation: X:179.47, Y:-121.84, Z:-12.83 [[ 7.19150817e-01 6.92585111e-01 5.61067517e-02 1.79469039e+02] [-6.90533771e-01 7.21336034e-01 -5.32675991e-02 -1.21840563e+02] [-7.73641678e-02 -4.36169473e-04 9.97002806e-01 -1.28288154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58864 meters 0.02624112347727743 Centerline is valid? [True, True] Translation: X:179.50, Y:-121.86, Z:-12.83 [[ 7.17755306e-01 6.94002340e-01 5.64630314e-02 1.79496701e+02] [-6.91924800e-01 7.19972533e-01 -5.36621255e-02 -1.21860017e+02] [-7.78934724e-02 -5.51896364e-04 9.96961535e-01 -1.28297786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61864 meters 0.02630412558355832 Centerline is valid? [True, True] Translation: X:179.52, Y:-121.88, Z:-12.83 [[ 7.15966872e-01 6.95845289e-01 5.64869236e-02 1.79521854e+02] [-6.93767313e-01 7.18191358e-01 -5.37409367e-02 -1.21881182e+02] [-7.79637980e-02 -7.12050843e-04 9.96955936e-01 -1.28308848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64864 meters 0.02640934934992954 Centerline is valid? [True, True] Translation: X:179.55, Y:-121.90, Z:-12.83 [[ 7.13883390e-01 6.98051701e-01 5.56266972e-02 1.79547263e+02] [-6.96039072e-01 7.16046797e-01 -5.29773029e-02 -1.21902731e+02] [-7.68122147e-02 -8.98738155e-04 9.97045172e-01 -1.28330880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67864 meters 0.02674092281777339 Centerline is valid? [True, True] Translation: X:179.57, Y:-121.92, Z:-12.84 [[ 7.11633216e-01 7.00363271e-01 5.54026581e-02 1.79573427e+02] [-6.98369719e-01 7.13785730e-01 -5.28173095e-02 -1.21922308e+02] [-7.65369304e-02 -1.10498687e-03 9.97066135e-01 -1.28358971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70864 meters 0.026714733845137627 Centerline is valid? [True, True] Translation: X:179.60, Y:-121.94, Z:-12.84 [[ 7.10184853e-01 7.01868274e-01 5.49399719e-02 1.79599205e+02] [-6.99908652e-01 7.12305717e-01 -5.24256098e-02 -1.21942786e+02] [-7.59299284e-02 -1.22108768e-03 9.97112408e-01 -1.28372213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73864 meters 0.02689062976711074 Centerline is valid? [True, True] Translation: X:179.63, Y:-121.96, Z:-12.84 [[ 7.09192417e-01 7.02752609e-01 5.64348058e-02 1.79626474e+02] [-7.00683198e-01 7.11433095e-01 -5.39073880e-02 -1.21960577e+02] [-7.80331461e-02 -1.31220951e-03 9.96949902e-01 -1.28405198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76864 meters 0.02696359926945356 Centerline is valid? [True, True] Translation: X:179.65, Y:-121.98, Z:-12.84 [[ 7.08970010e-01 7.02888933e-01 5.75210588e-02 1.79651295e+02] [-7.00735345e-01 7.11298400e-01 -5.49960146e-02 -1.21980698e+02] [-7.95707271e-02 -1.31651398e-03 9.96828353e-01 -1.28430023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79864 meters 0.026767370044062253 Centerline is valid? [True, True] Translation: X:179.68, Y:-122.00, Z:-12.84 [[ 7.10312845e-01 7.01554805e-01 5.72408776e-02 1.79679623e+02] [-6.99413884e-01 7.12614615e-01 -5.47780072e-02 -1.21997959e+02] [-7.92204600e-02 -1.12554234e-03 9.96856485e-01 -1.28446174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82864 meters 0.026528952266353295 Centerline is valid? [True, True] Translation: X:179.71, Y:-122.02, Z:-12.85 [[ 7.11509453e-01 7.00391537e-01 5.66214903e-02 1.79706625e+02] [-6.98289218e-01 7.13758217e-01 -5.42344522e-02 -1.22016582e+02] [-7.83994053e-02 -9.49850757e-04 9.96921577e-01 -1.28464296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85864 meters 0.026560509022525297 Centerline is valid? [True, True] Translation: X:179.73, Y:-122.04, Z:-12.85 [[ 7.12479411e-01 6.99415792e-01 5.64857332e-02 1.79732818e+02] [-6.97316609e-01 7.14714560e-01 -5.41539028e-02 -1.22035902e+02] [-7.82472708e-02 -8.04899147e-04 9.96933657e-01 -1.28491246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88864 meters 0.026308962639567914 Centerline is valid? [True, True] Translation: X:179.76, Y:-122.05, Z:-12.85 [[ 7.15427489e-01 6.96440317e-01 5.59856524e-02 1.79760176e+02] [-6.94365250e-01 7.17614584e-01 -5.37234352e-02 -1.22054378e+02] [-7.75912869e-02 -4.39269280e-04 9.96985155e-01 -1.28506753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91864 meters 0.02632188299923552 Centerline is valid? [True, True] Translation: X:179.79, Y:-122.07, Z:-12.85 [[ 7.18950211e-01 6.92697464e-01 5.72784271e-02 1.79787717e+02] [-6.90510142e-01 7.21228274e-01 -5.50047325e-02 -1.22071370e+02] [-7.94124598e-02 -5.67074342e-06 9.96841844e-01 -1.28539062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94864 meters 0.02635012243227577 Centerline is valid? [True, True] Translation: X:179.81, Y:-122.09, Z:-12.86 [[ 7.20263993e-01 6.91308855e-01 5.75486515e-02 1.79813551e+02] [-6.89094204e-01 7.22559367e-01 -5.52914067e-02 -1.22091986e+02] [-7.98057563e-02 1.67967220e-04 9.96810420e-01 -1.28550411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97864 meters 0.026617868573737387 Centerline is valid? [True, True] Translation: X:179.84, Y:-122.11, Z:-12.86 [[ 7.24998275e-01 6.86327746e-01 5.77211030e-02 1.79838494e+02] [-6.84080354e-01 7.27292004e-01 -5.55014464e-02 -1.22112083e+02] [-8.00722792e-02 7.52580297e-04 9.96788776e-01 -1.28572701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00864 meters 0.02695411902389066 Centerline is valid? [True, True] Translation: X:179.86, Y:-122.13, Z:-12.86 [[ 7.27514983e-01 6.83654985e-01 5.77737982e-02 1.79862415e+02] [-6.81393891e-01 7.29804591e-01 -5.55663991e-02 -1.22133056e+02] [-8.01518289e-02 1.05867474e-03 9.96782104e-01 -1.28593940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03864000000002 meters 0.027590237005837688 Centerline is valid? [True, True] Translation: X:179.89, Y:-122.15, Z:-12.86 [[ 7.31885613e-01 6.78905016e-01 5.85783916e-02 1.79887980e+02] [-6.76563954e-01 7.34224337e-01 -5.63545846e-02 -1.22153255e+02] [-8.12690909e-02 1.61308148e-03 9.96690891e-01 -1.28614112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864000000002 meters 0.028050976887418096 Centerline is valid? [True, True] Translation: X:179.91, Y:-122.18, Z:-12.86 [[ 7.33876361e-01 6.76735944e-01 5.87703164e-02 1.79911778e+02] [-6.74371374e-01 7.36223448e-01 -5.65533825e-02 -1.22175133e+02] [-8.15397917e-02 1.87017150e-03 9.96668332e-01 -1.28640867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09864000000002 meters 0.029274118694374934 Centerline is valid? [True, True] Translation: X:179.93, Y:-122.20, Z:-12.87 [[ 7.38027650e-01 6.72209960e-01 5.87278212e-02 1.79933669e+02] [-6.69832525e-01 7.40356718e-01 -5.65359852e-02 -1.22197984e+02] [-8.14835893e-02 2.38731554e-03 9.96671824e-01 -1.28666471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864000000002 meters 0.02975501645471286 Centerline is valid? [True, True] Translation: X:179.96, Y:-122.22, Z:-12.87 [[ 7.39620197e-01 6.70469074e-01 5.85933916e-02 1.79956372e+02] [-6.68093396e-01 7.41932898e-01 -5.64516519e-02 -1.22220585e+02] [-8.13214516e-02 2.60692389e-03 9.96684517e-01 -1.28686750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15864000000002 meters 0.02994928612769727 Centerline is valid? [True, True] Translation: X:179.98, Y:-122.24, Z:-12.87 [[ 7.40525882e-01 6.69463023e-01 5.86573035e-02 1.79979221e+02] [-6.67075151e-01 7.42840271e-01 -5.65603680e-02 -1.22242763e+02] [-8.14380821e-02 2.75558682e-03 9.96674594e-01 -1.28705462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters 0.03056942272312528 Centerline is valid? [True, True] Translation: X:180.00, Y:-122.27, Z:-12.87 [[ 7.42693074e-01 6.67078040e-01 5.84284828e-02 1.80000761e+02] [-6.64697646e-01 7.44981641e-01 -5.63861111e-02 -1.22267055e+02] [-8.11420835e-02 3.04029921e-03 9.96697908e-01 -1.28718032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21864 meters 0.03131461762420086 Centerline is valid? [True, True] Translation: X:180.02, Y:-122.29, Z:-12.87 [[ 7.44251366e-01 6.65350018e-01 5.83031575e-02 1.80020160e+02] [-6.62970841e-01 7.46524448e-01 -5.63108568e-02 -1.22293801e+02] [-8.09911620e-02 3.25613873e-03 9.96709501e-01 -1.28741493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters 0.031374975704967945 Centerline is valid? [True, True] Translation: X:180.04, Y:-122.32, Z:-12.88 [[ 7.44283759e-01 6.65328685e-01 5.81328411e-02 1.80042260e+02] [-6.62959443e-01 7.46543335e-01 -5.61945423e-02 -1.22319135e+02] [-8.07865260e-02 3.28496924e-03 9.96726014e-01 -1.28756543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27864 meters 0.03083043048042067 Centerline is valid? [True, True] Translation: X:180.06, Y:-122.34, Z:-12.88 [[ 7.43586661e-01 6.66068859e-01 5.85760431e-02 1.80063766e+02] [-6.63661201e-01 7.45883092e-01 -5.66764788e-02 -1.22344836e+02] [-8.14413177e-02 3.26922653e-03 9.96672777e-01 -1.28767968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30864 meters 0.030477203597016285 Centerline is valid? [True, True] Translation: X:180.08, Y:-122.37, Z:-12.88 [[ 7.42064620e-01 6.67822411e-01 5.79079285e-02 1.80082100e+02] [-6.65470685e-01 7.44314279e-01 -5.60804975e-02 -1.22372444e+02] [-8.05535110e-02 3.07932422e-03 9.96745529e-01 -1.28791347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33864 meters 0.030458933546064285 Centerline is valid? [True, True] Translation: X:180.10, Y:-122.40, Z:-12.88 [[ 7.41164841e-01 6.68783648e-01 5.83361858e-02 1.80103375e+02] [-6.66395878e-01 7.43450891e-01 -5.65447270e-02 -1.22397857e+02] [-8.11862781e-02 3.03396985e-03 9.96694328e-01 -1.28811229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36864 meters 0.03009461100828013 Centerline is valid? [True, True] Translation: X:180.12, Y:-122.43, Z:-12.88 [[ 7.39611182e-01 6.70453283e-01 5.88871405e-02 1.80120886e+02] [-6.68021043e-01 7.41946013e-01 -5.71314267e-02 -1.22426474e+02] [-8.19950316e-02 2.91719299e-03 9.96628469e-01 -1.28831875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39864 meters 0.029623236824980394 Centerline is valid? [True, True] Translation: X:180.14, Y:-122.45, Z:-12.88 [[ 7.38776087e-01 6.71375853e-01 5.88587874e-02 1.80141444e+02] [-6.68945769e-01 7.41111590e-01 -5.71416608e-02 -1.22452022e+02] [-8.19844608e-02 2.84155580e-03 9.96629557e-01 -1.28843661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42864 meters 0.028916083188355927 Centerline is valid? [True, True] Translation: X:180.16, Y:-122.48, Z:-12.89 [[ 7.36420772e-01 6.74115632e-01 5.70312290e-02 1.80159338e+02] [-6.71841464e-01 7.38621707e-01 -5.53806977e-02 -1.22478872e+02] [-7.94574978e-02 2.46755179e-03 9.96835201e-01 -1.28857394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45864 meters 0.028450751529800464 Centerline is valid? [True, True] Translation: X:180.18, Y:-122.50, Z:-12.89 [[ 7.34498933e-01 6.76184570e-01 5.73214181e-02 1.80179853e+02] [-6.73891907e-01 7.36728768e-01 -5.56814158e-02 -1.22503911e+02] [-7.98812519e-02 2.26950077e-03 9.96801803e-01 -1.28878980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48864 meters 0.02749601049900599 Centerline is valid? [True, True] Translation: X:180.20, Y:-122.53, Z:-12.89 [[ 7.30730268e-01 6.80313367e-01 5.66303625e-02 1.80198345e+02] [-6.78085209e-01 7.32919093e-01 -5.50459163e-02 -1.22530713e+02] [-7.89539465e-02 1.82350598e-03 9.96876597e-01 -1.28887224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51864 meters 0.027099072412043276 Centerline is valid? [True, True] Translation: X:180.22, Y:-122.55, Z:-12.89 [[ 7.27901378e-01 6.83209115e-01 5.81797988e-02 1.80219917e+02] [-6.80864496e-01 7.30221094e-01 -5.65746621e-02 -1.22554611e+02] [-8.11364411e-02 1.56821514e-03 9.96701770e-01 -1.28913444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54864 meters 0.026852166619587323 Centerline is valid? [True, True] Translation: X:180.24, Y:-122.58, Z:-12.89 [[ 7.25777657e-01 6.85478579e-01 5.80164657e-02 1.80241643e+02] [-6.83151147e-01 7.28091562e-01 -5.64551870e-02 -1.22579109e+02] [-8.09401205e-02 1.33989827e-03 9.96718065e-01 -1.28919455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57864 meters 0.02648542850407259 Centerline is valid? [True, True] Translation: X:180.26, Y:-122.60, Z:-12.89 [[ 7.22289168e-01 6.89072528e-01 5.89695674e-02 1.80261338e+02] [-6.86678254e-01 7.24691739e-01 -5.74008562e-02 -1.22604799e+02] [-8.22881115e-02 9.66897010e-04 9.96608113e-01 -1.28948913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60864 meters 0.026575725304426367 Centerline is valid? [True, True] Translation: X:180.28, Y:-122.63, Z:-12.90 [[ 7.18540818e-01 6.92956503e-01 5.92484483e-02 1.80284061e+02] [-6.90550172e-01 7.20979186e-01 -5.77015954e-02 -1.22627626e+02] [-8.27015937e-02 5.46925343e-04 9.96574206e-01 -1.28962539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63864 meters 0.026621593145454134 Centerline is valid? [True, True] Translation: X:180.31, Y:-122.65, Z:-12.90 [[ 7.16540164e-01 6.95030861e-01 5.91801923e-02 1.80308837e+02] [-6.92632612e-01 7.18979820e-01 -5.76895337e-02 -1.22650046e+02] [-8.26453703e-02 3.46736781e-04 9.96578960e-01 -1.28991907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66864 meters 0.026621593145454134 Centerline is valid? [True, True] Translation: X:180.33, Y:-122.67, Z:-12.90 [[ 7.16183667e-01 6.95400726e-01 5.91505347e-02 1.80332362e+02] [-6.93001226e-01 7.18622092e-01 -5.77199314e-02 -1.22672516e+02] [-8.26453632e-02 3.46679092e-04 9.96578960e-01 -1.29010154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69864 meters 0.026533531126333623 Centerline is valid? [True, True] Translation: X:180.36, Y:-122.69, Z:-12.90 [[ 7.14680638e-01 6.97059439e-01 5.77903483e-02 1.80355822e+02] [-6.94770154e-01 7.17013321e-01 -5.64475922e-02 -1.22694036e+02] [-8.07837765e-02 1.90991990e-04 9.96731631e-01 -1.29021026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72864 meters 0.026525693283781775 Centerline is valid? [True, True] Translation: X:180.38, Y:-122.72, Z:-12.90 [[ 7.11100028e-01 7.00729259e-01 5.75782565e-02 1.80379904e+02] [-6.98464445e-01 7.13427271e-01 -5.62934071e-02 -1.22717236e+02] [-8.05243358e-02 -1.86121609e-04 9.96752626e-01 -1.29049596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75864 meters 0.026525618324290227 Centerline is valid? [True, True] Translation: X:180.40, Y:-122.74, Z:-12.91 [[ 7.10094355e-01 7.01813033e-01 5.67844583e-02 1.80404592e+02] [-6.99609394e-01 7.12361142e-01 -5.55724625e-02 -1.22738402e+02] [-7.94525200e-02 -2.65248614e-04 9.96838616e-01 -1.29050576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864000000002 meters 0.026579560818988827 Centerline is valid? [True, True] Translation: X:180.43, Y:-122.76, Z:-12.91 [[ 7.08471725e-01 7.03458705e-01 5.66892015e-02 1.80431513e+02] [-7.01263537e-01 7.10736013e-01 -5.55317168e-02 -1.22758146e+02] [-7.93553267e-02 -4.11418752e-04 9.96846309e-01 -1.29074349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81864000000002 meters 0.026863371192188262 Centerline is valid? [True, True] Translation: X:180.46, Y:-122.78, Z:-12.91 [[ 7.07762826e-01 7.04141934e-01 5.70606547e-02 1.80455950e+02] [-7.01915398e-01 7.10059106e-01 -5.59539084e-02 -1.22779970e+02] [-7.99159307e-02 -4.49655817e-04 9.96801506e-01 -1.29102042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864000000002 meters 0.02669496261119919 Centerline is valid? [True, True] Translation: X:180.48, Y:-122.80, Z:-12.91 [[ 7.08235852e-01 7.03728533e-01 5.62861464e-02 1.80480185e+02] [-7.01557221e-01 7.10468873e-01 -5.52398959e-02 -1.22801869e+02] [-7.88634459e-02 -3.65077785e-04 9.96885361e-01 -1.29117751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87864000000002 meters 0.026930542130249636 Centerline is valid? [True, True] Translation: X:180.51, Y:-122.82, Z:-12.91 [[ 7.09788143e-01 7.02108510e-01 5.69599102e-02 1.80506554e+02] [-6.99877262e-01 7.12069949e-01 -5.59303623e-02 -1.22821405e+02] [-7.98286237e-02 -1.66237982e-04 9.96808589e-01 -1.29142482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864000000002 meters 0.02700783309116396 Centerline is valid? [True, True] Translation: X:180.53, Y:-122.84, Z:-12.92 [[ 7.10916453e-01 7.00973489e-01 5.68679618e-02 1.80533483e+02] [-6.98741360e-01 7.13187331e-01 -5.58958229e-02 -1.22841166e+02] [-7.97389999e-02 1.26319906e-06 9.96815776e-01 -1.29160769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93864 meters 0.02720854660510229 Centerline is valid? [True, True] Translation: X:180.56, Y:-122.86, Z:-12.92 [[ 7.11676472e-01 7.00135892e-01 5.76743727e-02 1.80556907e+02] [-6.97832475e-01 7.14009604e-01 -5.67461190e-02 -1.22862941e+02] [-8.09100506e-02 1.37827475e-04 9.96721398e-01 -1.29192954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters 0.0271148992279363 Centerline is valid? [True, True] Translation: X:180.58, Y:-122.89, Z:-12.92 [[ 7.11458279e-01 7.00407520e-01 5.70650768e-02 1.80579658e+02] [-6.98149400e-01 7.13743151e-01 -5.61972372e-02 -1.22885280e+02] [-8.00907753e-02 1.42040538e-04 9.96787564e-01 -1.29214919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99864 meters 0.027335656668886654 Centerline is valid? [True, True] Translation: X:180.61, Y:-122.91, Z:-12.92 [[ 7.11000606e-01 7.00848508e-01 5.73542197e-02 1.80605074e+02] [-6.98564538e-01 7.13310137e-01 -5.65352596e-02 -1.22906592e+02] [-8.05339986e-02 1.30979850e-04 9.96751854e-01 -1.29233649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters 0.02756041168018459 Centerline is valid? [True, True] Translation: X:180.63, Y:-122.93, Z:-12.93 [[ 7.09757803e-01 7.02093070e-01 5.75254931e-02 1.80629407e+02] [-6.99794722e-01 7.12085191e-01 -5.67629080e-02 -1.22929272e+02] [-8.08158961e-02 3.18803927e-05 9.96729045e-01 -1.29259947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05864 meters 0.027544214822970148 Centerline is valid? [True, True] Translation: X:180.65, Y:-122.95, Z:-12.93 [[ 7.07608803e-01 7.04350431e-01 5.63937179e-02 1.80652594e+02] [-7.02144548e-01 7.09852405e-01 -5.57009554e-02 -1.22952163e+02] [-7.92642083e-02 -1.82055155e-04 9.96853626e-01 -1.29279088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08864 meters 0.027646702885782647 Centerline is valid? [True, True] Translation: X:180.68, Y:-122.97, Z:-12.93 [[ 7.06921591e-01 7.05035552e-01 5.64511599e-02 1.80676909e+02] [-7.02823166e-01 7.09171926e-01 -5.58101835e-02 -1.22973891e+02] [-7.93817413e-02 -2.21759240e-04 9.96844266e-01 -1.29295098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11864 meters 0.02776952672699541 Centerline is valid? [True, True] Translation: X:180.70, Y:-122.99, Z:-12.93 [[ 7.05510204e-01 7.06404176e-01 5.69955396e-02 1.80701853e+02] [-7.04148759e-01 7.07808607e-01 -5.64047991e-02 -1.22994380e+02] [-8.01865192e-02 -3.39177148e-04 9.96779819e-01 -1.29312996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14864 meters 0.027957209847049108 Centerline is valid? [True, True] Translation: X:180.73, Y:-123.02, Z:-12.93 [[ 7.04876671e-01 7.06959362e-01 5.79425459e-02 1.80725126e+02] [-7.04625829e-01 7.07254071e-01 -5.73944265e-02 -1.23016422e+02] [-8.15556287e-02 -3.71822146e-04 9.96668722e-01 -1.29344993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17864 meters 0.028028377940598297 Centerline is valid? [True, True] Translation: X:180.75, Y:-123.04, Z:-12.94 [[ 7.05204386e-01 7.06651825e-01 5.77059132e-02 1.80749977e+02] [-7.04331931e-01 7.07561383e-01 -5.72138238e-02 -1.23038413e+02] [-8.12607288e-02 -2.96677810e-04 9.96692834e-01 -1.29363895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20864 meters 0.027956458045107078 Centerline is valid? [True, True] Translation: X:180.77, Y:-123.06, Z:-12.94 [[ 7.05557114e-01 7.06257621e-01 5.82179589e-02 1.80774471e+02] [-7.03890028e-01 7.07954891e-01 -5.77814956e-02 -1.23060189e+02] [-8.20243103e-02 -2.10895414e-04 9.96630307e-01 -1.29386172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23864 meters 0.027966609788908723 Centerline is valid? [True, True] Translation: X:180.80, Y:-123.08, Z:-12.94 [[ 7.05819019e-01 7.06093413e-01 5.70228435e-02 1.80798260e+02] [-7.03817161e-01 7.08118684e-01 -5.66509838e-02 -1.23081594e+02] [-8.03798273e-02 -1.48313984e-04 9.96764296e-01 -1.29404991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26864 meters 0.028112133639916267 Centerline is valid? [True, True] Translation: X:180.82, Y:-123.10, Z:-12.94 [[ 7.06869723e-01 7.05140676e-01 5.57837118e-02 1.80822837e+02] [-7.02955570e-01 7.09067435e-01 -5.54692574e-02 -1.23102857e+02] [-7.86680431e-02 -3.93238227e-06 9.96900867e-01 -1.29422794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29864 meters 0.028026026720507746 Centerline is valid? [True, True] Translation: X:180.85, Y:-123.13, Z:-12.95 [[ 7.06964292e-01 7.04997113e-01 5.63964579e-02 1.80847763e+02] [-7.02758958e-01 7.09210172e-01 -5.61318069e-02 -1.23125199e+02] [-7.95697034e-02 5.00671782e-05 9.96829303e-01 -1.29453158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32864 meters 0.028017451705160255 Centerline is valid? [True, True] Translation: X:180.87, Y:-123.15, Z:-12.95 [[ 7.07128431e-01 7.04830345e-01 5.64230967e-02 1.80872624e+02] [-7.02584894e-01 7.09375903e-01 -5.62165036e-02 -1.23146685e+02] [-7.96482828e-02 1.10272585e-04 9.96823023e-01 -1.29456772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35864 meters 0.02817462619407107 Centerline is valid? [True, True] Translation: X:180.90, Y:-123.17, Z:-12.95 [[ 7.06570869e-01 7.05288956e-01 5.76636410e-02 1.80895421e+02] [-7.02940323e-01 7.08919938e-01 -5.75102048e-02 -1.23169440e+02] [-8.14402171e-02 1.00936883e-04 9.96678223e-01 -1.29476195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38864 meters 0.02814027558449531 Centerline is valid? [True, True] Translation: X:180.92, Y:-123.19, Z:-12.95 [[ 7.07218283e-01 7.04587027e-01 5.83045629e-02 1.80918918e+02] [-7.02179077e-01 7.09617554e-01 -5.82019882e-02 -1.23191274e+02] [-8.23823072e-02 2.21266003e-04 9.96600776e-01 -1.29483594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41864 meters 0.028276959347167247 Centerline is valid? [True, True] Translation: X:180.94, Y:-123.21, Z:-12.95 [[ 7.07383869e-01 7.04429977e-01 5.81933762e-02 1.80943247e+02] [-7.02026189e-01 7.09773436e-01 -5.81455040e-02 -1.23214038e+02] [-8.22635486e-02 2.77917399e-04 9.96610572e-01 -1.29505508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44864 meters 0.02832324760546461 Centerline is valid? [True, True] Translation: X:180.97, Y:-123.24, Z:-12.95 [[ 7.08443975e-01 7.03327005e-01 5.86366633e-02 1.80966853e+02] [-7.00877789e-01 7.10866317e-01 -5.86464340e-02 -1.23235478e+02] [-8.29304497e-02 4.50577868e-04 9.96555236e-01 -1.29532062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47864 meters 0.02836870213574843 Centerline is valid? [True, True] Translation: X:180.99, Y:-123.24, Z:-12.95 [[ 6.59959287e-01 7.49259150e-01 5.53576150e-02 1.80988611e+02] [-7.46588124e-01 6.62276813e-01 -6.32107310e-02 -1.23237565e+02] [-8.40232834e-02 3.87171017e-04 9.96463716e-01 -1.29538966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50864 meters 0.028271163665585887 Centerline is valid? [True, True] Translation: X:180.86, Y:-123.51, Z:-11.23 [[ 7.04130195e-01 -7.09822355e-01 -1.87854380e-02 1.80856353e+02] [-7.09416360e-01 -7.04370573e-01 2.43007000e-02 -1.23511098e+02] [-3.04810899e-02 -3.78415954e-03 -9.99528180e-01 -1.12275163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53864000000002 meters 0.02829347636930839 Centerline is valid? [True, True] Translation: X:181.00, Y:-123.27, Z:-12.96 [[ 7.10700158e-01 7.01173283e-01 5.71079141e-02 1.81003369e+02] [-6.98872814e-01 7.12990777e-01 -5.67533412e-02 -1.23270750e+02] [-8.05113426e-02 4.23439857e-04 9.96753603e-01 -1.29557005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864000000002 meters 0.0281728596534713 Centerline is valid? [True, True] Translation: X:181.03, Y:-123.29, Z:-12.96 [[ 7.09639557e-01 7.02317954e-01 5.62244721e-02 1.81026497e+02] [-7.00087859e-01 7.11863320e-01 -5.59249757e-02 -1.23292606e+02] [-7.93012539e-02 3.24504653e-04 9.96850644e-01 -1.29571619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59864000000002 meters 0.028169088272554432 Centerline is valid? [True, True] Translation: X:181.05, Y:-123.31, Z:-12.96 [[ 7.08434565e-01 7.03462118e-01 5.71096878e-02 1.81050655e+02] [-7.01161509e-01 7.10732718e-01 -5.68466484e-02 -1.23314353e+02] [-8.05791873e-02 2.29015694e-04 9.96748184e-01 -1.29586999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864000000002 meters 0.02825367207423089 Centerline is valid? [True, True] Translation: X:181.08, Y:-123.34, Z:-12.96 [[ 7.08132499e-01 7.03652087e-01 5.84987533e-02 1.81075528e+02] [-7.01236181e-01 7.10544640e-01 -5.82591899e-02 -1.23335457e+02] [-8.25601761e-02 2.33783448e-04 9.96586054e-01 -1.29611883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65864000000002 meters 0.02832670273330028 Centerline is valid? [True, True] Translation: X:181.10, Y:-123.36, Z:-12.96 [[ 7.08666513e-01 7.03097475e-01 5.87002116e-02 1.81099542e+02] [-7.00658366e-01 7.11093402e-01 -5.85151980e-02 -1.23357577e+02] [-8.28832211e-02 3.38967000e-04 9.96559209e-01 -1.29634165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters 0.028160511189661643 Centerline is valid? [True, True] Translation: X:181.12, Y:-123.38, Z:-12.96 [[ 7.10056789e-01 7.01742266e-01 5.81132415e-02 1.81122823e+02] [-6.99343440e-01 7.12430710e-01 -5.79761711e-02 -1.23379413e+02] [-8.20859876e-02 5.25259637e-04 9.96625112e-01 -1.29637625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71864 meters 0.02851958923609977 Centerline is valid? [True, True] Translation: X:181.15, Y:-123.40, Z:-12.97 [[ 7.12068112e-01 6.99688023e-01 5.82724127e-02 1.81148022e+02] [-6.97266705e-01 7.14448076e-01 -5.81643311e-02 -1.23399044e+02] [-8.23294990e-02 7.85552258e-04 9.96604855e-01 -1.29663900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters 0.02839590076603987 Centerline is valid? [True, True] Translation: X:181.17, Y:-123.42, Z:-12.97 [[ 7.12803020e-01 6.98913272e-01 5.85840665e-02 1.81171761e+02] [-6.96458975e-01 7.15205842e-01 -5.85277734e-02 -1.23420381e+02] [-8.28055042e-02 9.17374690e-04 9.96565305e-01 -1.29682694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77864 meters 0.02856750327341197 Centerline is valid? [True, True] Translation: X:181.20, Y:-123.44, Z:-12.97 [[ 7.13798568e-01 6.97896338e-01 5.85858860e-02 1.81195921e+02] [-6.95434187e-01 7.16197983e-01 -5.85810652e-02 -1.23441839e+02] [-8.28426043e-02 1.07245245e-03 9.96562067e-01 -1.29712607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80864 meters 0.028566686244944958 Centerline is valid? [True, True] Translation: X:181.22, Y:-123.45, Z:-12.97 [[ 6.66251255e-01 7.43747989e-01 5.42972796e-02 1.81221373e+02] [-7.41156621e-01 6.68459225e-01 -6.20413345e-02 -1.23447150e+02] [-8.24386353e-02 1.09232871e-03 9.96595544e-01 -1.29709168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83864 meters 0.028528793804532594 Centerline is valid? [True, True] Translation: X:181.07, Y:-123.74, Z:-11.25 [[ 6.97764130e-01 -7.16093374e-01 -1.83166326e-02 1.81072231e+02] [-7.15705619e-01 -6.97995656e-01 2.38229153e-02 -1.23739716e+02] [-2.98443618e-02 -3.51345893e-03 -9.99548383e-01 -1.12467678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86864 meters 0.028648697796699457 Centerline is valid? [True, True] Translation: X:181.24, Y:-123.48, Z:-12.97 [[ 7.18418691e-01 6.93215891e-01 5.76742011e-02 1.81235606e+02] [-6.90845831e-01 7.20728800e-01 -5.72890380e-02 -1.23483269e+02] [-8.12811293e-02 1.31353435e-03 9.96690349e-01 -1.29720004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89864 meters 0.028487955752535907 Centerline is valid? [True, True] Translation: X:181.26, Y:-123.51, Z:-12.97 [[ 7.17566322e-01 6.94124533e-01 5.73559603e-02 1.81258061e+02] [-6.91779487e-01 7.19853872e-01 -5.70223125e-02 -1.23506706e+02] [-8.08684962e-02 1.23961426e-03 9.96724009e-01 -1.29741605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92864 meters 0.028169899004912236 Centerline is valid? [True, True] Translation: X:181.28, Y:-123.53, Z:-12.98 [[ 7.16438211e-01 6.95238629e-01 5.79615307e-02 1.81282132e+02] [-6.92843496e-01 7.18778063e-01 -5.76713645e-02 -1.23529666e+02] [-8.17568371e-02 1.15969962e-03 9.96651632e-01 -1.29754939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95864 meters 0.028013676027447455 Centerline is valid? [True, True] Translation: X:181.31, Y:-123.55, Z:-12.98 [[ 7.15000019e-01 6.96722915e-01 5.78977718e-02 1.81305359e+02] [-6.94334345e-01 7.17339625e-01 -5.76513541e-02 -1.23551971e+02] [-8.16993854e-02 1.02030783e-03 9.96656495e-01 -1.29777023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98864 meters 0.028014123857786417 Centerline is valid? [True, True] Translation: X:181.33, Y:-123.57, Z:-12.98 [[ 7.14289143e-01 6.97462545e-01 5.77669339e-02 1.81328831e+02] [-6.95082854e-01 7.16620579e-01 -5.75740550e-02 -1.23574670e+02] [-8.15527205e-02 9.71717102e-04 9.96668556e-01 -1.29796886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01864 meters 0.02781889513939991 Centerline is valid? [True, True] Translation: X:181.35, Y:-123.60, Z:-12.98 [[ 7.13917431e-01 6.97866712e-01 5.74800324e-02 1.81351408e+02] [-6.95508283e-01 7.16227019e-01 -5.73331102e-02 -1.23597516e+02] [-8.11796214e-02 9.53268029e-04 9.96699032e-01 -1.29805206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04864 meters 0.027889558362473404 Centerline is valid? [True, True] Translation: X:181.38, Y:-123.62, Z:-12.98 [[ 7.14346409e-01 6.97454849e-01 5.71484232e-02 1.81375681e+02] [-6.95119849e-01 7.16628008e-01 -5.70323961e-02 -1.23619708e+02] [-8.07316819e-02 1.01588406e-03 9.96735353e-01 -1.29820482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07864 meters 0.0279612052679505 Centerline is valid? [True, True] Translation: X:181.40, Y:-123.64, Z:-12.98 [[ 7.14783631e-01 6.97040313e-01 5.67376678e-02 1.81400198e+02] [-6.94732912e-01 7.17031102e-01 -5.66796279e-02 -1.23642499e+02] [-8.01906581e-02 1.09614506e-03 9.96778941e-01 -1.29843047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10864 meters 0.027774377403298595 Centerline is valid? [True, True] Translation: X:181.42, Y:-123.67, Z:-12.99 [[ 7.15352773e-01 6.96500378e-01 5.61928272e-02 1.81423143e+02] [-6.94231752e-01 7.17555456e-01 -5.61822124e-02 -1.23665697e+02] [-7.94524019e-02 1.17925654e-03 9.96837963e-01 -1.29853466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13864 meters 0.02762157649348794 Centerline is valid? [True, True] Translation: X:181.29, Y:-123.96, Z:-11.27 [[ 7.45194771e-01 -6.66496801e-01 -2.16047814e-02 1.81290632e+02] [-6.66073520e-01 -7.45499679e-01 2.40061332e-02 -1.23964963e+02] [-3.21063686e-02 -3.49887216e-03 -9.99478333e-01 -1.12653633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16864 meters 0.027602111439679645 Centerline is valid? [True, True] Translation: X:181.29, Y:-124.04, Z:-11.27 [[ 7.95696032e-01 -6.05334008e-01 -2.09418970e-02 1.81288400e+02] [-6.04986422e-01 -7.95961764e-01 2.08877926e-02 -1.24044883e+02] [-2.93130405e-02 -3.95077034e-03 -9.99562473e-01 -1.12680945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19864 meters 0.027227305436424584 Centerline is valid? [True, True] Translation: X:181.42, Y:-123.76, Z:-12.99 [[ 8.08985247e-01 5.84091683e-01 6.61798747e-02 1.81416856e+02] [-5.82043797e-01 8.11687045e-01 -4.88790183e-02 -1.23763583e+02] [-8.22671750e-02 1.02281916e-03 9.96609786e-01 -1.29883705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22864 meters 0.027024716532817055 Centerline is valid? [True, True] Translation: X:181.44, Y:-123.78, Z:-12.99 [[ 8.07409736e-01 5.86202659e-01 6.67529891e-02 1.81443932e+02] [-5.84123932e-01 8.10164021e-01 -4.93304287e-02 -1.23783364e+02] [-8.29984985e-02 8.37849863e-04 9.96549320e-01 -1.29902948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25864 meters 0.02693415403186283 Centerline is valid? [True, True] Translation: X:181.47, Y:-123.80, Z:-12.99 [[ 8.05952652e-01 5.88202119e-01 6.67726703e-02 1.81471044e+02] [-5.86124618e-01 8.08713677e-01 -4.93975783e-02 -1.23801804e+02] [-8.30557319e-02 6.75003325e-04 9.96544675e-01 -1.29937243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864000000002 meters 0.026445634290813258 Centerline is valid? [True, True] Translation: X:181.50, Y:-123.82, Z:-13.00 [[ 8.05107722e-01 5.89533058e-01 6.52098903e-02 1.81498278e+02] [-5.87552212e-01 8.07744053e-01 -4.82901975e-02 -1.23819200e+02] [-8.11415689e-02 5.64595627e-04 9.96702427e-01 -1.29952605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31864000000002 meters 0.026612274599277255 Centerline is valid? [True, True] Translation: X:181.53, Y:-123.84, Z:-13.00 [[ 8.04872642e-01 5.89835401e-01 6.53775896e-02 1.81525487e+02] [-5.87842314e-01 8.07523300e-01 -4.84513522e-02 -1.23838561e+02] [-8.13722496e-02 5.65454284e-04 9.96683619e-01 -1.29965438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864000000002 meters 0.02641421872149345 Centerline is valid? [True, True] Translation: X:181.55, Y:-123.86, Z:-13.00 [[ 8.05167339e-01 5.89451717e-01 6.52091218e-02 1.81552031e+02] [-5.87466069e-01 8.07803374e-01 -4.83459109e-02 -1.23857971e+02] [-8.11737288e-02 6.18401959e-04 9.96699776e-01 -1.29971143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37864000000002 meters 0.026446377601122815 Centerline is valid? [True, True] Translation: X:181.58, Y:-123.88, Z:-13.00 [[ 8.06060323e-01 5.88261070e-01 6.49281864e-02 1.81579167e+02] [-5.86287096e-01 8.08670730e-01 -4.81569417e-02 -1.23876036e+02] [-8.08343779e-02 7.50842207e-04 9.96727264e-01 -1.29981980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864000000002 meters 0.026717444029130892 Centerline is valid? [True, True] Translation: X:181.61, Y:-123.89, Z:-13.00 [[ 8.07635323e-01 5.85924675e-01 6.64639778e-02 1.81607381e+02] [-5.83846646e-01 8.10364874e-01 -4.93139490e-02 -1.23892218e+02] [-8.27543325e-02 1.02291661e-03 9.96569453e-01 -1.30009139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43864 meters 0.02666711266199269 Centerline is valid? [True, True] Translation: X:181.63, Y:-123.91, Z:-13.00 [[ 8.08197508e-01 5.85195561e-01 6.60525889e-02 1.81633697e+02] [-5.83139554e-01 8.10891447e-01 -4.90236835e-02 -1.23911349e+02] [-8.22499214e-02 1.10294160e-03 9.96611125e-01 -1.30030215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters 0.02661153804880198 Centerline is valid? [True, True] Translation: X:181.66, Y:-123.93, Z:-13.01 [[ 8.08352761e-01 5.84963574e-01 6.62074767e-02 1.81659163e+02] [-5.82895686e-01 8.11058759e-01 -4.91559738e-02 -1.23931330e+02] [-8.24526079e-02 1.14331461e-03 9.96594331e-01 -1.30051762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49864 meters 0.026621665976253886 Centerline is valid? [True, True] Translation: X:181.68, Y:-123.95, Z:-13.01 [[ 8.08374588e-01 5.84972814e-01 6.58584342e-02 1.81684010e+02] [-5.82925691e-01 8.11052090e-01 -4.89095669e-02 -1.23951720e+02] [-8.20253876e-02 1.14667770e-03 9.96629581e-01 -1.30059702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52864 meters 0.026747291210365603 Centerline is valid? [True, True] Translation: X:181.71, Y:-123.97, Z:-13.01 [[ 8.08360852e-01 5.85062256e-01 6.52295182e-02 1.81710689e+02] [-5.83053374e-01 8.10987586e-01 -4.84551225e-02 -1.23970109e+02] [-8.12495928e-02 1.13693343e-03 9.96693138e-01 -1.30073773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55864 meters 0.026747291210365603 Centerline is valid? [True, True] Translation: X:181.74, Y:-123.99, Z:-13.01 [[ 8.08251194e-01 5.85214524e-01 6.52224550e-02 1.81736816e+02] [-5.83205370e-01 8.10877720e-01 -4.84646285e-02 -1.23989440e+02] [-8.12496401e-02 1.13350781e-03 9.96693138e-01 -1.30091902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58864 meters 0.026774691400858277 Centerline is valid? [True, True] Translation: X:181.76, Y:-124.01, Z:-13.01 [[ 8.08329432e-01 5.85138321e-01 6.49359254e-02 1.81764402e+02] [-5.83145032e-01 8.10932685e-01 -4.82706177e-02 -1.24008250e+02] [-8.09036525e-02 1.15149871e-03 9.96721261e-01 -1.30104346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61864 meters 0.026636989199521566 Centerline is valid? [True, True] Translation: X:181.79, Y:-124.03, Z:-13.01 [[ 8.08571362e-01 5.84813554e-01 6.48495122e-02 1.81790367e+02] [-5.82823001e-01 8.11166858e-01 -4.82252798e-02 -1.24028886e+02] [-8.08065724e-02 1.19779289e-03 9.96729082e-01 -1.30121026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64864 meters 0.026634851177423157 Centerline is valid? [True, True] Translation: X:181.82, Y:-124.05, Z:-13.01 [[ 8.09667345e-01 5.83331760e-01 6.45201425e-02 1.81815068e+02] [-5.81355359e-01 8.12232866e-01 -4.79970690e-02 -1.24049845e+02] [-8.04035950e-02 1.35252884e-03 9.96761472e-01 -1.30137201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67864 meters 0.027003250382328547 Centerline is valid? [True, True] Translation: X:181.84, Y:-124.07, Z:-13.02 [[ 8.10330921e-01 5.82443838e-01 6.42103917e-02 1.81841180e+02] [-5.80482625e-01 8.12869664e-01 -4.77789813e-02 -1.24069160e+02] [-8.00232528e-02 1.44376921e-03 9.96791952e-01 -1.30158159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70864 meters 0.026968051580988143 Centerline is valid? [True, True] Translation: X:181.87, Y:-124.09, Z:-13.02 [[ 8.10620427e-01 5.82237254e-01 6.24043567e-02 1.81865779e+02] [-5.80383455e-01 8.13017668e-01 -4.64469265e-02 -1.24089657e+02] [-7.77789755e-02 1.43237128e-03 9.96969598e-01 -1.30176665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73864 meters 0.027119264887870073 Centerline is valid? [True, True] Translation: X:181.89, Y:-124.11, Z:-13.02 [[ 8.10668615e-01 5.82133291e-01 6.27473355e-02 1.81890251e+02] [-5.80257767e-01 8.13092061e-01 -4.67142844e-02 -1.24109898e+02] [-7.82133004e-02 1.46017548e-03 9.96935578e-01 -1.30198271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76864 meters 0.02688193302555888 Centerline is valid? [True, True] Translation: X:181.92, Y:-124.13, Z:-13.02 [[ 8.09396244e-01 5.83910302e-01 6.26616235e-02 1.81915420e+02] [-5.82044271e-01 8.11817146e-01 -4.66624994e-02 -1.24130087e+02] [-7.81164945e-02 1.29661283e-03 9.96943395e-01 -1.30195273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79864 meters 0.02667509925451369 Centerline is valid? [True, True] Translation: X:181.94, Y:-124.15, Z:-13.02 [[ 8.08476087e-01 5.85235407e-01 6.21766451e-02 1.81941399e+02] [-5.83401175e-01 8.10862597e-01 -4.63132473e-02 -1.24148382e+02] [-7.75208680e-02 1.16922517e-03 9.96990044e-01 -1.30202759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82864 meters 0.026264467245763486 Centerline is valid? [True, True] Translation: X:181.97, Y:-124.17, Z:-13.02 [[ 8.05094293e-01 5.89887434e-01 6.20966521e-02 1.81966921e+02] [-5.88070682e-01 8.07485157e-01 -4.62665478e-02 -1.24167821e+02] [-7.74341800e-02 7.31713053e-04 9.96997198e-01 -1.30218460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85864 meters 0.0263049443150789 Centerline is valid? [True, True] Translation: X:181.99, Y:-124.19, Z:-13.02 [[ 8.02993531e-01 5.92651000e-01 6.29776291e-02 1.81992878e+02] [-5.90789411e-01 8.05459221e-01 -4.69394823e-02 -1.24187373e+02] [-7.85446432e-02 4.85584165e-04 9.96910479e-01 -1.30241434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88864 meters 0.026159025397841294 Centerline is valid? [True, True] Translation: X:182.02, Y:-124.20, Z:-13.02 [[ 8.00748086e-01 5.95773182e-01 6.21032876e-02 1.82020891e+02] [-5.93970988e-01 8.03152712e-01 -4.63053613e-02 -1.24204468e+02] [-7.74659163e-02 1.91378267e-04 9.96994983e-01 -1.30249160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91864 meters 0.026209137099961068 Centerline is valid? [True, True] Translation: X:182.05, Y:-124.22, Z:-13.03 [[ 7.99934085e-01 5.96897543e-01 6.17963002e-02 1.82048249e+02] [-5.95115372e-01 8.02317465e-01 -4.60909841e-02 -1.24221740e+02] [-7.70918461e-02 9.38210131e-05 9.97023991e-01 -1.30270658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94864 meters 0.02624914665549126 Centerline is valid? [True, True] Translation: X:182.08, Y:-124.24, Z:-13.03 [[ 7.98725781e-01 5.98637408e-01 6.05836572e-02 1.82075912e+02] [-5.96928671e-01 8.01020131e-01 -4.51985803e-02 -1.24237786e+02] [-7.55862900e-02 -6.28506713e-05 9.97139263e-01 -1.30293206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97864 meters 0.026190729766918244 Centerline is valid? [True, True] Translation: X:182.10, Y:-124.26, Z:-13.03 [[ 7.98244414e-01 5.99251936e-01 6.08520570e-02 1.82103878e+02] [-5.97528718e-01 8.00560495e-01 -4.54128352e-02 -1.24255982e+02] [-7.59294823e-02 -1.10309596e-04 9.97113184e-01 -1.30306134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00864 meters 0.026086244857079843 Centerline is valid? [True, True] Translation: X:182.13, Y:-124.27, Z:-13.03 [[ 7.99295776e-01 5.97834685e-01 6.09914069e-02 1.82133740e+02] [-5.96098012e-01 8.01619416e-01 -4.55353917e-02 -1.24271149e+02] [-7.61145326e-02 3.93898369e-05 9.97099081e-01 -1.30319594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03864000000002 meters 0.026091562144113175 Centerline is valid? [True, True] Translation: X:182.16, Y:-124.29, Z:-13.03 [[ 7.99591165e-01 5.97332934e-01 6.20268869e-02 1.82160170e+02] [-5.95533848e-01 8.01993364e-01 -4.63258041e-02 -1.24289290e+02] [-7.74170802e-02 1.02593114e-04 9.96998789e-01 -1.30343433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864000000002 meters 0.026086277894731575 Centerline is valid? [True, True] Translation: X:182.19, Y:-124.31, Z:-13.04 [[ 8.00088824e-01 5.96718231e-01 6.15241954e-02 1.82185964e+02] [-5.94945471e-01 8.02450823e-01 -4.59626262e-02 -1.24308025e+02] [-7.67968783e-02 1.70642127e-04 9.97046744e-01 -1.30367519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09864000000002 meters 0.02610052588416331 Centerline is valid? [True, True] Translation: X:182.21, Y:-124.33, Z:-13.04 [[ 7.99942914e-01 5.96841637e-01 6.22205340e-02 1.82211850e+02] [-5.95027846e-01 8.02359041e-01 -4.64954945e-02 -1.24326933e+02] [-7.76736550e-02 1.70790984e-04 9.96978823e-01 -1.30395744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864000000002 meters 0.026069733714276257 Centerline is valid? [True, True] Translation: X:182.24, Y:-124.35, Z:-13.04 [[ 7.99745930e-01 5.97082246e-01 6.24438862e-02 1.82239007e+02] [-5.95254992e-01 8.02180009e-01 -4.66768470e-02 -1.24346406e+02] [-7.79611538e-02 1.59583425e-04 9.96956385e-01 -1.30416598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15864000000002 meters 0.026204906659895593 Centerline is valid? [True, True] Translation: X:182.27, Y:-124.37, Z:-13.04 [[ 7.99621235e-01 5.97251967e-01 6.24176905e-02 1.82265460e+02] [-5.95425297e-01 8.02053653e-01 -4.66760443e-02 -1.24366712e+02] [-7.79396960e-02 1.58084332e-04 9.96958063e-01 -1.30433302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters 0.02612693384347271 Centerline is valid? [True, True] Translation: X:182.29, Y:-124.39, Z:-13.05 [[ 7.98750912e-01 5.98558254e-01 6.10327584e-02 1.82290816e+02] [-5.96814407e-01 8.01079281e-01 -4.56568655e-02 -1.24387135e+02] [-7.62203719e-02 4.32334232e-05 9.97090995e-01 -1.30461062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21864 meters 0.02603896525940982 Centerline is valid? [True, True] Translation: X:182.32, Y:-124.41, Z:-13.05 [[ 7.98845526e-01 5.98474608e-01 6.06132839e-02 1.82316631e+02] [-5.96753517e-01 8.01141773e-01 -4.53552582e-02 -1.24405687e+02] [-7.57038041e-02 6.06547718e-05 9.97130348e-01 -1.30479194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters 0.026032972665397794 Centerline is valid? [True, True] Translation: X:182.34, Y:-124.43, Z:-13.05 [[ 7.98627217e-01 5.98848737e-01 5.97892868e-02 1.82341956e+02] [-5.97174337e-01 8.00862154e-01 -4.47506619e-02 -1.24425131e+02] [-7.46818544e-02 3.44688144e-05 9.97207410e-01 -1.30494837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27864 meters 0.026084266663956447 Centerline is valid? [True, True] Translation: X:182.37, Y:-124.45, Z:-13.05 [[ 7.98506942e-01 5.98919867e-01 6.06766558e-02 1.82366028e+02] [-5.97194593e-01 8.00808961e-01 -4.54271622e-02 -1.24446619e+02] [-7.57976396e-02 3.81336456e-05 9.97123220e-01 -1.30523569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30864 meters 0.026172717557129663 Centerline is valid? [True, True] Translation: X:182.39, Y:-124.47, Z:-13.05 [[ 7.98370330e-01 5.99074391e-01 6.09482598e-02 1.82391861e+02] [-5.97332996e-01 8.00693370e-01 -4.56444913e-02 -1.24466765e+02] [-7.61453133e-02 3.48009747e-05 9.97096731e-01 -1.30538224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33864 meters 0.026299930943941636 Centerline is valid? [True, True] Translation: X:182.42, Y:-124.49, Z:-13.06 [[ 7.97893854e-01 5.99687449e-01 6.11584907e-02 1.82418666e+02] [-5.97934369e-01 8.00234318e-01 -4.58205915e-02 -1.24486667e+02] [-7.64191567e-02 -8.79518285e-06 9.97075781e-01 -1.30556294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36864 meters 0.026263867725353267 Centerline is valid? [True, True] Translation: X:182.45, Y:-124.51, Z:-13.06 [[ 7.97340233e-01 6.00437579e-01 6.10185761e-02 1.82445066e+02] [-5.98693299e-01 7.99671626e-01 -4.57342757e-02 -1.24506098e+02] [-7.62554017e-02 -6.56345366e-05 9.97088316e-01 -1.30579929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39864 meters 0.026090409902786146 Centerline is valid? [True, True] Translation: X:182.47, Y:-124.53, Z:-13.06 [[ 7.96625978e-01 6.01454717e-01 6.03263981e-02 1.82470140e+02] [-5.99751501e-01 7.98906879e-01 -4.52320192e-02 -1.24525489e+02] [-7.54001858e-02 -1.47846313e-04 9.97153343e-01 -1.30599794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42864 meters 0.025995800762211207 Centerline is valid? [True, True] Translation: X:182.50, Y:-124.54, Z:-13.06 [[ 7.96582711e-01 6.01601418e-01 5.94282663e-02 1.82496536e+02] [-5.99948128e-01 7.98796415e-01 -4.45705230e-02 -1.24543683e+02] [-7.42847758e-02 -1.49769086e-04 9.97237058e-01 -1.30606488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45864 meters 0.026039137566832567 Centerline is valid? [True, True] Translation: X:182.52, Y:-124.56, Z:-13.06 [[ 7.97139063e-01 6.00738952e-01 6.06796952e-02 1.82524582e+02] [-5.99011689e-01 7.99445250e-01 -4.55223985e-02 -1.24560453e+02] [-7.58571721e-02 -6.01646633e-05 9.97118692e-01 -1.30625143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48864 meters 0.026089695868152834 Centerline is valid? [True, True] Translation: X:182.55, Y:-124.58, Z:-13.06 [[ 7.97385302e-01 6.00395599e-01 6.08424616e-02 1.82550401e+02] [-5.98656931e-01 7.99703147e-01 -4.56591196e-02 -1.24579506e+02] [-7.60694426e-02 -1.58504901e-05 9.97102522e-01 -1.30646290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51864 meters 0.026387102008977835 Centerline is valid? [True, True] Translation: X:182.58, Y:-124.60, Z:-13.07 [[ 7.98382877e-01 5.99018453e-01 6.13324956e-02 1.82576891e+02] [-5.97246587e-01 8.00735211e-01 -4.60395189e-02 -1.24598310e+02] [-7.66896102e-02 1.26539885e-04 9.97055007e-01 -1.30671082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54864 meters 0.026314429203286707 Centerline is valid? [True, True] Translation: X:182.60, Y:-124.62, Z:-13.07 [[ 7.98513354e-01 5.98908160e-01 6.07078240e-02 1.82603465e+02] [-5.97171003e-01 8.00817704e-01 -4.55828815e-02 -1.24615988e+02] [-7.59158599e-02 1.45587459e-04 9.97114217e-01 -1.30680914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57864 meters 0.02612516946757692 Centerline is valid? [True, True] Translation: X:182.63, Y:-124.63, Z:-13.07 [[ 7.98477609e-01 5.98931028e-01 6.09518790e-02 1.82630707e+02] [-5.97178974e-01 8.00800600e-01 -4.57785094e-02 -1.24633191e+02] [-7.62284710e-02 1.53934154e-04 9.97090365e-01 -1.30705723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60864 meters 0.02613402935871379 Centerline is valid? [True, True] Translation: X:182.66, Y:-124.65, Z:-13.07 [[ 7.98167048e-01 5.99307310e-01 6.13197463e-02 1.82658547e+02] [-5.97534167e-01 8.00519039e-01 -4.60672086e-02 -1.24649959e+02] [-7.66960392e-02 1.28684374e-04 9.97054513e-01 -1.30717420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63864 meters 0.026265429059618022 Centerline is valid? [True, True] Translation: X:182.69, Y:-124.67, Z:-13.07 [[ 7.98494557e-01 5.98830417e-01 6.17136425e-02 1.82685038e+02] [-5.97032004e-01 8.00875831e-01 -4.63755133e-02 -1.24667685e+02] [-7.71960327e-02 1.85575288e-04 9.97015917e-01 -1.30744908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66864 meters 0.026071096264936457 Centerline is valid? [True, True] Translation: X:182.71, Y:-124.68, Z:-13.08 [[ 7.99161264e-01 5.98013045e-01 6.10055179e-02 1.82712796e+02] [-5.96252415e-01 8.01486322e-01 -4.58555624e-02 -1.24683665e+02] [-7.63173127e-02 2.71301783e-04 9.97083544e-01 -1.30756904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69864 meters 0.026257976530021265 Centerline is valid? [True, True] Translation: X:182.74, Y:-124.70, Z:-13.08 [[ 7.99531366e-01 5.97505602e-01 6.11281416e-02 1.82739472e+02] [-5.95735456e-01 8.01864668e-01 -4.59599878e-02 -1.24702049e+02] [-7.64778472e-02 3.30250541e-04 9.97071226e-01 -1.30776458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72864 meters 0.02637584626738569 Centerline is valid? [True, True] Translation: X:182.77, Y:-124.72, Z:-13.08 [[ 8.00622301e-01 5.95912728e-01 6.23855007e-02 1.82765539e+02] [-5.94063214e-01 8.03049045e-01 -4.69161841e-02 -1.24719162e+02] [-7.80565681e-02 5.01212226e-04 9.96948806e-01 -1.30797305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75864 meters 0.02626688733677993 Centerline is valid? [True, True] Translation: X:182.79, Y:-124.74, Z:-13.08 [[ 8.01298041e-01 5.95051525e-01 6.19284450e-02 1.82791995e+02] [-5.93225879e-01 8.03687338e-01 -4.65802455e-02 -1.24736851e+02] [-7.74887532e-02 5.87103305e-04 9.96993053e-01 -1.30800844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864000000002 meters 0.026305487173597954 Centerline is valid? [True, True] Translation: X:182.82, Y:-124.75, Z:-13.08 [[ 8.01622914e-01 5.94570281e-01 6.23448818e-02 1.82818022e+02] [-5.92717682e-01 8.04043384e-01 -4.69040085e-02 -1.24754592e+02] [-7.80157193e-02 6.46414165e-04 9.96951919e-01 -1.30819592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81864000000002 meters 0.026267312370949963 Centerline is valid? [True, True] Translation: X:182.84, Y:-124.77, Z:-13.08 [[ 8.01872652e-01 5.94281484e-01 6.18851133e-02 1.82844040e+02] [-5.92454827e-01 8.04256839e-01 -4.65640963e-02 -1.24771923e+02] [-7.74437058e-02 6.74341246e-04 9.96996498e-01 -1.30836617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864000000002 meters 0.026231236846219957 Centerline is valid? [True, True] Translation: X:182.87, Y:-124.79, Z:-13.09 [[ 8.02186608e-01 5.93896140e-01 6.15143931e-02 1.82869592e+02] [-5.92089740e-01 8.04541402e-01 -4.62911599e-02 -1.24790436e+02] [-7.69830173e-02 7.12107528e-04 9.97032150e-01 -1.30860151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87864000000002 meters 0.026072311011223048 Centerline is valid? [True, True] Translation: X:182.89, Y:-124.81, Z:-13.09 [[ 8.02002563e-01 5.94243061e-01 6.05563679e-02 1.82894092e+02] [-5.92493232e-01 8.04285231e-01 -4.55745126e-02 -1.24807889e+02] [-7.57869302e-02 6.71637771e-04 9.97123809e-01 -1.30870186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864000000002 meters 0.026237720736120237 Centerline is valid? [True, True] Translation: X:182.92, Y:-124.83, Z:-13.09 [[ 8.01323950e-01 5.95036014e-01 6.17419608e-02 1.82918757e+02] [-5.93219239e-01 8.03698807e-01 -4.64667857e-02 -1.24826166e+02] [-7.72713512e-02 6.08429257e-04 9.97009914e-01 -1.30905067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93864 meters 0.026185419699762517 Centerline is valid? [True, True] Translation: X:182.94, Y:-124.84, Z:-13.09 [[ 8.00670444e-01 5.95815288e-01 6.26975519e-02 1.82943559e+02] [-5.93943996e-01 8.03121316e-01 -4.71877325e-02 -1.24844986e+02] [-7.84689128e-02 5.42988212e-04 9.96916413e-01 -1.30923813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters 0.02582790045159376 Centerline is valid? [True, True] Translation: X:182.97, Y:-124.86, Z:-13.09 [[ 8.00025581e-01 5.96886007e-01 6.07137874e-02 1.82968778e+02] [-5.95134065e-01 8.02325938e-01 -4.57004857e-02 -1.24863106e+02] [-7.59902269e-02 4.28714523e-04 9.97108470e-01 -1.30925435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99864 meters 0.02591817286441371 Centerline is valid? [True, True] Translation: X:182.99, Y:-124.88, Z:-13.09 [[ 7.99733191e-01 5.97179631e-01 6.16710031e-02 1.82993099e+02] [-5.95372587e-01 8.02107425e-01 -4.64237203e-02 -1.24880493e+02] [-7.71900697e-02 4.09365320e-04 9.97016312e-01 -1.30948830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02864 meters 0.02584488095095136 Centerline is valid? [True, True] Translation: X:183.02, Y:-124.90, Z:-13.10 [[ 7.99682630e-01 5.97241155e-01 6.17308244e-02 1.83018332e+02] [-5.95431122e-01 8.02061620e-01 -4.64643466e-02 -1.24898171e+02] [-7.72623450e-02 4.00276775e-04 9.97010717e-01 -1.30962588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05864 meters 0.0259891460670699 Centerline is valid? [True, True] Translation: X:183.04, Y:-124.92, Z:-13.10 [[ 7.99828452e-01 5.97014387e-01 6.20344179e-02 1.83042359e+02] [-5.95185934e-01 8.02230418e-01 -4.66911270e-02 -1.24915033e+02] [-7.76411715e-02 4.22878914e-04 9.96981279e-01 -1.30976610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08864 meters 0.02604041098353877 Centerline is valid? [True, True] Translation: X:183.07, Y:-124.93, Z:-13.10 [[ 8.01414826e-01 5.94839598e-01 6.24510116e-02 1.83067203e+02] [-5.92980346e-01 8.03844171e-01 -4.69984900e-02 -1.24930608e+02] [-7.81574446e-02 6.33064210e-04 9.96940827e-01 -1.30988045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11864 meters 0.026012407487462797 Centerline is valid? [True, True] Translation: X:183.09, Y:-124.95, Z:-13.10 [[ 8.03194750e-01 5.92531530e-01 6.15189392e-02 1.83089949e+02] [-5.90721912e-01 8.05546829e-01 -4.62809909e-02 -1.24947856e+02] [-7.69793327e-02 8.32063552e-04 9.97032342e-01 -1.30999136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14864 meters 0.026641227102923725 Centerline is valid? [True, True] Translation: X:183.11, Y:-124.97, Z:-13.10 [[ 8.06171594e-01 5.88395299e-01 6.22762674e-02 1.83112882e+02] [-5.86531795e-01 8.08572516e-01 -4.68074803e-02 -1.24965592e+02] [-7.78961796e-02 1.20785016e-03 9.96960745e-01 -1.31028679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17864 meters 0.026907653062232122 Centerline is valid? [True, True] Translation: X:183.14, Y:-124.98, Z:-13.11 [[ 8.07203458e-01 5.86967039e-01 6.23880730e-02 1.83136813e+02] [-5.85095081e-01 8.09609750e-01 -4.68593486e-02 -1.24983395e+02] [-7.80148852e-02 1.32207358e-03 9.96951318e-01 -1.31050742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20864 meters 0.027108755776573772 Centerline is valid? [True, True] Translation: X:183.16, Y:-125.00, Z:-13.11 [[ 8.08591884e-01 5.85121164e-01 6.17445443e-02 1.83160143e+02] [-5.83282633e-01 8.10944529e-01 -4.63717649e-02 -1.25002817e+02] [-7.72045015e-02 1.48131237e-03 9.97014178e-01 -1.31063016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23864 meters 0.027150857935401562 Centerline is valid? [True, True] Translation: X:183.18, Y:-125.02, Z:-13.11 [[ 8.08801094e-01 5.84808167e-01 6.19693282e-02 1.83183700e+02] [-5.82955287e-01 8.11170209e-01 -4.65405834e-02 -1.25022448e+02] [-7.74849862e-02 1.51672730e-03 9.96992365e-01 -1.31068671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26864 meters 0.02740221544626363 Centerline is valid? [True, True] Translation: X:183.21, Y:-125.04, Z:-13.11 [[ 8.08902262e-01 5.84563481e-01 6.29497208e-02 1.83207718e+02] [-5.82650535e-01 8.11346464e-01 -4.72786372e-02 -1.25042441e+02] [-7.87113981e-02 1.56610813e-03 9.96896215e-01 -1.31088332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29864 meters 0.027310449542491896 Centerline is valid? [True, True] Translation: X:183.23, Y:-125.06, Z:-13.11 [[ 8.07352505e-01 5.86590203e-01 6.39833225e-02 1.83231091e+02] [-5.84619508e-01 8.09882695e-01 -4.80629946e-02 -1.25064502e+02] [-8.00122674e-02 1.39788060e-03 9.96792899e-01 -1.31116964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32864 meters 0.02722316141527313 Centerline is valid? [True, True] Translation: X:183.26, Y:-125.09, Z:-13.11 [[ 8.06411453e-01 5.87885797e-01 6.39598184e-02 1.83255843e+02] [-5.85919625e-01 8.08942924e-01 -4.80576624e-02 -1.25085548e+02] [-7.99922597e-02 1.27893658e-03 9.96794664e-01 -1.31134169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35864 meters 0.02719257470739596 Centerline is valid? [True, True] Translation: X:183.28, Y:-125.11, Z:-13.12 [[ 8.05792772e-01 5.88638926e-01 6.48245638e-02 1.83277972e+02] [-5.86620547e-01 8.08395139e-01 -4.87199578e-02 -1.25108827e+02] [-8.10823258e-02 1.23076876e-03 9.96706648e-01 -1.31157574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38864 meters 0.027344003186532326 Centerline is valid? [True, True] Translation: X:183.30, Y:-125.13, Z:-13.12 [[ 8.06411693e-01 5.87793912e-01 6.47958157e-02 1.83300445e+02] [-5.85773590e-01 8.09009617e-01 -4.87107900e-02 -1.25132994e+02] [-8.10523438e-02 1.32527307e-03 9.96708965e-01 -1.31178332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41864 meters 0.027379966009249437 Centerline is valid? [True, True] Translation: X:183.32, Y:-125.16, Z:-13.12 [[ 8.06324602e-01 5.87951577e-01 6.44482618e-02 1.83324551e+02] [-5.85952402e-01 8.08895061e-01 -4.84619722e-02 -1.25155122e+02] [-8.06251737e-02 1.31246664e-03 9.96743627e-01 -1.31195455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44864 meters 0.027386616519545586 Centerline is valid? [True, True] Translation: X:183.35, Y:-125.18, Z:-13.12 [[ 8.05901086e-01 5.88532548e-01 6.44428392e-02 1.83348780e+02] [-5.86534546e-01 8.08472536e-01 -4.84704525e-02 -1.25176167e+02] [-8.06267045e-02 1.26443887e-03 9.96743566e-01 -1.31210538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47864 meters 0.027386616519545586 Centerline is valid? [True, True] Translation: X:183.37, Y:-125.20, Z:-13.12 [[ 8.05792100e-01 5.88682518e-01 6.44358944e-02 1.83374792e+02] [-5.86684257e-01 8.08363348e-01 -4.84796833e-02 -1.25195654e+02] [-8.06267574e-02 1.26102100e-03 9.96743566e-01 -1.31228668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50864 meters 0.02696735357603246 Centerline is valid? [True, True] Translation: X:183.40, Y:-125.22, Z:-13.12 [[ 8.03365534e-01 5.92058288e-01 6.38028415e-02 1.83399600e+02] [-5.90108432e-01 8.05894611e-01 -4.80199450e-02 -1.25216753e+02] [-7.98489726e-02 9.26974052e-04 9.96806542e-01 -1.31246528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53864000000002 meters 0.02686216121372736 Centerline is valid? [True, True] Translation: X:183.42, Y:-125.24, Z:-13.13 [[ 8.01279047e-01 5.94879836e-01 6.37955302e-02 1.83424431e+02] [-5.92938339e-01 8.03814376e-01 -4.80268179e-02 -1.25236781e+02] [-7.98499498e-02 6.56067163e-04 9.96806679e-01 -1.31263714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864000000002 meters 0.026822459434996015 Centerline is valid? [True, True] Translation: X:183.45, Y:-125.26, Z:-13.13 [[ 7.99069943e-01 5.97758405e-01 6.45919139e-02 1.83449612e+02] [-5.95776213e-01 8.01676207e-01 -4.86411633e-02 -1.25257853e+02] [-8.08574647e-02 3.85365752e-04 9.96725600e-01 -1.31288047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59864000000002 meters 0.02670183704716765 Centerline is valid? [True, True] Translation: X:183.48, Y:-125.28, Z:-13.13 [[ 7.94536722e-01 6.03761516e-01 6.46794353e-02 1.83475075e+02] [-6.01792113e-01 7.97164969e-01 -4.87264231e-02 -1.25279258e+02] [-8.09793192e-02 -2.08641619e-04 9.96715760e-01 -1.31295592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864000000002 meters 0.02678523521623512 Centerline is valid? [True, True] Translation: X:183.50, Y:-125.30, Z:-13.13 [[ 7.92244384e-01 6.06773863e-01 6.46089400e-02 1.83500720e+02] [-6.04817328e-01 7.94874347e-01 -4.86905767e-02 -1.25297916e+02] [-8.09001583e-02 -5.01770547e-04 9.96722084e-01 -1.31311869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65864000000002 meters 0.026945527277515376 Centerline is valid? [True, True] Translation: X:183.53, Y:-125.32, Z:-13.13 [[ 7.89025573e-01 6.11076872e-01 6.34326557e-02 1.83527612e+02] [-6.09203867e-01 7.91570729e-01 -4.78166166e-02 -1.25315491e+02] [-7.94310621e-02 -9.14885849e-04 9.96839942e-01 -1.31327179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters 0.02720820001820907 Centerline is valid? [True, True] Translation: X:183.55, Y:-125.33, Z:-13.13 [[ 7.86988680e-01 6.13667918e-01 6.37220789e-02 1.83553798e+02] [-6.11785186e-01 7.89563370e-01 -4.80476026e-02 -1.25333586e+02] [-7.97978916e-02 -1.17130448e-03 9.96810375e-01 -1.31342128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71864 meters 0.02733601695872273 Centerline is valid? [True, True] Translation: X:183.58, Y:-125.35, Z:-13.14 [[ 7.86029561e-01 6.14832961e-01 6.43269775e-02 1.83582913e+02] [-6.12917173e-01 7.88656300e-01 -4.85157608e-02 -1.25347478e+02] [-8.05609649e-02 -1.29228708e-03 9.96748845e-01 -1.31363534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters 0.0272012124606945 Centerline is valid? [True, True] Translation: X:183.61, Y:-125.36, Z:-13.14 [[ 7.86043172e-01 6.14785999e-01 6.46088706e-02 1.83610955e+02] [-6.12852317e-01 7.88692922e-01 -4.87392254e-02 -1.25363398e+02] [-8.09207524e-02 -1.28456072e-03 9.96719711e-01 -1.31377464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77864 meters 0.027255862474774566 Centerline is valid? [True, True] Translation: X:183.64, Y:-125.38, Z:-13.14 [[ 7.85998513e-01 6.14814083e-01 6.48843635e-02 1.83638073e+02] [-6.12862875e-01 7.88671033e-01 -4.89601699e-02 -1.25380075e+02] [-8.12738199e-02 -1.28259679e-03 9.96690986e-01 -1.31389477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80864 meters 0.02700324673169463 Centerline is valid? [True, True] Translation: X:183.67, Y:-125.40, Z:-13.14 [[ 7.87786930e-01 6.12617551e-01 6.39647572e-02 1.83666169e+02] [-6.10713075e-01 7.90378817e-01 -4.82790371e-02 -1.25396431e+02] [-8.01329746e-02 -1.03051912e-03 9.96783650e-01 -1.31414993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83864 meters 0.026999662082511065 Centerline is valid? [True, True] Translation: X:183.69, Y:-125.41, Z:-13.14 [[ 7.89100543e-01 6.10903834e-01 6.41625932e-02 1.83694067e+02] [-6.08980992e-01 7.91704353e-01 -4.84393222e-02 -1.25410955e+02] [-8.03895720e-02 -8.50304187e-04 9.96763158e-01 -1.31433654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86864 meters 0.02699740841571042 Centerline is valid? [True, True] Translation: X:183.72, Y:-125.43, Z:-13.14 [[ 7.89673775e-01 6.10138671e-01 6.43904596e-02 1.83720173e+02] [-6.08199225e-01 7.92294268e-01 -4.86157929e-02 -1.25426741e+02] [-8.06785673e-02 -7.71610946e-04 9.96739872e-01 -1.31446584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89864 meters 0.026842933714581168 Centerline is valid? [True, True] Translation: X:183.75, Y:-125.44, Z:-13.15 [[ 7.90745078e-01 6.08735791e-01 6.45209897e-02 1.83745333e+02] [-6.06783955e-01 7.93372761e-01 -4.87123563e-02 -1.25442032e+02] [-8.08421505e-02 -6.31245322e-04 9.96726717e-01 -1.31462788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92864 meters 0.026662894002901855 Centerline is valid? [True, True] Translation: X:183.77, Y:-125.46, Z:-13.15 [[ 7.92402156e-01 6.06634638e-01 6.39784220e-02 1.83771009e+02] [-6.04710140e-01 7.94980650e-01 -4.82847143e-02 -1.25456322e+02] [-8.01527876e-02 -4.27488793e-04 9.96782498e-01 -1.31472926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95864 meters 0.026560534379037087 Centerline is valid? [True, True] Translation: X:183.80, Y:-125.47, Z:-13.15 [[ 7.93108701e-01 6.05817537e-01 6.29579217e-02 1.83795804e+02] [-6.03954898e-01 7.95603527e-01 -4.74711492e-02 -1.25470716e+02] [-7.88483992e-02 -3.73963699e-04 9.96886548e-01 -1.31482603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98864 meters 0.026514513240238735 Centerline is valid? [True, True] Translation: X:183.82, Y:-125.49, Z:-13.15 [[ 7.93945709e-01 6.04659314e-01 6.35399450e-02 1.83818923e+02] [-6.02762017e-01 7.96484165e-01 -4.78636232e-02 -1.25486617e+02] [-7.95497456e-02 -2.98347104e-04 9.96830853e-01 -1.31502791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01864 meters 0.02655703166424673 Centerline is valid? [True, True] Translation: X:183.84, Y:-125.50, Z:-13.15 [[ 7.94777590e-01 6.03556536e-01 6.36246019e-02 1.83842329e+02] [-6.01654709e-01 7.97320171e-01 -4.78764647e-02 -1.25502421e+02] [-7.96253317e-02 -2.28900027e-04 9.96824836e-01 -1.31513839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04864 meters 0.026421922481726416 Centerline is valid? [True, True] Translation: X:183.87, Y:-125.52, Z:-13.15 [[ 7.96541990e-01 6.01129310e-01 6.45322431e-02 1.83867708e+02] [-5.99168817e-01 7.99151770e-01 -4.85095553e-02 -1.25516717e+02] [-8.07315718e-02 -2.58100552e-05 9.96735879e-01 -1.31517870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07864 meters 0.0265369860437382 Centerline is valid? [True, True] Translation: X:183.89, Y:-125.53, Z:-13.15 [[ 7.97872023e-01 5.99393336e-01 6.42484536e-02 1.83891319e+02] [-5.97448203e-01 8.00454631e-01 -4.82496562e-02 -1.25532146e+02] [-8.03484946e-02 1.11927684e-04 9.96766827e-01 -1.31534650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10864 meters 0.026370050421410444 Centerline is valid? [True, True] Translation: X:183.91, Y:-125.55, Z:-13.15 [[ 7.99254730e-01 5.97581478e-01 6.39394606e-02 1.83914703e+02] [-5.95653271e-01 8.01808153e-01 -4.79673544e-02 -1.25547221e+02] [-7.99315833e-02 2.52386025e-04 9.96800320e-01 -1.31547899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13864 meters 0.0265169961942875 Centerline is valid? [True, True] Translation: X:183.94, Y:-125.56, Z:-13.16 [[ 7.99844729e-01 5.96784505e-01 6.40051872e-02 1.83937265e+02] [-5.94853817e-01 8.02401502e-01 -4.79663048e-02 -1.25563935e+02] [-7.99834058e-02 2.91866143e-04 9.96796153e-01 -1.31571412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16864 meters 0.026453093556641626 Centerline is valid? [True, True] Translation: X:183.96, Y:-125.58, Z:-13.16 [[ 8.01281042e-01 5.94701537e-01 6.54123347e-02 1.83961446e+02] [-5.92682059e-01 8.03946429e-01 -4.89705685e-02 -1.25579504e+02] [-8.17108853e-02 4.70470904e-04 9.96655964e-01 -1.31582106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19864 meters 0.026545258881070007 Centerline is valid? [True, True] Translation: X:183.98, Y:-125.60, Z:-13.16 [[ 8.01860859e-01 5.93891904e-01 6.56625336e-02 1.83984212e+02] [-5.91857367e-01 8.04544673e-01 -4.91195043e-02 -1.25596177e+02] [-8.20001176e-02 5.24153704e-04 9.96632182e-01 -1.31600382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22864 meters 0.026802099694171144 Centerline is valid? [True, True] Translation: X:184.01, Y:-125.61, Z:-13.16 [[ 8.03485725e-01 5.91606561e-01 6.64256506e-02 1.84006427e+02] [-5.89519189e-01 8.06226474e-01 -4.96588162e-02 -1.25613690e+02] [-8.29325995e-02 7.40954270e-04 9.96554883e-01 -1.31626461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25864 meters 0.02664969027496606 Centerline is valid? [True, True] Translation: X:184.03, Y:-125.63, Z:-13.16 [[ 8.04462771e-01 5.90252052e-01 6.66495770e-02 1.84029185e+02] [-5.88149681e-01 8.07218557e-01 -4.97810652e-02 -1.25631649e+02] [-8.31841513e-02 8.47086200e-04 9.96533833e-01 -1.31644835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864000000002 meters 0.0267914737018025 Centerline is valid? [True, True] Translation: X:184.05, Y:-125.65, Z:-13.17 [[ 8.05629557e-01 5.88690326e-01 6.63680481e-02 1.84051320e+02] [-5.86604286e-01 8.08358068e-01 -4.95241883e-02 -1.25648978e+02] [-8.28035577e-02 9.66368383e-04 9.96565420e-01 -1.31661046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31864000000002 meters 0.02712158739863154 Centerline is valid? [True, True] Translation: X:184.07, Y:-125.67, Z:-13.17 [[ 8.07475559e-01 5.86131155e-01 6.65844729e-02 1.84072906e+02] [-5.84026857e-01 8.10215308e-01 -4.96365207e-02 -1.25667623e+02] [-8.30412704e-02 1.19315687e-03 9.96545395e-01 -1.31678601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864000000002 meters 0.02714789319156384 Centerline is valid? [True, True] Translation: X:184.09, Y:-125.69, Z:-13.17 [[ 8.08168225e-01 5.85221723e-01 6.61789647e-02 1.84094270e+02] [-5.83143798e-01 8.10872366e-01 -4.92880977e-02 -1.25685980e+02] [-8.25071591e-02 1.24122158e-03 9.96589699e-01 -1.31696718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37864000000002 meters 0.027120697458472235 Centerline is valid? [True, True] Translation: X:184.11, Y:-125.71, Z:-13.17 [[ 8.08354277e-01 5.84978036e-01 6.60610334e-02 1.84114435e+02] [-5.82910682e-01 8.11048209e-01 -4.91522092e-02 -1.25707026e+02] [-8.23316457e-02 1.22471652e-03 9.96604235e-01 -1.31730417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864000000002 meters 0.027071162086968602 Centerline is valid? [True, True] Translation: X:184.14, Y:-125.73, Z:-13.18 [[ 8.08843836e-01 5.84425782e-01 6.49473156e-02 1.84135655e+02] [-5.82429353e-01 8.11446243e-01 -4.82808739e-02 -1.25726362e+02] [-8.09178428e-02 1.22446423e-03 9.96720023e-01 -1.31757711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43864 meters 0.02682689638528216 Centerline is valid? [True, True] Translation: X:184.16, Y:-125.75, Z:-13.18 [[ 8.08861500e-01 5.84687888e-01 6.23149126e-02 1.84157116e+02] [-5.82853405e-01 8.11257548e-01 -4.62936162e-02 -1.25747612e+02] [-7.76207599e-02 1.12466485e-03 9.96982323e-01 -1.31756353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters 0.02676134364801881 Centerline is valid? [True, True] Translation: X:184.18, Y:-125.77, Z:-13.18 [[ 8.08591091e-01 5.85037103e-01 6.25462702e-02 1.84178257e+02] [-5.83191401e-01 8.11005808e-01 -4.64474989e-02 -1.25765776e+02] [-7.78988986e-02 1.08058684e-03 9.96960678e-01 -1.31767430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49864 meters 0.026877777030770416 Centerline is valid? [True, True] Translation: X:184.20, Y:-125.78, Z:-13.18 [[ 8.08032817e-01 5.85647801e-01 6.40282689e-02 1.84200774e+02] [-5.83718332e-01 8.10565001e-01 -4.75109301e-02 -1.25784834e+02] [-7.97237456e-02 1.01591634e-03 9.96816479e-01 -1.31773134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52864 meters 0.02697535530041436 Centerline is valid? [True, True] Translation: X:184.22, Y:-125.80, Z:-13.18 [[ 8.07639578e-01 5.86110151e-01 6.47549432e-02 1.84223859e+02] [-5.84138550e-01 8.10230793e-01 -4.80439015e-02 -1.25802939e+02] [-8.06254674e-02 9.76297739e-04 9.96743990e-01 -1.31797606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55864 meters 0.027039932264849045 Centerline is valid? [True, True] Translation: X:184.25, Y:-125.82, Z:-13.18 [[ 8.07625092e-01 5.86066909e-01 6.53244882e-02 1.84247620e+02] [-5.84060789e-01 8.10262062e-01 -4.84601414e-02 -1.25820211e+02] [-8.13308398e-02 9.84154001e-04 9.96686674e-01 -1.31830822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58864 meters 0.027144655909807885 Centerline is valid? [True, True] Translation: X:184.27, Y:-125.84, Z:-13.18 [[ 8.07875156e-01 5.85774753e-01 6.48511457e-02 1.84272327e+02] [-5.83797410e-01 8.10473282e-01 -4.81003515e-02 -1.25837429e+02] [-8.07360924e-02 9.99148107e-04 9.96735012e-01 -1.31845080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61864 meters 0.02700127753651126 Centerline is valid? [True, True] Translation: X:184.30, Y:-125.85, Z:-13.19 [[ 8.08974821e-01 5.84339889e-01 6.40830139e-02 1.84297164e+02] [-5.82405603e-01 8.11508251e-01 -4.75191787e-02 -1.25853258e+02] [-7.97712461e-02 1.11951274e-03 9.96812568e-01 -1.31852308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64864 meters 0.02711233299764521 Centerline is valid? [True, True] Translation: X:184.32, Y:-125.87, Z:-13.19 [[ 8.09705701e-01 5.83245713e-01 6.48160230e-02 1.84320722e+02] [-5.81264778e-01 8.12294856e-01 -4.80450252e-02 -1.25870399e+02] [-8.06717770e-02 1.22705954e-03 9.96739965e-01 -1.31869209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67864 meters 0.02734828155728454 Centerline is valid? [True, True] Translation: X:184.34, Y:-125.89, Z:-13.19 [[ 8.10925030e-01 5.81516513e-01 6.51086864e-02 1.84344344e+02] [-5.79514643e-01 8.13533430e-01 -4.82300274e-02 -1.25887757e+02] [-8.10146504e-02 1.37949925e-03 9.96711956e-01 -1.31890263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70864 meters 0.027434556110553947 Centerline is valid? [True, True] Translation: X:184.37, Y:-125.91, Z:-13.19 [[ 8.11022364e-01 5.81345703e-01 6.54209370e-02 1.84367683e+02] [-5.79324504e-01 8.13655466e-01 -4.84551391e-02 -1.25905169e+02] [-8.13992899e-02 1.39824956e-03 9.96680591e-01 -1.31908620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73864 meters 0.02774625260525274 Centerline is valid? [True, True] Translation: X:184.39, Y:-125.92, Z:-13.19 [[ 8.12612022e-01 5.79046081e-01 6.60858294e-02 1.84391983e+02] [-5.76976430e-01 8.15293165e-01 -4.89413370e-02 -1.25922513e+02] [-8.22186144e-02 1.64035293e-03 9.96612968e-01 -1.31929418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76864 meters 0.027977872975788267 Centerline is valid? [True, True] Translation: X:184.42, Y:-125.94, Z:-13.20 [[ 8.13367352e-01 5.77887592e-01 6.69289350e-02 1.84415532e+02] [-5.75761311e-01 8.16114441e-01 -4.95593773e-02 -1.25940141e+02] [-8.32614196e-02 1.77488815e-03 9.96526159e-01 -1.31954426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79864 meters 0.027980325514602635 Centerline is valid? [True, True] Translation: X:184.44, Y:-125.96, Z:-13.20 [[ 8.13980022e-01 5.76994662e-01 6.71839528e-02 1.84439241e+02] [-5.74849433e-01 8.16745776e-01 -4.97440133e-02 -1.25959586e+02] [-8.35742398e-02 1.86997591e-03 9.96499799e-01 -1.31972328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82864 meters 0.028253004188422262 Centerline is valid? [True, True] Translation: X:184.46, Y:-125.98, Z:-13.20 [[ 8.15062928e-01 5.75491073e-01 6.69510910e-02 1.84462579e+02] [-5.73355476e-01 8.17805569e-01 -4.95736704e-02 -1.25981402e+02] [-8.32821798e-02 2.01888622e-03 9.96523960e-01 -1.31982235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85864 meters 0.02815777609576295 Centerline is valid? [True, True] Translation: X:184.49, Y:-126.00, Z:-13.20 [[ 8.15255062e-01 5.75341284e-01 6.58907470e-02 1.84486308e+02] [-5.73271929e-01 8.17910985e-01 -4.87946229e-02 -1.26001223e+02] [-8.19663268e-02 2.00674772e-03 9.96633079e-01 -1.31993377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88864 meters 0.02815326557069516 Centerline is valid? [True, True] Translation: X:184.51, Y:-126.02, Z:-13.20 [[ 8.14878182e-01 5.75855255e-01 6.60626505e-02 1.84509527e+02] [-5.73776079e-01 8.17549300e-01 -4.89300950e-02 -1.26023947e+02] [-8.21861260e-02 1.96689827e-03 9.96615057e-01 -1.32028313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91864 meters 0.02799416211785597 Centerline is valid? [True, True] Translation: X:184.53, Y:-126.05, Z:-13.20 [[ 8.14269558e-01 5.76771486e-01 6.55723940e-02 1.84533033e+02] [-5.74725072e-01 8.16903393e-01 -4.85791907e-02 -1.26045578e+02] [-8.15854032e-02 1.87045724e-03 9.96664599e-01 -1.32045583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94864 meters 0.02754462083475347 Centerline is valid? [True, True] Translation: X:184.56, Y:-126.07, Z:-13.21 [[ 8.12899899e-01 5.78742325e-01 6.52002738e-02 1.84556235e+02] [-5.76724438e-01 8.15508750e-01 -4.83156376e-02 -1.26069086e+02] [-8.11336983e-02 1.67318569e-03 9.96701823e-01 -1.32050780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97864 meters 0.02720008995061881 Centerline is valid? [True, True] Translation: X:184.58, Y:-126.09, Z:-13.21 [[ 8.12237830e-01 5.79698559e-01 6.49560471e-02 1.84580983e+02] [-5.77697844e-01 8.14829478e-01 -4.81468814e-02 -1.26090170e+02] [-8.08387797e-02 1.58175006e-03 9.96725935e-01 -1.32063614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00864 meters 0.02736148769046491 Centerline is valid? [True, True] Translation: X:184.60, Y:-126.11, Z:-13.21 [[ 8.12070067e-01 5.79945987e-01 6.48448833e-02 1.84604435e+02] [-5.77951913e-01 8.14653426e-01 -4.80768289e-02 -1.26112755e+02] [-8.07080703e-02 1.56452932e-03 9.96736555e-01 -1.32083096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03864000000002 meters 0.02727791840995189 Centerline is valid? [True, True] Translation: X:184.63, Y:-126.13, Z:-13.21 [[ 8.11947192e-01 5.80058416e-01 6.53757808e-02 1.84628837e+02] [-5.78030916e-01 8.14573356e-01 -4.84820452e-02 -1.26132952e+02] [-8.13757875e-02 1.57563797e-03 9.96682246e-01 -1.32100630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864000000002 meters 0.027295305734283775 Centerline is valid? [True, True] Translation: X:184.65, Y:-126.15, Z:-13.21 [[ 8.11924559e-01 5.80077418e-01 6.54881599e-02 1.84654131e+02] [-5.78041979e-01 8.14559803e-01 -4.85777531e-02 -1.26154571e+02] [-8.15228802e-02 1.58656526e-03 9.96670208e-01 -1.32114938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09864000000002 meters 0.027470433372515583 Centerline is valid? [True, True] Translation: X:184.68, Y:-126.17, Z:-13.21 [[ 8.12059802e-01 5.79880740e-01 6.55530720e-02 1.84678843e+02] [-5.77839237e-01 8.14699759e-01 -4.86427593e-02 -1.26174528e+02] [-8.16130712e-02 1.62169236e-03 9.96662770e-01 -1.32138764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864000000002 meters 0.0274512640488677 Centerline is valid? [True, True] Translation: X:184.70, Y:-126.19, Z:-13.22 [[ 8.12529608e-01 5.79382944e-01 6.41173905e-02 1.84703418e+02] [-5.77427522e-01 8.15053801e-01 -4.75894673e-02 -1.26194838e+02] [-7.98316485e-02 1.64470533e-03 9.96807004e-01 -1.32152625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15864000000002 meters 0.027509932754136334 Centerline is valid? [True, True] Translation: X:184.73, Y:-126.22, Z:-13.22 [[ 8.13051901e-01 5.78657361e-01 6.40489331e-02 1.84727888e+02] [-5.76702899e-01 8.15568934e-01 -4.75508149e-02 -1.26216021e+02] [-7.97519492e-02 1.72407506e-03 9.96813249e-01 -1.32168040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters 0.028094600846222666 Centerline is valid? [True, True] Translation: X:184.75, Y:-126.24, Z:-13.22 [[ 8.15122533e-01 5.75728811e-01 6.41217034e-02 1.84753769e+02] [-5.73759863e-01 8.17638211e-01 -4.76169785e-02 -1.26235412e+02] [-7.98428212e-02 2.02321236e-03 9.96805413e-01 -1.32201191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21864 meters 0.028385190620517083 Centerline is valid? [True, True] Translation: X:184.78, Y:-126.26, Z:-13.22 [[ 8.16386738e-01 5.73943900e-01 6.40397754e-02 1.84778613e+02] [-5.71973537e-01 8.18891652e-01 -4.75682291e-02 -1.26255252e+02] [-7.97431324e-02 2.20501457e-03 9.96813007e-01 -1.32215113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters 0.028738581361073136 Centerline is valid? [True, True] Translation: X:184.80, Y:-126.28, Z:-13.22 [[ 8.17854633e-01 5.71931092e-01 6.33137084e-02 1.84803222e+02] [-5.69998271e-01 8.20298204e-01 -4.70406929e-02 -1.26275495e+02] [-7.88401562e-02 2.38374430e-03 9.96884420e-01 -1.32229681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27864 meters 0.02955462128861163 Centerline is valid? [True, True] Translation: X:184.83, Y:-126.30, Z:-13.22 [[ 8.20240686e-01 5.68554635e-01 6.28557410e-02 1.84827348e+02] [-5.66638897e-01 8.22641079e-01 -4.67120590e-02 -1.26296742e+02] [-7.82660723e-02 2.69862359e-03 9.96928854e-01 -1.32241902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30864 meters 0.029775752535080417 Centerline is valid? [True, True] Translation: X:184.85, Y:-126.32, Z:-13.23 [[ 8.21108900e-01 5.67295455e-01 6.28970711e-02 1.84852622e+02] [-5.65372589e-01 8.23509476e-01 -4.67544504e-02 -1.26317301e+02] [-7.83199213e-02 2.83021540e-03 9.96924260e-01 -1.32265599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33864 meters 0.029940021793314443 Centerline is valid? [True, True] Translation: X:184.87, Y:-126.34, Z:-13.23 [[ 8.21427471e-01 5.66828777e-01 6.29447897e-02 1.84874769e+02] [-5.64900709e-01 8.23830568e-01 -4.68015400e-02 -1.26341251e+02] [-7.83843016e-02 2.88651436e-03 9.96919039e-01 -1.32283444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36864 meters 0.029940021793314443 Centerline is valid? [True, True] Translation: X:184.90, Y:-126.36, Z:-13.23 [[ 8.21326394e-01 5.66975936e-01 6.29384105e-02 1.84900896e+02] [-5.65047642e-01 8.23729310e-01 -4.68101175e-02 -1.26360605e+02] [-7.83844236e-02 2.88318455e-03 9.96919039e-01 -1.32301582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39864 meters 0.029775162714176063 Centerline is valid? [True, True] Translation: X:184.92, Y:-126.38, Z:-13.23 [[ 8.20558583e-01 5.68086218e-01 6.29417272e-02 1.84924687e+02] [-5.66159732e-01 8.22964314e-01 -4.68283673e-02 -1.26383127e+02] [-7.84013455e-02 2.79034732e-03 9.96917972e-01 -1.32312467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42864 meters 0.029192219320463578 Centerline is valid? [True, True] Translation: X:184.95, Y:-126.41, Z:-13.23 [[ 8.19401503e-01 5.69770312e-01 6.27930598e-02 1.84947396e+02] [-5.67856293e-01 8.21799748e-01 -4.67376177e-02 -1.26406318e+02] [-7.82330277e-02 2.63944004e-03 9.96931606e-01 -1.32326092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45864 meters 0.02878512514829875 Centerline is valid? [True, True] Translation: X:184.97, Y:-126.43, Z:-13.23 [[ 8.18408913e-01 5.71267074e-01 6.21351888e-02 1.84971963e+02] [-5.69394219e-01 8.20760419e-01 -4.62877721e-02 -1.26427814e+02] [-7.74407838e-02 2.50290795e-03 9.96993812e-01 -1.32337501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48864 meters 0.028523101794580955 Centerline is valid? [True, True] Translation: X:185.00, Y:-126.45, Z:-13.24 [[ 8.17056959e-01 5.73049059e-01 6.35035536e-02 1.84995228e+02] [-5.71094674e-01 8.19517490e-01 -4.73493094e-02 -1.26449675e+02] [-7.91757500e-02 2.42054150e-03 9.96857734e-01 -1.32362253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51864 meters 0.028100045199832707 Centerline is valid? [True, True] Translation: X:185.02, Y:-126.48, Z:-13.24 [[ 8.14922932e-01 5.76077744e-01 6.35220300e-02 1.85016699e+02] [-5.74128684e-01 8.17392066e-01 -4.73968949e-02 -1.26475535e+02] [-7.92266996e-02 2.15499708e-03 9.96854295e-01 -1.32380745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54864 meters 0.027888073073098277 Centerline is valid? [True, True] Translation: X:185.04, Y:-126.50, Z:-13.24 [[ 8.13635624e-01 5.77929034e-01 6.32068295e-02 1.85040765e+02] [-5.76003062e-01 8.16084614e-01 -4.71844912e-02 -1.26496430e+02] [-7.88514085e-02 1.98365562e-03 9.96884407e-01 -1.32404450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57864 meters 0.027376081929174786 Centerline is valid? [True, True] Translation: X:185.06, Y:-126.52, Z:-13.24 [[ 8.12213495e-01 5.80086596e-01 6.17153068e-02 1.85064459e+02] [-5.78254085e-01 8.14552908e-01 -4.61061104e-02 -1.26519374e+02] [-7.70159193e-02 1.76087682e-03 9.97028308e-01 -1.32421181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60864 meters 0.027188935444777854 Centerline is valid? [True, True] Translation: X:185.09, Y:-126.54, Z:-13.24 [[ 8.10825796e-01 5.81942093e-01 6.24894417e-02 1.85088529e+02] [-5.80066514e-01 8.13228597e-01 -4.67128316e-02 -1.26540839e+02] [-7.80023640e-02 1.62793626e-03 9.96951845e-01 -1.32436774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63864 meters 0.02677665768172054 Centerline is valid? [True, True] Translation: X:185.11, Y:-126.56, Z:-13.24 [[ 8.08546709e-01 5.85122626e-01 6.23195900e-02 1.85111283e+02] [-5.83263380e-01 8.10943700e-01 -4.66277345e-02 -1.26563740e+02] [-7.78206213e-02 1.35196659e-03 9.96966460e-01 -1.32449500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66864 meters 0.026683479039817114 Centerline is valid? [True, True] Translation: X:185.14, Y:-126.58, Z:-13.25 [[ 8.07058206e-01 5.87135531e-01 6.26810933e-02 1.85135700e+02] [-5.85257308e-01 8.09487757e-01 -4.69409654e-02 -1.26583928e+02] [-7.83002863e-02 1.19952339e-03 9.96929098e-01 -1.32478595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69864 meters 0.026582774143868875 Centerline is valid? [True, True] Translation: X:185.16, Y:-126.61, Z:-13.25 [[ 8.05564787e-01 5.89106127e-01 6.33983116e-02 1.85159698e+02] [-5.87187050e-01 8.08054982e-01 -4.75238214e-02 -1.26607319e+02] [-7.92258959e-02 1.05684944e-03 9.96856128e-01 -1.32504737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72864 meters 0.026467320628663072 Centerline is valid? [True, True] Translation: X:185.18, Y:-126.63, Z:-13.25 [[ 8.04790374e-01 5.90274419e-01 6.23583527e-02 1.85184199e+02] [-5.88417707e-01 8.07202069e-01 -4.67912603e-02 -1.26627977e+02] [-7.79554753e-02 9.64396975e-04 9.96956375e-01 -1.32522401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75864 meters 0.026332887217661635 Centerline is valid? [True, True] Translation: X:185.21, Y:-126.65, Z:-13.25 [[ 8.03368221e-01 5.92177047e-01 6.26565818e-02 1.85209053e+02] [-5.90304702e-01 8.05807466e-01 -4.70604485e-02 -1.26649774e+02] [-7.83572589e-02 8.20393906e-04 9.96925006e-01 -1.32534583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864000000002 meters 0.02639195893210376 Centerline is valid? [True, True] Translation: X:185.24, Y:-126.67, Z:-13.26 [[ 8.02312262e-01 5.93532704e-01 6.33558447e-02 1.85235663e+02] [-5.91618443e-01 8.04809534e-01 -4.76364526e-02 -1.26669514e+02] [-7.92631804e-02 7.36823885e-04 9.96853452e-01 -1.32552225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81864000000002 meters 0.026211991306183176 Centerline is valid? [True, True] Translation: X:185.26, Y:-126.69, Z:-13.26 [[ 8.01019094e-01 5.95310739e-01 6.30359835e-02 1.85261498e+02] [-5.93417432e-01 8.03495344e-01 -4.74445443e-02 -1.26689164e+02] [-7.88933660e-02 5.97334473e-04 9.96882882e-01 -1.32559195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864000000002 meters 0.026214431454703858 Centerline is valid? [True, True] Translation: X:185.29, Y:-126.71, Z:-13.26 [[ 7.98387384e-01 5.98904774e-01 6.23751250e-02 1.85288261e+02] [-5.97058526e-01 8.00820202e-01 -4.69906439e-02 -1.26706838e+02] [-7.80941812e-02 2.75137022e-04 9.96945948e-01 -1.32575322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87864000000002 meters 0.026192655196483665 Centerline is valid? [True, True] Translation: X:185.32, Y:-126.72, Z:-13.26 [[ 7.95459132e-01 6.02746247e-01 6.27832067e-02 1.85316086e+02] [-6.00883954e-01 7.97932928e-01 -4.73446586e-02 -1.26724352e+02] [-7.86336032e-02 -6.46804682e-05 9.96903582e-01 -1.32598650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864000000002 meters 0.02612818245624161 Centerline is valid? [True, True] Translation: X:185.34, Y:-126.74, Z:-13.26 [[ 7.94451844e-01 6.04146245e-01 6.20772352e-02 1.85343322e+02] [-6.02326151e-01 7.96873446e-01 -4.68606358e-02 -1.26742486e+02] [-7.77783775e-02 -1.62223601e-04 9.96970660e-01 -1.32610624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93864 meters 0.02628759077001001 Centerline is valid? [True, True] Translation: X:185.37, Y:-126.76, Z:-13.26 [[ 7.92913245e-01 6.06127124e-01 6.24379369e-02 1.85371780e+02] [-6.04288244e-01 7.95367718e-01 -4.71795682e-02 -1.26760060e+02] [-7.82579354e-02 -3.21206714e-04 9.96933093e-01 -1.32634419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters 0.026273244723910284 Centerline is valid? [True, True] Translation: X:185.40, Y:-126.78, Z:-13.27 [[ 7.92272889e-01 6.06960877e-01 6.24672927e-02 1.85399872e+02] [-6.05118844e-01 7.94731629e-01 -4.72527630e-02 -1.26778236e+02] [-7.83253118e-02 -3.63052819e-04 9.96927788e-01 -1.32657025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99864 meters 0.026268319697104994 Centerline is valid? [True, True] Translation: X:185.43, Y:-126.80, Z:-13.27 [[ 7.91906480e-01 6.07388678e-01 6.29533248e-02 1.85428237e+02] [-6.05515069e-01 7.94404720e-01 -4.76722389e-02 -1.26795509e+02] [-7.89659965e-02 -3.67231885e-04 9.96877242e-01 -1.32675793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02864 meters 0.026574424438471068 Centerline is valid? [True, True] Translation: X:185.46, Y:-126.81, Z:-13.27 [[ 7.91697461e-01 6.07694565e-01 6.26294259e-02 1.85458345e+02] [-6.05837143e-01 7.94170756e-01 -4.74780640e-02 -1.26810280e+02] [-7.85906200e-02 -3.54969739e-04 9.96906911e-01 -1.32701530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05864 meters 0.02651506154512569 Centerline is valid? [True, True] Translation: X:185.49, Y:-126.83, Z:-13.27 [[ 7.91339617e-01 6.08163799e-01 6.25971627e-02 1.85486835e+02] [-6.06305723e-01 7.93811479e-01 -4.75048100e-02 -1.26828072e+02] [-7.85810520e-02 -3.60579836e-04 9.96907663e-01 -1.32714630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08864 meters 0.02657890382912525 Centerline is valid? [True, True] Translation: X:185.52, Y:-126.84, Z:-13.27 [[ 7.90728206e-01 6.08974225e-01 6.24443520e-02 1.85517423e+02] [-6.07123746e-01 7.93189910e-01 -4.74396764e-02 -1.26843133e+02] [-7.84197701e-02 -3.99558648e-04 9.96920348e-01 -1.32730469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11864 meters 0.026751201667697462 Centerline is valid? [True, True] Translation: X:185.54, Y:-126.86, Z:-13.28 [[ 7.90454932e-01 6.09221353e-01 6.34849889e-02 1.85544599e+02] [-6.07305345e-01 7.93000120e-01 -4.82807162e-02 -1.26861223e+02] [-7.97572470e-02 -3.91042864e-04 9.96814240e-01 -1.32756133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14864 meters 0.026751238103459068 Centerline is valid? [True, True] Translation: X:185.57, Y:-126.88, Z:-13.28 [[ 7.91098868e-01 6.08270510e-01 6.45721836e-02 1.85570934e+02] [-6.06281233e-01 7.93729751e-01 -4.91543421e-02 -1.26879378e+02] [-8.11519999e-02 -2.62958643e-04 9.96701703e-01 -1.32778463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17864 meters 0.026874123986377486 Centerline is valid? [True, True] Translation: X:185.60, Y:-126.90, Z:-13.28 [[ 7.92024111e-01 6.07088704e-01 6.43514828e-02 1.85598062e+02] [-6.05105216e-01 7.94634064e-01 -4.90345075e-02 -1.26897800e+02] [-8.09041758e-02 -1.02905679e-04 9.96721879e-01 -1.32796618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20864 meters 0.026934959393605195 Centerline is valid? [True, True] Translation: X:185.63, Y:-126.92, Z:-13.28 [[ 7.93656984e-01 6.04941538e-01 6.44540683e-02 1.85626637e+02] [-6.02940321e-01 7.96269873e-01 -4.91656350e-02 -1.26915390e+02] [-8.10651676e-02 1.58693030e-04 9.96708791e-01 -1.32817328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23864 meters 0.027045525060399415 Centerline is valid? [True, True] Translation: X:185.65, Y:-126.94, Z:-13.28 [[ 7.94446055e-01 6.03921568e-01 6.42977840e-02 1.85653527e+02] [-6.01922478e-01 7.97043692e-01 -4.90987125e-02 -1.26935222e+02] [-8.08999146e-02 3.03996977e-04 9.96722184e-01 -1.32839418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26864 meters 0.026958090556825406 Centerline is valid? [True, True] Translation: X:185.68, Y:-126.96, Z:-13.29 [[ 7.95088774e-01 6.03118134e-01 6.38933346e-02 1.85679965e+02] [-6.01137411e-01 7.97651764e-01 -4.88413457e-02 -1.26955571e+02] [-8.04217324e-02 4.24531923e-04 9.96760836e-01 -1.32860051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29864 meters 0.027080812468775927 Centerline is valid? [True, True] Translation: X:185.71, Y:-126.97, Z:-13.29 [[ 7.95915884e-01 6.02120638e-01 6.29971610e-02 1.85707897e+02] [-6.00188038e-01 7.98404926e-01 -4.82067795e-02 -1.26974233e+02] [-7.93235404e-02 5.58399047e-04 9.96848767e-01 -1.32867448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32864 meters 0.027175983731720012 Centerline is valid? [True, True] Translation: X:185.73, Y:-126.99, Z:-13.29 [[ 7.96269880e-01 6.01554039e-01 6.39297762e-02 1.85734062e+02] [-5.99557823e-01 7.98831833e-01 -4.89705985e-02 -1.26992882e+02] [-8.05276016e-02 6.64215164e-04 9.96752158e-01 -1.32887935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35864 meters 0.027305041925699488 Centerline is valid? [True, True] Translation: X:185.76, Y:-127.01, Z:-13.29 [[ 7.96326843e-01 6.01451914e-01 6.41806361e-02 1.85758763e+02] [-5.99436720e-01 7.98908691e-01 -4.91987991e-02 -1.27013783e+02] [-8.08651798e-02 7.06094384e-04 9.96724799e-01 -1.32901548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38864 meters 0.02737949736239912 Centerline is valid? [True, True] Translation: X:185.78, Y:-127.03, Z:-13.29 [[ 7.96304584e-01 6.01482350e-01 6.41715878e-02 1.85784848e+02] [-5.99465607e-01 7.98885760e-01 -4.92191856e-02 -1.27034667e+02] [-8.08702392e-02 7.24803263e-04 9.96724375e-01 -1.32925405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41864 meters 0.02745832886692072 Centerline is valid? [True, True] Translation: X:185.81, Y:-127.05, Z:-13.29 [[ 7.96972017e-01 6.00722676e-01 6.29910390e-02 1.85810442e+02] [-5.98773340e-01 7.99457056e-01 -4.83621975e-02 -1.27054132e+02] [-7.94108993e-02 8.25963319e-04 9.96841626e-01 -1.32947679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44864 meters 0.02736863361338743 Centerline is valid? [True, True] Translation: X:185.84, Y:-127.07, Z:-13.30 [[ 7.97260876e-01 6.00418493e-01 6.22312533e-02 1.85836986e+02] [-5.98511502e-01 7.99685473e-01 -4.78239045e-02 -1.27074154e+02] [-7.84797859e-02 8.82007069e-04 9.96915315e-01 -1.32966645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47864 meters 0.02732767681205162 Centerline is valid? [True, True] Translation: X:185.86, Y:-127.10, Z:-13.30 [[ 7.97543485e-01 6.00081985e-01 6.18546680e-02 1.85860912e+02] [-5.98193773e-01 7.99937949e-01 -4.75761342e-02 -1.27096442e+02] [-7.80294773e-02 9.42958607e-04 9.96950606e-01 -1.32981318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50864 meters 0.02753964813601827 Centerline is valid? [True, True] Translation: X:185.89, Y:-127.12, Z:-13.30 [[ 7.97693884e-01 5.99973964e-01 6.09566183e-02 1.85886722e+02] [-5.98137705e-01 8.00018947e-01 -4.69145018e-02 -1.27116871e+02] [-7.69139292e-02 9.62959418e-04 9.97037271e-01 -1.33001795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53864000000002 meters 0.027343849417849453 Centerline is valid? [True, True] Translation: X:185.91, Y:-127.14, Z:-13.30 [[ 7.96974843e-01 6.00907593e-01 6.11650670e-02 1.85911555e+02] [-5.99057621e-01 7.99317976e-01 -4.71247315e-02 -1.27138124e+02] [-7.72079465e-02 9.15825959e-04 9.97014591e-01 -1.33011003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864000000002 meters 0.02751301079985792 Centerline is valid? [True, True] Translation: X:185.94, Y:-127.16, Z:-13.30 [[ 7.96723506e-01 6.01229538e-01 6.12755856e-02 1.85937281e+02] [-5.99369998e-01 7.99075832e-01 -4.72590740e-02 -1.27158514e+02] [-7.73773908e-02 9.25667586e-04 9.97001446e-01 -1.33023728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59864000000002 meters 0.02753595583020924 Centerline is valid? [True, True] Translation: X:185.96, Y:-127.18, Z:-13.30 [[ 7.95957247e-01 6.02144602e-01 6.22409719e-02 1.85963329e+02] [-6.00224708e-01 7.98386551e-01 -4.80542847e-02 -1.27179467e+02] [-7.86279830e-02 8.90586947e-04 9.96903630e-01 -1.33038422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864000000002 meters 0.0273131581608962 Centerline is valid? [True, True] Translation: X:185.99, Y:-127.20, Z:-13.31 [[ 7.94545188e-01 6.03915226e-01 6.31216544e-02 1.85988384e+02] [-6.01941972e-01 7.97048186e-01 -4.87857593e-02 -1.27201491e+02] [-7.97734630e-02 7.66917117e-04 9.96812724e-01 -1.33056978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65864000000002 meters 0.027285796399466503 Centerline is valid? [True, True] Translation: X:186.01, Y:-127.22, Z:-13.31 [[ 7.92916676e-01 6.06094375e-01 6.27116690e-02 1.86012983e+02] [-6.04149628e-01 7.95392525e-01 -4.85176134e-02 -1.27222677e+02] [-7.92866453e-02 5.83193209e-04 9.96851688e-01 -1.33066419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters 0.02731946133298858 Centerline is valid? [True, True] Translation: X:186.04, Y:-127.24, Z:-13.31 [[ 7.92163726e-01 6.07025531e-01 6.32189573e-02 1.86038846e+02] [-6.05048295e-01 7.94682152e-01 -4.89575176e-02 -1.27243238e+02] [-7.99574401e-02 5.31847268e-04 9.96798137e-01 -1.33093964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71864 meters 0.027133954638741693 Centerline is valid? [True, True] Translation: X:186.06, Y:-127.26, Z:-13.31 [[ 7.91354026e-01 6.08125083e-01 6.27908428e-02 1.86063821e+02] [-6.06174092e-01 7.93841089e-01 -4.86754106e-02 -1.27263234e+02] [-7.94466891e-02 4.57300005e-04 9.96839011e-01 -1.33104609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters 0.02711583606790557 Centerline is valid? [True, True] Translation: X:186.09, Y:-127.28, Z:-13.31 [[ 7.90410886e-01 6.09345836e-01 6.28353677e-02 1.86089244e+02] [-6.07392177e-01 7.92904480e-01 -4.87568422e-02 -1.27284400e+02] [-7.95322233e-02 3.72228103e-04 9.96832226e-01 -1.33120837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77864 meters 0.027081295583707744 Centerline is valid? [True, True] Translation: X:186.11, Y:-127.30, Z:-13.31 [[ 7.90107197e-01 6.09825297e-01 6.19977723e-02 1.86113991e+02] [-6.07921091e-01 7.92535790e-01 -4.81556671e-02 -1.27304334e+02] [-7.85019974e-02 3.58385803e-04 9.96913892e-01 -1.33132837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80864 meters 0.027140157205164703 Centerline is valid? [True, True] Translation: X:186.14, Y:-127.33, Z:-13.32 [[ 7.89899139e-01 6.10113059e-01 6.18175164e-02 1.86138848e+02] [-6.08217191e-01 7.92314282e-01 -4.80617032e-02 -1.27325661e+02] [-7.83019739e-02 3.65421806e-04 9.96929620e-01 -1.33153773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83864 meters 0.027221964866302344 Centerline is valid? [True, True] Translation: X:186.16, Y:-127.35, Z:-13.32 [[ 7.89629225e-01 6.10372089e-01 6.27024713e-02 1.86164317e+02] [-6.08418278e-01 7.92114742e-01 -4.87999430e-02 -1.27345385e+02] [-7.94536750e-02 3.84531598e-04 9.96838485e-01 -1.33167376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86864 meters 0.027337847147336496 Centerline is valid? [True, True] Translation: X:186.19, Y:-127.36, Z:-13.32 [[ 7.89217792e-01 6.10805872e-01 6.36511038e-02 1.86190435e+02] [-6.08790043e-01 7.91780298e-01 -4.95847163e-02 -1.27364363e+02] [-8.06843258e-02 3.82982144e-04 9.96739631e-01 -1.33171640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89864 meters 0.027343075325152132 Centerline is valid? [True, True] Translation: X:186.22, Y:-127.38, Z:-13.32 [[ 7.88919923e-01 6.11088560e-01 6.46229544e-02 1.86216004e+02] [-6.09007658e-01 7.91562135e-01 -5.03890699e-02 -1.27384091e+02] [-8.19452679e-02 3.97067089e-04 9.96636752e-01 -1.33203347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92864 meters 0.027349541257082995 Centerline is valid? [True, True] Translation: X:186.24, Y:-127.40, Z:-13.32 [[ 7.88666991e-01 6.11507906e-01 6.37374189e-02 1.86241224e+02] [-6.09482154e-01 7.91238231e-01 -4.97349462e-02 -1.27404888e+02] [-8.08447953e-02 3.77490960e-04 9.96726631e-01 -1.33219112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95864 meters 0.02721617895644576 Centerline is valid? [True, True] Translation: X:186.27, Y:-127.42, Z:-13.32 [[ 7.88181016e-01 6.12240103e-01 6.27115875e-02 1.86267049e+02] [-6.10279489e-01 7.90671839e-01 -4.89590595e-02 -1.27424263e+02] [-7.95589858e-02 3.17005702e-04 9.96830110e-01 -1.33233925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98864 meters 0.02727219929972163 Centerline is valid? [True, True] Translation: X:186.29, Y:-127.44, Z:-13.32 [[ 7.87602341e-01 6.13022025e-01 6.23421979e-02 1.86293533e+02] [-6.11083223e-01 7.90065771e-01 -4.87172665e-02 -1.27443634e+02] [-7.91191940e-02 2.73561905e-04 9.96865125e-01 -1.33248861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01864 meters 0.02725095460979353 Centerline is valid? [True, True] Translation: X:186.32, Y:-127.46, Z:-13.33 [[ 7.86392366e-01 6.14542009e-01 6.26511550e-02 1.86320491e+02] [-6.12584557e-01 7.88884081e-01 -4.90108827e-02 -1.27462839e+02] [-7.95437451e-02 1.62653905e-04 9.96831363e-01 -1.33262622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04864 meters 0.02733042700008694 Centerline is valid? [True, True] Translation: X:186.35, Y:-127.48, Z:-13.33 [[ 7.85899418e-01 6.15053316e-01 6.38084868e-02 1.86346143e+02] [-6.13020224e-01 7.88485507e-01 -4.99680902e-02 -1.27481960e+02] [-8.10451066e-02 1.54000120e-04 9.96710423e-01 -1.33289994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07864 meters 0.027400854373344028 Centerline is valid? [True, True] Translation: X:186.37, Y:-127.50, Z:-13.33 [[ 7.86423282e-01 6.14470720e-01 6.29615365e-02 1.86372820e+02] [-6.12485828e-01 7.88939587e-01 -4.93501529e-02 -1.27499386e+02] [-7.99970727e-02 2.47060417e-04 9.96795068e-01 -1.33303249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10864 meters 0.027381849189246278 Centerline is valid? [True, True] Translation: X:186.40, Y:-127.52, Z:-13.33 [[ 7.86718928e-01 6.14041424e-01 6.34543844e-02 1.86399522e+02] [-6.12019981e-01 7.89273730e-01 -4.97847576e-02 -1.27518282e+02] [-8.06527821e-02 3.31259940e-04 9.96742203e-01 -1.33320973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13864 meters 0.027554097139994738 Centerline is valid? [True, True] Translation: X:186.43, Y:-127.54, Z:-13.33 [[ 7.87016811e-01 6.13637222e-01 6.36702374e-02 1.86426447e+02] [-6.11596355e-01 7.89587985e-01 -5.00071187e-02 -1.27537676e+02] [-8.09594839e-02 4.15957922e-04 9.96717306e-01 -1.33341491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16864 meters 0.027669767600826 Centerline is valid? [True, True] Translation: X:186.45, Y:-127.56, Z:-13.34 [[ 7.87389493e-01 6.13080975e-01 6.44166480e-02 1.86452649e+02] [-6.10985784e-01 7.90019904e-01 -5.06450744e-02 -1.27557224e+02] [-8.19399656e-02 5.19743218e-04 9.96637132e-01 -1.33350627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19864 meters 0.027687699993343095 Centerline is valid? [True, True] Translation: X:186.48, Y:-127.58, Z:-13.34 [[ 7.87849865e-01 6.12549526e-01 6.38409531e-02 1.86479472e+02] [-6.10486047e-01 7.90431976e-01 -5.02402019e-02 -1.27576736e+02] [-8.12365425e-02 6.07725188e-04 9.96694665e-01 -1.33368512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22864 meters 0.027780507418465644 Centerline is valid? [True, True] Translation: X:186.51, Y:-127.60, Z:-13.34 [[ 7.88842278e-01 6.11361066e-01 6.29722825e-02 1.86506037e+02] [-6.09345530e-01 7.91351419e-01 -4.96080321e-02 -1.27595809e+02] [-8.01616245e-02 7.61034215e-04 9.96781588e-01 -1.33389834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25864 meters 0.027654977960816514 Centerline is valid? [True, True] Translation: X:186.53, Y:-127.62, Z:-13.34 [[ 7.90659998e-01 6.09174786e-01 6.13420505e-02 1.86531232e+02] [-6.07251942e-01 7.93035362e-01 -4.83734768e-02 -1.27616906e+02] [-7.81143176e-02 9.96893800e-04 9.96943910e-01 -1.33413905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864000000002 meters 0.027654977960816514 Centerline is valid? [True, True] Translation: X:186.56, Y:-127.64, Z:-13.34 [[ 7.90352099e-01 6.09576656e-01 6.13176934e-02 1.86556990e+02] [-6.07652625e-01 7.92726502e-01 -4.84043365e-02 -1.27636803e+02] [-7.81143142e-02 9.96611536e-04 9.96943911e-01 -1.33432035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31864000000002 meters 0.027764341478820065 Centerline is valid? [True, True] Translation: X:186.58, Y:-127.66, Z:-13.35 [[ 7.90936564e-01 6.08757763e-01 6.19139493e-02 1.86581493e+02] [-6.06789656e-01 7.93355352e-01 -4.89244156e-02 -1.27657705e+02] [-7.89028809e-02 1.12736519e-03 9.96881670e-01 -1.33456310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864000000002 meters 0.027914826851482822 Centerline is valid? [True, True] Translation: X:186.61, Y:-127.68, Z:-13.35 [[ 7.91019609e-01 6.08446809e-01 6.38784644e-02 1.86605573e+02] [-6.06346771e-01 7.93593700e-01 -5.05235769e-02 -1.27679001e+02] [-8.14344561e-02 1.23263939e-03 9.96677937e-01 -1.33477200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37864000000002 meters 0.02789214869631211 Centerline is valid? [True, True] Translation: X:186.63, Y:-127.70, Z:-13.35 [[ 7.90521844e-01 6.09121711e-01 6.36078240e-02 1.86631030e+02] [-6.07037789e-01 7.93075855e-01 -5.03568372e-02 -1.27700076e+02] [-8.11192722e-02 1.19582694e-03 9.96703684e-01 -1.33484898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864000000002 meters 0.027594911665176476 Centerline is valid? [True, True] Translation: X:186.65, Y:-127.72, Z:-13.35 [[ 7.89211292e-01 6.10876222e-01 6.30537751e-02 1.86654444e+02] [-6.08830128e-01 7.91725425e-01 -4.99672667e-02 -1.27722304e+02] [-8.04450919e-02 1.04569313e-03 9.96758493e-01 -1.33504701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43864 meters 0.027451543055539394 Centerline is valid? [True, True] Translation: X:186.68, Y:-127.74, Z:-13.35 [[ 7.88493913e-01 6.11865069e-01 6.24378546e-02 1.86679415e+02] [-6.09858350e-01 7.90961563e-01 -4.95237175e-02 -1.27743143e+02] [-7.96877759e-02 9.70902835e-04 9.96819400e-01 -1.33518164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters 0.02752398019179391 Centerline is valid? [True, True] Translation: X:186.71, Y:-127.76, Z:-13.35 [[ 7.87684937e-01 6.12857536e-01 6.29132854e-02 1.86705022e+02] [-6.10819405e-01 7.90192890e-01 -4.99484839e-02 -1.27763639e+02] [-8.03249356e-02 9.15012842e-04 9.96768312e-01 -1.33538364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49864 meters 0.02727894117549654 Centerline is valid? [True, True] Translation: X:186.73, Y:-127.78, Z:-13.36 [[ 7.86335632e-01 6.14471080e-01 6.40434640e-02 1.86730908e+02] [-6.12359872e-01 7.88938934e-01 -5.08993605e-02 -1.27784365e+02] [-8.18025673e-02 8.06333399e-04 9.96648228e-01 -1.33553015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52864 meters 0.027265588112312528 Centerline is valid? [True, True] Translation: X:186.76, Y:-127.80, Z:-13.36 [[ 7.85441002e-01 6.15606155e-01 6.41209334e-02 1.86756484e+02] [-6.13489237e-01 7.88053633e-01 -5.10140066e-02 -1.27804683e+02] [-8.19352710e-02 7.30989996e-04 9.96637385e-01 -1.33581914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55864 meters 0.02696280058261299 Centerline is valid? [True, True] Translation: X:186.78, Y:-127.82, Z:-13.36 [[ 7.84077635e-01 6.17562228e-01 6.19609365e-02 1.86782831e+02] [-6.15588481e-01 7.86521838e-01 -4.93378259e-02 -1.27824116e+02] [-7.92028073e-02 5.42247035e-04 9.96858376e-01 -1.33593746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58864 meters 0.027010324056100675 Centerline is valid? [True, True] Translation: X:186.81, Y:-127.84, Z:-13.36 [[ 7.82130758e-01 6.19969995e-01 6.25194557e-02 1.86809232e+02] [-6.17965433e-01 7.84625451e-01 -4.98159144e-02 -1.27843249e+02] [-7.99387284e-02 3.27696360e-04 9.96799725e-01 -1.33614794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61864 meters 0.026986909490383345 Centerline is valid? [True, True] Translation: X:186.84, Y:-127.86, Z:-13.36 [[ 7.79482257e-01 6.23120365e-01 6.42527940e-02 1.86836357e+02] [-6.21009298e-01 7.82125954e-01 -5.12488422e-02 -1.27860091e+02] [-8.21879751e-02 4.59807114e-05 9.96616844e-01 -1.33632210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64864 meters 0.02697668604276201 Centerline is valid? [True, True] Translation: X:186.86, Y:-127.88, Z:-13.37 [[ 7.77834876e-01 6.25182548e-01 6.41847929e-02 1.86862968e+02] [-6.23079039e-01 7.80478548e-01 -5.12420502e-02 -1.27878917e+02] [-8.21304894e-02 -1.34345298e-04 9.96621575e-01 -1.33657331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67864 meters 0.026906226529279553 Centerline is valid? [True, True] Translation: X:186.89, Y:-127.90, Z:-13.37 [[ 7.76721075e-01 6.26533167e-01 6.45024240e-02 1.86892622e+02] [-6.24408848e-01 7.79394724e-01 -5.15505112e-02 -1.27895307e+02] [-8.25709540e-02 -2.35515752e-04 9.96585161e-01 -1.33667790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70864 meters 0.02687273233591031 Centerline is valid? [True, True] Translation: X:186.92, Y:-127.91, Z:-13.37 [[ 7.76569314e-01 6.26784664e-01 6.38833771e-02 1.86919627e+02] [-6.24697621e-01 7.79192490e-01 -5.11071993e-02 -1.27912519e+02] [-8.18106565e-02 -2.19510995e-04 9.96647866e-01 -1.33687167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73864 meters 0.026986210065713605 Centerline is valid? [True, True] Translation: X:186.95, Y:-127.93, Z:-13.37 [[ 7.76114422e-01 6.27340317e-01 6.39572607e-02 1.86947945e+02] [-6.25246254e-01 7.78745189e-01 -5.12157450e-02 -1.27930499e+02] [-8.19361108e-02 -2.39759305e-04 9.96637555e-01 -1.33713928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76864 meters 0.026999659733239277 Centerline is valid? [True, True] Translation: X:186.98, Y:-127.95, Z:-13.37 [[ 7.76425379e-01 6.26985804e-01 6.36587246e-02 1.86977243e+02] [-6.24905656e-01 7.79030665e-01 -5.10308223e-02 -1.27946836e+02] [-8.15876997e-02 -1.59071541e-04 9.96666154e-01 -1.33744388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79864 meters 0.02707452764959922 Centerline is valid? [True, True] Translation: X:187.00, Y:-127.96, Z:-13.38 [[ 7.76592132e-01 6.26711147e-01 6.43257309e-02 1.87004759e+02] [-6.24581591e-01 7.79251648e-01 -5.16207904e-02 -1.27964828e+02] [-8.24772565e-02 -8.83676247e-05 9.96592943e-01 -1.33763185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82864 meters 0.027119636671921108 Centerline is valid? [True, True] Translation: X:187.03, Y:-127.98, Z:-13.38 [[ 7.77774775e-01 6.25285942e-01 6.39053245e-02 1.87033549e+02] [-6.23175653e-01 7.80395721e-01 -5.13285872e-02 -1.27981042e+02] [-8.19664858e-02 9.78380115e-05 9.96635081e-01 -1.33790417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85864 meters 0.027091331921476218 Centerline is valid? [True, True] Translation: X:187.06, Y:-128.00, Z:-13.38 [[ 7.77437582e-01 6.25722641e-01 6.37336801e-02 1.87060561e+02] [-6.23623107e-01 7.80045621e-01 -5.12157204e-02 -1.27999681e+02] [-8.17620139e-02 7.12302556e-05 9.96651879e-01 -1.33807390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88864 meters 0.027054225375704097 Centerline is valid? [True, True] Translation: X:187.09, Y:-128.02, Z:-13.38 [[ 7.77168798e-01 6.26041222e-01 6.38830881e-02 1.87089950e+02] [-6.23931016e-01 7.79789963e-01 -5.13585599e-02 -1.28016065e+02] [-8.19679664e-02 5.56301887e-05 9.96634963e-01 -1.33828291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91864 meters 0.027121556980618883 Centerline is valid? [True, True] Translation: X:187.12, Y:-128.03, Z:-13.39 [[ 7.76999901e-01 6.26214441e-01 6.42388435e-02 1.87116718e+02] [-6.24079684e-01 7.79650865e-01 -5.16631023e-02 -1.28034717e+02] [-8.24360506e-02 5.20682186e-05 9.96596355e-01 -1.33854449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94864 meters 0.026957907127431277 Centerline is valid? [True, True] Translation: X:187.14, Y:-128.05, Z:-13.39 [[ 7.78246022e-01 6.24677326e-01 6.41199483e-02 1.87143849e+02] [-6.22543959e-01 7.80882954e-01 -5.15832552e-02 -1.28052844e+02] [-8.22930646e-02 2.26976682e-04 9.96608148e-01 -1.33874001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97864 meters 0.02719450882540872 Centerline is valid? [True, True] Translation: X:187.17, Y:-128.07, Z:-13.39 [[ 7.79376799e-01 6.23242371e-01 6.43486788e-02 1.87169931e+02] [-6.21087318e-01 7.82028639e-01 -5.17856384e-02 -1.28071234e+02] [-8.25975137e-02 3.94376752e-04 9.96582909e-01 -1.33892116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00864 meters 0.02735762526070626 Centerline is valid? [True, True] Translation: X:187.20, Y:-128.09, Z:-13.39 [[ 7.80937886e-01 6.21156687e-01 6.55773381e-02 1.87196671e+02] [-6.18909869e-01 7.83686138e-01 -5.27883620e-02 -1.28088607e+02] [-8.41818949e-02 6.37970120e-04 9.96450200e-01 -1.33910069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03864000000002 meters 0.02749064352385447 Centerline is valid? [True, True] Translation: X:187.22, Y:-128.11, Z:-13.39 [[ 7.83978688e-01 6.17452642e-01 6.42623662e-02 1.87224923e+02] [-6.15281540e-01 7.86607386e-01 -5.17440434e-02 -1.28105357e+02] [-8.24987483e-02 1.02677955e-03 9.96590639e-01 -1.33924244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864000000002 meters 0.027663769521656206 Centerline is valid? [True, True] Translation: X:187.25, Y:-128.12, Z:-13.39 [[ 7.85672104e-01 6.15294826e-01 6.42776934e-02 1.87251233e+02] [-6.13114180e-01 7.88296057e-01 -5.17718867e-02 -1.28124542e+02] [-8.25248262e-02 1.26616191e-03 9.96588205e-01 -1.33944685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09864000000002 meters 0.028275901933205717 Centerline is valid? [True, True] Translation: X:187.28, Y:-128.14, Z:-13.40 [[ 7.88857396e-01 6.11157629e-01 6.47330035e-02 1.87278205e+02] [-6.08930868e-01 7.91507034e-01 -5.21518201e-02 -1.28142314e+02] [-8.31096104e-02 1.72242492e-03 9.96538923e-01 -1.33968178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864000000002 meters 0.02863996740131929 Centerline is valid? [True, True] Translation: X:187.30, Y:-128.16, Z:-13.40 [[ 7.89794562e-01 6.09867090e-01 6.54727605e-02 1.87304255e+02] [-6.07583494e-01 7.92501457e-01 -5.27611450e-02 -1.28160739e+02] [-8.40645440e-02 1.89029678e-03 9.96458519e-01 -1.33990615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15864000000002 meters 0.028722933679778632 Centerline is valid? [True, True] Translation: X:187.33, Y:-128.18, Z:-13.40 [[ 7.90878050e-01 6.08528726e-01 6.48436649e-02 1.87331258e+02] [-6.06283307e-01 7.93529266e-01 -5.22671476e-02 -1.28178289e+02] [-8.32614065e-02 2.02330809e-03 9.96525687e-01 -1.34002572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters 0.029064818991176165 Centerline is valid? [True, True] Translation: X:187.36, Y:-128.20, Z:-13.40 [[ 7.91829915e-01 6.07288449e-01 6.48546504e-02 1.87356326e+02] [-6.05037121e-01 7.94478482e-01 -5.22878925e-02 -1.28197531e+02] [-8.32794573e-02 2.16364647e-03 9.96523884e-01 -1.34025608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21864 meters 0.029824022273916544 Centerline is valid? [True, True] Translation: X:187.38, Y:-128.22, Z:-13.40 [[ 7.94165983e-01 6.04229386e-01 6.48632377e-02 1.87381769e+02] [-6.01966364e-01 7.96806520e-01 -5.23055194e-02 -1.28217058e+02] [-8.32879826e-02 2.49377696e-03 9.96522400e-01 -1.34047448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters 0.03002149473388624 Centerline is valid? [True, True] Translation: X:187.41, Y:-128.24, Z:-13.41 [[ 7.95473596e-01 6.02491268e-01 6.50079225e-02 1.87406475e+02] [-6.00211343e-01 7.98120936e-01 -5.24339031e-02 -1.28236676e+02] [-8.34751527e-02 2.69129296e-03 9.96506225e-01 -1.34069210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27864 meters 0.030672397719039995 Centerline is valid? [True, True] Translation: X:187.43, Y:-128.26, Z:-13.41 [[ 7.97348201e-01 5.99997189e-01 6.51092884e-02 1.87429724e+02] [-5.97701029e-01 7.99996613e-01 -5.25252176e-02 -1.28258324e+02] [-8.36021931e-02 2.96499908e-03 9.96494798e-01 -1.34092402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30864 meters 0.031023860184978182 Centerline is valid? [True, True] Translation: X:187.45, Y:-128.28, Z:-13.41 [[ 7.98494292e-01 5.98564065e-01 6.42489344e-02 1.87453743e+02] [-5.96322814e-01 8.01069012e-01 -5.18414955e-02 -1.28280073e+02] [-8.24982866e-02 3.08203290e-03 9.96586441e-01 -1.34104543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33864 meters 0.031625402025404016 Centerline is valid? [True, True] Translation: X:187.48, Y:-128.30, Z:-13.41 [[ 7.99951841e-01 5.96577484e-01 6.45937908e-02 1.87477511e+02] [-5.94304557e-01 8.02548638e-01 -5.21323038e-02 -1.28302023e+02] [-8.29406174e-02 3.31494812e-03 9.96548978e-01 -1.34130611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36864 meters 0.03163698283565196 Centerline is valid? [True, True] Translation: X:187.50, Y:-128.32, Z:-13.42 [[ 7.99801571e-01 5.96731311e-01 6.50322165e-02 1.87502086e+02] [-5.94426814e-01 8.02434198e-01 -5.24987729e-02 -1.28322504e+02] [-8.35117361e-02 3.33170783e-03 9.96501224e-01 -1.34150373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39864 meters 0.031065835830147888 Centerline is valid? [True, True] Translation: X:187.52, Y:-128.35, Z:-13.42 [[ 7.99066777e-01 5.97807325e-01 6.41770100e-02 1.87524657e+02] [-5.95565590e-01 8.01633487e-01 -5.18206518e-02 -1.28345631e+02] [-8.24252056e-02 3.18654236e-03 9.96592159e-01 -1.34160449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42864 meters 0.03087034574352815 Centerline is valid? [True, True] Translation: X:187.55, Y:-128.37, Z:-13.42 [[ 7.98504838e-01 5.98583368e-01 6.39372750e-02 1.87548256e+02] [-5.96359840e-01 8.01054500e-01 -5.16394162e-02 -1.28368012e+02] [-8.21277375e-02 3.10470062e-03 9.96616975e-01 -1.34171702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45864 meters 0.0300438838073393 Centerline is valid? [True, True] Translation: X:187.57, Y:-128.39, Z:-13.42 [[ 7.96912787e-01 6.00835166e-01 6.26666836e-02 1.87567609e+02] [-5.98705312e-01 7.99367954e-01 -5.06243251e-02 -1.28393639e+02] [-8.05106135e-02 2.82429562e-03 9.96749750e-01 -1.34178497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48864 meters 0.02995629121744892 Centerline is valid? [True, True] Translation: X:187.59, Y:-128.42, Z:-13.42 [[ 7.95873276e-01 6.02180677e-01 6.29615765e-02 1.87591005e+02] [-6.00034052e-01 7.98355242e-01 -5.08728213e-02 -1.28416140e+02] [-8.09003346e-02 2.70922910e-03 9.96718514e-01 -1.34196783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51864 meters 0.029337882598170592 Centerline is valid? [True, True] Translation: X:187.61, Y:-128.44, Z:-13.42 [[ 7.94090097e-01 6.04416066e-01 6.40479330e-02 1.87613176e+02] [-6.02199924e-01 7.96664767e-01 -5.17735449e-02 -1.28440484e+02] [-8.23174940e-02 2.54319892e-03 9.96602911e-01 -1.34227690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54864 meters 0.02923794965939777 Centerline is valid? [True, True] Translation: X:187.64, Y:-128.46, Z:-13.42 [[ 7.93465242e-01 6.05308126e-01 6.33638900e-02 1.87636617e+02] [-6.03139176e-01 7.95987476e-01 -5.12549853e-02 -1.28463458e+02] [-8.14619219e-02 2.45180494e-03 9.96673439e-01 -1.34244662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57864 meters 0.028860963739810192 Centerline is valid? [True, True] Translation: X:187.66, Y:-128.49, Z:-13.43 [[ 7.92877745e-01 6.06093095e-01 6.32142460e-02 1.87659402e+02] [-6.03935602e-01 7.95390159e-01 -5.11496312e-02 -1.28486034e+02] [-8.12814275e-02 2.37807061e-03 9.96688354e-01 -1.34265619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60864 meters 0.028348476753786014 Centerline is valid? [True, True] Translation: X:187.68, Y:-128.51, Z:-13.43 [[ 7.90921480e-01 6.08751020e-01 6.21724007e-02 1.87681357e+02] [-6.06670428e-01 7.93358576e-01 -5.03305196e-02 -1.28509862e+02] [-7.99637625e-02 2.08933210e-03 9.96795582e-01 -1.34264052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63864 meters 0.02827554143193617 Centerline is valid? [True, True] Translation: X:187.71, Y:-128.53, Z:-13.43 [[ 7.89651021e-01 6.10387071e-01 6.22807197e-02 1.87705116e+02] [-6.08300729e-01 7.92100860e-01 -5.04623584e-02 -1.28531423e+02] [-8.01341828e-02 1.96224565e-03 9.96782154e-01 -1.34287574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66864 meters 0.02784421536143283 Centerline is valid? [True, True] Translation: X:187.73, Y:-128.56, Z:-13.43 [[ 7.87690358e-01 6.12796486e-01 6.34379029e-02 1.87726389e+02] [-6.10635790e-01 7.90238748e-01 -5.14456435e-02 -1.28555530e+02] [-8.16567985e-02 1.78578340e-03 9.96658908e-01 -1.34308764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69864 meters 0.027549664259555413 Centerline is valid? [True, True] Translation: X:187.75, Y:-128.58, Z:-13.43 [[ 7.85832466e-01 6.15019588e-01 6.49480016e-02 1.87748462e+02] [-6.12758046e-01 7.88510143e-01 -5.27193560e-02 -1.28580365e+02] [-8.36355946e-02 1.63117099e-03 9.96495071e-01 -1.34325043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72864 meters 0.027749793898565054 Centerline is valid? [True, True] Translation: X:187.77, Y:-128.60, Z:-13.44 [[ 7.85665050e-01 6.15292060e-01 6.43902928e-02 1.87772986e+02] [-6.13065799e-01 7.88297548e-01 -5.23192288e-02 -1.28602795e+02] [-8.29503160e-02 1.62990322e-03 9.96552351e-01 -1.34351435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75864 meters 0.027793620629565554 Centerline is valid? [True, True] Translation: X:187.80, Y:-128.63, Z:-13.44 [[ 7.86292664e-01 6.14466815e-01 6.46094442e-02 1.87795141e+02] [-6.12218311e-01 7.88940698e-01 -5.25482152e-02 -1.28626121e+02] [-8.32621544e-02 1.76319124e-03 9.96526118e-01 -1.34368542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864000000002 meters 0.027896726965778374 Centerline is valid? [True, True] Translation: X:187.82, Y:-128.65, Z:-13.44 [[ 7.86880816e-01 6.13812176e-01 6.36646986e-02 1.87819978e+02] [-6.11623064e-01 7.89449946e-01 -5.18267320e-02 -1.28648494e+02] [-8.20719720e-02 1.84266311e-03 9.96624702e-01 -1.34380209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81864000000002 meters 0.02792429398290624 Centerline is valid? [True, True] Translation: X:187.84, Y:-128.67, Z:-13.44 [[ 7.87400547e-01 6.13153348e-01 6.35873360e-02 1.87844195e+02] [-6.10963315e-01 7.89961502e-01 -5.18136443e-02 -1.28669960e+02] [-8.20012570e-02 1.94856233e-03 9.96630321e-01 -1.34398981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864000000002 meters 0.02819673254747234 Centerline is valid? [True, True] Translation: X:187.87, Y:-128.69, Z:-13.44 [[ 7.88795770e-01 6.11449244e-01 6.26981242e-02 1.87866499e+02] [-6.09311147e-01 7.91280784e-01 -5.11336129e-02 -1.28693541e+02] [-8.08774298e-02 2.13131157e-03 9.96721776e-01 -1.34422221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87864000000002 meters 0.02840697227673335 Centerline is valid? [True, True] Translation: X:187.89, Y:-128.72, Z:-13.44 [[ 7.89251011e-01 6.10888042e-01 6.24391020e-02 1.87890148e+02] [-6.08762270e-01 7.91713897e-01 -5.09667069e-02 -1.28715661e+02] [-8.05688565e-02 2.21495548e-03 9.96746584e-01 -1.34430258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864000000002 meters 0.02888932198418563 Centerline is valid? [True, True] Translation: X:187.91, Y:-128.74, Z:-13.44 [[ 7.90085850e-01 6.09701923e-01 6.34658544e-02 1.87911902e+02] [-6.07498068e-01 7.92627124e-01 -5.18492071e-02 -1.28739023e+02] [-8.19173189e-02 2.40994095e-03 9.96636215e-01 -1.34448426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93864 meters 0.028745048886483052 Centerline is valid? [True, True] Translation: X:187.94, Y:-128.76, Z:-13.45 [[ 7.89977630e-01 6.09826390e-01 6.36169581e-02 1.87936148e+02] [-6.07608720e-01 7.92531279e-01 -5.20174557e-02 -1.28760994e+02] [-8.21400464e-02 2.43840798e-03 9.96617814e-01 -1.34462076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters 0.0285683568980718 Centerline is valid? [True, True] Translation: X:187.96, Y:-128.78, Z:-13.45 [[ 7.89451952e-01 6.10416110e-01 6.44809109e-02 1.87959772e+02] [-6.08135439e-01 7.92077125e-01 -5.27741932e-02 -1.28782648e+02] [-8.32880722e-02 2.44956273e-03 9.96522502e-01 -1.34480533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99864 meters 0.028012736511970487 Centerline is valid? [True, True] Translation: X:187.98, Y:-128.81, Z:-13.45 [[ 7.87002650e-01 6.13670060e-01 6.35286217e-02 1.87981466e+02] [-6.11463235e-01 7.89559755e-01 -5.20394687e-02 -1.28806872e+02] [-8.20947068e-02 2.10978320e-03 9.96622300e-01 -1.34507705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02864 meters 0.02721979191491847 Centerline is valid? [True, True] Translation: X:188.00, Y:-128.83, Z:-13.45 [[ 7.83771606e-01 6.17907883e-01 6.23852356e-02 1.88000742e+02] [-6.15790634e-01 7.86248743e-01 -5.11352075e-02 -1.28832385e+02] [-8.06471609e-02 1.66207995e-03 9.96741327e-01 -1.34521180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05864 meters 0.02703421710441373 Centerline is valid? [True, True] Translation: X:188.02, Y:-128.85, Z:-13.45 [[ 7.81964492e-01 6.20124606e-01 6.30635116e-02 1.88024043e+02] [-6.17966614e-01 7.84501962e-01 -5.17101166e-02 -1.28854759e+02] [-8.15401643e-02 1.46433038e-03 9.96668981e-01 -1.34537689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08864 meters 0.026623148455082762 Centerline is valid? [True, True] Translation: X:188.05, Y:-128.88, Z:-13.46 [[ 7.79191289e-01 6.23514982e-01 6.39531268e-02 1.88046304e+02] [-6.21303032e-01 7.81810537e-01 -5.24864443e-02 -1.28878194e+02] [-8.27253128e-02 1.16270858e-03 9.96571709e-01 -1.34557479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11864 meters 0.02637302040725521 Centerline is valid? [True, True] Translation: X:188.07, Y:-128.90, Z:-13.46 [[ 7.77756667e-01 6.25343069e-01 6.35658220e-02 1.88069961e+02] [-6.23160114e-01 7.80349312e-01 -5.22151731e-02 -1.28900439e+02] [-8.22559420e-02 9.99014111e-04 9.96610737e-01 -1.34575344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14864 meters 0.026334730982614414 Centerline is valid? [True, True] Translation: X:188.09, Y:-128.92, Z:-13.46 [[ 7.76704727e-01 6.26646277e-01 6.35941038e-02 1.88094105e+02] [-6.24461627e-01 7.79303300e-01 -5.22880855e-02 -1.28923422e+02] [-8.23252291e-02 9.00325670e-04 9.96605110e-01 -1.34599922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17864 meters 0.026334730982614414 Centerline is valid? [True, True] Translation: X:188.12, Y:-128.94, Z:-13.46 [[ 7.76388256e-01 6.27041034e-01 6.35674239e-02 1.88119438e+02] [-6.24855051e-01 7.78985706e-01 -5.23205061e-02 -1.28943822e+02] [-8.23252189e-02 9.00600597e-04 9.96605111e-01 -1.34618052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20864 meters 0.02628858475252178 Centerline is valid? [True, True] Translation: X:188.14, Y:-128.97, Z:-13.46 [[ 7.75195666e-01 6.28590459e-01 6.28149221e-02 1.88142052e+02] [-6.26456929e-01 7.77736104e-01 -5.17519901e-02 -1.28966411e+02] [-8.13842399e-02 7.67075264e-04 9.96682506e-01 -1.34637905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23864 meters 0.026167521245387446 Centerline is valid? [True, True] Translation: X:188.17, Y:-128.99, Z:-13.46 [[ 7.74261069e-01 6.29785010e-01 6.23749850e-02 1.88166822e+02] [-6.27681430e-01 7.76769199e-01 -5.14357246e-02 -1.28987115e+02] [-8.08444154e-02 6.73059316e-04 9.96726506e-01 -1.34643033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26864 meters 0.025919121978810217 Centerline is valid? [True, True] Translation: X:188.19, Y:-129.01, Z:-13.47 [[ 7.71868567e-01 6.32601285e-01 6.35179526e-02 1.88191412e+02] [-6.30425088e-01 7.74477523e-01 -5.24287531e-02 -1.29009234e+02] [-8.23597232e-02 4.24795622e-04 9.96602577e-01 -1.34657346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29864 meters 0.02592186273487188 Centerline is valid? [True, True] Translation: X:188.22, Y:-129.03, Z:-13.47 [[ 7.70583970e-01 6.34286719e-01 6.22952825e-02 1.88216071e+02] [-6.32194958e-01 7.73097846e-01 -5.14709274e-02 -1.29029575e+02] [-8.08076743e-02 2.79908114e-04 9.96729673e-01 -1.34670162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32864 meters 0.025807687507204007 Centerline is valid? [True, True] Translation: X:188.24, Y:-129.05, Z:-13.47 [[ 7.69201570e-01 6.35969130e-01 6.22270884e-02 1.88241647e+02] [-6.33883400e-01 7.71714485e-01 -5.14644450e-02 -1.29050067e+02] [-8.07513437e-02 1.41813469e-04 9.96734268e-01 -1.34694505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35864 meters 0.025957904887968977 Centerline is valid? [True, True] Translation: X:188.27, Y:-129.07, Z:-13.47 [[ 7.66726092e-01 6.38828569e-01 6.34756621e-02 1.88267613e+02] [-6.36663423e-01 7.69349105e-01 -5.25513214e-02 -1.29069249e+02] [-8.24062293e-02 -1.20163018e-04 9.96598815e-01 -1.34717965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38864 meters 0.025965978349539016 Centerline is valid? [True, True] Translation: X:188.29, Y:-129.09, Z:-13.47 [[ 7.64985297e-01 6.40838796e-01 6.42116177e-02 1.88293540e+02] [-6.38625963e-01 7.67675417e-01 -5.32102831e-02 -1.29088365e+02] [-8.33928942e-02 -3.02121910e-04 9.96516700e-01 -1.34736534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41864 meters 0.0258589079041177 Centerline is valid? [True, True] Translation: X:188.32, Y:-129.11, Z:-13.48 [[ 7.64363809e-01 6.41566777e-01 6.43431327e-02 1.88319564e+02] [-6.39343065e-01 7.67067112e-01 -5.33712601e-02 -1.29108216e+02] [-8.35967283e-02 -3.42275979e-04 9.96499609e-01 -1.34752454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44864 meters 0.02579411550832726 Centerline is valid? [True, True] Translation: X:188.35, Y:-129.13, Z:-13.48 [[ 7.64980402e-01 6.40998532e-01 6.26567283e-02 1.88346640e+02] [-6.38883887e-01 7.67542069e-01 -5.20245307e-02 -1.29126496e+02] [-8.14393227e-02 -2.32627738e-04 9.96678274e-01 -1.34767148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47864 meters 0.025748270591984996 Centerline is valid? [True, True] Translation: X:188.37, Y:-129.15, Z:-13.48 [[ 7.65191014e-01 6.40771231e-01 6.24094672e-02 1.88372982e+02] [-6.38668400e-01 7.67731855e-01 -5.18697699e-02 -1.29146496e+02] [-8.11503924e-02 -1.68672690e-04 9.96701854e-01 -1.34790665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50864 meters 0.025542186142804263 Centerline is valid? [True, True] Translation: X:188.40, Y:-129.17, Z:-13.48 [[ 7.65518744e-01 6.40491844e-01 6.12474479e-02 1.88398267e+02] [-6.38461695e-01 7.67964965e-01 -5.09556282e-02 -1.29166042e+02] [-7.96725585e-02 -9.66608858e-05 9.96821084e-01 -1.34796897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53864000000002 meters 0.025648006260528412 Centerline is valid? [True, True] Translation: X:188.42, Y:-129.19, Z:-13.48 [[ 7.66392662e-01 6.39474180e-01 6.09512972e-02 1.88424717e+02] [-6.37456522e-01 7.68812572e-01 -5.07583649e-02 -1.29186432e+02] [-7.93187873e-02 4.70364498e-05 9.96849300e-01 -1.34828275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864000000002 meters 0.025752331284479346 Centerline is valid? [True, True] Translation: X:188.45, Y:-129.21, Z:-13.49 [[ 7.67494644e-01 6.38168217e-01 6.07725214e-02 1.88449708e+02] [-6.36154026e-01 7.69896927e-01 -5.06633711e-02 -1.29207973e+02] [-7.91203306e-02 2.23181714e-04 9.96865048e-01 -1.34858160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59864000000002 meters 0.025786647900695618 Centerline is valid? [True, True] Translation: X:188.48, Y:-129.23, Z:-13.49 [[ 7.68357397e-01 6.37112529e-01 6.09469925e-02 1.88475479e+02] [-6.35079136e-01 7.70770709e-01 -5.08626158e-02 -1.29228821e+02] [-7.93813664e-02 3.74503731e-04 9.96844250e-01 -1.34878845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864000000002 meters 0.025749997319626527 Centerline is valid? [True, True] Translation: X:188.50, Y:-129.25, Z:-13.49 [[ 7.69061478e-01 6.36260445e-01 6.09679390e-02 1.88501080e+02] [-6.34218701e-01 7.71474168e-01 -5.09337456e-02 -1.29249597e+02] [-7.94423176e-02 5.04174586e-04 9.96839337e-01 -1.34894263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65864000000002 meters 0.02580388689250421 Centerline is valid? [True, True] Translation: X:188.53, Y:-129.27, Z:-13.49 [[ 7.69719178e-01 6.35473994e-01 6.08702682e-02 1.88525998e+02] [-6.33432096e-01 7.72122018e-01 -5.09054902e-02 -1.29271898e+02] [-7.93483895e-02 6.25750461e-04 9.96846749e-01 -1.34910534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters 0.025892900498190208 Centerline is valid? [True, True] Translation: X:188.55, Y:-129.29, Z:-13.49 [[ 7.69630740e-01 6.35560885e-01 6.10809801e-02 1.88550318e+02] [-6.33500768e-01 7.72050468e-01 -5.11356224e-02 -1.29294023e+02] [-7.96574006e-02 6.60699070e-04 9.96822081e-01 -1.34929661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71864 meters 0.025751155768756813 Centerline is valid? [True, True] Translation: X:188.57, Y:-129.32, Z:-13.49 [[ 7.69159384e-01 6.36308539e-01 5.92054569e-02 1.88572605e+02] [-6.34371620e-01 7.71434430e-01 -4.96141951e-02 -1.29317678e+02] [-7.72430639e-02 6.02962102e-04 9.97012109e-01 -1.34949596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74864 meters 0.025862860193280154 Centerline is valid? [True, True] Translation: X:188.60, Y:-129.34, Z:-13.50 [[ 7.68060139e-01 6.37658349e-01 5.89529715e-02 1.88596640e+02] [-6.35738291e-01 7.70319141e-01 -4.94494347e-02 -1.29340853e+02] [-7.69444472e-02 5.01478356e-04 9.97035255e-01 -1.34976089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77864 meters 0.025531148955906198 Centerline is valid? [True, True] Translation: X:188.62, Y:-129.37, Z:-13.50 [[ 7.65432574e-01 6.40789316e-01 5.91779355e-02 1.88618417e+02] [-6.38859795e-01 7.67716745e-01 -4.96906516e-02 -1.29365703e+02] [-7.72731306e-02 2.28439579e-04 9.97009935e-01 -1.34988637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80864 meters 0.025821258569782776 Centerline is valid? [True, True] Translation: X:188.64, Y:-129.39, Z:-13.50 [[ 7.63877368e-01 6.42698917e-01 5.85616726e-02 1.88641515e+02] [-6.40811199e-01 7.66118853e-01 -4.92230608e-02 -1.29387989e+02] [-7.65008093e-02 7.34064340e-05 9.97069517e-01 -1.35001413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83864 meters 0.025758557525250726 Centerline is valid? [True, True] Translation: X:188.66, Y:-129.41, Z:-13.50 [[ 7.59005228e-01 6.48464245e-01 5.83539774e-02 1.88664514e+02] [-6.46603216e-01 7.61244970e-01 -4.90955945e-02 -1.29411906e+02] [-7.62584094e-02 -4.68056491e-04 9.97087978e-01 -1.35001193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86864 meters 0.025800417631138724 Centerline is valid? [True, True] Translation: X:188.69, Y:-129.43, Z:-13.50 [[ 7.56460408e-01 6.51450887e-01 5.81325453e-02 1.88688543e+02] [-6.49609363e-01 7.58690455e-01 -4.89537477e-02 -1.29434009e+02] [-7.59955696e-02 -7.31873789e-04 9.97107887e-01 -1.35018077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89864 meters 0.026445202177809293 Centerline is valid? [True, True] Translation: X:188.71, Y:-129.46, Z:-13.50 [[ 7.51941114e-01 6.56677595e-01 5.79577220e-02 1.88709724e+02] [-6.54860845e-01 7.54170408e-01 -4.88289892e-02 -1.29458151e+02] [-7.57749021e-02 -1.23771830e-03 9.97124181e-01 -1.35035650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92864 meters 0.026859271199877785 Centerline is valid? [True, True] Translation: X:188.73, Y:-129.48, Z:-13.51 [[ 7.49595448e-01 6.59387163e-01 5.75780665e-02 1.88733089e+02] [-6.57600318e-01 7.51802081e-01 -4.85330121e-02 -1.29479691e+02] [-7.52893554e-02 -1.48322987e-03 9.97160625e-01 -1.35050341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95864 meters 0.02716914139448419 Centerline is valid? [True, True] Translation: X:188.76, Y:-129.50, Z:-13.51 [[ 7.46563474e-01 6.62871921e-01 5.69543292e-02 1.88757104e+02] [-6.61130409e-01 7.48730689e-01 -4.80514071e-02 -1.29500376e+02] [-7.44953827e-02 -1.78081355e-03 9.97219769e-01 -1.35064303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98864 meters 0.027258860913839552 Centerline is valid? [True, True] Translation: X:188.78, Y:-129.52, Z:-13.51 [[ 7.45805884e-01 6.63728122e-01 5.69083781e-02 1.88782552e+02] [-6.61988604e-01 7.47971674e-01 -4.80568666e-02 -1.29521473e+02] [-7.44625486e-02 -1.83160391e-03 9.97222129e-01 -1.35080075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01864 meters 0.027476722635584247 Centerline is valid? [True, True] Translation: X:188.81, Y:-129.54, Z:-13.51 [[ 7.45150937e-01 6.64416137e-01 5.74567463e-02 1.88807689e+02] [-6.62641101e-01 7.47360461e-01 -4.85706960e-02 -1.29542087e+02] [-7.52120547e-02 -1.88070197e-03 9.97165789e-01 -1.35104118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04864 meters 0.027448996030974886 Centerline is valid? [True, True] Translation: X:188.83, Y:-129.56, Z:-13.51 [[ 7.44669498e-01 6.64921984e-01 5.78454256e-02 1.88833291e+02] [-6.63120714e-01 7.46910376e-01 -4.89469955e-02 -1.29562276e+02] [-7.57512820e-02 -1.90916535e-03 9.97124916e-01 -1.35119041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07864 meters 0.027392032187364596 Centerline is valid? [True, True] Translation: X:188.86, Y:-129.58, Z:-13.51 [[ 7.44891302e-01 6.64652987e-01 5.80805964e-02 1.88859722e+02] [-6.62832177e-01 7.47149908e-01 -4.91987832e-02 -1.29582230e+02] [-7.60950305e-02 -1.84994251e-03 9.97098854e-01 -1.35142015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10864 meters 0.027596413395103513 Centerline is valid? [True, True] Translation: X:188.89, Y:-129.60, Z:-13.52 [[ 7.44895007e-01 6.64528387e-01 5.94428494e-02 1.88885931e+02] [-6.62616494e-01 7.47260754e-01 -5.04058294e-02 -1.29601264e+02] [-7.79154129e-02 -1.84076185e-03 9.96958274e-01 -1.35178931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13864 meters 0.02753975847195403 Centerline is valid? [True, True] Translation: X:188.91, Y:-129.62, Z:-13.52 [[ 7.44540085e-01 6.65000714e-01 5.86012921e-02 1.88912095e+02] [-6.63140548e-01 7.46840482e-01 -4.97383912e-02 -1.29620552e+02] [-7.68418829e-02 -1.82866697e-03 9.97041614e-01 -1.35197093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16864 meters 0.027551138421794814 Centerline is valid? [True, True] Translation: X:188.94, Y:-129.64, Z:-13.52 [[ 7.43693291e-01 6.65861741e-01 5.95687052e-02 1.88937992e+02] [-6.63938572e-01 7.46072704e-01 -5.06072436e-02 -1.29640306e+02] [-7.81400122e-02 -1.91369356e-03 9.96940558e-01 -1.35220287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19864 meters 0.027877355103125636 Centerline is valid? [True, True] Translation: X:188.96, Y:-129.66, Z:-13.52 [[ 7.42278137e-01 6.67437589e-01 5.95838249e-02 1.88964046e+02] [-6.65514785e-01 7.44662933e-01 -5.06674122e-02 -1.29659107e+02] [-7.81872013e-02 -2.04460410e-03 9.96936598e-01 -1.35239079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22864 meters 0.0279476058827725 Centerline is valid? [True, True] Translation: X:188.99, Y:-129.68, Z:-13.53 [[ 7.41642179e-01 6.68113359e-01 5.99284333e-02 1.88990621e+02] [-6.66166486e-01 7.44056562e-01 -5.10102545e-02 -1.29678967e+02] [-7.86707765e-02 -2.09095748e-03 9.96898459e-01 -1.35255804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25864 meters 0.02801044187681482 Centerline is valid? [True, True] Translation: X:189.02, Y:-129.70, Z:-13.53 [[ 7.41357929e-01 6.68336966e-01 6.09435917e-02 1.89017944e+02] [-6.66319996e-01 7.43855659e-01 -5.19270809e-02 -1.29695709e+02] [-8.00380233e-02 -2.11138061e-03 9.96789575e-01 -1.35275659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864000000002 meters 0.0281265438841208 Centerline is valid? [True, True] Translation: X:189.05, Y:-129.71, Z:-13.53 [[ 7.40684850e-01 6.69099688e-01 6.07582129e-02 1.89045040e+02] [-6.67093711e-01 7.43169549e-01 -5.18170035e-02 -1.29714888e+02] [-7.98243946e-02 -2.15135221e-03 9.96806620e-01 -1.35296237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31864000000002 meters 0.028525276728938394 Centerline is valid? [True, True] Translation: X:189.07, Y:-129.73, Z:-13.53 [[ 7.39914199e-01 6.69855955e-01 6.18059643e-02 1.89073311e+02] [-6.67778267e-01 7.42487725e-01 -5.27651851e-02 -1.29731467e+02] [-8.12352433e-02 -2.23097003e-03 9.96692459e-01 -1.35326549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864000000002 meters 0.02837222082823385 Centerline is valid? [True, True] Translation: X:189.10, Y:-129.75, Z:-13.53 [[ 7.39938508e-01 6.69817364e-01 6.19330465e-02 1.89101225e+02] [-6.67726765e-01 7.42522652e-01 -5.29252128e-02 -1.29750361e+02] [-8.14369165e-02 -2.19294979e-03 9.96676086e-01 -1.35341453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37864000000002 meters 0.02843703187429163 Centerline is valid? [True, True] Translation: X:189.13, Y:-129.77, Z:-13.54 [[ 7.39687732e-01 6.69985073e-01 6.31035810e-02 1.89127978e+02] [-6.67810542e-01 7.42371275e-01 -5.39812074e-02 -1.29768852e+02] [-8.30128890e-02 -2.21199975e-03 9.96546019e-01 -1.35373429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864000000002 meters 0.028423905520794462 Centerline is valid? [True, True] Translation: X:189.16, Y:-129.79, Z:-13.54 [[ 7.40528446e-01 6.69220878e-01 6.13272905e-02 1.89156765e+02] [-6.67160746e-01 7.43060760e-01 -5.25094798e-02 -1.29785154e+02] [-8.07103433e-02 -2.03039738e-03 9.96735531e-01 -1.35387397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43864 meters 0.02843244884664233 Centerline is valid? [True, True] Translation: X:189.19, Y:-129.80, Z:-13.54 [[ 7.42332777e-01 6.67108881e-01 6.25123062e-02 1.89185358e+02] [-6.64956596e-01 7.44958058e-01 -5.35744024e-02 -1.29801767e+02] [-8.23090058e-02 -1.79793545e-03 9.96605235e-01 -1.35413096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters 0.028189744595935408 Centerline is valid? [True, True] Translation: X:189.21, Y:-129.82, Z:-13.54 [[ 7.43798779e-01 6.65497355e-01 6.22627201e-02 1.89212227e+02] [-6.63352530e-01 7.46398544e-01 -5.34100529e-02 -1.29819819e+02] [-8.20170526e-02 -1.57580077e-03 9.96629680e-01 -1.35424386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49864 meters 0.028215573021129654 Centerline is valid? [True, True] Translation: X:189.24, Y:-129.84, Z:-13.55 [[ 7.44797366e-01 6.64208321e-01 6.40639582e-02 1.89239105e+02] [-6.61928233e-01 7.47546147e-01 -5.50070203e-02 -1.29838164e+02] [-8.44268857e-02 -1.43665878e-03 9.96428641e-01 -1.35450053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52864 meters 0.028028732026047054 Centerline is valid? [True, True] Translation: X:189.27, Y:-129.85, Z:-13.55 [[ 7.48295392e-01 6.60310247e-01 6.35954755e-02 1.89267777e+02] [-6.58045746e-01 7.50992319e-01 -5.46473503e-02 -1.29854717e+02] [-8.38439191e-02 -9.56371699e-04 9.96478441e-01 -1.35479004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55864 meters 0.028046406746400056 Centerline is valid? [True, True] Translation: X:189.29, Y:-129.87, Z:-13.55 [[ 7.49553973e-01 6.58881196e-01 6.35956876e-02 1.89293369e+02] [-6.56608566e-01 7.52246620e-01 -5.46828414e-02 -1.29873786e+02] [-8.38691370e-02 -7.69732264e-04 9.96476480e-01 -1.35511431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58864 meters 0.02795026193489688 Centerline is valid? [True, True] Translation: X:189.32, Y:-129.89, Z:-13.55 [[ 7.52399803e-01 6.55433056e-01 6.55899763e-02 1.89319966e+02] [-6.52997776e-01 7.55253190e-01 -5.64493039e-02 -1.29891413e+02] [-8.65357786e-02 -3.57663535e-04 9.96248679e-01 -1.35531611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61864 meters 0.028051296185616872 Centerline is valid? [True, True] Translation: X:189.35, Y:-129.91, Z:-13.55 [[ 7.53562437e-01 6.54152822e-01 6.50210643e-02 1.89345619e+02] [-6.51751722e-01 7.56362382e-01 -5.59967835e-02 -1.29911654e+02] [-8.58099410e-02 -1.80517999e-04 9.96311508e-01 -1.35542788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64864 meters 0.028065775490296103 Centerline is valid? [True, True] Translation: X:189.37, Y:-129.93, Z:-13.56 [[ 7.55652149e-01 6.51788614e-01 6.45091625e-02 1.89371034e+02] [-6.49414108e-01 7.58400679e-01 -5.55853008e-02 -1.29931116e+02] [-8.51536589e-02 1.09991785e-04 9.96367825e-01 -1.35572968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67864 meters 0.028169287985777017 Centerline is valid? [True, True] Translation: X:189.40, Y:-129.95, Z:-13.56 [[ 7.56702183e-01 6.50636940e-01 6.38230229e-02 1.89395358e+02] [-6.48304481e-01 7.59388897e-01 -5.50436450e-02 -1.29951677e+02] [-8.42799237e-02 2.74894605e-04 9.96442080e-01 -1.35593205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70864 meters 0.028125926556124153 Centerline is valid? [True, True] Translation: X:189.42, Y:-129.97, Z:-13.56 [[ 7.57488927e-01 6.49657239e-01 6.44670308e-02 1.89420284e+02] [-6.47269524e-01 7.60227131e-01 -5.56495580e-02 -1.29972573e+02] [-8.51627240e-02 4.26379635e-04 9.96366965e-01 -1.35609815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73864 meters 0.02825501604143138 Centerline is valid? [True, True] Translation: X:189.45, Y:-129.99, Z:-13.56 [[ 7.58807577e-01 6.48159891e-01 6.40298135e-02 1.89445827e+02] [-6.45794746e-01 7.61504011e-01 -5.53243877e-02 -1.29993741e+02] [-8.46180089e-02 6.30447486e-04 9.96413265e-01 -1.35634830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76864 meters 0.028273992615363435 Centerline is valid? [True, True] Translation: X:189.47, Y:-130.02, Z:-13.56 [[ 7.58463346e-01 6.48447108e-01 6.51897329e-02 1.89469714e+02] [-6.45991528e-01 7.61259432e-01 -5.63828291e-02 -1.30015207e+02] [-8.61875815e-02 6.52294061e-04 9.96278714e-01 -1.35649169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79864 meters 0.028527991819457085 Centerline is valid? [True, True] Translation: X:189.49, Y:-130.04, Z:-13.57 [[ 7.58851615e-01 6.47855180e-01 6.65424038e-02 1.89492664e+02] [-6.45289647e-01 7.61763130e-01 -5.76038648e-02 -1.30037243e+02] [-8.80085120e-02 7.73661616e-04 9.96119422e-01 -1.35664058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82864 meters 0.028585812497639914 Centerline is valid? [True, True] Translation: X:189.52, Y:-130.06, Z:-13.57 [[ 7.59509552e-01 6.47044965e-01 6.69182627e-02 1.89516237e+02] [-6.44443506e-01 7.62451307e-01 -5.79704327e-02 -1.30058252e+02] [-8.85313935e-02 9.04057568e-04 9.96072977e-01 -1.35691986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85864 meters 0.028616357519887253 Centerline is valid? [True, True] Translation: X:189.54, Y:-130.08, Z:-13.57 [[ 7.60391651e-01 6.46065381e-01 6.63631027e-02 1.89540503e+02] [-6.43499800e-01 7.63281365e-01 -5.75288200e-02 -1.30081001e+02] [-8.78210986e-02 1.03979117e-03 9.96135720e-01 -1.35712943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88864 meters 0.02871491248138657 Centerline is valid? [True, True] Translation: X:189.56, Y:-130.10, Z:-13.57 [[ 7.60295917e-01 6.46280070e-01 6.53619833e-02 1.89564122e+02] [-6.43787516e-01 7.63099591e-01 -5.67155028e-02 -1.30103415e+02] [-8.65318019e-02 1.04133641e-03 9.96248545e-01 -1.35727669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91864 meters 0.028476618528637383 Centerline is valid? [True, True] Translation: X:189.59, Y:-130.13, Z:-13.57 [[ 7.59732989e-01 6.46912611e-01 6.56495108e-02 1.89586168e+02] [-6.44395771e-01 7.62563469e-01 -5.70179395e-02 -1.30128221e+02] [-8.69475429e-02 1.01414247e-03 9.96212375e-01 -1.35733783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94864 meters 0.028439929730756954 Centerline is valid? [True, True] Translation: X:189.61, Y:-130.15, Z:-13.57 [[ 7.59211499e-01 6.47551741e-01 6.53807441e-02 1.89610364e+02] [-6.45052885e-01 7.62020853e-01 -5.68418517e-02 -1.30151037e+02] [-8.66295304e-02 9.80949832e-04 9.96240113e-01 -1.35749854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97864 meters 0.028474825772417296 Centerline is valid? [True, True] Translation: X:189.63, Y:-130.18, Z:-13.58 [[ 7.58333882e-01 6.48572809e-01 6.54449053e-02 1.89633340e+02] [-6.46067792e-01 7.61152077e-01 -5.69554568e-02 -1.30175436e+02] [-8.67532862e-02 9.09407146e-04 9.96229412e-01 -1.35767466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00864 meters 0.028311423593196255 Centerline is valid? [True, True] Translation: X:189.66, Y:-130.20, Z:-13.58 [[ 7.57403125e-01 6.49681145e-01 6.52297101e-02 1.89656418e+02] [-6.47191914e-01 7.60206376e-01 -5.68233445e-02 -1.30197673e+02] [-8.65050970e-02 8.22037768e-04 9.96251069e-01 -1.35781066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03864000000002 meters 0.028196846898958506 Centerline is valid? [True, True] Translation: X:189.68, Y:-130.22, Z:-13.58 [[ 7.56720889e-01 6.50567683e-01 6.43054111e-02 1.89679388e+02] [-6.48147572e-01 7.59447912e-01 -5.60677736e-02 -1.30220113e+02] [-8.53124917e-02 7.48259452e-04 9.96353963e-01 -1.35789750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864000000002 meters 0.02802793741507146 Centerline is valid? [True, True] Translation: X:189.70, Y:-130.24, Z:-13.58 [[ 7.55698343e-01 6.51791227e-01 6.39391223e-02 1.89700640e+02] [-6.49398802e-01 7.58398168e-01 -5.57979825e-02 -1.30244220e+02] [-8.48599487e-02 6.44453446e-04 9.96392681e-01 -1.35800333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09864000000002 meters 0.02802793741507146 Centerline is valid? [True, True] Translation: X:189.73, Y:-130.27, Z:-13.58 [[ 7.55367124e-01 6.52177602e-01 6.39130982e-02 1.89725367e+02] [-6.49784036e-01 7.58065937e-01 -5.58277803e-02 -1.30265361e+02] [-8.48599706e-02 6.40758949e-04 9.96392681e-01 -1.35818467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864000000002 meters 0.028186790015323752 Centerline is valid? [True, True] Translation: X:189.75, Y:-130.29, Z:-13.58 [[ 7.56006763e-01 6.51433043e-01 6.39434522e-02 1.89747483e+02] [-6.49029633e-01 7.58705740e-01 -5.59118535e-02 -1.30290745e+02] [-8.49370931e-02 7.68544103e-04 9.96386019e-01 -1.35848404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15864000000002 meters 0.028071314865995983 Centerline is valid? [True, True] Translation: X:189.77, Y:-130.31, Z:-13.59 [[ 7.56393212e-01 6.50983724e-01 6.39492022e-02 1.89771069e+02] [-6.48573366e-01 7.59091198e-01 -5.59744709e-02 -1.30314069e+02] [-8.49817460e-02 8.62960459e-04 9.96382135e-01 -1.35862324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters 0.02814005349365908 Centerline is valid? [True, True] Translation: X:189.79, Y:-130.34, Z:-13.59 [[ 7.57379466e-01 6.49765887e-01 6.46578526e-02 1.89793173e+02] [-6.47292450e-01 7.60133661e-01 -5.66506925e-02 -1.30338002e+02] [-8.59582976e-02 1.05353136e-03 9.96298179e-01 -1.35873715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21864 meters 0.028215797647386645 Centerline is valid? [True, True] Translation: X:189.82, Y:-130.36, Z:-13.59 [[ 7.56990247e-01 6.50302558e-01 6.38149523e-02 1.89816706e+02] [-6.47890983e-01 7.59674633e-01 -5.59618328e-02 -1.30359472e+02] [-8.48707235e-02 1.01742953e-03 9.96391452e-01 -1.35891810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24864 meters 0.027909466575532067 Centerline is valid? [True, True] Translation: X:189.84, Y:-130.38, Z:-13.59 [[ 7.55075675e-01 6.52541988e-01 6.36370802e-02 1.89838946e+02] [-6.50147557e-01 7.57752143e-01 -5.58555597e-02 -1.30382529e+02] [-8.46692319e-02 8.01682219e-04 9.96408791e-01 -1.35905442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27864 meters 0.02779909683428565 Centerline is valid? [True, True] Translation: X:189.86, Y:-130.41, Z:-13.59 [[ 7.53785993e-01 6.54072086e-01 6.32169537e-02 1.89862026e+02] [-6.51711345e-01 7.56431938e-01 -5.55251757e-02 -1.30405716e+02] [-8.41367903e-02 6.54893797e-04 9.96453999e-01 -1.35922344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30864 meters 0.027494135774051007 Centerline is valid? [True, True] Translation: X:189.88, Y:-130.43, Z:-13.59 [[ 7.51236222e-01 6.57117477e-01 6.19738668e-02 1.89884054e+02] [-6.54856843e-01 7.53788109e-01 -5.44610217e-02 -1.30429729e+02] [-8.25024531e-02 3.29081419e-04 9.96590807e-01 -1.35927269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33864 meters 0.02759645263850074 Centerline is valid? [True, True] Translation: X:189.91, Y:-130.45, Z:-13.59 [[ 7.49935637e-01 6.58665341e-01 6.12903664e-02 1.89907921e+02] [-6.56455538e-01 7.52435997e-01 -5.39091523e-02 -1.30451798e+02] [-8.16251681e-02 1.93994001e-04 9.96663080e-01 -1.35948195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36864 meters 0.02742689219391954 Centerline is valid? [True, True] Translation: X:189.93, Y:-130.47, Z:-13.60 [[ 7.49144159e-01 6.59535927e-01 6.16067341e-02 1.89932426e+02] [-6.57301846e-01 7.51673028e-01 -5.42396646e-02 -1.30474393e+02] [-8.20811279e-02 1.39107806e-04 9.96625641e-01 -1.35970442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39864 meters 0.027537911729475346 Centerline is valid? [True, True] Translation: X:189.96, Y:-130.50, Z:-13.60 [[ 7.47751931e-01 6.61109077e-01 6.16590496e-02 1.89955184e+02] [-6.58871813e-01 7.50289803e-01 -5.43428538e-02 -1.30498800e+02] [-8.21887101e-02 9.56403391e-06 9.96616785e-01 -1.35990990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42864 meters 0.02751249087843761 Centerline is valid? [True, True] Translation: X:189.98, Y:-130.52, Z:-13.60 [[ 7.46744166e-01 6.62288895e-01 6.12092350e-02 1.89978881e+02] [-6.60083526e-01 7.49248566e-01 -5.40030060e-02 -1.30522109e+02] [-8.16265227e-02 -7.67780301e-05 9.96662985e-01 -1.36006657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45864 meters 0.02728112147664284 Centerline is valid? [True, True] Translation: X:190.00, Y:-130.54, Z:-13.60 [[ 7.45725628e-01 6.63492431e-01 6.05894513e-02 1.90002867e+02] [-6.61331156e-01 7.48182976e-01 -5.35101535e-02 -1.30543363e+02] [-8.08355779e-02 -1.65799032e-04 9.96727436e-01 -1.36017562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48864 meters 0.02720299309729528 Centerline is valid? [True, True] Translation: X:190.03, Y:-130.56, Z:-13.60 [[ 7.43793178e-01 6.65584250e-01 6.13947550e-02 1.90027104e+02] [-6.63367993e-01 7.46322636e-01 -5.42718025e-02 -1.30564943e+02] [-8.19427524e-02 -3.60319000e-04 9.96636973e-01 -1.36022850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51864 meters 0.027500912078718676 Centerline is valid? [True, True] Translation: X:190.05, Y:-130.59, Z:-13.60 [[ 7.40573608e-01 6.69091576e-01 6.21867684e-02 1.90050493e+02] [-6.66825706e-01 7.43179618e-01 -5.50230186e-02 -1.30586424e+02] [-8.30313770e-02 -7.19140359e-04 9.96546674e-01 -1.36044951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54864 meters 0.027594720239620132 Centerline is valid? [True, True] Translation: X:190.08, Y:-130.61, Z:-13.61 [[ 7.39075404e-01 6.70748219e-01 6.21640912e-02 1.90075405e+02] [-6.68485393e-01 7.41684622e-01 -5.50563445e-02 -1.30608294e+02] [-8.30350955e-02 -8.64996889e-04 9.96546248e-01 -1.36065120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57864 meters 0.02757895692052961 Centerline is valid? [True, True] Translation: X:190.10, Y:-130.63, Z:-13.61 [[ 7.37791425e-01 6.72184540e-01 6.19011954e-02 1.90100371e+02] [-6.69941057e-01 7.40383000e-01 -5.48816396e-02 -1.30629352e+02] [-8.27211824e-02 -9.78949166e-04 9.96572249e-01 -1.36078049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60864 meters 0.0273148334595704 Centerline is valid? [True, True] Translation: X:190.13, Y:-130.65, Z:-13.61 [[ 7.36392769e-01 6.73799792e-01 6.09879477e-02 1.90125748e+02] [-6.71623002e-01 7.38913140e-01 -5.41286877e-02 -1.30650470e+02] [-8.15366944e-02 -1.10093429e-03 9.96669732e-01 -1.36099515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63864 meters 0.027128751504079115 Centerline is valid? [True, True] Translation: X:190.15, Y:-130.67, Z:-13.61 [[ 7.36292757e-01 6.73863272e-01 6.14920054e-02 1.90150711e+02] [-6.71645708e-01 7.38855288e-01 -5.46343006e-02 -1.30671661e+02] [-8.22497420e-02 -1.07400174e-03 9.96611171e-01 -1.36115971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66864 meters 0.027135504834143297 Centerline is valid? [True, True] Translation: X:190.18, Y:-130.69, Z:-13.61 [[ 7.36661682e-01 6.73397363e-01 6.21736074e-02 1.90176258e+02] [-6.71123670e-01 7.39280063e-01 -5.52992488e-02 -1.30692704e+02] [-8.32020768e-02 -9.89341981e-04 9.96532205e-01 -1.36147475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69864 meters 0.027116730648688348 Centerline is valid? [True, True] Translation: X:190.20, Y:-130.71, Z:-13.62 [[ 7.36381200e-01 6.73704510e-01 6.21688170e-02 1.90200955e+02] [-6.71427362e-01 7.39000184e-01 -5.53536395e-02 -1.30714212e+02] [-8.32347638e-02 -9.80465250e-04 9.96529484e-01 -1.36168802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72864 meters 0.02699263341351349 Centerline is valid? [True, True] Translation: X:190.23, Y:-130.74, Z:-13.62 [[ 7.37661038e-01 6.72249945e-01 6.27391821e-02 1.90226797e+02] [-6.69920489e-01 7.40323850e-01 -5.59207888e-02 -1.30735140e+02] [-8.40400601e-02 -7.79676487e-04 9.96462072e-01 -1.36198864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75864 meters 0.026696273259108335 Centerline is valid? [True, True] Translation: X:190.25, Y:-130.76, Z:-13.62 [[ 7.38677793e-01 6.71201376e-01 6.19986389e-02 1.90251334e+02] [-6.68918376e-01 7.41274807e-01 -5.53160713e-02 -1.30755767e+02] [-8.30862523e-02 -6.11275351e-04 9.96542172e-01 -1.36207296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864000000002 meters 0.02671623045224996 Centerline is valid? [True, True] Translation: X:190.28, Y:-130.78, Z:-13.62 [[ 7.39360151e-01 6.70459567e-01 6.18913233e-02 1.90276547e+02] [-6.68177459e-01 7.41945908e-01 -5.52734330e-02 -1.30777409e+02] [-8.29786160e-02 -4.87413381e-04 9.96551209e-01 -1.36225700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81864000000002 meters 0.026571513996914216 Centerline is valid? [True, True] Translation: X:190.30, Y:-130.80, Z:-13.63 [[ 7.40899573e-01 6.68755344e-01 6.19202085e-02 1.90301429e+02] [-6.66460274e-01 7.43482499e-01 -5.53577134e-02 -1.30799338e+02] [-8.30573580e-02 -2.52852917e-04 9.96544736e-01 -1.36253685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864000000002 meters 0.026495869979938455 Centerline is valid? [True, True] Translation: X:190.33, Y:-130.82, Z:-13.63 [[ 7.40840846e-01 6.68791053e-01 6.22363963e-02 1.90325783e+02] [-6.66467635e-01 7.43450390e-01 -5.56992856e-02 -1.30820953e+02] [-8.35208569e-02 -2.14237960e-04 9.96506006e-01 -1.36273789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87864000000002 meters 0.026443584843947394 Centerline is valid? [True, True] Translation: X:190.35, Y:-130.84, Z:-13.63 [[ 7.40037871e-01 6.69604123e-01 6.30417976e-02 1.90349185e+02] [-6.67218158e-01 7.42718148e-01 -5.64772651e-02 -1.30842333e+02] [-8.46396967e-02 -2.67317092e-04 9.96411587e-01 -1.36293140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864000000002 meters 0.02636997958923704 Centerline is valid? [True, True] Translation: X:190.37, Y:-130.86, Z:-13.63 [[ 7.39118583e-01 6.70686737e-01 6.23139008e-02 1.90373253e+02] [-6.68355233e-01 7.41740642e-01 -5.58757794e-02 -1.30863469e+02] [-8.36958969e-02 -3.48994816e-04 9.96491282e-01 -1.36299079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93864 meters 0.02657411684970417 Centerline is valid? [True, True] Translation: X:190.40, Y:-130.88, Z:-13.63 [[ 7.36189054e-01 6.73856569e-01 6.27933165e-02 1.90398100e+02] [-6.71496065e-01 7.38861873e-01 -5.63574943e-02 -1.30883941e+02] [-8.43724552e-02 -6.75694563e-04 9.96434058e-01 -1.36315823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters 0.026498726993946602 Centerline is valid? [True, True] Translation: X:190.42, Y:-130.90, Z:-13.63 [[ 7.34768954e-01 6.75378741e-01 6.30725083e-02 1.90423237e+02] [-6.72998325e-01 7.37470604e-01 -5.66600662e-02 -1.30904354e+02] [-8.47811249e-02 -8.15634890e-04 9.96399265e-01 -1.36331272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99864 meters 0.026593268504337457 Centerline is valid? [True, True] Translation: X:190.45, Y:-130.93, Z:-13.64 [[ 7.33080320e-01 6.77247370e-01 6.26836901e-02 1.90448669e+02] [-6.74898486e-01 7.35754735e-01 -5.63649147e-02 -1.30925297e+02] [-8.42928120e-02 -9.85117901e-04 9.96440541e-01 -1.36352447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02864 meters 0.026852235363720264 Centerline is valid? [True, True] Translation: X:190.47, Y:-130.95, Z:-13.64 [[ 7.31187991e-01 6.79287074e-01 6.27151781e-02 1.90474277e+02] [-6.76938483e-01 7.33871707e-01 -5.64500473e-02 -1.30945014e+02] [-8.43706822e-02 -1.17872082e-03 9.96433740e-01 -1.36364901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05864 meters 0.026786310166018606 Centerline is valid? [True, True] Translation: X:190.50, Y:-130.97, Z:-13.64 [[ 7.29761666e-01 6.80821816e-01 6.26862582e-02 1.90500189e+02] [-6.78476453e-01 7.32447899e-01 -5.64781174e-02 -1.30966056e+02] [-8.43659525e-02 -1.31558512e-03 9.96433969e-01 -1.36380609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08864 meters 0.026855547761325076 Centerline is valid? [True, True] Translation: X:190.53, Y:-130.98, Z:-13.64 [[ 7.29140047e-01 6.81460193e-01 6.29825158e-02 1.90528847e+02] [-6.79089864e-01 7.31853931e-01 -5.68047539e-02 -1.30984067e+02] [-8.48041804e-02 -1.35216713e-03 9.96396720e-01 -1.36401787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11864 meters 0.026771191135729726 Centerline is valid? [True, True] Translation: X:190.56, Y:-131.00, Z:-13.64 [[ 7.29865285e-01 6.80738575e-01 6.23831529e-02 1.90556242e+02] [-6.78405852e-01 7.32525438e-01 -5.63203616e-02 -1.31001062e+02] [-8.40366891e-02 -1.21481923e-03 9.96461921e-01 -1.36428177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14864 meters 0.026793002528681085 Centerline is valid? [True, True] Translation: X:190.58, Y:-131.02, Z:-13.65 [[ 7.30168269e-01 6.80372547e-01 6.28291023e-02 1.90582227e+02] [-6.78000288e-01 7.32865537e-01 -5.67777593e-02 -1.31021404e+02] [-8.46753126e-02 -1.14083124e-03 9.96407944e-01 -1.36451840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17864 meters 0.026660813350187947 Centerline is valid? [True, True] Translation: X:190.61, Y:-131.04, Z:-13.65 [[ 7.31113788e-01 6.79271673e-01 6.37387179e-02 1.90608651e+02] [-6.76820648e-01 7.33886250e-01 -5.76609257e-02 -1.31041965e+02] [-8.59444021e-02 -9.82982471e-04 9.96299450e-01 -1.36472837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20864 meters 0.026559778790875316 Centerline is valid? [True, True] Translation: X:190.63, Y:-131.06, Z:-13.65 [[ 7.31971156e-01 6.78364115e-01 6.35637787e-02 1.90633806e+02] [-6.75918160e-01 7.34725416e-01 -5.75604489e-02 -1.31061775e+02] [-8.57488667e-02 -8.31324004e-04 9.96316436e-01 -1.36496292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23864 meters 0.02634541677928696 Centerline is valid? [True, True] Translation: X:190.66, Y:-131.08, Z:-13.65 [[ 7.32607097e-01 6.77784798e-01 6.24068019e-02 1.90660199e+02] [-6.75420809e-01 7.35259996e-01 -5.65638494e-02 -1.31080947e+02] [-8.42233421e-02 -7.11775090e-04 9.96446648e-01 -1.36502688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26864 meters 0.02654865484110156 Centerline is valid? [True, True] Translation: X:190.68, Y:-131.10, Z:-13.65 [[ 7.31481179e-01 6.78926981e-01 6.31936635e-02 1.90684533e+02] [-6.76502643e-01 7.34205346e-01 -5.73296153e-02 -1.31101346e+02] [-8.53197482e-02 -8.15145746e-04 9.96353289e-01 -1.36533325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29864 meters 0.0265546382537198 Centerline is valid? [True, True] Translation: X:190.71, Y:-131.12, Z:-13.65 [[ 7.30389993e-01 6.80084522e-01 6.33679753e-02 1.90709047e+02] [-6.77646354e-01 7.33133147e-01 -5.75430974e-02 -1.31122967e+02] [-8.55913330e-02 -9.12174856e-04 9.96329911e-01 -1.36549285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32864 meters 0.026613080205465652 Centerline is valid? [True, True] Translation: X:190.73, Y:-131.14, Z:-13.66 [[ 7.29308463e-01 6.81328764e-01 6.24522288e-02 1.90733219e+02] [-6.78960455e-01 7.31976852e-01 -5.67678519e-02 -1.31143675e+02] [-8.43911562e-02 -1.00131884e-03 9.96432200e-01 -1.36566934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35864 meters 0.027023650403950262 Centerline is valid? [True, True] Translation: X:190.76, Y:-131.16, Z:-13.66 [[ 7.26296293e-01 6.84550045e-01 6.23292128e-02 1.90758738e+02] [-6.82198499e-01 7.28964646e-01 -5.67076122e-02 -1.31163879e+02] [-8.42549910e-02 -1.33436689e-03 9.96443333e-01 -1.36587048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38864 meters 0.02747063553604823 Centerline is valid? [True, True] Translation: X:190.78, Y:-131.18, Z:-13.66 [[ 7.23573533e-01 6.87392193e-01 6.27161590e-02 1.90783255e+02] [-6.85017483e-01 7.26284582e-01 -5.71117737e-02 -1.31184460e+02] [-8.48079666e-02 -1.63709757e-03 9.96395970e-01 -1.36596415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41864 meters 0.027796486552484675 Centerline is valid? [True, True] Translation: X:190.81, Y:-131.21, Z:-13.66 [[ 7.22289997e-01 6.88666196e-01 6.35297680e-02 1.90807396e+02] [-6.86229681e-01 7.25076364e-01 -5.79058803e-02 -1.31205212e+02] [-8.59417555e-02 -1.77117438e-03 9.96298589e-01 -1.36619019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44864 meters 0.027779710588086117 Centerline is valid? [True, True] Translation: X:190.83, Y:-131.22, Z:-13.66 [[ 7.20753001e-01 6.90432171e-01 6.17942482e-02 1.90833903e+02] [-6.88129379e-01 7.23394668e-01 -5.63747572e-02 -1.31224359e+02] [-8.36245756e-02 -1.89016216e-03 9.96495538e-01 -1.36636843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47864 meters 0.02771949463554695 Centerline is valid? [True, True] Translation: X:190.86, Y:-131.24, Z:-13.67 [[ 7.19946121e-01 6.91410448e-01 6.02426398e-02 1.90858818e+02] [-6.89221396e-01 7.22459630e-01 -5.50086385e-02 -1.31244407e+02] [-8.15564227e-02 -1.91726043e-03 9.96666882e-01 -1.36656036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50864 meters 0.027894285238066356 Centerline is valid? [True, True] Translation: X:190.88, Y:-131.27, Z:-13.67 [[ 7.18964126e-01 6.92480069e-01 5.96819787e-02 1.90884448e+02] [-6.90331095e-01 7.21434284e-01 -5.45486343e-02 -1.31265410e+02] [-8.08304676e-02 -1.98181453e-03 9.96725894e-01 -1.36671171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53864000000002 meters 0.02805119192367041 Centerline is valid? [True, True] Translation: X:190.91, Y:-131.28, Z:-13.67 [[ 7.18892773e-01 6.92406804e-01 6.13677379e-02 1.90910898e+02] [-6.90129442e-01 7.21504585e-01 -5.61470216e-02 -1.31284138e+02] [-8.31536840e-02 -1.98799465e-03 9.96534752e-01 -1.36685823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864000000002 meters 0.02808644971140607 Centerline is valid? [True, True] Translation: X:190.94, Y:-131.30, Z:-13.67 [[ 7.19215449e-01 6.92040343e-01 6.17195417e-02 1.90936879e+02] [-6.89730818e-01 7.21856279e-01 -5.65235336e-02 -1.31304470e+02] [-8.36692043e-02 -1.91727141e-03 9.96491740e-01 -1.36700358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59864000000002 meters 0.02787648414130041 Centerline is valid? [True, True] Translation: X:190.96, Y:-131.32, Z:-13.67 [[ 7.20556134e-01 6.90714440e-01 6.09296395e-02 1.90963174e+02] [-6.88454407e-01 7.23125627e-01 -5.58556864e-02 -1.31322829e+02] [-8.26401129e-02 -1.70012134e-03 9.96578006e-01 -1.36724629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864000000002 meters 0.027484348026638888 Centerline is valid? [True, True] Translation: X:190.99, Y:-131.34, Z:-13.68 [[ 7.24241519e-01 6.86765950e-01 6.18607577e-02 1.90989067e+02] [-6.84417344e-01 7.26877582e-01 -5.67616054e-02 -1.31342288e+02] [-8.39471358e-02 -1.22946418e-03 9.96469451e-01 -1.36752201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65864000000002 meters 0.027416106128629287 Centerline is valid? [True, True] Translation: X:191.01, Y:-131.36, Z:-13.68 [[ 7.26732521e-01 6.84075410e-01 6.24553947e-02 1.91014304e+02] [-6.81666910e-01 7.29410751e-01 -5.73600861e-02 -1.31362434e+02] [-8.47942608e-02 -8.88336013e-04 9.96398085e-01 -1.36771574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters 0.027307239992867143 Centerline is valid? [True, True] Translation: X:191.04, Y:-131.38, Z:-13.68 [[ 7.32341915e-01 6.78038262e-01 6.27649190e-02 1.91039716e+02] [-6.75578967e-01 7.35026593e-01 -5.76971969e-02 -1.31382131e+02] [-8.52547917e-02 -1.48583513e-04 9.96359171e-01 -1.36794913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71864 meters 0.02736513487673798 Centerline is valid? [True, True] Translation: X:191.06, Y:-131.40, Z:-13.68 [[ 7.34192109e-01 6.76091192e-01 6.21501961e-02 1.91062797e+02] [-6.73668549e-01 7.36817947e-01 -5.71839106e-02 -1.31404141e+02] [-8.44549181e-02 1.15343565e-04 9.96427295e-01 -1.36813174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74864 meters 0.027333159926466084 Centerline is valid? [True, True] Translation: X:191.09, Y:-131.43, Z:-13.68 [[ 7.36701692e-01 6.73361174e-01 6.20914332e-02 1.91085559e+02] [-6.70928826e-01 7.39313539e-01 -5.71839230e-02 -1.31428813e+02] [-8.44104708e-02 4.68560415e-04 9.96430957e-01 -1.36825285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77864 meters 0.027385643505022393 Centerline is valid? [True, True] Translation: X:191.11, Y:-131.45, Z:-13.68 [[ 7.37272778e-01 6.72729510e-01 6.21599315e-02 1.91109875e+02] [-6.70284571e-01 7.39888278e-01 -5.73055821e-02 -1.31451320e+02] [-8.45425608e-02 5.85002708e-04 9.96419697e-01 -1.36846208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80864 meters 0.02721329458082237 Centerline is valid? [True, True] Translation: X:191.13, Y:-131.47, Z:-13.69 [[ 7.36843864e-01 6.73219228e-01 6.19434499e-02 1.91133276e+02] [-6.70788119e-01 7.39442727e-01 -5.71642637e-02 -1.31474142e+02] [-8.42877150e-02 5.70206678e-04 9.96441296e-01 -1.36858611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83864 meters 0.02746663149277309 Centerline is valid? [True, True] Translation: X:191.15, Y:-131.50, Z:-13.69 [[ 7.36330271e-01 6.73702280e-01 6.27930731e-02 1.91154343e+02] [-6.71200745e-01 7.39002652e-01 -5.80055227e-02 -1.31498518e+02] [-8.54827004e-02 5.64464862e-04 9.96339495e-01 -1.36882363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86864 meters 0.02742637587996286 Centerline is valid? [True, True] Translation: X:191.18, Y:-131.52, Z:-13.69 [[ 7.35397889e-01 6.74718483e-01 6.28085386e-02 1.91176981e+02] [-6.72214735e-01 7.38075017e-01 -5.80742574e-02 -1.31522319e+02] [-8.55411881e-02 4.86861209e-04 9.96334516e-01 -1.36901601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89864 meters 0.02737076928634709 Centerline is valid? [True, True] Translation: X:191.20, Y:-131.55, Z:-13.69 [[ 7.34790420e-01 6.75346549e-01 6.31670580e-02 1.91199981e+02] [-6.72811215e-01 7.37500391e-01 -5.84657325e-02 -1.31545792e+02] [-8.60703607e-02 4.60555130e-04 9.96288955e-01 -1.36921565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92864 meters 0.02726881022298388 Centerline is valid? [True, True] Translation: X:191.22, Y:-131.57, Z:-13.69 [[ 7.34446353e-01 6.75799790e-01 6.23153154e-02 1.91220305e+02] [-6.73329346e-01 7.37085102e-01 -5.77333973e-02 -1.31570581e+02] [-8.49479084e-02 4.43352548e-04 9.96385295e-01 -1.36940813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95864 meters 0.027259823094707755 Centerline is valid? [True, True] Translation: X:191.24, Y:-131.59, Z:-13.69 [[ 7.33711654e-01 6.76736825e-01 6.07822143e-02 1.91242069e+02] [-6.74385743e-01 7.36224923e-01 -5.63625063e-02 -1.31594496e+02] [-8.28919646e-02 3.63168957e-04 9.96558473e-01 -1.36949692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98864 meters 0.027259823094707755 Centerline is valid? [True, True] Translation: X:191.27, Y:-131.62, Z:-13.70 [[ 7.33367857e-01 6.77111732e-01 6.07559768e-02 1.91266149e+02] [-6.74759592e-01 7.35880135e-01 -5.63907792e-02 -1.31616373e+02] [-8.28919746e-02 3.59506773e-04 9.96558474e-01 -1.36967825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01864 meters 0.027180778778791485 Centerline is valid? [True, True] Translation: X:191.29, Y:-131.64, Z:-13.70 [[ 7.32546661e-01 6.78039109e-01 6.03187892e-02 1.91288623e+02] [-6.75719378e-01 7.35025768e-01 -5.60396476e-02 -1.31639167e+02] [-8.23329372e-02 2.93081962e-04 9.96604837e-01 -1.36991694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04864 meters 0.027191479084161495 Centerline is valid? [True, True] Translation: X:191.31, Y:-131.66, Z:-13.70 [[ 7.31504534e-01 6.79190867e-01 6.00073509e-02 1.91312820e+02] [-6.76894650e-01 7.33961665e-01 -5.58023969e-02 -1.31661713e+02] [-8.19435735e-02 2.01051561e-04 9.96636950e-01 -1.37003236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07864 meters 0.02719426229687604 Centerline is valid? [True, True] Translation: X:191.34, Y:-131.68, Z:-13.70 [[ 7.30104525e-01 6.80625631e-01 6.07958315e-02 1.91335833e+02] [-6.78268805e-01 7.32631383e-01 -5.65922564e-02 -1.31684807e+02] [-8.30590743e-02 8.23465043e-05 9.96544622e-01 -1.37025975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10864 meters 0.027105391703672 Centerline is valid? [True, True] Translation: X:191.36, Y:-131.71, Z:-13.70 [[ 7.28606882e-01 6.82337803e-01 5.95578214e-02 1.91356814e+02] [-6.80077762e-01 7.31037015e-01 -5.54898223e-02 -1.31709799e+02] [-8.14017754e-02 -7.36835432e-05 9.96681366e-01 -1.37019473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13864 meters 0.027142267790373233 Centerline is valid? [True, True] Translation: X:191.38, Y:-131.73, Z:-13.70 [[ 7.26910954e-01 6.84170980e-01 5.92497797e-02 1.91380591e+02] [-6.81936092e-01 7.29321612e-01 -5.52553441e-02 -1.31733228e+02] [-8.10162477e-02 -2.38848356e-04 9.96712752e-01 -1.37039557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16864 meters 0.02722718671380859 Centerline is valid? [True, True] Translation: X:191.40, Y:-131.76, Z:-13.70 [[ 7.24365546e-01 6.86965049e-01 5.80825050e-02 1.91403652e+02] [-6.84822145e-01 7.26690285e-01 -5.42204772e-02 -1.31755495e+02] [-7.94555649e-02 -5.00740052e-04 9.96838283e-01 -1.37040564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19864 meters 0.02740322134681726 Centerline is valid? [True, True] Translation: X:191.43, Y:-131.78, Z:-13.71 [[ 7.23138666e-01 6.88227018e-01 5.84297986e-02 1.91427588e+02] [-6.86058305e-01 7.25495145e-01 -5.45966708e-02 -1.31777603e+02] [-7.99654392e-02 -6.05284935e-04 9.96797453e-01 -1.37068708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22864 meters 0.02731519500475645 Centerline is valid? [True, True] Translation: X:191.45, Y:-131.80, Z:-13.71 [[ 7.21918311e-01 6.89547777e-01 5.79466595e-02 1.91451489e+02] [-6.87414606e-01 7.24239855e-01 -5.42014094e-02 -1.31799853e+02] [-7.93417416e-02 -7.04390177e-04 9.96847226e-01 -1.37066499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25864 meters 0.027319281399154707 Centerline is valid? [True, True] Translation: X:191.48, Y:-131.82, Z:-13.71 [[ 7.22192134e-01 6.89220945e-01 5.84209740e-02 1.91476443e+02] [-6.87046970e-01 7.24550957e-01 -5.47025848e-02 -1.31821793e+02] [-8.00311398e-02 -6.32176654e-04 9.96792163e-01 -1.37085781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864000000002 meters 0.027376069844834337 Centerline is valid? [True, True] Translation: X:191.50, Y:-131.84, Z:-13.71 [[ 7.22537675e-01 6.88884436e-01 5.81166293e-02 1.91500676e+02] [-6.86727435e-01 7.24870975e-01 -5.44747552e-02 -1.31843938e+02] [-7.96538688e-02 -5.50220785e-04 9.96822431e-01 -1.37115497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31864000000002 meters 0.02711770879606156 Centerline is valid? [True, True] Translation: X:191.52, Y:-131.87, Z:-13.71 [[ 7.23280708e-01 6.88243174e-01 5.64477735e-02 1.91524264e+02] [-6.86202439e-01 7.25479945e-01 -5.29628364e-02 -1.31865676e+02] [-7.74030382e-02 -4.27602086e-04 9.96999793e-01 -1.37108548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864000000002 meters 0.02720882010624307 Centerline is valid? [True, True] Translation: X:191.55, Y:-131.89, Z:-13.71 [[ 7.23229195e-01 6.88311967e-01 5.62687118e-02 1.91548346e+02] [-6.86280502e-01 7.25414694e-01 -5.28449979e-02 -1.31888412e+02] [-7.71919948e-02 -3.97074500e-04 9.97016168e-01 -1.37123287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37864000000002 meters 0.027314614044809497 Centerline is valid? [True, True] Translation: X:191.57, Y:-131.91, Z:-13.71 [[ 7.23740815e-01 6.87645818e-01 5.78140207e-02 1.91572817e+02] [-6.85494479e-01 7.26046240e-01 -5.43523512e-02 -1.31909185e+02] [-7.93508194e-02 -2.94177009e-04 9.96846709e-01 -1.37134349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864000000002 meters 0.02717619945152782 Centerline is valid? [True, True] Translation: X:191.60, Y:-131.93, Z:-13.72 [[ 7.24168036e-01 6.87219545e-01 5.75321800e-02 1.91597914e+02] [-6.85083729e-01 7.26449759e-01 -5.41389970e-02 -1.31930837e+02] [-7.89996152e-02 -2.08629241e-04 9.96874625e-01 -1.37153255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43864 meters 0.027221247416930144 Centerline is valid? [True, True] Translation: X:191.62, Y:-131.95, Z:-13.71 [[ 7.24434193e-01 6.87081042e-01 5.58098690e-02 1.91621998e+02] [-6.85066969e-01 7.26580773e-01 -5.25702242e-02 -1.31952455e+02] [-7.66703822e-02 -1.49829801e-04 9.97056483e-01 -1.37143142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters 0.027200216952222172 Centerline is valid? [True, True] Translation: X:191.65, Y:-131.98, Z:-13.72 [[ 7.24232772e-01 6.87303147e-01 5.56890983e-02 1.91646348e+02] [-6.85294643e-01 7.26370680e-01 -5.25060695e-02 -1.31975252e+02] [-7.65385151e-02 -1.36824482e-04 9.97066616e-01 -1.37156869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49864 meters 0.027181815098660488 Centerline is valid? [True, True] Translation: X:191.67, Y:-132.00, Z:-13.72 [[ 7.24068817e-01 6.87429415e-01 5.62596494e-02 1.91671202e+02] [-6.85375515e-01 7.26251188e-01 -5.31000486e-02 -1.31997645e+02] [-7.73611725e-02 -1.10896822e-04 9.97003128e-01 -1.37171632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52864 meters 0.027263249107621373 Centerline is valid? [True, True] Translation: X:191.70, Y:-132.02, Z:-13.72 [[ 7.24935060e-01 6.86533175e-01 5.60478228e-02 1.91697511e+02] [-6.84487782e-01 7.27098480e-01 -5.29554225e-02 -1.32018375e+02] [-7.71079410e-02 2.51924655e-05 9.97022750e-01 -1.37172801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55864 meters 0.027147500820385206 Centerline is valid? [True, True] Translation: X:191.72, Y:-132.04, Z:-13.72 [[ 7.25117276e-01 6.86398804e-01 5.53318870e-02 1.91721579e+02] [-6.84401039e-01 7.27225327e-01 -5.23310823e-02 -1.32039890e+02] [-7.61587420e-02 7.69708966e-05 9.97095703e-01 -1.37189328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58864 meters 0.02709172602893145 Centerline is valid? [True, True] Translation: X:191.75, Y:-132.06, Z:-13.72 [[ 7.24150130e-01 6.87536260e-01 5.38561086e-02 1.91745431e+02] [-6.85643530e-01 7.26150048e-01 -5.09809557e-02 -1.32061503e+02] [-7.41588714e-02 -8.22665384e-06 9.97246440e-01 -1.37201423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61864 meters 0.027162734925538598 Centerline is valid? [True, True] Translation: X:191.77, Y:-132.08, Z:-13.72 [[ 7.23533576e-01 6.88242735e-01 5.31140394e-02 1.91770086e+02] [-6.86400949e-01 7.25480485e-01 -5.03170222e-02 -1.32083068e+02] [-7.31635241e-02 -5.14720211e-05 9.97319957e-01 -1.37202374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64864 meters 0.026798378562762584 Centerline is valid? [True, True] Translation: X:191.80, Y:-132.10, Z:-13.72 [[ 7.23677075e-01 6.88059592e-01 5.35302692e-02 1.91795470e+02] [-6.86186377e-01 7.25654186e-01 -5.07371446e-02 -1.32104227e+02] [-7.37546430e-02 -1.44331619e-05 9.97276417e-01 -1.37226886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67864 meters 0.02682002222671854 Centerline is valid? [True, True] Translation: X:191.82, Y:-132.12, Z:-13.72 [[ 7.23597789e-01 6.88058187e-01 5.46092541e-02 1.91821003e+02] [-6.86104551e-01 7.25655518e-01 -5.18132592e-02 -1.32124456e+02] [-7.52780437e-02 2.43020419e-05 9.97162582e-01 -1.37238605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70864 meters 0.02665092552372949 Centerline is valid? [True, True] Translation: X:191.84, Y:-132.15, Z:-13.73 [[ 7.24927036e-01 6.86584411e-01 5.55215292e-02 1.91843844e+02] [-6.84556808e-01 7.27050067e-01 -5.27273792e-02 -1.32146938e+02] [-7.65687281e-02 2.15861913e-04 9.97064282e-01 -1.37257240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73864 meters 0.026626059669200522 Centerline is valid? [True, True] Translation: X:191.87, Y:-132.17, Z:-13.73 [[ 7.26053495e-01 6.85431305e-01 5.50476970e-02 1.91867817e+02] [-6.83431132e-01 7.28137205e-01 -5.23268400e-02 -1.32169053e+02] [-7.59487304e-02 3.70775159e-04 9.97111655e-01 -1.37278697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76864 meters 0.026535327096172918 Centerline is valid? [True, True] Translation: X:191.89, Y:-132.19, Z:-13.73 [[ 7.26828008e-01 6.84634904e-01 5.47365920e-02 1.91891773e+02] [-6.82650947e-01 7.28886004e-01 -5.20852867e-02 -1.32191807e+02] [-7.55561411e-02 4.91058803e-04 9.97141429e-01 -1.37297903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79864 meters 0.026485014175427413 Centerline is valid? [True, True] Translation: X:191.91, Y:-132.22, Z:-13.73 [[ 7.28804392e-01 6.82499156e-01 5.51276691e-02 1.91913754e+02] [-6.80476583e-01 7.30885990e-01 -5.25099106e-02 -1.32215614e+02] [-7.61300106e-02 7.56365560e-04 9.97097613e-01 -1.37322568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82864 meters 0.026654951346703884 Centerline is valid? [True, True] Translation: X:191.94, Y:-132.24, Z:-13.73 [[ 7.29562884e-01 6.81744341e-01 5.44302520e-02 1.91936310e+02] [-6.79766988e-01 7.31589991e-01 -5.18934228e-02 -1.32239426e+02] [-7.51986749e-02 8.59626779e-04 9.97168201e-01 -1.37335815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85864 meters 0.026474557184271174 Centerline is valid? [True, True] Translation: X:191.96, Y:-132.26, Z:-13.74 [[ 7.29855107e-01 6.81408082e-01 5.47224727e-02 1.91958128e+02] [-6.79404417e-01 7.31903098e-01 -5.22254057e-02 -1.32264350e+02] [-7.56383609e-02 9.38289391e-04 9.97134875e-01 -1.37351973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88864 meters 0.02645151667166789 Centerline is valid? [True, True] Translation: X:191.98, Y:-132.29, Z:-13.74 [[ 7.28876596e-01 6.82446005e-01 5.48302693e-02 1.91981355e+02] [-6.80433302e-01 7.30935491e-01 -5.23815869e-02 -1.32288480e+02] [-7.58249945e-02 8.71371597e-04 9.97120760e-01 -1.37376163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91864 meters 0.026321827414975272 Centerline is valid? [True, True] Translation: X:192.00, Y:-132.31, Z:-13.74 [[ 7.27300912e-01 6.84184484e-01 5.40830400e-02 1.92003134e+02] [-6.82227344e-01 7.29308629e-01 -5.17182276e-02 -1.32312375e+02] [-7.48280366e-02 7.17785340e-04 9.97196194e-01 -1.37389077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94864 meters 0.026045773649361344 Centerline is valid? [True, True] Translation: X:192.02, Y:-132.34, Z:-13.74 [[ 7.23098407e-01 6.88529406e-01 5.52806574e-02 1.92022962e+02] [-6.86493257e-01 7.25208356e-01 -5.29135913e-02 -1.32338753e+02] [-7.65225582e-02 3.11935035e-04 9.97067802e-01 -1.37415884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97864 meters 0.025850265680276447 Centerline is valid? [True, True] Translation: X:192.05, Y:-132.36, Z:-13.74 [[ 7.20714907e-01 6.91049557e-01 5.49593711e-02 1.92045779e+02] [-6.89040166e-01 7.22807376e-01 -5.26606747e-02 -1.32362149e+02] [-7.61161747e-02 8.41190881e-05 9.97098952e-01 -1.37420424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00864 meters 0.02604303135830346 Centerline is valid? [True, True] Translation: X:192.07, Y:-132.39, Z:-13.74 [[ 7.15629641e-01 6.96256545e-01 5.56869877e-02 1.92067279e+02] [-6.94204939e-01 7.17792891e-01 -5.34122502e-02 -1.32385554e+02] [-7.71603526e-02 -4.34792491e-04 9.97018601e-01 -1.37437638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03864000000002 meters 0.026067231601468212 Centerline is valid? [True, True] Translation: X:192.09, Y:-132.41, Z:-13.75 [[ 7.13567077e-01 6.98319819e-01 5.63156847e-02 1.92090191e+02] [-6.96224055e-01 7.15785606e-01 -5.40650669e-02 -1.32408062e+02] [-7.80646643e-02 -6.29282566e-04 9.96948099e-01 -1.37457342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864000000002 meters 0.026109005392414585 Centerline is valid? [True, True] Translation: X:192.11, Y:-132.43, Z:-13.75 [[ 7.11730036e-01 7.00131858e-01 5.70590773e-02 1.92113689e+02] [-6.97982082e-01 7.14013122e-01 -5.48295050e-02 -1.32430394e+02] [-7.91288131e-02 -8.02408043e-04 9.96864077e-01 -1.37469418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09864000000002 meters 0.026361117019277607 Centerline is valid? [True, True] Translation: X:192.14, Y:-132.45, Z:-13.75 [[ 7.09609401e-01 7.02256357e-01 5.73629366e-02 1.92138063e+02] [-7.00086442e-01 7.11923446e-01 -5.51722895e-02 -1.32451866e+02] [-7.95831106e-02 -1.00823886e-03 9.96827724e-01 -1.37489423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864000000002 meters 0.026396608655221563 Centerline is valid? [True, True] Translation: X:192.16, Y:-132.47, Z:-13.75 [[ 7.09160167e-01 7.02714716e-01 5.73052001e-02 1.92162091e+02] [-7.00546461e-01 7.11471002e-01 -5.51694650e-02 -1.32474022e+02] [-7.95393830e-02 -1.02096817e-03 9.96831201e-01 -1.37506550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15864000000002 meters 0.026094013529276622 Centerline is valid? [True, True] Translation: X:192.19, Y:-132.50, Z:-13.75 [[ 7.09699243e-01 7.02168106e-01 5.73317972e-02 1.92186876e+02] [-6.99991428e-01 7.12010609e-01 -5.52529962e-02 -1.32495896e+02] [-7.96177395e-02 -9.18757023e-04 9.96825046e-01 -1.37530149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters 0.02608940807148821 Centerline is valid? [True, True] Translation: X:192.21, Y:-132.52, Z:-13.75 [[ 7.10008772e-01 7.01879688e-01 5.70302294e-02 1.92211041e+02] [-6.99720527e-01 7.12295020e-01 -5.50180809e-02 -1.32517236e+02] [-7.92384218e-02 -8.41902111e-04 9.96855337e-01 -1.37548289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21864 meters 0.02606552878078613 Centerline is valid? [True, True] Translation: X:192.24, Y:-132.54, Z:-13.76 [[ 7.09820393e-01 7.01987116e-01 5.80439423e-02 1.92235537e+02] [-6.99746529e-01 7.12189158e-01 -5.60481835e-02 -1.32538835e+02] [-8.06833691e-02 -8.31903514e-04 9.96739435e-01 -1.37566149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24864 meters 0.02614113843212846 Centerline is valid? [True, True] Translation: X:192.26, Y:-132.56, Z:-13.76 [[ 7.10093041e-01 7.01741430e-01 5.76787549e-02 1.92259806e+02] [-6.99524093e-01 7.12431319e-01 -5.57463766e-02 -1.32560639e+02] [-8.02116934e-02 -7.62564622e-04 9.96777559e-01 -1.37576560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27864 meters 0.02612809686962202 Centerline is valid? [True, True] Translation: X:192.28, Y:-132.58, Z:-13.76 [[ 7.10200544e-01 7.01619760e-01 5.78351035e-02 1.92283615e+02] [-6.99385635e-01 7.12551195e-01 -5.59511328e-02 -1.32583083e+02] [-8.04668925e-02 -7.12515575e-04 9.96757027e-01 -1.37600029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30864 meters 0.026096464431951405 Centerline is valid? [True, True] Translation: X:192.31, Y:-132.61, Z:-13.76 [[ 7.10771791e-01 7.01133699e-01 5.67009487e-02 1.92307015e+02] [-6.98980588e-01 7.13029572e-01 -5.49087150e-02 -1.32605777e+02] [-7.89278036e-02 -6.05296776e-04 9.96880151e-01 -1.37610919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33864 meters 0.026149940313074382 Centerline is valid? [True, True] Translation: X:192.33, Y:-132.63, Z:-13.76 [[ 7.10369030e-01 7.01562148e-01 5.64481536e-02 1.92330119e+02] [-6.99425468e-01 7.12608011e-01 -5.47159723e-02 -1.32628788e+02] [-7.86120615e-02 -6.12744114e-04 9.96905095e-01 -1.37622851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36864 meters 0.026230496415672846 Centerline is valid? [True, True] Translation: X:192.35, Y:-132.65, Z:-13.77 [[ 7.10393974e-01 7.01427366e-01 5.77931800e-02 1.92352952e+02] [-6.99182382e-01 7.12740713e-01 -5.60773782e-02 -1.32651826e+02] [-8.05257600e-02 -5.70941746e-04 9.96752364e-01 -1.37654662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39864 meters 0.026230611409912192 Centerline is valid? [True, True] Translation: X:192.38, Y:-132.67, Z:-13.77 [[ 7.08545211e-01 7.03246323e-01 5.83805895e-02 1.92375897e+02] [-7.00957873e-01 7.10945878e-01 -5.66923136e-02 -1.32673603e+02] [-8.13741005e-02 -7.53266550e-04 9.96683344e-01 -1.37670088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42864 meters 0.026226332490958223 Centerline is valid? [True, True] Translation: X:192.40, Y:-132.69, Z:-13.77 [[ 7.07165655e-01 7.04746516e-01 5.70007462e-02 1.92400204e+02] [-7.02567283e-01 7.09458649e-01 -5.53862603e-02 -1.32694885e+02] [-7.94729464e-02 -8.79598329e-04 9.96836635e-01 -1.37677697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45864 meters 0.026540396308257445 Centerline is valid? [True, True] Translation: X:192.43, Y:-132.72, Z:-13.77 [[ 7.05157942e-01 7.06815448e-01 5.62512193e-02 1.92425332e+02] [-7.04695733e-01 7.07397199e-01 -5.47094832e-02 -1.32716415e+02] [-7.84614628e-02 -1.06116764e-03 9.96916583e-01 -1.37701721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48864 meters 0.026494452895634613 Centerline is valid? [True, True] Translation: X:192.45, Y:-132.74, Z:-13.77 [[ 7.03900838e-01 7.08045302e-01 5.65284107e-02 1.92448787e+02] [-7.05904152e-01 7.06166053e-01 -5.50348421e-02 -1.32738817e+02] [-7.88856060e-02 -1.16456833e-03 9.96882995e-01 -1.37718479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51864 meters 0.02653638707984336 Centerline is valid? [True, True] Translation: X:192.47, Y:-132.76, Z:-13.77 [[ 7.03157287e-01 7.08780696e-01 5.65663726e-02 1.92473626e+02] [-7.06634869e-01 7.05427856e-01 -5.51244341e-02 -1.32761157e+02] [-7.89746297e-02 -1.21062374e-03 9.96875891e-01 -1.37725200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54864 meters 0.02658160167487258 Centerline is valid? [True, True] Translation: X:192.50, Y:-132.78, Z:-13.77 [[ 7.02795915e-01 7.09139397e-01 5.65616251e-02 1.92500552e+02] [-7.06990490e-01 7.05067268e-01 -5.51778491e-02 -1.32780495e+02] [-7.90085371e-02 -1.20976405e-03 9.96873205e-01 -1.37738786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57864 meters 0.02662052056355574 Centerline is valid? [True, True] Translation: X:192.53, Y:-132.80, Z:-13.78 [[ 7.02564284e-01 7.09305753e-01 5.73478389e-02 1.92526184e+02] [-7.07092361e-01 7.04899922e-01 -5.60044025e-02 -1.32801651e+02] [-8.01487321e-02 -1.20352581e-03 9.96782189e-01 -1.37760043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60864 meters 0.026551129417886808 Centerline is valid? [True, True] Translation: X:192.55, Y:-132.82, Z:-13.78 [[ 7.03625505e-01 7.08340819e-01 5.62532940e-02 1.92551029e+02] [-7.06203813e-01 7.05869830e-01 -5.49905317e-02 -1.32822506e+02] [-7.86595413e-02 -1.03355009e-03 9.96901002e-01 -1.37792692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63864 meters 0.026534868413336826 Centerline is valid? [True, True] Translation: X:192.58, Y:-132.84, Z:-13.78 [[ 7.03742539e-01 7.08194645e-01 5.66284637e-02 1.92575110e+02] [-7.06024294e-01 7.06016552e-01 -5.54105120e-02 -1.32844957e+02] [-7.92220606e-02 -9.86336645e-04 9.96856505e-01 -1.37805082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66864 meters 0.026459308947237175 Centerline is valid? [True, True] Translation: X:192.60, Y:-132.87, Z:-13.78 [[ 7.04290552e-01 7.07668783e-01 5.63889324e-02 1.92599940e+02] [-7.05510713e-01 7.06543779e-01 -5.52315234e-02 -1.32865573e+02] [-7.89268743e-02 -8.83955811e-04 9.96880016e-01 -1.37810178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69864 meters 0.02632523072245203 Centerline is valid? [True, True] Translation: X:192.62, Y:-132.89, Z:-13.78 [[ 7.03951100e-01 7.08018049e-01 5.62431424e-02 1.92624480e+02] [-7.05868126e-01 7.06193784e-01 -5.51409889e-02 -1.32888064e+02] [-7.87593730e-02 -8.83681749e-04 9.96893264e-01 -1.37822209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72864 meters 0.026378868743340823 Centerline is valid? [True, True] Translation: X:192.65, Y:-132.91, Z:-13.79 [[ 7.03658978e-01 7.08330851e-01 5.59593469e-02 1.92648619e+02] [-7.06199072e-01 7.05880048e-01 -5.49201960e-02 -1.32910391e+02] [-7.84022557e-02 -8.73349920e-04 9.96921423e-01 -1.37852588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75864 meters 0.02669590717151816 Centerline is valid? [True, True] Translation: X:192.67, Y:-132.93, Z:-13.79 [[ 7.02432330e-01 7.09535085e-01 5.61140444e-02 1.92673044e+02] [-7.07390739e-01 7.04669443e-01 -5.51300202e-02 -1.32932998e+02] [-7.86585359e-02 -9.69446789e-04 9.96901146e-01 -1.37872882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864000000002 meters 0.026570321782472355 Centerline is valid? [True, True] Translation: X:192.70, Y:-132.96, Z:-13.79 [[ 7.01337003e-01 7.10673806e-01 5.53999178e-02 1.92697531e+02] [-7.08582917e-01 7.03520898e-01 -5.44848261e-02 -1.32955241e+02] [-7.76959386e-02 -1.04321069e-03 9.96976556e-01 -1.37887224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81864000000002 meters 0.02689355579130969 Centerline is valid? [True, True] Translation: X:192.72, Y:-132.98, Z:-13.79 [[ 6.99024456e-01 7.12959573e-01 5.52581003e-02 1.92722082e+02] [-7.10882318e-01 7.01204015e-01 -5.43990697e-02 -1.32975478e+02] [-7.75315393e-02 -1.25572635e-03 9.96989109e-01 -1.37899477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864000000002 meters 0.027149713425634908 Centerline is valid? [True, True] Translation: X:192.75, Y:-133.00, Z:-13.79 [[ 6.97627313e-01 7.14261091e-01 5.61001448e-02 1.92746128e+02] [-7.12120297e-01 6.99877968e-01 -5.52766934e-02 -1.32997163e+02] [-7.87452467e-02 -1.38752070e-03 9.96893806e-01 -1.37919812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87864000000002 meters 0.027120679304160088 Centerline is valid? [True, True] Translation: X:192.77, Y:-133.02, Z:-13.79 [[ 6.96890535e-01 7.14976003e-01 5.61506748e-02 1.92773628e+02] [-7.12829474e-01 6.99147526e-01 -5.53793888e-02 -1.33016996e+02] [-7.88525394e-02 -1.43248415e-03 9.96885262e-01 -1.37939769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864000000002 meters 0.027120679304160088 Centerline is valid? [True, True] Translation: X:192.80, Y:-133.04, Z:-13.80 [[ 6.96516134e-01 7.15343008e-01 5.61217955e-02 1.92797013e+02] [-7.13195312e-01 6.98772015e-01 -5.54086443e-02 -1.33039626e+02] [-7.88525264e-02 -1.43278670e-03 9.96885262e-01 -1.37957899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93864 meters 0.02702914327989642 Centerline is valid? [True, True] Translation: X:192.82, Y:-133.06, Z:-13.80 [[ 6.96241079e-01 7.15679231e-01 5.52412742e-02 1.92821711e+02] [-7.13595299e-01 6.98427700e-01 -5.45939353e-02 -1.33059864e+02] [-7.76537817e-02 -1.40937311e-03 9.96979390e-01 -1.37978966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters 0.027169966059625544 Centerline is valid? [True, True] Translation: X:192.85, Y:-133.08, Z:-13.80 [[ 6.95976082e-01 7.15904700e-01 5.56574655e-02 1.92847137e+02] [-7.13785773e-01 6.98196589e-01 -5.50580894e-02 -1.33080449e+02] [-7.82761975e-02 -1.40839370e-03 9.96930716e-01 -1.37998567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99864 meters 0.0271602721016201 Centerline is valid? [True, True] Translation: X:192.88, Y:-133.10, Z:-13.80 [[ 6.96809548e-01 7.15046785e-01 5.62543317e-02 1.92875554e+02] [-7.12874635e-01 6.99075422e-01 -5.57073619e-02 -1.33098842e+02] [-7.91593907e-02 -1.28486447e-03 9.96861144e-01 -1.38018971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02864 meters 0.02696034290972159 Centerline is valid? [True, True] Translation: X:192.90, Y:-133.12, Z:-13.80 [[ 6.97948112e-01 7.13972177e-01 5.57867625e-02 1.92904037e+02] [-7.11828988e-01 7.00173174e-01 -5.52903053e-02 -1.33116480e+02] [-7.85361342e-02 -1.12087044e-03 9.96910638e-01 -1.38030207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05864 meters 0.02701142216427454 Centerline is valid? [True, True] Translation: X:192.93, Y:-133.14, Z:-13.81 [[ 6.98202413e-01 7.13679586e-01 5.63457048e-02 1.92930347e+02] [-7.11489784e-01 7.00471475e-01 -5.58748577e-02 -1.33136933e+02] [-7.93453043e-02 -1.07743287e-03 9.96846609e-01 -1.38052567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08864 meters 0.02688750404471806 Centerline is valid? [True, True] Translation: X:192.96, Y:-133.16, Z:-13.81 [[ 6.98678588e-01 7.13246656e-01 5.59235050e-02 1.92956291e+02] [-7.11083792e-01 7.00912438e-01 -5.55121163e-02 -1.33156717e+02] [-7.87913115e-02 -9.81170950e-04 9.96890649e-01 -1.38072019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11864 meters 0.026926065246480245 Centerline is valid? [True, True] Translation: X:192.98, Y:-133.17, Z:-13.81 [[ 6.99720754e-01 7.12117265e-01 5.72701285e-02 1.92984718e+02] [-7.09840569e-01 7.02060042e-01 -5.69039840e-02 -1.33174676e+02] [-8.07293783e-02 -8.35762006e-04 9.96735707e-01 -1.38100049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14864 meters 0.026866692659951442 Centerline is valid? [True, True] Translation: X:193.01, Y:-133.19, Z:-13.81 [[ 7.00924236e-01 7.10949530e-01 5.70612063e-02 1.93010205e+02] [-7.08680982e-01 7.03242726e-01 -5.67532695e-02 -1.33194979e+02] [-8.04765886e-02 -6.58449663e-04 9.96756282e-01 -1.38124200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17864 meters 0.026633774280311332 Centerline is valid? [True, True] Translation: X:193.04, Y:-133.21, Z:-13.81 [[ 7.04285671e-01 7.07737959e-01 5.55758559e-02 1.93038073e+02] [-7.05572993e-01 7.06474994e-01 -5.53157697e-02 -1.33213272e+02] [-7.84120224e-02 -2.54718999e-04 9.96921005e-01 -1.38139230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20864 meters 0.02655063052432275 Centerline is valid? [True, True] Translation: X:193.06, Y:-133.23, Z:-13.82 [[ 7.06113035e-01 7.05931994e-01 5.53570404e-02 1.93064013e+02] [-7.03776237e-01 7.08279619e-01 -5.51270290e-02 -1.33233473e+02] [-7.81241970e-02 -3.30559055e-05 9.96943634e-01 -1.38153585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23864 meters 0.026811111394469563 Centerline is valid? [True, True] Translation: X:193.09, Y:-133.25, Z:-13.82 [[ 7.08541417e-01 7.03468742e-01 5.56847326e-02 1.93089343e+02] [-7.01276178e-01 7.10726146e-01 -5.54983599e-02 -1.33253988e+02] [-7.86179568e-02 2.72510122e-04 9.96904781e-01 -1.38172778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26864 meters 0.027152190079435996 Centerline is valid? [True, True] Translation: X:193.11, Y:-133.27, Z:-13.82 [[ 7.13194074e-01 6.98821489e-01 5.47972542e-02 1.93114969e+02] [-6.96683494e-01 7.15295681e-01 -5.46278121e-02 -1.33273612e+02] [-7.73713283e-02 7.83889364e-04 9.97002038e-01 -1.38197905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29864 meters 0.02742595374060922 Centerline is valid? [True, True] Translation: X:193.14, Y:-133.29, Z:-13.82 [[ 7.15498391e-01 6.96479018e-01 5.45804819e-02 1.93138802e+02] [-6.94349380e-01 7.17576390e-01 -5.44340258e-02 -1.33294516e+02] [-7.70778220e-02 1.04953416e-03 9.97024527e-01 -1.38221677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32864 meters 0.02791975531449542 Centerline is valid? [True, True] Translation: X:193.16, Y:-133.32, Z:-13.82 [[ 7.20098216e-01 6.91750044e-01 5.42257880e-02 1.93163493e+02] [-6.89631855e-01 7.22135308e-01 -5.41156244e-02 -1.33315216e+02] [-7.65928416e-02 1.57273381e-03 9.97061213e-01 -1.38242737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35864 meters 0.028167202055151982 Centerline is valid? [True, True] Translation: X:193.19, Y:-133.34, Z:-13.83 [[ 7.21575333e-01 6.90172635e-01 5.46879587e-02 1.93185772e+02] [-6.88012622e-01 7.23642606e-01 -5.45894725e-02 -1.33337699e+02] [-7.72506970e-02 1.76441095e-03 9.97010139e-01 -1.38264632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38864 meters 0.028499275517783383 Centerline is valid? [True, True] Translation: X:193.21, Y:-133.36, Z:-13.83 [[ 7.23318114e-01 6.88397294e-01 5.40376882e-02 1.93208399e+02] [-6.86282641e-01 7.25331239e-01 -5.39511897e-02 -1.33361107e+02] [-7.63350763e-02 1.93874539e-03 9.97080336e-01 -1.38278256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41864 meters 0.02892090276490979 Centerline is valid? [True, True] Translation: X:193.23, Y:-133.39, Z:-13.83 [[ 7.24818768e-01 6.86896530e-01 5.30180250e-02 1.93228588e+02] [-6.84856068e-01 7.26752287e-01 -5.29460112e-02 -1.33385859e+02] [-7.48994023e-02 2.06654643e-03 9.97188953e-01 -1.38299284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44864 meters 0.028935047000024607 Centerline is valid? [True, True] Translation: X:193.25, Y:-133.41, Z:-13.83 [[ 7.25861759e-01 6.85793330e-01 5.30303285e-02 1.93249050e+02] [-6.83748009e-01 7.27793041e-01 -5.29712147e-02 -1.33411130e+02] [-7.49224098e-02 2.19039751e-03 9.97186961e-01 -1.38319260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47864 meters 0.02908134833555391 Centerline is valid? [True, True] Translation: X:193.27, Y:-133.44, Z:-13.83 [[ 7.25965550e-01 6.85705026e-01 5.27507158e-02 1.93270812e+02] [-6.83679943e-01 7.27876215e-01 -5.27062688e-02 -1.33435974e+02] [-7.45369447e-02 2.19832901e-03 9.97215830e-01 -1.38331534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50864 meters 0.029107762727488773 Centerline is valid? [True, True] Translation: X:193.29, Y:-133.46, Z:-13.84 [[ 7.25435582e-01 6.86236810e-01 5.31249179e-02 1.93292146e+02] [-6.84182177e-01 7.27374932e-01 -5.31079832e-02 -1.33461698e+02] [-7.50863865e-02 2.17929867e-03 9.97174651e-01 -1.38361183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53864000000002 meters 0.028825908602793326 Centerline is valid? [True, True] Translation: X:193.31, Y:-133.47, Z:-13.84 [[ 6.75913820e-01 7.35201455e-01 5.11793839e-02 1.93306855e+02] [-7.32867519e-01 6.77845474e-01 -5.85722963e-02 -1.33465432e+02] [-7.77541512e-02 2.08211637e-03 9.96970389e-01 -1.38365146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864000000002 meters 0.028390338030096284 Centerline is valid? [True, True] Translation: X:193.15, Y:-133.75, Z:-12.14 [[ 6.90442956e-01 -7.23078675e-01 -2.11128841e-02 1.93154302e+02] [-7.22597224e-01 -6.90758802e-01 2.65617927e-02 -1.33754420e+02] [-3.37901764e-02 -3.08329128e-03 -9.99424193e-01 -1.21351500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59864000000002 meters 0.028055800734626102 Centerline is valid? [True, True] Translation: X:193.31, Y:-133.51, Z:-13.84 [[ 7.23289846e-01 6.88379670e-01 5.46372384e-02 1.93312964e+02] [-6.86239370e-01 7.25348425e-01 -5.42696040e-02 -1.33505403e+02] [-7.69891269e-02 1.75842950e-03 9.97030382e-01 -1.38392695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864000000002 meters 0.02777816011781433 Centerline is valid? [True, True] Translation: X:193.33, Y:-133.53, Z:-13.84 [[ 7.21906975e-01 6.89924452e-01 5.34281699e-02 1.93333012e+02] [-6.87878768e-01 7.23879630e-01 -5.31138576e-02 -1.33530324e+02] [-7.53201130e-02 1.59116063e-03 9.97158136e-01 -1.38411786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65864000000002 meters 0.027045785269486772 Centerline is valid? [True, True] Translation: X:193.35, Y:-133.56, Z:-13.84 [[ 7.17754399e-01 6.94125657e-01 5.49380937e-02 1.93350549e+02] [-6.91971685e-01 7.19852833e-01 -5.46542353e-02 -1.33559044e+02] [-7.74842493e-02 1.21271253e-03 9.96992839e-01 -1.38424119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters 0.02694935374994592 Centerline is valid? [True, True] Translation: X:193.37, Y:-133.58, Z:-13.84 [[ 7.15582095e-01 6.96254632e-01 5.63183149e-02 1.93372603e+02] [-6.93995118e-01 7.17794142e-01 -5.60566345e-02 -1.33583960e+02] [-7.94546479e-02 1.02848831e-03 9.96837951e-01 -1.38436747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71864 meters 0.027010975569731224 Centerline is valid? [True, True] Translation: X:193.40, Y:-133.61, Z:-13.84 [[ 7.13298442e-01 6.98523666e-01 5.71841015e-02 1.93395064e+02] [-6.96196594e-01 7.15586473e-01 -5.69763391e-02 -1.33607908e+02] [-8.07194907e-02 8.29757176e-04 9.96736513e-01 -1.38449845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74864 meters 0.026751723047999214 Centerline is valid? [True, True] Translation: X:193.42, Y:-133.63, Z:-13.85 [[ 7.09788492e-01 7.02138542e-01 5.65841336e-02 1.93415838e+02] [-6.99867170e-01 7.12040211e-01 -5.64329994e-02 -1.33632098e+02] [-7.99139623e-02 4.54116136e-04 9.96801662e-01 -1.38470732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77864 meters 0.02673353243884553 Centerline is valid? [True, True] Translation: X:193.44, Y:-133.66, Z:-13.85 [[ 7.08577550e-01 7.03331720e-01 5.69416096e-02 1.93438668e+02] [-7.01031079e-01 7.10861704e-01 -5.68424480e-02 -1.33655616e+02] [-8.04567063e-02 3.59444480e-04 9.96758039e-01 -1.38489705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80864 meters 0.026965068587324312 Centerline is valid? [True, True] Translation: X:193.46, Y:-133.68, Z:-13.85 [[ 7.07595692e-01 7.04337636e-01 5.67171215e-02 1.93462998e+02] [-7.02053708e-01 7.09865067e-01 -5.66760733e-02 -1.33677928e+02] [-8.01805948e-02 2.85279798e-04 9.96780312e-01 -1.38507604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83864 meters 0.02668833482347377 Centerline is valid? [True, True] Translation: X:193.49, Y:-133.70, Z:-13.85 [[ 7.07230533e-01 7.04773088e-01 5.58557769e-02 1.93486662e+02] [-7.02555146e-01 7.09432746e-01 -5.58699051e-02 -1.33699388e+02] [-7.90015227e-02 2.71139245e-04 9.96874458e-01 -1.38519708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86864 meters 0.026761323863426396 Centerline is valid? [True, True] Translation: X:193.51, Y:-133.70, Z:-13.85 [[ 6.57861334e-01 7.51413572e-01 5.09520289e-02 1.93506872e+02] [-7.49128152e-01 6.59831431e-01 -5.85618853e-02 -1.33698590e+02] [-7.76239456e-02 3.56000729e-04 9.96982646e-01 -1.38521414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89864 meters 0.026703066874104175 Centerline is valid? [True, True] Translation: X:193.53, Y:-133.70, Z:-13.85 [[ 6.06279058e-01 7.93942692e-01 4.56147588e-02 1.93531801e+02] [-7.91646164e-01 6.07992415e-01 -6.03454566e-02 -1.33704080e+02] [-7.56442616e-02 4.75437759e-04 9.97134755e-01 -1.38530251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92864 meters 0.02669709544853363 Centerline is valid? [True, True] Translation: X:193.55, Y:-133.71, Z:-13.85 [[ 5.51899748e-01 8.32902922e-01 4.09803711e-02 1.93553137e+02] [-8.30545852e-01 5.53418873e-01 -6.26189987e-02 -1.33706764e+02] [-7.48348578e-02 5.23332411e-04 9.97195803e-01 -1.38531642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95864 meters 0.02667089429460051 Centerline is valid? [True, True] Translation: X:193.40, Y:-133.95, Z:-12.15 [[ 6.03809323e-01 -7.96905255e-01 -1.88763418e-02 1.93397988e+02] [-7.96302631e-01 -6.04092232e-01 3.12200988e-02 -1.33949794e+02] [-3.62825123e-02 -3.81970604e-03 -9.99334273e-01 -1.21541798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98864 meters 0.026849913680340672 Centerline is valid? [True, True] Translation: X:193.41, Y:-133.97, Z:-12.15 [[ 6.57590797e-01 -7.53109535e-01 -2.00093068e-02 1.93406115e+02] [-7.52575539e-01 -6.57884462e-01 2.86023164e-02 -1.33972818e+02] [-3.47044893e-02 -3.75010520e-03 -9.99390582e-01 -1.21542605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01864 meters 0.027044234140622212 Centerline is valid? [True, True] Translation: X:193.42, Y:-133.99, Z:-12.16 [[ 7.09243275e-01 -7.04646041e-01 -2.11644564e-02 1.93416533e+02] [-7.04165682e-01 -7.09549150e-01 2.62810982e-02 -1.33993782e+02] [-3.35360939e-02 -3.73640829e-03 -9.99430523e-01 -1.21551802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04864 meters 0.027305437629292297 Centerline is valid? [True, True] Translation: X:193.56, Y:-133.76, Z:-13.86 [[ 7.18144423e-01 6.93681106e-01 5.54536716e-02 1.93555965e+02] [-6.91555870e-01 7.20281986e-01 -5.42617574e-02 -1.33762678e+02] [-7.75826367e-02 6.18466377e-04 9.96985733e-01 -1.38564207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07864 meters 0.027129927654166563 Centerline is valid? [True, True] Translation: X:193.58, Y:-133.79, Z:-13.86 [[ 7.18043557e-01 6.93812684e-01 5.51127024e-02 1.93580297e+02] [-6.91709687e-01 7.20155227e-01 -5.39829438e-02 -1.33785324e+02] [-7.71437517e-02 6.40114854e-04 9.97019775e-01 -1.38582162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10864 meters 0.027174527546369696 Centerline is valid? [True, True] Translation: X:193.60, Y:-133.81, Z:-13.86 [[ 7.17249332e-01 6.94644491e-01 5.49766100e-02 1.93604755e+02] [-6.92550095e-01 7.19352963e-01 -5.39043737e-02 -1.33808133e+02] [-7.69919634e-02 5.88819556e-04 9.97031540e-01 -1.38615467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13864 meters 0.027002967707651253 Centerline is valid? [True, True] Translation: X:193.63, Y:-133.83, Z:-13.86 [[ 7.16909084e-01 6.95009621e-01 5.47995590e-02 1.93629122e+02] [-6.92925568e-01 7.19000196e-01 -5.37854625e-02 -1.33831132e+02] [-7.67823076e-02 5.87271161e-04 9.97047708e-01 -1.38630859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16864 meters 0.026995055476580144 Centerline is valid? [True, True] Translation: X:193.65, Y:-133.85, Z:-13.86 [[ 7.15735256e-01 6.96231001e-01 5.46391453e-02 1.93652944e+02] [-6.94158531e-01 7.17817630e-01 -5.36822491e-02 -1.33853640e+02] [-7.65961877e-02 4.94049482e-04 9.97062074e-01 -1.38642946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19864 meters 0.027160174571940573 Centerline is valid? [True, True] Translation: X:193.68, Y:-133.88, Z:-13.87 [[ 7.14673524e-01 6.97278805e-01 5.51726652e-02 1.93677632e+02] [-6.95164384e-01 7.16799893e-01 -5.42622541e-02 -1.33875081e+02] [-7.73836803e-02 4.25724539e-04 9.97001296e-01 -1.38670694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22864 meters 0.02737111209504602 Centerline is valid? [True, True] Translation: X:193.70, Y:-133.90, Z:-13.87 [[ 7.13828252e-01 6.98119274e-01 5.54860858e-02 1.93702565e+02] [-6.95978867e-01 7.15981380e-01 -5.46267328e-02 -1.33896922e+02] [-7.78629793e-02 3.76962048e-04 9.96963999e-01 -1.38681929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25864 meters 0.027473777946419083 Centerline is valid? [True, True] Translation: X:193.73, Y:-133.92, Z:-13.87 [[ 7.13253481e-01 6.98636275e-01 5.63633505e-02 1.93726361e+02] [-6.96424798e-01 7.15476920e-01 -5.55452822e-02 -1.33918139e+02] [-7.91326255e-02 3.65030927e-04 9.96864030e-01 -1.38701581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864000000002 meters 0.027673883895396094 Centerline is valid? [True, True] Translation: X:193.75, Y:-133.94, Z:-13.87 [[ 7.12711928e-01 6.99168559e-01 5.66130193e-02 1.93751061e+02] [-6.96934938e-01 7.14956787e-01 -5.58434012e-02 -1.33940639e+02] [-7.95198127e-02 3.44667078e-04 9.96833226e-01 -1.38720880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31864000000002 meters 0.027694571276620956 Centerline is valid? [True, True] Translation: X:193.77, Y:-133.96, Z:-13.88 [[ 7.11883982e-01 6.99932294e-01 5.75845391e-02 1.93774655e+02] [-6.97619163e-01 7.14209137e-01 -5.68578241e-02 -1.33962844e+02] [-8.09240312e-02 3.04096260e-04 9.96720226e-01 -1.38750093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864000000002 meters 0.027850110481979096 Centerline is valid? [True, True] Translation: X:193.80, Y:-133.99, Z:-13.88 [[ 7.11648015e-01 7.00136844e-01 5.80129493e-02 1.93798709e+02] [-6.97785403e-01 7.14008610e-01 -5.73344233e-02 -1.33985706e+02] [-8.15636875e-02 3.21339335e-04 9.96668080e-01 -1.38773750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37864000000002 meters 0.027921669133319255 Centerline is valid? [True, True] Translation: X:193.82, Y:-134.01, Z:-13.88 [[ 7.11380478e-01 7.00383276e-01 5.83187913e-02 1.93823129e+02] [-6.98002928e-01 7.13766876e-01 -5.76954070e-02 -1.34007495e+02] [-8.20349197e-02 3.36699190e-04 9.96629399e-01 -1.38795519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864000000002 meters 0.027820991019430842 Centerline is valid? [True, True] Translation: X:193.85, Y:-134.03, Z:-13.88 [[ 7.11239692e-01 7.00548687e-01 5.80485773e-02 1.93847499e+02] [-6.98186160e-01 7.13604518e-01 -5.74863230e-02 -1.34030523e+02] [-8.16956952e-02 3.57841360e-04 9.96657256e-01 -1.38809868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43864 meters 0.027751810714664652 Centerline is valid? [True, True] Translation: X:193.87, Y:-134.05, Z:-13.88 [[ 7.11128331e-01 7.00692378e-01 5.76774542e-02 1.93871479e+02] [-6.98355760e-01 7.13463417e-01 -5.71767949e-02 -1.34053134e+02] [-8.12140979e-02 3.80656334e-04 9.96696607e-01 -1.38828779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46864 meters 0.027831288129419148 Centerline is valid? [True, True] Translation: X:193.90, Y:-134.08, Z:-13.88 [[ 7.11697546e-01 7.00121929e-01 5.75837446e-02 1.93896179e+02] [-6.97786309e-01 7.14023143e-01 -5.71420947e-02 -1.34075770e+02] [-8.11225598e-02 4.86739972e-04 9.96704015e-01 -1.38840168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49864 meters 0.028032615455067533 Centerline is valid? [True, True] Translation: X:193.92, Y:-134.10, Z:-13.89 [[ 7.12009510e-01 6.99727242e-01 5.85170492e-02 1.93919112e+02] [-6.97309109e-01 7.14409861e-01 -5.81253504e-02 -1.34097924e+02] [-8.24770480e-02 5.81330797e-04 9.96592795e-01 -1.38862836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52864 meters 0.028064752195787173 Centerline is valid? [True, True] Translation: X:193.94, Y:-134.12, Z:-13.89 [[ 7.12001228e-01 6.99597634e-01 6.01448475e-02 1.93940871e+02] [-6.97037786e-01 7.14536721e-01 -5.97963064e-02 -1.34121864e+02] [-8.48090566e-02 6.51812230e-04 9.96397009e-01 -1.38885121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55864 meters 0.028291268477259615 Centerline is valid? [True, True] Translation: X:193.96, Y:-134.14, Z:-13.89 [[ 7.12234304e-01 6.99406359e-01 5.96073962e-02 1.93964427e+02] [-6.96886840e-01 7.14723894e-01 -5.93168418e-02 -1.34144519e+02] [-8.40894067e-02 7.07879572e-04 9.96457962e-01 -1.38905658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58864 meters 0.02800662969428156 Centerline is valid? [True, True] Translation: X:193.99, Y:-134.17, Z:-13.89 [[ 7.11785391e-01 6.99909176e-01 5.90652427e-02 1.93987535e+02] [-6.97432366e-01 7.14231531e-01 -5.88337913e-02 -1.34166456e+02] [-8.33645691e-02 6.83021179e-04 9.96518882e-01 -1.38930335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61864 meters 0.02792261174567487 Centerline is valid? [True, True] Translation: X:194.01, Y:-134.19, Z:-13.90 [[ 7.10927928e-01 7.00827265e-01 5.85032142e-02 1.94009513e+02] [-6.98396333e-01 7.13330763e-01 -5.83248181e-02 -1.34189636e+02] [-8.26077652e-02 6.06311765e-04 9.96581953e-01 -1.38957748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64864 meters 0.027912464698196752 Centerline is valid? [True, True] Translation: X:194.03, Y:-134.21, Z:-13.90 [[ 7.10434532e-01 7.01399682e-01 5.76303948e-02 1.94031318e+02] [-6.99038642e-01 7.12767960e-01 -5.75048971e-02 -1.34213082e+02] [-8.14110155e-02 5.67591758e-04 9.96680453e-01 -1.38968713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67864 meters 0.027887703333698468 Centerline is valid? [True, True] Translation: X:194.05, Y:-134.24, Z:-13.90 [[ 7.09557476e-01 7.02310715e-01 5.73397637e-02 1.94054067e+02] [-6.99972162e-01 7.11870362e-01 -5.72674540e-02 -1.34237238e+02] [-8.10380249e-02 4.98311756e-04 9.96710886e-01 -1.38973150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70864 meters 0.027942862437144715 Centerline is valid? [True, True] Translation: X:194.08, Y:-134.26, Z:-13.90 [[ 7.08432531e-01 7.03458845e-01 5.71752031e-02 1.94076960e+02] [-7.01132764e-01 7.10735878e-01 -5.71608172e-02 -1.34261750e+02] [-8.08467506e-02 4.07174255e-04 9.96726461e-01 -1.38991362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73864 meters 0.027995344221717358 Centerline is valid? [True, True] Translation: X:193.96, Y:-134.54, Z:-12.20 [[ 7.51386929e-01 -6.59514256e-01 -2.14156219e-02 1.93963078e+02] [-6.59094921e-01 -7.51682549e-01 2.38166105e-02 -1.34540331e+02] [-3.18051434e-02 -3.78056225e-03 -9.99486939e-01 -1.21971858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76864 meters 0.028020428520847972 Centerline is valid? [True, True] Translation: X:194.09, Y:-134.30, Z:-13.90 [[ 7.56227756e-01 6.51526907e-01 6.02683278e-02 1.94094252e+02] [-6.49425848e-01 7.58625422e-01 -5.22832418e-02 -1.34295661e+02] [-7.97850244e-02 3.98228728e-04 9.96812014e-01 -1.39001318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79864 meters 0.028149149406967073 Centerline is valid? [True, True] Translation: X:194.12, Y:-134.32, Z:-13.90 [[ 7.55120125e-01 6.52638941e-01 6.20967722e-02 1.94119119e+02] [-6.50407458e-01 7.57668993e-01 -5.39243513e-02 -1.34316678e+02] [-8.22419304e-02 3.31159058e-04 9.96612340e-01 -1.39032534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82864 meters 0.028149149406967073 Centerline is valid? [True, True] Translation: X:194.14, Y:-134.34, Z:-13.91 [[ 7.54786121e-01 6.53027617e-01 6.20712758e-02 1.94143913e+02] [-6.50795033e-01 7.57334024e-01 -5.39536883e-02 -1.34337770e+02] [-8.22419376e-02 3.27817087e-04 9.96612340e-01 -1.39050613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85864 meters 0.02807559133273323 Centerline is valid? [True, True] Translation: X:194.17, Y:-134.36, Z:-13.91 [[ 7.54433561e-01 6.53414523e-01 6.22853359e-02 1.94168720e+02] [-6.51163140e-01 7.57000233e-01 -5.41960600e-02 -1.34359621e+02] [-8.25625065e-02 3.29411666e-04 9.96585834e-01 -1.39067438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88864 meters 0.028030245259358936 Centerline is valid? [True, True] Translation: X:194.19, Y:-134.38, Z:-13.91 [[ 7.55480622e-01 6.52200122e-01 6.23219910e-02 1.94193405e+02] [-6.49937282e-01 7.58046664e-01 -5.42842980e-02 -1.34382058e+02] [-8.26472031e-02 5.05349781e-04 9.96578740e-01 -1.39093605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91864 meters 0.02822462439227169 Centerline is valid? [True, True] Translation: X:194.22, Y:-134.40, Z:-13.91 [[ 7.55973307e-01 6.51637763e-01 6.22300973e-02 1.94218012e+02] [-6.49375051e-01 7.58530063e-01 -5.42603654e-02 -1.34403749e+02] [-8.25615027e-02 6.08715261e-04 9.96585785e-01 -1.39108442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94864 meters 0.02838646564166795 Centerline is valid? [True, True] Translation: X:194.24, Y:-134.42, Z:-13.91 [[ 7.56997360e-01 6.50428601e-01 6.24310129e-02 1.94242522e+02] [-6.48142661e-01 7.59566995e-01 -5.44891800e-02 -1.34424512e+02] [-8.28618580e-02 7.83962558e-04 9.96560735e-01 -1.39134477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97864 meters 0.028468396527714997 Centerline is valid? [True, True] Translation: X:194.27, Y:-134.45, Z:-13.91 [[ 7.59011113e-01 6.48169260e-01 6.14714631e-02 1.94266866e+02] [-6.45941698e-01 7.61495569e-01 -5.37012185e-02 -1.34447179e+02] [-8.16177259e-02 1.05284035e-03 9.96663152e-01 -1.39141982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00864 meters 0.028950721692508338 Centerline is valid? [True, True] Translation: X:194.29, Y:-134.47, Z:-13.92 [[ 7.59423937e-01 6.47556479e-01 6.28163302e-02 1.94290793e+02] [-6.45223570e-01 7.62016537e-01 -5.49303321e-02 -1.34469219e+02] [-8.34375748e-02 1.18483220e-03 9.96512302e-01 -1.39171165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03864000000002 meters 0.028786067007989642 Centerline is valid? [True, True] Translation: X:194.31, Y:-134.49, Z:-13.92 [[ 7.59687448e-01 6.47223651e-01 6.30597007e-02 1.94313666e+02] [-6.44867355e-01 7.62299120e-01 -5.51919008e-02 -1.34492491e+02] [-8.37918579e-02 1.26345193e-03 9.96482478e-01 -1.39195571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864000000002 meters 0.028679878651390392 Centerline is valid? [True, True] Translation: X:194.34, Y:-134.52, Z:-13.92 [[ 7.58923242e-01 6.48120593e-01 6.30492653e-02 1.94337568e+02] [-6.45763883e-01 7.61536769e-01 -5.52336600e-02 -1.34515253e+02] [-8.38124062e-02 1.20316993e-03 9.96480824e-01 -1.39214949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09864000000002 meters 0.02865387006849173 Centerline is valid? [True, True] Translation: X:194.36, Y:-134.54, Z:-13.92 [[ 7.58978984e-01 6.48089661e-01 6.26952391e-02 1.94361201e+02] [-6.45755746e-01 7.61563046e-01 -5.49658345e-02 -1.34537845e+02] [-8.33691663e-02 1.23210233e-03 9.96517970e-01 -1.39219399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864000000002 meters 0.02872895478464126 Centerline is valid? [True, True] Translation: X:194.38, Y:-134.56, Z:-13.93 [[ 7.57874462e-01 6.49455357e-01 6.19196136e-02 1.94383248e+02] [-6.47181238e-01 7.60398943e-01 -5.43129162e-02 -1.34561146e+02] [-8.23574232e-02 1.08915999e-03 9.96602262e-01 -1.39258452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15864000000002 meters 0.028479673826191116 Centerline is valid? [True, True] Translation: X:194.41, Y:-134.58, Z:-13.93 [[ 7.56873423e-01 6.50645412e-01 6.16698380e-02 1.94406308e+02] [-6.48389625e-01 7.59381039e-01 -5.41417644e-02 -1.34583466e+02] [-8.20579963e-02 9.92379370e-04 9.96627062e-01 -1.39283101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters 0.02859070554225874 Centerline is valid? [True, True] Translation: X:194.43, Y:-134.61, Z:-13.93 [[ 7.56119204e-01 6.51463897e-01 6.22779367e-02 1.94429551e+02] [-6.49161840e-01 7.58679040e-01 -5.47267757e-02 -1.34606422e+02] [-8.29014838e-02 9.51506101e-04 9.96557293e-01 -1.39310012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21864 meters 0.0288258113583111 Centerline is valid? [True, True] Translation: X:194.45, Y:-134.63, Z:-13.93 [[ 7.55995594e-01 6.51601973e-01 6.23340195e-02 1.94454424e+02] [-6.49291582e-01 7.58560419e-01 -5.48318599e-02 -1.34628056e+02] [-8.30126680e-02 9.79690443e-04 9.96548010e-01 -1.39328268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24864 meters 0.028786949520242865 Centerline is valid? [True, True] Translation: X:194.48, Y:-134.65, Z:-13.93 [[ 7.55674500e-01 6.52012455e-01 6.19339085e-02 1.94479020e+02] [-6.49728472e-01 7.58207634e-01 -5.45352770e-02 -1.34649845e+02] [-8.25164420e-02 9.70694421e-04 9.96589231e-01 -1.39338152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27864 meters 0.028762345462854687 Centerline is valid? [True, True] Translation: X:194.50, Y:-134.67, Z:-13.94 [[ 7.54384663e-01 6.53495445e-01 6.20280780e-02 1.94503167e+02] [-6.51204865e-01 7.56929968e-01 -5.46740130e-02 -1.34672676e+02] [-8.26801295e-02 8.52250721e-04 9.96575772e-01 -1.39360396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30864 meters 0.02892507263859925 Centerline is valid? [True, True] Translation: X:194.53, Y:-134.69, Z:-13.94 [[ 7.53601338e-01 6.54395134e-01 6.20647344e-02 1.94528387e+02] [-6.52100212e-01 7.56152348e-01 -5.47625822e-02 -1.34694678e+02] [-8.27667619e-02 7.96728802e-04 9.96568627e-01 -1.39388677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33864 meters 0.028763611028462095 Centerline is valid? [True, True] Translation: X:194.55, Y:-134.72, Z:-13.94 [[ 7.53592004e-01 6.54549263e-01 6.05339094e-02 1.94552772e+02] [-6.52362623e-01 7.56018930e-01 -5.34638695e-02 -1.34715450e+02] [-8.07595178e-02 7.99884583e-04 9.96733295e-01 -1.39402035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36864 meters 0.028829493647361516 Centerline is valid? [True, True] Translation: X:194.58, Y:-134.74, Z:-13.94 [[ 7.54078487e-01 6.53910669e-01 6.13715925e-02 1.94577389e+02] [-6.51656866e-01 7.56571209e-01 -5.42525083e-02 -1.34736561e+02] [-8.19082740e-02 9.17429757e-04 9.96639450e-01 -1.39429791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39864 meters 0.028717910952476965 Centerline is valid? [True, True] Translation: X:194.60, Y:-134.76, Z:-13.94 [[ 7.54229541e-01 6.53804386e-01 6.06434186e-02 1.94601442e+02] [-6.51599628e-01 7.56663012e-01 -5.36564107e-02 -1.34757603e+02] [-8.09674285e-02 9.54021010e-04 9.96716291e-01 -1.39443407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42864 meters 0.028760322964888944 Centerline is valid? [True, True] Translation: X:194.63, Y:-134.78, Z:-13.95 [[ 7.54687649e-01 6.53211552e-01 6.13288029e-02 1.94625825e+02] [-6.50950648e-01 7.57174704e-01 -5.43113360e-02 -1.34779175e+02] [-8.19134103e-02 1.06607042e-03 9.96638880e-01 -1.39456040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45864 meters 0.028824775124684662 Centerline is valid? [True, True] Translation: X:194.65, Y:-134.80, Z:-13.95 [[ 7.54563683e-01 6.53345510e-01 6.14271380e-02 1.94650867e+02] [-6.51073629e-01 7.57059082e-01 -5.44488438e-02 -1.34801257e+02] [-8.20778803e-02 1.09153051e-03 9.96625321e-01 -1.39473061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48864 meters 0.028689277652727836 Centerline is valid? [True, True] Translation: X:194.68, Y:-134.82, Z:-13.95 [[ 7.54712481e-01 6.53274990e-01 6.03395171e-02 1.94675235e+02] [-6.51078608e-01 7.57119895e-01 -5.35360674e-02 -1.34822816e+02] [-8.06580228e-02 1.11856948e-03 9.96741206e-01 -1.39482351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51864 meters 0.028658870411249263 Centerline is valid? [True, True] Translation: X:194.70, Y:-134.85, Z:-13.95 [[ 7.54185810e-01 6.53878913e-01 6.03832035e-02 1.94699508e+02] [-6.51677257e-01 7.56598423e-01 -5.36244249e-02 -1.34845968e+02] [-8.07497173e-02 1.09241996e-03 9.96733811e-01 -1.39496360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54864 meters 0.028615426850924254 Centerline is valid? [True, True] Translation: X:194.72, Y:-134.87, Z:-13.95 [[ 7.53847864e-01 6.54172401e-01 6.14155326e-02 1.94723810e+02] [-6.51891222e-01 7.56344640e-01 -5.45950562e-02 -1.34867657e+02] [-8.21658879e-02 1.12011984e-03 9.96618037e-01 -1.39515450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57864 meters 0.028552759312171574 Centerline is valid? [True, True] Translation: X:194.75, Y:-134.89, Z:-13.95 [[ 7.53211462e-01 6.54942704e-01 6.10126914e-02 1.94746814e+02] [-6.52689999e-01 7.55677788e-01 -5.42848557e-02 -1.34890138e+02] [-8.16594058e-02 1.06560200e-03 9.96659724e-01 -1.39524484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60864 meters 0.02829915956956105 Centerline is valid? [True, True] Translation: X:194.77, Y:-134.91, Z:-13.96 [[ 7.52666249e-01 6.55633306e-01 6.03198616e-02 1.94770673e+02] [-6.53429950e-01 7.55078763e-01 -5.37155728e-02 -1.34911957e+02] [-8.07639650e-02 1.01509462e-03 9.96732738e-01 -1.39553625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63864 meters 0.02827706764061114 Centerline is valid? [True, True] Translation: X:194.79, Y:-134.93, Z:-13.96 [[ 7.52457371e-01 6.55942874e-01 5.95554407e-02 1.94794350e+02] [-6.53792345e-01 7.54809868e-01 -5.30813818e-02 -1.34933997e+02] [-7.97713885e-02 1.00458574e-03 9.96812679e-01 -1.39567698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66864 meters 0.028256906625261747 Centerline is valid? [True, True] Translation: X:194.82, Y:-134.96, Z:-13.96 [[ 7.52700826e-01 6.55589158e-01 6.03682208e-02 1.94818202e+02] [-6.53374381e-01 7.55116985e-01 -5.38540314e-02 -1.34955122e+02] [-8.08911880e-02 1.09292503e-03 9.96722339e-01 -1.39582075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69864 meters 0.0282565463203646 Centerline is valid? [True, True] Translation: X:194.84, Y:-134.98, Z:-13.96 [[ 7.52114651e-01 6.56259432e-01 6.03913102e-02 1.94841048e+02] [-6.54041055e-01 7.54534582e-01 -5.39245991e-02 -1.34978360e+02] [-8.09558588e-02 1.05908483e-03 9.96717125e-01 -1.39603778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72864 meters 0.02804081468807193 Centerline is valid? [True, True] Translation: X:194.86, Y:-135.00, Z:-13.96 [[ 7.51645065e-01 6.56850164e-01 5.98126902e-02 1.94864423e+02] [-6.54671879e-01 7.54020432e-01 -5.34595122e-02 -1.35001173e+02] [-8.02148798e-02 1.02489225e-03 9.96777068e-01 -1.39625024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75864 meters 0.027830534854973363 Centerline is valid? [True, True] Translation: X:194.89, Y:-135.02, Z:-13.96 [[ 7.51362559e-01 6.57230626e-01 5.91794591e-02 1.94887670e+02] [-6.55095759e-01 7.53688852e-01 -5.29401664e-02 -1.35023728e+02] [-7.93967973e-02 1.00904624e-03 9.96842581e-01 -1.39635346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864000000002 meters 0.027916428903548222 Centerline is valid? [True, True] Translation: X:194.91, Y:-135.05, Z:-13.97 [[ 7.50889734e-01 6.57786728e-01 5.90019324e-02 1.94910691e+02] [-6.55662495e-01 7.53203593e-01 -5.28303009e-02 -1.35047161e+02] [-7.91915383e-02 9.84376402e-04 9.96858933e-01 -1.39656571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81864000000002 meters 0.027847580583887983 Centerline is valid? [True, True] Translation: X:194.93, Y:-135.07, Z:-13.97 [[ 7.50157059e-01 6.58690847e-01 5.82301831e-02 1.94933986e+02] [-6.56620621e-01 7.52413137e-01 -5.21903377e-02 -1.35068884e+02] [-7.81904525e-02 9.15811298e-04 9.96938019e-01 -1.39666750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864000000002 meters 0.027646970249394675 Centerline is valid? [True, True] Translation: X:194.96, Y:-135.09, Z:-13.97 [[ 7.48214935e-01 6.60978447e-01 5.72879126e-02 1.94956494e+02] [-6.58977950e-01 7.50404559e-01 -5.13912298e-02 -1.35091795e+02] [-7.69576061e-02 7.00214377e-04 9.97034120e-01 -1.39673360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87864000000002 meters 0.02749485138670607 Centerline is valid? [True, True] Translation: X:194.98, Y:-135.11, Z:-13.97 [[ 7.47613910e-01 6.61700184e-01 5.68006067e-02 1.94980912e+02] [-6.59732092e-01 7.49768255e-01 -5.10012727e-02 -1.35113899e+02] [-7.63348433e-02 6.56077774e-04 9.97082023e-01 -1.39689022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864000000002 meters 0.027513510823791172 Centerline is valid? [True, True] Translation: X:195.00, Y:-135.14, Z:-13.97 [[ 7.47122693e-01 6.62158305e-01 5.79142607e-02 1.95003388e+02] [-6.60109453e-01 7.49363692e-01 -5.20534925e-02 -1.35136861e+02] [-7.78664965e-02 6.60594502e-04 9.96963576e-01 -1.39724604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93864 meters 0.02753775838179415 Centerline is valid? [True, True] Translation: X:195.03, Y:-135.16, Z:-13.97 [[ 7.47312446e-01 6.61969614e-01 5.76223814e-02 1.95027672e+02] [-6.59937095e-01 7.49530334e-01 -5.18392509e-02 -1.35159984e+02] [-7.75057317e-02 7.12970353e-04 9.96991652e-01 -1.39739138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96864 meters 0.027563668080770553 Centerline is valid? [True, True] Translation: X:195.05, Y:-135.18, Z:-13.98 [[ 7.47606398e-01 6.61623562e-01 5.77835267e-02 1.95051750e+02] [-6.59574432e-01 7.49835740e-01 -5.20377979e-02 -1.35182281e+02] [-7.77575867e-02 7.91253866e-04 9.96971981e-01 -1.39758318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99864 meters 0.02754240643819896 Centerline is valid? [True, True] Translation: X:195.07, Y:-135.21, Z:-13.98 [[ 7.48457254e-01 6.60714368e-01 5.71687236e-02 1.95074834e+02] [-6.58701962e-01 7.50636853e-01 -5.15367897e-02 -1.35206033e+02] [-7.69640482e-02 9.15933736e-04 9.97033448e-01 -1.39760589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02864 meters 0.02758392548106347 Centerline is valid? [True, True] Translation: X:195.10, Y:-135.23, Z:-13.98 [[ 7.48409127e-01 6.60824974e-01 5.65166502e-02 1.95098335e+02] [-6.58854636e-01 7.50539461e-01 -5.10008486e-02 -1.35229614e+02] [-7.61206106e-02 9.33243652e-04 9.97098181e-01 -1.39768401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05864 meters 0.027508919850021345 Centerline is valid? [True, True] Translation: X:195.12, Y:-135.26, Z:-13.98 [[ 7.47572352e-01 6.61771411e-01 5.65170579e-02 1.95119956e+02] [-6.59799720e-01 7.49705163e-01 -5.10538714e-02 -1.35255521e+02] [-7.61571226e-02 8.76523792e-04 9.97095444e-01 -1.39779362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08864 meters 0.02725619246729178 Centerline is valid? [True, True] Translation: X:195.14, Y:-135.28, Z:-13.98 [[ 7.46289942e-01 6.63202655e-01 5.66882877e-02 1.95143274e+02] [-6.61219065e-01 7.48439472e-01 -5.12611446e-02 -1.35278431e+02] [-7.64242792e-02 7.72299960e-04 9.97075089e-01 -1.39803892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11864 meters 0.027126943311224554 Centerline is valid? [True, True] Translation: X:195.17, Y:-135.30, Z:-13.98 [[ 7.44919170e-01 6.64741177e-01 5.66974228e-02 1.95167430e+02] [-6.62757338e-01 7.47073450e-01 -5.13222241e-02 -1.35301146e+02] [-7.64731349e-02 6.54275602e-04 9.97071428e-01 -1.39826299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14864 meters 0.026866150901139845 Centerline is valid? [True, True] Translation: X:195.19, Y:-135.32, Z:-13.98 [[ 7.41962650e-01 6.68027034e-01 5.68446016e-02 1.95189869e+02] [-6.66038504e-01 7.44136920e-01 -5.15068455e-02 -1.35324157e+02] [-7.67081320e-02 3.55462153e-04 9.97053527e-01 -1.39839374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17864 meters 0.026958428216418258 Centerline is valid? [True, True] Translation: X:195.21, Y:-135.35, Z:-13.99 [[ 7.41139848e-01 6.68874644e-01 5.76058738e-02 1.95213946e+02] [-6.66831089e-01 7.43375151e-01 -5.22463654e-02 -1.35346627e+02] [-7.77690442e-02 3.08475743e-04 9.96971354e-01 -1.39855732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20864 meters 0.026908807248403083 Centerline is valid? [True, True] Translation: X:195.24, Y:-135.37, Z:-13.99 [[ 7.39902160e-01 6.70133982e-01 5.88662920e-02 1.95237393e+02] [-6.67999502e-01 7.42240121e-01 -5.34440670e-02 -1.35369153e+02] [-7.95076091e-02 2.20726869e-04 9.96834235e-01 -1.39870703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23864 meters 0.026926336339293575 Centerline is valid? [True, True] Translation: X:195.26, Y:-135.39, Z:-13.99 [[ 7.39380852e-01 6.70651303e-01 5.95213009e-02 1.95262060e+02] [-6.68466463e-01 7.41772733e-01 -5.40906723e-02 -1.35390523e+02] [-8.04272579e-02 2.05613906e-04 9.96760460e-01 -1.39894607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26864 meters 0.02703551497637621 Centerline is valid? [True, True] Translation: X:195.29, Y:-135.41, Z:-13.99 [[ 7.38541754e-01 6.71525658e-01 6.00780282e-02 1.95287062e+02] [-6.69297879e-01 7.40981287e-01 -5.46542008e-02 -1.35411886e+02] [-8.12183928e-02 1.54312486e-04 9.96696317e-01 -1.39922354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29864 meters 0.026998726779723932 Centerline is valid? [True, True] Translation: X:195.31, Y:-135.43, Z:-13.99 [[ 7.37340133e-01 6.72857014e-01 5.99413554e-02 1.95312598e+02] [-6.70639109e-01 7.39772557e-01 -5.45870861e-02 -1.35432630e+02] [-8.10722736e-02 5.02322251e-05 9.96708224e-01 -1.39939125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32864 meters 0.026934259909115753 Centerline is valid? [True, True] Translation: X:195.34, Y:-135.45, Z:-13.99 [[ 7.36710647e-01 6.73621970e-01 5.90835470e-02 1.95337121e+02] [-6.71465328e-01 7.39076073e-01 -5.38597313e-02 -1.35453478e+02] [-7.99483342e-02 6.48421916e-06 9.96799009e-01 -1.39943316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35864 meters 0.026657991904376885 Centerline is valid? [True, True] Translation: X:195.36, Y:-135.47, Z:-13.99 [[ 7.35969647e-01 6.74504918e-01 5.82391140e-02 1.95363469e+02] [-6.72408521e-01 7.38270352e-01 -5.31381959e-02 -1.35473089e+02] [-7.88381857e-02 -5.23772042e-05 9.96887425e-01 -1.39947117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38864 meters 0.02680379921531006 Centerline is valid? [True, True] Translation: X:195.39, Y:-135.49, Z:-14.00 [[ 7.35385245e-01 6.75098627e-01 5.87399811e-02 1.95389367e+02] [-6.72963688e-01 7.37727482e-01 -5.36473291e-02 -1.35493918e+02] [-7.95513366e-02 -7.84200903e-05 9.96830767e-01 -1.39983801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41864 meters 0.02660429325100001 Centerline is valid? [True, True] Translation: X:195.41, Y:-135.51, Z:-14.00 [[ 7.34519837e-01 6.76081649e-01 5.82598757e-02 1.95414521e+02] [-6.73981059e-01 7.36826697e-01 -5.32536564e-02 -1.35513462e+02] [-7.89312516e-02 -1.50185731e-04 9.96880050e-01 -1.40007773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44864 meters 0.02647256175168875 Centerline is valid? [True, True] Translation: X:195.44, Y:-135.53, Z:-14.00 [[ 7.33255210e-01 6.77470792e-01 5.80527599e-02 1.95440673e+02] [-6.75387183e-01 7.35549624e-01 -5.30933461e-02 -1.35534524e+02] [-7.86698770e-02 -2.77117309e-04 9.96900684e-01 -1.40024667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47864 meters 0.02663625149627652 Centerline is valid? [True, True] Translation: X:195.47, Y:-135.55, Z:-14.00 [[ 7.32210899e-01 6.78599769e-01 5.80478472e-02 1.95467188e+02] [-6.76515581e-01 7.34508153e-01 -5.31454781e-02 -1.35554854e+02] [-7.87011262e-02 -3.56574734e-04 9.96898192e-01 -1.40039630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50864 meters 0.026737834457647745 Centerline is valid? [True, True] Translation: X:195.50, Y:-135.57, Z:-14.01 [[ 7.30728055e-01 6.80195293e-01 5.80592159e-02 1.95495761e+02] [-6.78110866e-01 7.33030781e-01 -5.32121065e-02 -1.35572326e+02] [-7.87538167e-02 -4.87006114e-04 9.96893976e-01 -1.40061569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53864000000002 meters 0.02677724817156548 Centerline is valid? [True, True] Translation: X:195.52, Y:-135.59, Z:-14.01 [[ 7.30002582e-01 6.80912796e-01 5.87707037e-02 1.95521545e+02] [-6.78774794e-01 7.32364310e-01 -5.39193539e-02 -1.35592234e+02] [-7.97559439e-02 -5.30804750e-04 9.96814279e-01 -1.40078231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864000000002 meters 0.026911507965312352 Centerline is valid? [True, True] Translation: X:195.55, Y:-135.61, Z:-14.01 [[ 7.29672871e-01 6.81317357e-01 5.81735448e-02 1.95546374e+02] [-6.79220069e-01 7.31987961e-01 -5.34202436e-02 -1.35612295e+02] [-7.89784736e-02 -5.33336657e-04 9.96876179e-01 -1.40100936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59864000000002 meters 0.027023671326360688 Centerline is valid? [True, True] Translation: X:195.57, Y:-135.63, Z:-14.01 [[ 7.29633191e-01 6.81368085e-01 5.80770158e-02 1.95573934e+02] [-6.79273871e-01 7.31940765e-01 -5.33828256e-02 -1.35630806e+02] [-7.88822890e-02 -5.00317969e-04 9.96883812e-01 -1.40109907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864000000002 meters 0.026998683877005755 Centerline is valid? [True, True] Translation: X:195.60, Y:-135.65, Z:-14.01 [[ 7.30140614e-01 6.80897640e-01 5.72109055e-02 1.95600125e+02] [-6.78859953e-01 7.32378482e-01 -5.26395523e-02 -1.35649864e+02] [-7.77421831e-02 -4.03917566e-04 9.96973415e-01 -1.40133320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65864000000002 meters 0.0269063386627263 Centerline is valid? [True, True] Translation: X:195.63, Y:-135.67, Z:-14.02 [[ 7.31307575e-01 6.79599276e-01 5.77412725e-02 1.95627960e+02] [-6.77515500e-01 7.33583513e-01 -5.31787189e-02 -1.35667716e+02] [-7.84982644e-02 -2.30607158e-04 9.96914224e-01 -1.40167442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters 0.0269063386627263 Centerline is valid? [True, True] Translation: X:195.65, Y:-135.69, Z:-14.02 [[ 7.30952209e-01 6.79983850e-01 5.77133648e-02 1.95652117e+02] [-6.77898880e-01 7.33227053e-01 -5.32089938e-02 -1.35689516e+02] [-7.84982568e-02 -2.30593851e-04 9.96914224e-01 -1.40185514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71864 meters 0.0270238602495862 Centerline is valid? [True, True] Translation: X:195.68, Y:-135.71, Z:-14.02 [[ 7.31826161e-01 6.78991037e-01 5.83235993e-02 1.95677233e+02] [-6.76853981e-01 7.34146555e-01 -5.38286541e-02 -1.35710228e+02] [-7.93672432e-02 -8.33431536e-05 9.96845441e-01 -1.40213472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74864 meters 0.027076437450447577 Centerline is valid? [True, True] Translation: X:195.70, Y:-135.73, Z:-14.03 [[ 7.33964712e-01 6.76522585e-01 6.01081741e-02 1.95702178e+02] [-6.74239643e-01 7.36421848e-01 -5.55316620e-02 -1.35729844e+02] [-8.18333962e-02 2.30966448e-04 9.96645996e-01 -1.40250840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77864 meters 0.02722315986506172 Centerline is valid? [True, True] Translation: X:195.73, Y:-135.75, Z:-14.03 [[ 7.34776324e-01 6.75611169e-01 6.04425514e-02 1.95727716e+02] [-6.73295437e-01 7.37258035e-01 -5.58913659e-02 -1.35750428e+02] [-8.23225877e-02 3.71958254e-04 9.96605666e-01 -1.40264292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80864 meters 0.027443484311008567 Centerline is valid? [True, True] Translation: X:195.75, Y:-135.77, Z:-14.03 [[ 7.36746024e-01 6.73513385e-01 5.98750073e-02 1.95753064e+02] [-6.71229453e-01 7.39174747e-01 -5.54230557e-02 -1.35771595e+02] [-8.15862632e-02 6.42847519e-04 9.96666077e-01 -1.40279672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83864 meters 0.027642040170064417 Centerline is valid? [True, True] Translation: X:195.78, Y:-135.79, Z:-14.03 [[ 7.37547792e-01 6.72610361e-01 6.01544420e-02 1.95776270e+02] [-6.70297625e-01 7.39996409e-01 -5.57351663e-02 -1.35793172e+02] [-8.20021214e-02 7.85969206e-04 9.96631845e-01 -1.40300675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86864 meters 0.02785383941013927 Centerline is valid? [True, True] Translation: X:195.80, Y:-135.82, Z:-14.03 [[ 7.38268970e-01 6.71756797e-01 6.08418766e-02 1.95800588e+02] [-6.69383913e-01 7.40771184e-01 -5.64201248e-02 -1.35815060e+02] [-8.29705113e-02 9.26653938e-04 9.96551572e-01 -1.40301100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89864 meters 0.027925009870346247 Centerline is valid? [True, True] Translation: X:195.83, Y:-135.84, Z:-14.03 [[ 7.38996469e-01 6.70860621e-01 6.18889810e-02 1.95826040e+02] [-6.68397709e-01 7.41582668e-01 -5.74425796e-02 -1.35835422e+02] [-8.44317603e-02 1.08341031e-03 9.96428675e-01 -1.40320344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92864 meters 0.027832656951481773 Centerline is valid? [True, True] Translation: X:195.85, Y:-135.86, Z:-14.03 [[ 7.39084462e-01 6.70803031e-01 6.14609874e-02 1.95850159e+02] [-6.68370626e-01 7.41634720e-01 -5.70845703e-02 -1.35856914e+02] [-8.38741050e-02 1.11160034e-03 9.96475739e-01 -1.40335102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95864 meters 0.02784321061901261 Centerline is valid? [True, True] Translation: X:195.87, Y:-135.88, Z:-14.04 [[ 7.38261421e-01 6.71760058e-01 6.08974433e-02 1.95874217e+02] [-6.69372992e-01 7.40768111e-01 -5.65897803e-02 -1.35877947e+02] [-8.31256382e-02 1.01494776e-03 9.96538558e-01 -1.40357302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98864 meters 0.027758287219783406 Centerline is valid? [True, True] Translation: X:195.90, Y:-135.90, Z:-14.04 [[ 7.37526483e-01 6.72604403e-01 6.04814337e-02 1.95899379e+02] [-6.70248608e-01 7.40001631e-01 -5.62529107e-02 -1.35898943e+02] [-8.25923150e-02 9.50414634e-04 9.96582965e-01 -1.40360587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01864 meters 0.02781336774997615 Centerline is valid? [True, True] Translation: X:195.92, Y:-135.92, Z:-14.04 [[ 7.37137949e-01 6.73104911e-01 5.96441333e-02 1.95924834e+02] [-6.70811695e-01 7.39546440e-01 -5.55223665e-02 -1.35918416e+02] [-8.14819840e-02 9.17661199e-04 9.96674392e-01 -1.40383500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04864 meters 0.02803778742244512 Centerline is valid? [True, True] Translation: X:195.95, Y:-135.94, Z:-14.04 [[ 7.37015495e-01 6.73173262e-01 6.03814504e-02 1.95948723e+02] [-6.70818983e-01 7.39484172e-01 -5.62587949e-02 -1.35939734e+02] [-8.25230433e-02 9.58580441e-04 9.96588696e-01 -1.40405410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07864 meters 0.02804572247607806 Centerline is valid? [True, True] Translation: X:195.97, Y:-135.96, Z:-14.04 [[ 7.36174523e-01 6.74075768e-01 6.05717039e-02 1.95973060e+02] [-6.71705295e-01 7.38661662e-01 -5.64884615e-02 -1.35961946e+02] [-8.28194985e-02 8.99031957e-04 9.96564159e-01 -1.40411740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10864 meters 0.028257056864008843 Centerline is valid? [True, True] Translation: X:196.00, Y:-135.98, Z:-14.04 [[ 7.35629430e-01 6.74596131e-01 6.13954522e-02 1.95997666e+02] [-6.72157713e-01 7.38186468e-01 -5.73127120e-02 -1.35982072e+02] [-8.39842258e-02 8.93490947e-04 9.96466684e-01 -1.40436938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13864 meters 0.02823641345624066 Centerline is valid? [True, True] Translation: X:196.02, Y:-136.00, Z:-14.05 [[ 7.34738762e-01 6.75591276e-01 6.11177499e-02 1.96022346e+02] [-6.73174093e-01 7.37275909e-01 -5.71040700e-02 -1.36003238e+02] [-8.36396561e-02 8.13687847e-04 9.96495733e-01 -1.40454706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16864 meters 0.028385594297244014 Centerline is valid? [True, True] Translation: X:196.05, Y:-136.02, Z:-14.05 [[ 7.33672818e-01 6.76669616e-01 6.19873171e-02 1.96046196e+02] [-6.74182454e-01 7.36286415e-01 -5.79683903e-02 -1.36024737e+02] [-8.48658679e-02 7.39070669e-04 9.96392111e-01 -1.40493303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19864 meters 0.02815907885029078 Centerline is valid? [True, True] Translation: X:196.07, Y:-136.05, Z:-14.05 [[ 7.34237347e-01 6.76196114e-01 6.04510919e-02 1.96069847e+02] [-6.73825227e-01 7.36721222e-01 -5.65809464e-02 -1.36046811e+02] [-8.27954184e-02 8.10373237e-04 9.96566236e-01 -1.40512554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22864 meters 0.028483544392056057 Centerline is valid? [True, True] Translation: X:196.09, Y:-136.07, Z:-14.05 [[ 7.34820341e-01 6.75521282e-01 6.09103008e-02 1.96093748e+02] [-6.73107631e-01 7.37339903e-01 -5.70612394e-02 -1.36067768e+02] [-8.34576769e-02 9.30571143e-04 9.96510888e-01 -1.40525548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25864 meters 0.028413499742293836 Centerline is valid? [True, True] Translation: X:196.12, Y:-136.09, Z:-14.05 [[ 7.36191432e-01 6.74112199e-01 5.99576476e-02 1.96120082e+02] [-6.71764702e-01 7.38628126e-01 -5.62198893e-02 -1.36087907e+02] [-8.21849181e-02 1.11116957e-03 9.96616478e-01 -1.40536241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864000000002 meters 0.028444862800539872 Centerline is valid? [True, True] Translation: X:196.14, Y:-136.11, Z:-14.06 [[ 7.36404663e-01 6.73899924e-01 5.97249040e-02 1.96144457e+02] [-6.71565331e-01 7.38821709e-01 -5.60578915e-02 -1.36110558e+02] [-8.19034645e-02 1.17211776e-03 9.96639578e-01 -1.40562772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31864000000002 meters 0.028438554076746714 Centerline is valid? [True, True] Translation: X:196.17, Y:-136.14, Z:-14.06 [[ 7.36114551e-01 6.74287148e-01 5.89254624e-02 1.96165734e+02] [-6.72011685e-01 7.38468356e-01 -5.53604846e-02 -1.36135487e+02] [-8.08434527e-02 1.15305899e-03 9.96726144e-01 -1.40574429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864000000002 meters 0.02869140025513279 Centerline is valid? [True, True] Translation: X:196.19, Y:-136.16, Z:-14.06 [[ 7.36400939e-01 6.73783442e-01 6.10698876e-02 1.96188670e+02] [-6.71332947e-01 7.38927741e-01 -5.74270623e-02 -1.36158035e+02] [-8.38196378e-02 1.29111495e-03 9.96480106e-01 -1.40610456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37864000000002 meters 0.028705955120616328 Centerline is valid? [True, True] Translation: X:196.21, Y:-136.18, Z:-14.06 [[ 7.36862668e-01 6.73342636e-01 6.03581234e-02 1.96211762e+02] [-6.70943243e-01 7.39329314e-01 -5.68095984e-02 -1.36181876e+02] [-8.28768547e-02 1.36399725e-03 9.96558863e-01 -1.40619614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters 0.02856153856380033 Centerline is valid? [True, True] Translation: X:196.23, Y:-136.21, Z:-14.06 [[ 7.36319434e-01 6.73942585e-01 6.02916534e-02 1.96234296e+02] [-6.71545800e-01 7.38782515e-01 -5.68034671e-02 -1.36206354e+02] [-8.28246948e-02 1.33689014e-03 9.96563236e-01 -1.40642682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43864 meters 0.028598934800745025 Centerline is valid? [True, True] Translation: X:196.26, Y:-136.23, Z:-14.07 [[ 7.35583422e-01 6.74784275e-01 5.98599306e-02 1.96255735e+02] [-6.72420094e-01 7.38013931e-01 -5.64504698e-02 -1.36230168e+02] [-8.22693520e-02 1.27300957e-03 9.96609318e-01 -1.40666489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46864 meters 0.028098415068944782 Centerline is valid? [True, True] Translation: X:196.28, Y:-136.26, Z:-14.07 [[ 7.34397667e-01 6.76222424e-01 5.81661324e-02 1.96276388e+02] [-6.73991074e-01 7.36696674e-01 -5.49002986e-02 -1.36255294e+02] [-7.99756093e-02 1.11519718e-03 9.96796197e-01 -1.40665376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49864 meters 0.02804984195134727 Centerline is valid? [True, True] Translation: X:196.30, Y:-136.28, Z:-14.07 [[ 7.33174646e-01 6.77524198e-01 5.84456955e-02 1.96299434e+02] [-6.75271340e-01 7.35499782e-01 -5.52149192e-02 -1.36278718e+02] [-8.03962402e-02 1.01547570e-03 9.96762466e-01 -1.40687706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52864 meters 0.027975279255844195 Centerline is valid? [True, True] Translation: X:196.32, Y:-136.30, Z:-14.07 [[ 7.32804661e-01 6.77966482e-01 5.79549651e-02 1.96320398e+02] [-6.75748319e-01 7.35092137e-01 -5.48065615e-02 -1.36304801e+02] [-7.97592509e-02 9.99533460e-04 9.96813655e-01 -1.40697343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55864 meters 0.027978700008048068 Centerline is valid? [True, True] Translation: X:196.34, Y:-136.33, Z:-14.07 [[ 7.33027938e-01 6.77749154e-01 5.76725772e-02 1.96342760e+02] [-6.75547524e-01 7.35292434e-01 -5.45946818e-02 -1.36328604e+02] [-7.94077090e-02 1.05886029e-03 9.96841660e-01 -1.40715727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58864 meters 0.02806553232464938 Centerline is valid? [True, True] Translation: X:196.37, Y:-136.35, Z:-14.07 [[ 7.33050546e-01 6.77637836e-01 5.86844114e-02 1.96365144e+02] [-6.75353327e-01 7.35394918e-01 -5.56075426e-02 -1.36351465e+02] [-8.08379927e-02 1.13042701e-03 9.96726613e-01 -1.40729196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61864 meters 0.028190311697939688 Centerline is valid? [True, True] Translation: X:196.39, Y:-136.38, Z:-14.07 [[ 7.32887540e-01 6.77753027e-01 5.93859204e-02 1.96387036e+02] [-6.75409716e-01 7.35288698e-01 -5.63227042e-02 -1.36375041e+02] [-8.18386793e-02 1.16838050e-03 9.96644904e-01 -1.40747543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64864 meters 0.02808684635945991 Centerline is valid? [True, True] Translation: X:196.41, Y:-136.40, Z:-14.08 [[ 7.32816607e-01 6.77883702e-01 5.87665428e-02 1.96408185e+02] [-6.75585350e-01 7.35168209e-01 -5.57865567e-02 -1.36400685e+02] [-8.10200916e-02 1.17949981e-03 9.96711771e-01 -1.40773232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67864 meters 0.028088104083848417 Centerline is valid? [True, True] Translation: X:196.43, Y:-136.42, Z:-14.08 [[ 7.32282668e-01 6.78503874e-01 5.82630850e-02 1.96430791e+02] [-6.76242466e-01 7.34595938e-01 -5.53618654e-02 -1.36423379e+02] [-8.03630658e-02 1.14056225e-03 9.96765006e-01 -1.40797486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70864 meters 0.02776081658263018 Centerline is valid? [True, True] Translation: X:196.45, Y:-136.45, Z:-14.08 [[ 7.32236661e-01 6.78639768e-01 5.72497798e-02 1.96454000e+02] [-6.76453122e-01 7.34470397e-01 -5.44464001e-02 -1.36445283e+02] [-7.89977608e-02 1.14085796e-03 9.96874141e-01 -1.40808321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73864 meters 0.027863378091015235 Centerline is valid? [True, True] Translation: X:196.48, Y:-136.47, Z:-14.08 [[ 7.33087716e-01 6.77773175e-01 5.66208833e-02 1.96477638e+02] [-6.75627962e-01 7.35269981e-01 -5.38972398e-02 -1.36468539e+02] [-7.81617391e-02 1.25675246e-03 9.96939899e-01 -1.40818758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76864 meters 0.028108085547283723 Centerline is valid? [True, True] Translation: X:196.50, Y:-136.49, Z:-14.08 [[ 7.34095956e-01 6.76645406e-01 5.70449105e-02 1.96500533e+02] [-6.74460301e-01 7.36307653e-01 -5.43538707e-02 -1.36491671e+02] [-7.87809011e-02 1.42642918e-03 9.96890934e-01 -1.40836346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79864 meters 0.028502393826964498 Centerline is valid? [True, True] Translation: X:196.52, Y:-136.51, Z:-14.08 [[ 7.36332693e-01 6.74159464e-01 5.76470435e-02 1.96523158e+02] [-6.71916378e-01 7.38583756e-01 -5.49764975e-02 -1.36514927e+02] [-7.96400960e-02 1.74699978e-03 9.96822152e-01 -1.40846037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82864 meters 0.028560590679304717 Centerline is valid? [True, True] Translation: X:196.55, Y:-136.54, Z:-14.09 [[ 7.36366071e-01 6.74142168e-01 5.74225276e-02 1.96546923e+02] [-6.71912511e-01 7.38599467e-01 -5.48124582e-02 -1.36537516e+02] [-7.93636377e-02 1.77911978e-03 9.96844144e-01 -1.40861615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85864 meters 0.028917851961761405 Centerline is valid? [True, True] Translation: X:196.57, Y:-136.56, Z:-14.09 [[ 7.37147917e-01 6.73258779e-01 5.77543422e-02 1.96570326e+02] [-6.70996283e-01 7.39404431e-01 -5.51822095e-02 -1.36559541e+02] [-7.98557236e-02 1.92450190e-03 9.96804574e-01 -1.40889119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88864 meters 0.02864094057998169 Centerline is valid? [True, True] Translation: X:196.59, Y:-136.58, Z:-14.09 [[ 7.36399078e-01 6.74206544e-01 5.62310684e-02 1.96590819e+02] [-6.72061198e-01 7.38540635e-01 -5.37724580e-02 -1.36584843e+02] [-7.77826721e-02 1.80726930e-03 9.96968700e-01 -1.40908832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91864 meters 0.028474083964789985 Centerline is valid? [True, True] Translation: X:196.61, Y:-136.61, Z:-14.09 [[ 7.35913902e-01 6.74718608e-01 5.64404922e-02 1.96614218e+02] [-6.72554925e-01 7.38072880e-01 -5.40212589e-02 -1.36608724e+02] [-7.81063452e-02 1.79566442e-03 9.96943416e-01 -1.40920888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94864 meters 0.02819997821572824 Centerline is valid? [True, True] Translation: X:196.64, Y:-136.63, Z:-14.09 [[ 7.35081501e-01 6.75655425e-01 5.60797042e-02 1.96636963e+02] [-6.73518106e-01 7.37215557e-01 -5.37269275e-02 -1.36631092e+02] [-7.76437204e-02 1.72297440e-03 9.96979681e-01 -1.40930734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97864 meters 0.028088920993435646 Centerline is valid? [True, True] Translation: X:196.66, Y:-136.65, Z:-14.09 [[ 7.35175927e-01 6.75615525e-01 5.53174420e-02 1.96659565e+02] [-6.73532240e-01 7.37252087e-01 -5.30441494e-02 -1.36654722e+02] [-7.66203504e-02 1.73870108e-03 9.97058824e-01 -1.40944666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00864 meters 0.028283884316865328 Centerline is valid? [True, True] Translation: X:196.68, Y:-136.68, Z:-14.10 [[ 7.35324617e-01 6.75378089e-01 5.62329538e-02 1.96681025e+02] [-6.73220366e-01 7.37469377e-01 -5.39745909e-02 -1.36678342e+02] [-7.79233375e-02 1.83167557e-03 9.96957671e-01 -1.40976308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03864000000002 meters 0.028481319836057378 Centerline is valid? [True, True] Translation: X:196.70, Y:-136.70, Z:-14.10 [[ 7.35891886e-01 6.74804377e-01 5.56972505e-02 1.96702963e+02] [-6.72682254e-01 7.37994176e-01 -5.35086998e-02 -1.36703782e+02] [-7.72121513e-02 1.91006599e-03 9.97012856e-01 -1.40978508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864000000002 meters 0.028567753218376294 Centerline is valid? [True, True] Translation: X:196.73, Y:-136.73, Z:-14.10 [[ 7.36089935e-01 6.74593537e-01 5.56342321e-02 1.96726477e+02] [-6.72471528e-01 7.38186753e-01 -5.35010403e-02 -1.36727130e+02] [-7.71599092e-02 1.96914020e-03 9.97016786e-01 -1.40991899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09864000000002 meters 0.028814467132483836 Centerline is valid? [True, True] Translation: X:196.75, Y:-136.75, Z:-14.10 [[ 7.36754385e-01 6.73834108e-01 5.60407972e-02 1.96746788e+02] [-6.71674695e-01 7.38879677e-01 -5.39437459e-02 -1.36752405e+02] [-7.77565420e-02 2.10210601e-03 9.96970161e-01 -1.41009162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864000000002 meters 0.028779302882589973 Centerline is valid? [True, True] Translation: X:196.77, Y:-136.78, Z:-14.10 [[ 7.37120993e-01 6.73418773e-01 5.62120805e-02 1.96768522e+02] [-6.71241248e-01 7.39257988e-01 -5.41554678e-02 -1.36776480e+02] [-7.80245382e-02 2.18726508e-03 9.96949039e-01 -1.41029255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15864 meters 0.028920208361839894 Centerline is valid? [True, True] Translation: X:196.79, Y:-136.80, Z:-14.10 [[ 7.37175794e-01 6.73339121e-01 5.64471130e-02 1.96790116e+02] [-6.71139408e-01 7.39330381e-01 -5.44286891e-02 -1.36800217e+02] [-7.83820312e-02 2.23963006e-03 9.96920880e-01 -1.41045750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters 0.02917320383339222 Centerline is valid? [True, True] Translation: X:196.81, Y:-136.83, Z:-14.11 [[ 7.37871515e-01 6.72550280e-01 5.67604538e-02 1.96809955e+02] [-6.70319973e-01 7.40047632e-01 -5.47780629e-02 -1.36826482e+02] [-7.88464409e-02 2.37150630e-03 9.96883952e-01 -1.41061498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21864 meters 0.029284310543858463 Centerline is valid? [True, True] Translation: X:196.83, Y:-136.85, Z:-14.11 [[ 7.38001283e-01 6.72327671e-01 5.77027640e-02 1.96830709e+02] [-6.70018007e-01 7.40249549e-01 -5.57357644e-02 -1.36850896e+02] [-8.01871418e-02 2.47117470e-03 9.96776763e-01 -1.41086277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24864 meters 0.029372789334966416 Centerline is valid? [True, True] Translation: X:196.85, Y:-136.88, Z:-14.11 [[ 7.38303196e-01 6.71972751e-01 5.79742487e-02 1.96849048e+02] [-6.69636297e-01 7.40571457e-01 -5.60459401e-02 -1.36878444e+02] [-8.05954183e-02 2.55723548e-03 9.96743618e-01 -1.41097690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27864 meters 0.029482344079334904 Centerline is valid? [True, True] Translation: X:196.87, Y:-136.90, Z:-14.11 [[ 7.37951195e-01 6.72384492e-01 5.76812642e-02 1.96870853e+02] [-6.70068894e-01 7.40197718e-01 -5.58123336e-02 -1.36903164e+02] [-8.02228877e-02 2.53635739e-03 9.96773723e-01 -1.41110958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30864 meters 0.029115638542853546 Centerline is valid? [True, True] Translation: X:196.89, Y:-136.93, Z:-14.11 [[ 7.36460560e-01 6.74017824e-01 5.76698859e-02 1.96889433e+02] [-6.71703878e-01 7.38711192e-01 -5.58540515e-02 -1.36930486e+02] [-8.02480164e-02 2.39722009e-03 9.96772045e-01 -1.41125907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33864 meters 0.029090993578301045 Centerline is valid? [True, True] Translation: X:196.91, Y:-136.96, Z:-14.11 [[ 7.35383970e-01 6.75122272e-01 5.84836258e-02 1.96910847e+02] [-6.72741715e-01 7.37702114e-01 -5.66937045e-02 -1.36955964e+02] [-8.14186769e-02 2.34726676e-03 9.96677224e-01 -1.41139122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36864 meters 0.028591044455010074 Centerline is valid? [True, True] Translation: X:196.93, Y:-136.98, Z:-14.12 [[ 7.33701772e-01 6.76960610e-01 5.83613031e-02 1.96931407e+02] [-6.74592238e-01 7.36016045e-01 -5.66188561e-02 -1.36981656e+02] [-8.12835908e-02 2.17127304e-03 9.96688649e-01 -1.41155228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39864 meters 0.02791370963860585 Centerline is valid? [True, True] Translation: X:196.95, Y:-137.01, Z:-14.12 [[ 7.30064738e-01 6.80957328e-01 5.74682168e-02 1.96950996e+02] [-6.78671137e-01 7.32321075e-01 -5.57793053e-02 -1.37007480e+02] [-8.00685130e-02 1.72048385e-03 9.96787878e-01 -1.41168078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42864 meters 0.02792657160722717 Centerline is valid? [True, True] Translation: X:196.97, Y:-137.03, Z:-14.12 [[ 7.28340713e-01 6.82820319e-01 5.72382524e-02 1.96973584e+02] [-6.80555001e-01 7.30584728e-01 -5.55953804e-02 -1.37031059e+02] [-7.97790484e-02 1.53860007e-03 9.96811384e-01 -1.41190049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45864 meters 0.027496473806920805 Centerline is valid? [True, True] Translation: X:197.00, Y:-137.06, Z:-14.12 [[ 7.25851400e-01 6.85513400e-01 5.66667837e-02 1.96995425e+02] [-6.83299730e-01 7.28058945e-01 -5.50604261e-02 -1.37055014e+02] [-7.90014187e-02 1.24528934e-03 9.96873726e-01 -1.41205438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48864 meters 0.0274463687393667 Centerline is valid? [True, True] Translation: X:197.02, Y:-137.08, Z:-14.12 [[ 7.22565521e-01 6.88847101e-01 5.82128817e-02 1.97016692e+02] [-6.86518444e-01 7.24906063e-01 -5.66005822e-02 -1.37080030e+02] [-8.11880178e-02 9.33412219e-04 9.96698367e-01 -1.41226436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51864 meters 0.027438007081335255 Centerline is valid? [True, True] Translation: X:197.04, Y:-137.10, Z:-14.12 [[ 7.21326962e-01 6.90117151e-01 5.85297473e-02 1.97040018e+02] [-6.87762347e-01 7.23697185e-01 -5.69678698e-02 -1.37104100e+02] [-8.16723174e-02 8.37904115e-04 9.96658884e-01 -1.41234667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54864 meters 0.027497189765088133 Centerline is valid? [True, True] Translation: X:197.06, Y:-137.13, Z:-14.12 [[ 7.19290379e-01 6.92307309e-01 5.77229610e-02 1.97062703e+02] [-6.90019637e-01 7.21602525e-01 -5.62378612e-02 -1.37126889e+02] [-8.05869168e-02 6.21375917e-04 9.96747392e-01 -1.41244054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57864 meters 0.02742802802257136 Centerline is valid? [True, True] Translation: X:197.09, Y:-137.15, Z:-14.13 [[ 7.18322301e-01 6.93336165e-01 5.74285151e-02 1.97086715e+02] [-6.91070843e-01 7.20614092e-01 -5.60037585e-02 -1.37150038e+02] [-8.02132284e-02 5.41576314e-04 9.96777580e-01 -1.41263194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60864 meters 0.027367661076872354 Centerline is valid? [True, True] Translation: X:197.11, Y:-137.17, Z:-14.13 [[ 7.16434475e-01 6.95348715e-01 5.66728051e-02 1.97110226e+02] [-6.93144630e-01 7.18672415e-01 -5.53216238e-02 -1.37171319e+02] [-7.91970018e-02 3.51868021e-04 9.96858922e-01 -1.41289390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63864 meters 0.027367661076872354 Centerline is valid? [True, True] Translation: X:197.13, Y:-137.19, Z:-14.13 [[ 7.16068855e-01 6.95727378e-01 5.66463666e-02 1.97133701e+02] [-6.93522335e-01 7.18305850e-01 -5.53486860e-02 -1.37193783e+02] [-7.91970127e-02 3.47949812e-04 9.96858923e-01 -1.41307463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66864 meters 0.027208718667157895 Centerline is valid? [True, True] Translation: X:197.16, Y:-137.21, Z:-14.13 [[ 7.14457589e-01 6.97474111e-01 5.54997113e-02 1.97157465e+02] [-6.95358587e-01 7.16609956e-01 -5.42826572e-02 -1.37214913e+02] [-7.76323937e-02 1.90455601e-04 9.96982034e-01 -1.41322143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69864 meters 0.02715339515321382 Centerline is valid? [True, True] Translation: X:197.18, Y:-137.24, Z:-14.13 [[ 7.12418294e-01 6.99600718e-01 5.49455163e-02 1.97182800e+02] [-6.97529787e-01 7.14533999e-01 -5.37899726e-02 -1.37235459e+02] [-7.68919429e-02 -5.17376114e-06 9.97039432e-01 -1.41337267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72864 meters 0.027070293086871533 Centerline is valid? [True, True] Translation: X:197.21, Y:-137.26, Z:-14.14 [[ 7.11284843e-01 7.00698580e-01 5.56360616e-02 1.97207277e+02] [-6.98574373e-01 7.13457421e-01 -5.45192899e-02 -1.37257442e+02] [-7.78955501e-02 -8.71822684e-05 9.96961522e-01 -1.41356610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75864 meters 0.02720882598636299 Centerline is valid? [True, True] Translation: X:197.23, Y:-137.28, Z:-14.14 [[ 7.10292070e-01 7.01623342e-01 5.66556345e-02 1.97231768e+02] [-6.99418788e-01 7.12548007e-01 -5.55760387e-02 -1.37279026e+02] [-7.93633055e-02 -1.50795714e-04 9.96845747e-01 -1.41375396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864000000002 meters 0.02739962456265912 Centerline is valid? [True, True] Translation: X:197.26, Y:-137.30, Z:-14.14 [[ 7.10882266e-01 7.00994612e-01 5.70347075e-02 1.97259109e+02] [-6.98753986e-01 7.13166567e-01 -5.60028020e-02 -1.37298450e+02] [-7.99329090e-02 -4.18304506e-05 9.96800245e-01 -1.41404819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81864000000002 meters 0.0273186152087332 Centerline is valid? [True, True] Translation: X:197.28, Y:-137.32, Z:-14.14 [[ 7.10715060e-01 7.01161950e-01 5.70615715e-02 1.97284461e+02] [-6.98914936e-01 7.13002047e-01 -5.60891515e-02 -1.37319976e+02] [-8.00125961e-02 -1.77799552e-05 9.96793852e-01 -1.41421366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864000000002 meters 0.027539329626508288 Centerline is valid? [True, True] Translation: X:197.31, Y:-137.34, Z:-14.14 [[ 7.12566465e-01 6.99326123e-01 5.64978461e-02 1.97309686e+02] [-6.97112931e-01 7.14802715e-01 -5.55935335e-02 -1.37341385e+02] [-7.92628240e-02 2.28708516e-04 9.96853727e-01 -1.41435202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87864000000002 meters 0.027512982029603138 Centerline is valid? [True, True] Translation: X:197.33, Y:-137.36, Z:-14.15 [[ 7.13663884e-01 6.98202896e-01 5.65382864e-02 1.97334042e+02] [-6.95978297e-01 7.15899825e-01 -5.56924646e-02 -1.37363511e+02] [-7.93603894e-02 3.96280295e-04 9.96845912e-01 -1.41452202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters 0.02771161837887559 Centerline is valid? [True, True] Translation: X:197.36, Y:-137.38, Z:-14.15 [[ 7.15722259e-01 6.96014524e-01 5.74928647e-02 1.97358445e+02] [-6.93702248e-01 7.18027369e-01 -5.66911665e-02 -1.37384069e+02] [-8.07393257e-02 6.92200284e-04 9.96735011e-01 -1.41468117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93864 meters 0.02761429294559481 Centerline is valid? [True, True] Translation: X:197.38, Y:-137.41, Z:-14.15 [[ 7.16444455e-01 6.95266156e-01 5.75527155e-02 1.97381804e+02] [-6.92942265e-01 7.18751909e-01 -5.68041517e-02 -1.37407095e+02] [-8.08601283e-02 8.16310521e-04 9.96725124e-01 -1.41491385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96864 meters 0.02770689769812369 Centerline is valid? [True, True] Translation: X:197.40, Y:-137.43, Z:-14.15 [[ 7.18192136e-01 6.93451460e-01 5.76639232e-02 1.97402707e+02] [-6.91108109e-01 7.20502562e-01 -5.69705173e-02 -1.37431652e+02] [-8.10532928e-02 1.06377259e-03 9.96709201e-01 -1.41513176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99864 meters 0.027762724632179204 Centerline is valid? [True, True] Translation: X:197.43, Y:-137.46, Z:-14.15 [[ 7.18517491e-01 6.93163829e-01 5.70659469e-02 1.97425231e+02] [-6.90863758e-01 7.20779194e-01 -5.64324544e-02 -1.37455392e+02] [-8.02488833e-02 1.12291094e-03 9.96774225e-01 -1.41541453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02864 meters 0.027759745511175552 Centerline is valid? [True, True] Translation: X:197.45, Y:-137.48, Z:-14.16 [[ 7.18522007e-01 6.93186841e-01 5.67285440e-02 1.97447852e+02] [-6.90909435e-01 7.20757011e-01 -5.61558860e-02 -1.37479295e+02] [-7.98140171e-02 1.15495364e-03 9.96809103e-01 -1.41553566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05864 meters 0.027891701891445114 Centerline is valid? [True, True] Translation: X:197.47, Y:-137.50, Z:-14.16 [[ 7.17900060e-01 6.93818851e-01 5.68762413e-02 1.97469653e+02] [-6.91526936e-01 7.20148685e-01 -5.63592833e-02 -1.37504121e+02] [-8.00624835e-02 1.12887999e-03 9.96789208e-01 -1.41576960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08864 meters 0.027933597279141627 Centerline is valid? [True, True] Translation: X:197.49, Y:-137.53, Z:-14.16 [[ 7.17603527e-01 6.94140891e-01 5.66886374e-02 1.97491979e+02] [-6.91860524e-01 7.19838277e-01 -5.62305101e-02 -1.37528777e+02] [-7.98385475e-02 1.13058200e-03 9.96807167e-01 -1.41589475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11864 meters 0.02777795167883367 Centerline is valid? [True, True] Translation: X:197.51, Y:-137.55, Z:-14.16 [[ 7.16654023e-01 6.95132555e-01 5.65485776e-02 1.97511429e+02] [-6.92862154e-01 7.18880806e-01 -5.61464415e-02 -1.37554447e+02] [-7.96809064e-02 1.05720388e-03 9.96819861e-01 -1.41593465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14864 meters 0.0275926426485788 Centerline is valid? [True, True] Translation: X:197.53, Y:-137.58, Z:-14.16 [[ 7.15913171e-01 6.95884489e-01 5.66842967e-02 1.97533607e+02] [-6.93601274e-01 7.18153013e-01 -5.63340193e-02 -1.37578768e+02] [-7.99099687e-02 1.01396601e-03 9.96801569e-01 -1.41617212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17864 meters 0.027504877646924906 Centerline is valid? [True, True] Translation: X:197.55, Y:-137.60, Z:-14.16 [[ 7.15249757e-01 6.96679700e-01 5.52736836e-02 1.97554352e+02] [-6.94507063e-01 7.17381705e-01 -5.49857148e-02 -1.37603935e+02] [-7.79597607e-02 9.40555540e-04 9.96956063e-01 -1.41635121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20864 meters 0.027664054250598195 Centerline is valid? [True, True] Translation: X:197.58, Y:-137.63, Z:-14.17 [[ 7.15035632e-01 6.96859930e-01 5.57699051e-02 1.97576583e+02] [-6.94644454e-01 7.17206597e-01 -5.55317919e-02 -1.37628519e+02] [-7.86964245e-02 9.66954703e-04 9.96898158e-01 -1.41658709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23864 meters 0.027680985208103987 Centerline is valid? [True, True] Translation: X:197.60, Y:-137.65, Z:-14.17 [[ 7.15154242e-01 6.96716200e-01 5.60441485e-02 1.97598624e+02] [-6.94473796e-01 7.17346135e-01 -5.58629551e-02 -1.37652764e+02] [-7.91236791e-02 1.02943675e-03 9.96864275e-01 -1.41671367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26864 meters 0.027702867680536522 Centerline is valid? [True, True] Translation: X:197.62, Y:-137.68, Z:-14.17 [[ 7.15093730e-01 6.96728502e-01 5.66599731e-02 1.97619279e+02] [-6.94431983e-01 7.17334112e-01 -5.65331153e-02 -1.37677358e+02] [-8.00323642e-02 1.07997882e-03 9.96791681e-01 -1.41686934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29864 meters 0.027733237104092468 Centerline is valid? [True, True] Translation: X:197.64, Y:-137.70, Z:-14.17 [[ 7.13675000e-01 6.98158361e-01 5.69464399e-02 1.97641363e+02] [-6.95838721e-01 7.15942718e-01 -5.68726532e-02 -1.37701200e+02] [-8.04765073e-02 9.63052863e-04 9.96756041e-01 -1.41707178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32864 meters 0.027511907869192272 Centerline is valid? [True, True] Translation: X:197.66, Y:-137.73, Z:-14.17 [[ 7.10959298e-01 7.01023653e-01 5.57020166e-02 1.97661087e+02] [-6.98808887e-01 7.13137712e-01 -5.56843193e-02 -1.37727053e+02] [-7.87592336e-02 6.64220344e-04 9.96893446e-01 -1.41711647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35864 meters 0.02746372174827353 Centerline is valid? [True, True] Translation: X:197.74, Y:-137.83, Z:-12.48 [[ 7.52823868e-01 -6.57889537e-01 -2.09184337e-02 1.97738409e+02] [-6.57482014e-01 -7.53104210e-01 2.34829921e-02 -1.37831377e+02] [-3.12029753e-02 -3.92506305e-03 -9.99505362e-01 -1.24810991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38864 meters 0.02745265574597565 Centerline is valid? [True, True] Translation: X:197.70, Y:-137.78, Z:-14.17 [[ 7.58645483e-01 6.48749729e-01 5.98399542e-02 1.97698620e+02] [-6.46699943e-01 7.61001729e-01 -5.15320420e-02 -1.37782501e+02] [-7.89697069e-02 3.96055880e-04 9.96876938e-01 -1.41731073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41864 meters 0.027327238482373235 Centerline is valid? [True, True] Translation: X:197.72, Y:-137.80, Z:-14.18 [[ 7.57653438e-01 6.49858429e-01 6.03762376e-02 1.97723155e+02] [-6.47771124e-01 7.60055208e-01 -5.20447182e-02 -1.37804595e+02] [-7.97109726e-02 3.21876458e-04 9.96817966e-01 -1.41757073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44864 meters 0.02734224522059965 Centerline is valid? [True, True] Translation: X:197.75, Y:-137.83, Z:-14.18 [[ 7.57035419e-01 6.50657835e-01 5.95126515e-02 1.97745375e+02] [-6.48628975e-01 7.59370996e-01 -5.13433860e-02 -1.37828763e+02] [-7.85991579e-02 2.67131602e-04 9.96906265e-01 -1.41780541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47864 meters 0.027471860656473352 Centerline is valid? [True, True] Translation: X:197.77, Y:-137.85, Z:-14.18 [[ 7.56655419e-01 6.51109739e-01 5.94027333e-02 1.97768322e+02] [-6.49087528e-01 7.58983563e-01 -5.12770084e-02 -1.37852330e+02] [-7.84726578e-02 2.41452983e-04 9.96916237e-01 -1.41789913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50864 meters 0.027275593629331005 Centerline is valid? [True, True] Translation: X:197.79, Y:-137.87, Z:-14.18 [[ 7.56250031e-01 6.51660308e-01 5.85212252e-02 1.97792949e+02] [-6.49695373e-01 7.58510906e-01 -5.05680527e-02 -1.37873230e+02] [-7.73421803e-02 2.21122134e-04 9.97004583e-01 -1.41800853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53864000000002 meters 0.027433329057094953 Centerline is valid? [True, True] Translation: X:197.82, Y:-137.89, Z:-14.18 [[ 7.55275380e-01 6.52729231e-01 5.91916422e-02 1.97817560e+02] [-6.50718244e-01 7.57591267e-01 -5.11980412e-02 -1.37894687e+02] [-7.82615293e-02 1.51538580e-04 9.96932851e-01 -1.41822359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864000000002 meters 0.027537704299646366 Centerline is valid? [True, True] Translation: X:197.84, Y:-137.92, Z:-14.18 [[ 7.54469554e-01 6.53645986e-01 5.93516359e-02 1.97841218e+02] [-6.51622534e-01 7.56800446e-01 -5.13921930e-02 -1.37918078e+02] [-7.85096452e-02 9.89815354e-05 9.96913349e-01 -1.41839065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59864000000002 meters 0.027534280881149256 Centerline is valid? [True, True] Translation: X:197.87, Y:-137.94, Z:-14.18 [[ 7.53424723e-01 6.54879159e-01 5.90294341e-02 1.97866055e+02] [-6.52877128e-01 7.55733609e-01 -5.11680421e-02 -1.37940528e+02] [-7.81194117e-02 1.23005477e-05 9.96944009e-01 -1.41843828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864000000002 meters 0.027655769061633414 Centerline is valid? [True, True] Translation: X:197.89, Y:-137.96, Z:-14.19 [[ 7.52001792e-01 6.56613362e-01 5.78981696e-02 1.97890374e+02] [-6.54688604e-01 7.54227338e-01 -5.02389737e-02 -1.37961849e+02] [-7.66559638e-02 -1.25473554e-04 9.97057595e-01 -1.41850440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65864 meters 0.02762761501255296 Centerline is valid? [True, True] Translation: X:197.91, Y:-137.98, Z:-14.19 [[ 7.51424041e-01 6.57276311e-01 5.78771293e-02 1.97914882e+02] [-6.55351109e-01 7.53649671e-01 -5.02702411e-02 -1.37983583e+02] [-7.66605181e-02 -1.55573121e-04 9.97057240e-01 -1.41861480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters 0.027680334493284293 Centerline is valid? [True, True] Translation: X:197.94, Y:-138.01, Z:-14.19 [[ 7.50533542e-01 6.58237715e-01 5.85022442e-02 1.97939204e+02] [-6.56269233e-01 7.52810112e-01 -5.08687470e-02 -1.38005502e+02] [-7.75248088e-02 -2.14522050e-04 9.96990400e-01 -1.41890747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71864 meters 0.027797585586809503 Centerline is valid? [True, True] Translation: X:197.96, Y:-138.03, Z:-14.19 [[ 7.49504653e-01 6.59381031e-01 5.88169267e-02 1.97963452e+02] [-6.57390417e-01 7.51808866e-01 -5.11983270e-02 -1.38027411e+02] [-7.79782926e-02 -2.92299672e-04 9.96955014e-01 -1.41913550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74864 meters 0.02782798164093915 Centerline is valid? [True, True] Translation: X:197.99, Y:-138.05, Z:-14.19 [[ 7.48874258e-01 6.60052466e-01 5.93134739e-02 1.97988991e+02] [-6.58025741e-01 7.51219434e-01 -5.16864275e-02 -1.38048233e+02] [-7.86731882e-02 -3.23157601e-04 9.96900409e-01 -1.41929218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77864 meters 0.02787163734307813 Centerline is valid? [True, True] Translation: X:198.01, Y:-138.07, Z:-14.19 [[ 7.46438838e-01 6.62824657e-01 5.90976715e-02 1.98014501e+02] [-6.60816973e-01 7.48774430e-01 -5.15536694e-02 -1.38069709e+02] [-7.84218686e-02 -5.71083338e-04 9.96920099e-01 -1.41938226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80864 meters 0.02800206167224016 Centerline is valid? [True, True] Translation: X:198.04, Y:-138.09, Z:-14.20 [[ 7.45484077e-01 6.63875432e-01 5.93540365e-02 1.98039992e+02] [-6.61849163e-01 7.47842896e-01 -5.18332727e-02 -1.38090999e+02] [-7.87983309e-02 -6.42539953e-04 9.96890370e-01 -1.41953786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83864 meters 0.028255408848980704 Centerline is valid? [True, True] Translation: X:198.06, Y:-138.11, Z:-14.20 [[ 7.44677913e-01 6.64713446e-01 6.00902706e-02 1.98064937e+02] [-6.62634825e-01 7.47098083e-01 -5.25313582e-02 -1.38111318e+02] [-7.98116261e-02 -6.98963729e-04 9.96809719e-01 -1.41979408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86864 meters 0.028451732753281184 Centerline is valid? [True, True] Translation: X:198.09, Y:-138.13, Z:-14.20 [[ 7.42641503e-01 6.66905584e-01 6.09962317e-02 1.98091343e+02] [-6.64766945e-01 7.45141673e-01 -5.33741155e-02 -1.38130609e+02] [-8.10463299e-02 -9.10445254e-04 9.96709919e-01 -1.41995663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89864 meters 0.0286213935339664 Centerline is valid? [True, True] Translation: X:198.12, Y:-138.15, Z:-14.20 [[ 7.40748992e-01 6.69125340e-01 5.96842585e-02 1.98117875e+02] [-6.67081019e-01 7.43148767e-01 -5.22764125e-02 -1.38149777e+02] [-7.93337554e-02 -1.09053613e-03 9.96847514e-01 -1.42009681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92864 meters 0.028523318277899865 Centerline is valid? [True, True] Translation: X:198.14, Y:-138.17, Z:-14.20 [[ 7.40030874e-01 6.70015042e-01 5.86016196e-02 1.98143630e+02] [-6.68043015e-01 7.42346669e-01 -5.13804726e-02 -1.38169443e+02] [-7.79284066e-02 -1.12526657e-03 9.96958323e-01 -1.42028430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95864 meters 0.028413815888527236 Centerline is valid? [True, True] Translation: X:198.17, Y:-138.19, Z:-14.20 [[ 7.39590473e-01 6.70571814e-01 5.77873208e-02 1.98170223e+02] [-6.68652353e-01 7.41843757e-01 -5.07136114e-02 -1.38188163e+02] [-7.68762815e-02 -1.13232421e-03 9.97039997e-01 -1.42047570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98864 meters 0.028673952197234644 Centerline is valid? [True, True] Translation: X:198.20, Y:-138.21, Z:-14.21 [[ 7.38481573e-01 6.71773555e-01 5.80108419e-02 1.98198724e+02] [-6.69839030e-01 7.40755553e-01 -5.09596333e-02 -1.38205520e+02] [-7.72051873e-02 -1.22517587e-03 9.97014472e-01 -1.42069511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01864 meters 0.028590697557385487 Centerline is valid? [True, True] Translation: X:198.22, Y:-138.22, Z:-14.21 [[ 7.38062093e-01 6.72197951e-01 5.84316919e-02 1.98224993e+02] [-6.70232214e-01 7.40370437e-01 -5.13847773e-02 -1.38224872e+02] [-7.78018392e-02 -1.23764598e-03 9.96968075e-01 -1.42092559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04864 meters 0.028669981946520696 Centerline is valid? [True, True] Translation: X:198.25, Y:-138.24, Z:-14.21 [[ 7.37252697e-01 6.73055878e-01 5.87728286e-02 1.98253746e+02] [-6.71065434e-01 7.39590501e-01 -5.17404516e-02 -1.38242396e+02] [-7.82920408e-02 -1.29462628e-03 9.96929627e-01 -1.42107727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07864 meters 0.028775670148965694 Centerline is valid? [True, True] Translation: X:198.28, Y:-138.26, Z:-14.21 [[ 7.36718524e-01 6.73577286e-01 5.94933232e-02 1.98279753e+02] [-6.71535024e-01 7.39115607e-01 -5.24292919e-02 -1.38260862e+02] [-7.92876239e-02 -1.32621973e-03 9.96850899e-01 -1.42123453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10864 meters 0.029002993046937604 Centerline is valid? [True, True] Translation: X:198.31, Y:-138.28, Z:-14.21 [[ 7.36056138e-01 6.74272993e-01 5.98104697e-02 1.98306144e+02] [-6.72207003e-01 7.38480909e-01 -5.27607021e-02 -1.38280476e+02] [-7.97440066e-02 -1.37017795e-03 9.96814434e-01 -1.42146233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13864 meters 0.029125563054332827 Centerline is valid? [True, True] Translation: X:198.34, Y:-138.30, Z:-14.22 [[ 7.36702899e-01 6.73490450e-01 6.06584955e-02 1.98335205e+02] [-6.71358013e-01 7.39194849e-01 -5.35667315e-02 -1.38297732e+02] [-8.09151295e-02 -1.26080059e-03 9.96720198e-01 -1.42167408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16864 meters 0.029047562147608154 Centerline is valid? [True, True] Translation: X:198.36, Y:-138.32, Z:-14.22 [[ 7.37267883e-01 6.72880466e-01 6.05635763e-02 1.98361820e+02] [-6.70748204e-01 7.39750332e-01 -5.35377779e-02 -1.38316026e+02] [-8.08264506e-02 -1.15122582e-03 9.96727525e-01 -1.42180163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19864 meters 0.028826124048079684 Centerline is valid? [True, True] Translation: X:198.39, Y:-138.33, Z:-14.22 [[ 7.38981069e-01 6.70997629e-01 6.05735969e-02 1.98390310e+02] [-6.68854262e-01 7.41458938e-01 -5.35968180e-02 -1.38332522e+02] [-8.08761726e-02 -9.07874596e-04 9.96723743e-01 -1.42206451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22864 meters 0.02876356072021347 Centerline is valid? [True, True] Translation: X:198.42, Y:-138.35, Z:-14.22 [[ 7.39727253e-01 6.70251499e-01 5.97203415e-02 1.98415905e+02] [-6.68161833e-01 7.42133629e-01 -5.28908521e-02 -1.38351707e+02] [-7.97706467e-02 -7.78048155e-04 9.96812941e-01 -1.42225143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25864 meters 0.028627612752391337 Centerline is valid? [True, True] Translation: X:198.44, Y:-138.37, Z:-14.22 [[ 7.41629226e-01 6.68095026e-01 6.02920151e-02 1.98444433e+02] [-6.65953734e-01 7.44075785e-01 -5.34495078e-02 -1.38369399e+02] [-8.05711788e-02 -5.11975497e-04 9.96748726e-01 -1.42247957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864000000002 meters 0.028678941927371266 Centerline is valid? [True, True] Translation: X:198.47, Y:-138.39, Z:-14.23 [[ 7.42403266e-01 6.67054867e-01 6.22510613e-02 1.98470559e+02] [-6.64763444e-01 7.45008502e-01 -5.52439628e-02 -1.38388029e+02] [-8.32283242e-02 -3.68931442e-04 9.96530436e-01 -1.42274400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31864000000002 meters 0.028653957895155152 Centerline is valid? [True, True] Translation: X:198.50, Y:-138.41, Z:-14.23 [[ 7.43762402e-01 6.65555243e-01 6.20782473e-02 1.98497036e+02] [-6.63266860e-01 7.46348574e-01 -5.51441681e-02 -1.38408102e+02] [-8.30335015e-02 -1.60285208e-04 9.96546743e-01 -1.42283448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864000000002 meters 0.02867908447324894 Centerline is valid? [True, True] Translation: X:198.52, Y:-138.43, Z:-14.23 [[ 7.47047316e-01 6.61807860e-01 6.26950112e-02 1.98522597e+02] [-6.59455663e-01 7.49673439e-01 -5.57491120e-02 -1.38427083e+02] [-8.38959852e-02 3.02644329e-04 9.96474471e-01 -1.42305621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37864000000002 meters 0.028817757325226068 Centerline is valid? [True, True] Translation: X:198.55, Y:-138.45, Z:-14.23 [[ 7.49599924e-01 6.59034286e-01 6.14309741e-02 1.98547684e+02] [-6.56762721e-01 7.52112626e-01 -5.46747256e-02 -1.38447917e+02] [-8.22355300e-02 6.38596361e-04 9.96612718e-01 -1.42322417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters 0.028900888432971148 Centerline is valid? [True, True] Translation: X:198.57, Y:-138.47, Z:-14.23 [[ 7.49755359e-01 6.58850202e-01 6.15086379e-02 1.98572924e+02] [-6.56567956e-01 7.52273835e-01 -5.47959547e-02 -1.38469306e+02] [-8.23736648e-02 6.98959987e-04 9.96601270e-01 -1.42340006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43864 meters 0.02890966963385741 Centerline is valid? [True, True] Translation: X:198.60, Y:-138.49, Z:-14.24 [[ 7.49883799e-01 6.58708901e-01 6.14562669e-02 1.98598164e+02] [-6.56425397e-01 7.52397509e-01 -5.48058960e-02 -1.38490551e+02] [-8.23406736e-02 7.56599047e-04 9.96603954e-01 -1.42357362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46864 meters 0.028868560598739414 Centerline is valid? [True, True] Translation: X:198.62, Y:-138.51, Z:-14.24 [[ 7.49735814e-01 6.58898914e-01 6.12244212e-02 1.98622372e+02] [-6.56628610e-01 7.52231094e-01 -5.46557335e-02 -1.38512370e+02] [-8.20675168e-02 7.75654234e-04 9.96626470e-01 -1.42382129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49864 meters 0.028868560598739414 Centerline is valid? [True, True] Translation: X:198.65, Y:-138.53, Z:-14.24 [[ 7.49397854e-01 6.59285883e-01 6.11962554e-02 1.98646840e+02] [-6.57014293e-01 7.51891962e-01 -5.46872570e-02 -1.38533777e+02] [-8.20675091e-02 7.75698554e-04 9.96626471e-01 -1.42400154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52864 meters 0.028691768112889714 Centerline is valid? [True, True] Translation: X:198.67, Y:-138.56, Z:-14.24 [[ 7.48372013e-01 6.60501378e-01 6.06404181e-02 1.98670153e+02] [-6.58270541e-01 7.50824528e-01 -5.42441136e-02 -1.38555757e+02] [-8.13586251e-02 6.76975648e-04 9.96684662e-01 -1.42415534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55864 meters 0.028847728244789164 Centerline is valid? [True, True] Translation: X:198.69, Y:-138.58, Z:-14.24 [[ 7.46735279e-01 6.62299400e-01 6.12039858e-02 1.98694656e+02] [-6.60028533e-01 7.49239100e-01 -5.48006085e-02 -1.38578316e+02] [-8.21508294e-02 5.25170671e-04 9.96619770e-01 -1.42432480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58864 meters 0.028808807336622475 Centerline is valid? [True, True] Translation: X:198.72, Y:-138.60, Z:-14.25 [[ 7.45744943e-01 6.63344329e-01 6.19578973e-02 1.98718867e+02] [-6.61015795e-01 7.48314166e-01 -5.55340302e-02 -1.38600317e+02] [-8.32021562e-02 4.59073451e-04 9.96532584e-01 -1.42455707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61864 meters 0.028877638040203997 Centerline is valid? [True, True] Translation: X:198.74, Y:-138.62, Z:-14.25 [[ 7.44992752e-01 6.64205732e-01 6.17781937e-02 1.98743119e+02] [-6.61888845e-01 7.47549719e-01 -5.54308147e-02 -1.38623055e+02] [-8.29997362e-02 4.05257881e-04 9.96549487e-01 -1.42463036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64864 meters 0.02912848605971491 Centerline is valid? [True, True] Translation: X:198.77, Y:-138.65, Z:-14.25 [[ 7.45406479e-01 6.63546336e-01 6.38391843e-02 1.98765939e+02] [-6.61064533e-01 7.48134994e-01 -5.73385912e-02 -1.38645229e+02] [-8.58071399e-02 5.38736835e-04 9.96311620e-01 -1.42477326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67864 meters 0.028901762691662454 Centerline is valid? [True, True] Translation: X:198.79, Y:-138.67, Z:-14.25 [[ 7.45750914e-01 6.63292305e-01 6.24411108e-02 1.98790070e+02] [-6.60913071e-01 7.48360185e-01 -5.61332927e-02 -1.38666834e+02] [-8.39612224e-02 5.93308065e-04 9.96468846e-01 -1.42474825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70864 meters 0.028861508591929798 Centerline is valid? [True, True] Translation: X:198.81, Y:-138.69, Z:-14.25 [[ 7.45315347e-01 6.63750173e-01 6.27753261e-02 1.98814249e+02] [-6.61342396e-01 7.47954120e-01 -5.64877823e-02 -1.38689609e+02] [-8.44468391e-02 5.85226437e-04 9.96427814e-01 -1.42491961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73864 meters 0.028714538571354174 Centerline is valid? [True, True] Translation: X:198.84, Y:-138.71, Z:-14.25 [[ 7.44391480e-01 6.64802070e-01 6.26061719e-02 1.98837640e+02] [-6.62406034e-01 7.47019377e-01 -5.63941160e-02 -1.38712853e+02] [-8.42589486e-02 5.08593374e-04 9.96443762e-01 -1.42515192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76864 meters 0.02868026841005826 Centerline is valid? [True, True] Translation: X:198.86, Y:-138.73, Z:-14.25 [[ 7.43595267e-01 6.65860856e-01 6.07897965e-02 1.98861006e+02] [-6.63601202e-01 7.46075831e-01 -5.48114776e-02 -1.38734882e+02] [-8.18506154e-02 4.17373306e-04 9.96644522e-01 -1.42528054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79864 meters 0.028464617330492395 Centerline is valid? [True, True] Translation: X:198.88, Y:-138.76, Z:-14.25 [[ 7.42200800e-01 6.67523895e-01 5.95803857e-02 1.98884535e+02] [-6.65354847e-01 7.44588329e-01 -5.37693902e-02 -1.38757125e+02] [-8.02552126e-02 2.65585997e-04 9.96774313e-01 -1.42536209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82864 meters 0.028338081986118313 Centerline is valid? [True, True] Translation: X:198.91, Y:-138.78, Z:-14.26 [[ 7.41444091e-01 6.68419064e-01 5.89628210e-02 1.98907178e+02] [-6.66293779e-01 7.43784857e-01 -5.32605584e-02 -1.38780026e+02] [-7.94560260e-02 2.03165431e-04 9.96838351e-01 -1.42552923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85864 meters 0.028347230440592223 Centerline is valid? [True, True] Translation: X:198.93, Y:-138.80, Z:-14.26 [[ 7.41694146e-01 6.68070555e-01 5.97622669e-02 1.98930843e+02] [-6.65881955e-01 7.44097880e-01 -5.40330164e-02 -1.38801205e+02] [-8.05668434e-02 2.81356808e-04 9.96749168e-01 -1.42564680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88864 meters 0.028449835677640128 Centerline is valid? [True, True] Translation: X:198.96, Y:-138.82, Z:-14.26 [[ 7.41045722e-01 6.68694428e-01 6.08194092e-02 1.98955142e+02] [-6.66425453e-01 7.43537287e-01 -5.50401591e-02 -1.38822031e+02] [-8.20265462e-02 2.55672059e-04 9.96630112e-01 -1.42577547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91864 meters 0.028517417996068068 Centerline is valid? [True, True] Translation: X:198.98, Y:-138.84, Z:-14.26 [[ 7.40284592e-01 6.69532086e-01 6.08728932e-02 1.98980835e+02] [-6.67257569e-01 7.42783108e-01 -5.51415526e-02 -1.38843581e+02] [-8.21343956e-02 2.02543011e-04 9.96621242e-01 -1.42581634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94864 meters 0.02826090561477449 Centerline is valid? [True, True] Translation: X:199.01, Y:-138.87, Z:-14.26 [[ 7.39241502e-01 6.70677425e-01 6.09409017e-02 1.99005159e+02] [-6.68396896e-01 7.41749134e-01 -5.52613025e-02 -1.38865680e+02] [-8.22653691e-02 1.18738707e-04 9.96610453e-01 -1.42599966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97864 meters 0.02814462823904969 Centerline is valid? [True, True] Translation: X:199.03, Y:-138.89, Z:-14.26 [[ 7.38088669e-01 6.71988609e-01 6.04683920e-02 1.99029326e+02] [-6.69743041e-01 7.40561482e-01 -5.48903505e-02 -1.38887886e+02] [-8.16662523e-02 1.56610021e-05 9.96659733e-01 -1.42617880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00864 meters 0.0282408229863437 Centerline is valid? [True, True] Translation: X:199.05, Y:-138.91, Z:-14.26 [[ 7.37155009e-01 6.72857936e-01 6.21666335e-02 1.99053131e+02] [-6.70482389e-01 7.39771719e-01 -5.64904372e-02 -1.38909455e+02] [-8.39991564e-02 -3.94241885e-05 9.96465825e-01 -1.42640007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03864000000002 meters 0.028148207821329714 Centerline is valid? [True, True] Translation: X:199.08, Y:-138.93, Z:-14.26 [[ 7.35920119e-01 6.74247242e-01 6.17433024e-02 1.99077386e+02] [-6.71904313e-01 7.38505675e-01 -5.61601428e-02 -1.38932510e+02] [-8.34636006e-02 -1.56212254e-04 9.96510814e-01 -1.42642440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06864000000002 meters 0.02803107527268423 Centerline is valid? [True, True] Translation: X:199.10, Y:-138.95, Z:-14.27 [[ 7.35654700e-01 6.74639424e-01 6.06119653e-02 1.99100775e+02] [-6.72378469e-01 7.38147426e-01 -5.51866936e-02 -1.38954518e+02] [-8.19716854e-02 -1.55829998e-04 9.96634646e-01 -1.42661119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09864000000002 meters 0.02804856248306869 Centerline is valid? [True, True] Translation: X:199.12, Y:-138.98, Z:-14.27 [[ 7.34622375e-01 6.75766944e-01 6.05723027e-02 1.99124195e+02] [-6.73508363e-01 7.37115309e-01 -5.52042216e-02 -1.38977711e+02] [-8.19539598e-02 -2.41696081e-04 9.96636087e-01 -1.42675512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864000000002 meters 0.02839195422287296 Centerline is valid? [True, True] Translation: X:199.15, Y:-139.00, Z:-14.27 [[ 7.34074192e-01 6.76285719e-01 6.14223765e-02 1.99147812e+02] [-6.73960198e-01 7.36639368e-01 -5.60365272e-02 -1.38998978e+02] [-8.31428436e-02 -2.61268678e-04 9.96537606e-01 -1.42695702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15864 meters 0.028296620911079363 Centerline is valid? [True, True] Translation: X:199.17, Y:-139.02, Z:-14.27 [[ 7.33000854e-01 6.77403780e-01 6.19182281e-02 1.99172016e+02] [-6.75039822e-01 7.35611308e-01 -5.65441629e-02 -1.39021927e+02] [-8.38509784e-02 -3.50349973e-04 9.96478244e-01 -1.42718183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters 0.02830425563278928 Centerline is valid? [True, True] Translation: X:199.20, Y:-139.04, Z:-14.27 [[ 7.32597423e-01 6.77781477e-01 6.25562536e-02 1.99195186e+02] [-6.75364878e-01 7.35263316e-01 -5.71851175e-02 -1.39044894e+02] [-8.47543318e-02 -3.54626898e-04 9.96401815e-01 -1.42737246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21864 meters 0.028263454580969162 Centerline is valid? [True, True] Translation: X:199.22, Y:-139.07, Z:-14.28 [[ 7.31025819e-01 6.79524773e-01 6.20268870e-02 1.99219020e+02] [-6.77150593e-01 7.33652385e-01 -5.67560835e-02 -1.39068150e+02] [-8.40733383e-02 -5.11380855e-04 9.96459438e-01 -1.42754542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24864 meters 0.028261508848453073 Centerline is valid? [True, True] Translation: X:199.24, Y:-139.09, Z:-14.28 [[ 7.28829011e-01 6.82007694e-01 6.06116945e-02 1.99242925e+02] [-6.79745652e-01 7.31344616e-01 -5.55058550e-02 -1.39090286e+02] [-8.21834567e-02 -7.46258416e-04 9.96616939e-01 -1.42758165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27864 meters 0.02821727186846855 Centerline is valid? [True, True] Translation: X:199.27, Y:-139.11, Z:-14.28 [[ 7.27240665e-01 6.83816054e-01 5.93010876e-02 1.99267196e+02] [-6.81654676e-01 7.29653875e-01 -5.43334681e-02 -1.39111300e+02] [-8.04233661e-02 -9.09356196e-04 9.96760380e-01 -1.42766491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30864 meters 0.02837399632439437 Centerline is valid? [True, True] Translation: X:199.29, Y:-139.13, Z:-14.28 [[ 7.25320110e-01 6.85868375e-01 5.91211487e-02 1.99291294e+02] [-6.83722750e-01 7.27724792e-01 -5.42201885e-02 -1.39133047e+02] [-8.02118382e-02 -1.09548131e-03 9.96777237e-01 -1.42792406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.33864 meters 0.02858593989008458 Centerline is valid? [True, True] Translation: X:199.32, Y:-139.15, Z:-14.28 [[ 7.23075575e-01 6.88346131e-01 5.78041282e-02 1.99316985e+02] [-6.86298856e-01 7.25381219e-01 -5.30656913e-02 -1.39153957e+02] [-7.84575923e-02 -1.30040177e-03 9.96916604e-01 -1.42811943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36864 meters 0.02870218858202584 Centerline is valid? [True, True] Translation: X:199.34, Y:-139.17, Z:-14.28 [[ 7.22278343e-01 6.89152882e-01 5.81575484e-02 1.99342655e+02] [-6.87078619e-01 7.24614703e-01 -5.34462677e-02 -1.39174057e+02] [-7.89744640e-02 -1.35572637e-03 9.96875717e-01 -1.42829270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39864 meters 0.02904686590556078 Centerline is valid? [True, True] Translation: X:199.37, Y:-139.19, Z:-14.28 [[ 7.22026447e-01 6.89279330e-01 5.97646675e-02 1.99369395e+02] [-6.87084707e-01 7.24494398e-01 -5.49770163e-02 -1.39191716e+02] [-8.11936877e-02 -1.36852930e-03 9.96697403e-01 -1.42846607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42864 meters 0.029129337910867286 Centerline is valid? [True, True] Translation: X:199.39, Y:-139.21, Z:-14.29 [[ 7.21451291e-01 6.89871123e-01 5.98821205e-02 1.99394443e+02] [-6.87665671e-01 7.23930848e-01 -5.51366755e-02 -1.39212679e+02] [-8.13877145e-02 -1.40045284e-03 9.96681533e-01 -1.42863434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45864 meters 0.02916212149759288 Centerline is valid? [True, True] Translation: X:199.42, Y:-139.23, Z:-14.29 [[ 7.20634546e-01 6.90656873e-01 6.06542316e-02 1.99419743e+02] [-6.88392738e-01 7.23181109e-01 -5.58974223e-02 -1.39231792e+02] [-8.24699333e-02 -1.47231897e-03 9.96592466e-01 -1.42890145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48864 meters 0.02931275164399343 Centerline is valid? [True, True] Translation: X:199.45, Y:-139.25, Z:-14.29 [[ 7.19712093e-01 6.91654330e-01 6.02394406e-02 1.99446118e+02] [-6.89421458e-01 7.22227036e-01 -5.55532354e-02 -1.39251497e+02] [-8.19301884e-02 -1.54802764e-03 9.96636869e-01 -1.42910186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51864 meters 0.02935055674213971 Centerline is valid? [True, True] Translation: X:199.47, Y:-139.27, Z:-14.29 [[ 7.18961700e-01 6.92435912e-01 6.02211137e-02 1.99472933e+02] [-6.90202293e-01 7.21477628e-01 -5.55952034e-02 -1.39270457e+02] [-8.19443016e-02 -1.59392883e-03 9.96635636e-01 -1.42933984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54864 meters 0.02920541131153637 Centerline is valid? [True, True] Translation: X:199.50, Y:-139.29, Z:-14.30 [[ 7.17657866e-01 6.93886728e-01 5.90626506e-02 1.99500999e+02] [-6.91738655e-01 7.20082198e-01 -5.45826085e-02 -1.39288329e+02] [-8.04041109e-02 -1.68428024e-03 9.96760925e-01 -1.42955880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57864 meters 0.029305800835006116 Centerline is valid? [True, True] Translation: X:199.53, Y:-139.31, Z:-14.30 [[ 7.16858293e-01 6.94737298e-01 5.87730789e-02 1.99528565e+02] [-6.92608510e-01 7.19261494e-01 -5.43723748e-02 -1.39307311e+02] [-8.00477293e-02 -1.72944683e-03 9.96789531e-01 -1.42976533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60864 meters 0.029430271321549135 Centerline is valid? [True, True] Translation: X:199.55, Y:-139.33, Z:-14.30 [[ 7.17075388e-01 6.94488614e-01 5.90631253e-02 1.99554986e+02] [-6.92333177e-01 7.19501760e-01 -5.46990800e-02 -1.39327868e+02] [-8.04839109e-02 -1.66799719e-03 9.96754512e-01 -1.42993931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63864 meters 0.029342041801347297 Centerline is valid? [True, True] Translation: X:199.58, Y:-139.35, Z:-14.30 [[ 7.17503457e-01 6.93994673e-01 5.96672703e-02 1.99580894e+02] [-6.91788287e-01 7.19978387e-01 -5.53180603e-02 -1.39348174e+02] [-8.13495842e-02 -1.58621920e-03 9.96684368e-01 -1.43017623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66864 meters 0.029194021107441098 Centerline is valid? [True, True] Translation: X:199.61, Y:-139.37, Z:-14.31 [[ 7.20299169e-01 6.90903239e-01 6.18208887e-02 1.99606855e+02] [-6.88517718e-01 7.22946186e-01 -5.73773844e-02 -1.39368330e+02] [-8.43353964e-02 -1.23589494e-03 9.96436658e-01 -1.43057590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69864 meters 0.02908789970515185 Centerline is valid? [True, True] Translation: X:199.63, Y:-139.39, Z:-14.31 [[ 7.21831644e-01 6.89258120e-01 6.23082826e-02 1.99632013e+02] [-6.86823360e-01 7.24515169e-01 -5.78916445e-02 -1.39389887e+02] [-8.50455820e-02 -1.00676304e-03 9.96376553e-01 -1.43085125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72864 meters 0.028551559142608512 Centerline is valid? [True, True] Translation: X:199.66, Y:-139.41, Z:-14.31 [[ 7.25660829e-01 6.85233568e-01 6.22199215e-02 1.99657017e+02] [-6.82785894e-01 7.28323223e-01 -5.78680032e-02 -1.39409784e+02] [-8.49693121e-02 -4.90341611e-04 9.96383448e-01 -1.43114409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75864 meters 0.028581708790918894 Centerline is valid? [True, True] Translation: X:199.68, Y:-139.43, Z:-14.31 [[ 7.26668458e-01 6.84127137e-01 6.26339539e-02 1.99680672e+02] [-6.81637742e-01 7.29362706e-01 -5.83097992e-02 -1.39432047e+02] [-8.55741861e-02 -3.21775053e-04 9.96331750e-01 -1.43139744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864000000002 meters 0.02833074639320213 Centerline is valid? [True, True] Translation: X:199.70, Y:-139.45, Z:-14.32 [[ 7.29509296e-01 6.81186325e-01 6.16553091e-02 1.99703003e+02] [-6.78758910e-01 7.32110092e-01 -5.74556921e-02 -1.39454577e+02] [-8.42765058e-02 6.53711268e-05 9.96442405e-01 -1.43171145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81864000000002 meters 0.028620661559847733 Centerline is valid? [True, True] Translation: X:199.73, Y:-139.48, Z:-14.32 [[ 7.30172164e-01 6.80440574e-01 6.20422207e-02 1.99726592e+02] [-6.77975096e-01 7.32803240e-01 -5.78721080e-02 -1.39477103e+02] [-8.48432707e-02 1.93521797e-04 9.96394290e-01 -1.43190584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864000000002 meters 0.028640995589494213 Centerline is valid? [True, True] Translation: X:199.75, Y:-139.50, Z:-14.32 [[ 7.30869592e-01 6.79660906e-01 6.23754049e-02 1.99750373e+02] [-6.77160803e-01 7.33526375e-01 -5.82434891e-02 -1.39499391e+02] [-8.53398273e-02 3.30215890e-04 9.96351848e-01 -1.43213909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87864000000002 meters 0.029338013007932644 Centerline is valid? [True, True] Translation: X:199.77, Y:-139.52, Z:-14.32 [[ 7.31272137e-01 6.79038553e-01 6.44026785e-02 1.99771377e+02] [-6.76365197e-01 7.34102466e-01 -6.01970908e-02 -1.39524125e+02] [-8.81543106e-02 4.60724879e-04 9.96106724e-01 -1.43231127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters 0.02962607035556572 Centerline is valid? [True, True] Translation: X:199.79, Y:-139.55, Z:-14.32 [[ 7.30487144e-01 6.79851935e-01 6.47292700e-02 1.99792845e+02] [-6.77149383e-01 7.33349290e-01 -6.05601577e-02 -1.39549579e+02] [-8.86411046e-02 4.07031480e-04 9.96063547e-01 -1.43246469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93864 meters 0.029778154234809066 Centerline is valid? [True, True] Translation: X:199.82, Y:-139.57, Z:-14.33 [[ 7.29783582e-01 6.80598608e-01 6.48186590e-02 1.99816098e+02] [-6.77885908e-01 7.32656402e-01 -6.07066101e-02 -1.39572327e+02] [-8.88066398e-02 3.63031825e-04 9.96048819e-01 -1.43264835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96864 meters 0.029954362461829663 Centerline is valid? [True, True] Translation: X:199.84, Y:-139.60, Z:-14.33 [[ 7.28979694e-01 6.81495922e-01 6.44353563e-02 1.99838543e+02] [-6.78813513e-01 7.31821851e-01 -6.04068935e-02 -1.39595292e+02] [-8.83222533e-02 2.95808093e-04 9.96091909e-01 -1.43290188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.99864 meters 0.030070855196094013 Centerline is valid? [True, True] Translation: X:199.86, Y:-139.62, Z:-14.33 [[ 7.27262813e-01 6.83436892e-01 6.32678063e-02 1.99858803e+02] [-6.80853688e-01 7.30009592e-01 -5.93653975e-02 -1.39620300e+02] [-8.67586082e-02 9.81267693e-05 9.96229358e-01 -1.43311262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02864 meters 0.030248539967761764 Centerline is valid? [True, True] Translation: X:199.88, Y:-139.64, Z:-14.33 [[ 7.25032275e-01 6.85912229e-01 6.20694294e-02 1.99880470e+02] [-6.83430692e-01 7.27684265e-01 -5.82932208e-02 -1.39644581e+02] [-8.51509801e-02 -1.55686638e-04 9.96368048e-01 -1.43328686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05864 meters 0.030279721605935103 Centerline is valid? [True, True] Translation: X:199.90, Y:-139.67, Z:-14.33 [[ 7.23592581e-01 6.87462631e-01 6.17163479e-02 1.99904273e+02] [-6.85010204e-01 7.26219694e-01 -5.80170374e-02 -1.39667514e+02] [-8.47041725e-02 -2.95630236e-04 9.96406100e-01 -1.43341588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08864 meters 0.030547606328313607 Centerline is valid? [True, True] Translation: X:199.93, Y:-139.69, Z:-14.34 [[ 7.21820853e-01 6.89335430e-01 6.15737077e-02 1.99928880e+02] [-6.86896000e-01 7.24442161e-01 -5.79434241e-02 -1.39690261e+02] [-8.45490450e-02 -4.69961735e-04 9.96419208e-01 -1.43352882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11864 meters 0.03058560244263838 Centerline is valid? [True, True] Translation: X:199.95, Y:-139.71, Z:-14.34 [[ 7.20475425e-01 6.90813843e-01 6.07568641e-02 1.99952947e+02] [-6.88440251e-01 7.23032415e-01 -5.72201777e-02 -1.39712387e+02] [-8.34576729e-02 -6.01738907e-04 9.96511141e-01 -1.43358281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14864 meters 0.031157177859944207 Centerline is valid? [True, True] Translation: X:199.98, Y:-139.73, Z:-14.34 [[ 7.16915348e-01 6.94556941e-01 6.01916900e-02 1.99977472e+02] [-6.92237806e-01 7.19437036e-01 -5.67201130e-02 -1.39734023e+02] [-8.26994792e-02 -1.00344393e-03 9.96574026e-01 -1.43365239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17864 meters 0.03117219916651382 Centerline is valid? [True, True] Translation: X:200.00, Y:-139.76, Z:-14.34 [[ 7.15369663e-01 6.96161736e-01 6.00423350e-02 2.00001449e+02] [-6.93855911e-01 7.17884050e-01 -5.66256610e-02 -1.39755812e+02] [-8.25240531e-02 -1.15244896e-03 9.96588407e-01 -1.43369894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20864 meters 0.031680184850572245 Centerline is valid? [True, True] Translation: X:200.03, Y:-139.78, Z:-14.34 [[ 7.12212044e-01 6.99482743e-01 5.89737007e-02 2.00025875e+02] [-6.97267357e-01 7.14647940e-01 -5.56466960e-02 -1.39776269e+02] [-8.10693372e-02 -1.48818937e-03 9.96707353e-01 -1.43384305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23864 meters 0.03186377307337121 Centerline is valid? [True, True] Translation: X:200.05, Y:-139.80, Z:-14.34 [[ 7.10303073e-01 7.01369233e-01 5.95881171e-02 2.00050394e+02] [-6.99109728e-01 7.12796158e-01 -5.62781014e-02 -1.39796318e+02] [-8.19459098e-02 -1.68412396e-03 9.96635355e-01 -1.43407787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26864 meters 0.03215267874267112 Centerline is valid? [True, True] Translation: X:200.08, Y:-139.82, Z:-14.34 [[ 7.08939406e-01 7.02772283e-01 5.92961712e-02 2.00077036e+02] [-7.00535552e-01 7.11412593e-01 -5.60541053e-02 -1.39816155e+02] [-8.15773145e-02 -1.80011192e-03 9.96665391e-01 -1.43418673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29864 meters 0.03238358467448684 Centerline is valid? [True, True] Translation: X:200.11, Y:-139.83, Z:-14.34 [[ 7.07869991e-01 7.03803513e-01 5.98388749e-02 2.00105521e+02] [-7.01524478e-01 7.10392161e-01 -5.66249448e-02 -1.39833272e+02] [-8.23619027e-02 -1.89533632e-03 9.96600685e-01 -1.43434266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32864 meters 0.032357584263104276 Centerline is valid? [True, True] Translation: X:200.13, Y:-139.85, Z:-14.35 [[ 7.08120186e-01 7.03554143e-01 5.98111177e-02 2.00131636e+02] [-7.01272023e-01 7.10639308e-01 -5.66508933e-02 -1.39852699e+02] [-8.23611019e-02 -1.82822245e-03 9.96600876e-01 -1.43456529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35864 meters 0.03228082075687831 Centerline is valid? [True, True] Translation: X:200.16, Y:-139.87, Z:-14.35 [[ 7.09391901e-01 7.02243482e-01 6.01433551e-02 2.00160691e+02] [-6.99926811e-01 7.11934953e-01 -5.70182631e-02 -1.39868175e+02] [-8.28588603e-02 -1.64765269e-03 9.96559930e-01 -1.43477493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38864 meters 0.03218837660906391 Centerline is valid? [True, True] Translation: X:200.19, Y:-139.89, Z:-14.35 [[ 7.09946963e-01 7.01704508e-01 5.98839955e-02 2.00187136e+02] [-6.99401566e-01 7.12466428e-01 -5.68246359e-02 -1.39886461e+02] [-8.25394396e-02 -1.54048255e-03 9.96586608e-01 -1.43490096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41864 meters 0.03197296372022097 Centerline is valid? [True, True] Translation: X:200.21, Y:-139.91, Z:-14.35 [[ 7.11112698e-01 7.00512072e-01 6.00130634e-02 2.00213788e+02] [-6.98190569e-01 7.13639241e-01 -5.69996698e-02 -1.39905335e+02] [-8.27566338e-02 -1.36736594e-03 9.96568849e-01 -1.43506507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44864 meters 0.03197296372022097 Centerline is valid? [True, True] Translation: X:200.24, Y:-139.93, Z:-14.35 [[ 7.10746434e-01 7.00886045e-01 5.99854909e-02 2.00237590e+02] [-6.98563423e-01 7.13271949e-01 -5.70286765e-02 -1.39927513e+02] [-8.27565715e-02 -1.37074143e-03 9.96568849e-01 -1.43524536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47864 meters 0.03194273625169703 Centerline is valid? [True, True] Translation: X:200.27, Y:-139.94, Z:-14.35 [[ 7.13504313e-01 6.98085880e-01 5.98974062e-02 2.00265748e+02] [-6.95755447e-01 7.16013337e-01 -5.70022733e-02 -1.39944267e+02] [-8.26798238e-02 -1.00257872e-03 9.96575658e-01 -1.43549596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50864 meters 0.03174889889828797 Centerline is valid? [True, True] Translation: X:200.29, Y:-139.96, Z:-14.36 [[ 7.14932903e-01 6.96651200e-01 5.95655079e-02 2.00291527e+02] [-6.94337293e-01 7.17409558e-01 -5.67384290e-02 -1.39964309e+02] [-8.22597594e-02 -7.94383746e-04 9.96610606e-01 -1.43573422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53864000000002 meters 0.03144691726423155 Centerline is valid? [True, True] Translation: X:200.32, Y:-139.98, Z:-14.36 [[ 7.16859423e-01 6.94631731e-01 5.99943732e-02 2.00320307e+02] [-6.92272652e-01 7.19365332e-01 -5.72022333e-02 -1.39981429e+02] [-8.28923586e-02 -5.26503880e-04 9.96558367e-01 -1.43590671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864000000002 meters 0.03144190142245841 Centerline is valid? [True, True] Translation: X:200.35, Y:-140.00, Z:-14.36 [[ 7.17683565e-01 6.93864279e-01 5.90140921e-02 2.00346119e+02] [-6.91574618e-01 7.20105694e-01 -5.63235070e-02 -1.40001446e+02] [-8.15772532e-02 -3.90192879e-04 9.96666945e-01 -1.43609482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59864000000002 meters 0.031230616758649216 Centerline is valid? [True, True] Translation: X:200.37, Y:-140.02, Z:-14.36 [[ 7.18253834e-01 6.93292365e-01 5.87973341e-02 2.00371398e+02] [-6.91013225e-01 7.20656378e-01 -5.61703440e-02 -1.40022194e+02] [-8.13151445e-02 -2.85170572e-04 9.96688400e-01 -1.43630232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864000000002 meters 0.031244427867767564 Centerline is valid? [True, True] Translation: X:200.40, Y:-140.04, Z:-14.37 [[ 7.20214302e-01 6.91278942e-01 5.85216451e-02 2.00396795e+02] [-6.89009755e-01 7.22588004e-01 -5.59654707e-02 -1.40043623e+02] [-8.09747902e-02 -1.48518881e-05 9.96716150e-01 -1.43655133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65864 meters 0.031392490017281116 Centerline is valid? [True, True] Translation: X:200.42, Y:-140.06, Z:-14.37 [[ 7.21391024e-01 6.89991874e-01 5.92132142e-02 2.00422154e+02] [-6.87659578e-01 7.23817093e-01 -5.66843916e-02 -1.40064273e+02] [-8.19713062e-02 1.73077333e-04 9.96634675e-01 -1.43665274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68864 meters 0.03147301439649937 Centerline is valid? [True, True] Translation: X:200.45, Y:-140.09, Z:-14.37 [[ 7.22001283e-01 6.89310542e-01 5.97086555e-02 2.00446492e+02] [-6.86932331e-01 7.24465936e-01 -5.72108393e-02 -1.40085737e+02] [-8.26929217e-02 2.90493478e-04 9.96575033e-01 -1.43680559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71864 meters 0.031370126063050466 Centerline is valid? [True, True] Translation: X:200.47, Y:-140.11, Z:-14.37 [[ 7.22104527e-01 6.89209903e-01 5.96218230e-02 2.00470352e+02] [-6.86833797e-01 7.24561656e-01 -5.71816590e-02 -1.40108305e+02] [-8.26098525e-02 3.40851730e-04 9.96581906e-01 -1.43699985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74864 meters 0.03150203695078179 Centerline is valid? [True, True] Translation: X:200.49, Y:-140.13, Z:-14.37 [[ 7.23110084e-01 6.88139544e-01 5.97977817e-02 2.00494052e+02] [-6.85740766e-01 7.25578190e-01 -5.74098586e-02 -1.40130737e+02] [-8.28939602e-02 5.07871008e-04 9.96558244e-01 -1.43727835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77864 meters 0.03123971124269145 Centerline is valid? [True, True] Translation: X:200.52, Y:-140.15, Z:-14.37 [[ 7.25418598e-01 6.85701734e-01 5.98413720e-02 2.00518520e+02] [-6.83286447e-01 7.27882164e-01 -5.75081447e-02 -1.40151863e+02] [-8.29909019e-02 8.28679216e-04 9.96549960e-01 -1.43744301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80864 meters 0.031229215971750518 Centerline is valid? [True, True] Translation: X:200.54, Y:-140.17, Z:-14.38 [[ 7.26864183e-01 6.84212908e-01 5.93393324e-02 2.00543892e+02] [-6.81828707e-01 7.29281590e-01 -5.70786891e-02 -1.40172940e+02] [-8.23290585e-02 1.02919446e-03 9.96604669e-01 -1.43761136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83864 meters 0.03132178257845674 Centerline is valid? [True, True] Translation: X:200.57, Y:-140.20, Z:-14.38 [[ 7.26990084e-01 6.84096947e-01 5.91336142e-02 2.00568810e+02] [-6.81724131e-01 7.29390292e-01 -5.69386672e-02 -1.40195299e+02] [-8.20830525e-02 1.08103474e-03 9.96624906e-01 -1.43780290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86864 meters 0.031173696619909083 Centerline is valid? [True, True] Translation: X:200.59, Y:-140.22, Z:-14.38 [[ 7.26325923e-01 6.84787971e-01 5.92966123e-02 2.00593384e+02] [-6.82399527e-01 7.28741611e-01 -5.71537383e-02 -1.40217763e+02] [-8.23501013e-02 1.04826154e-03 9.96602911e-01 -1.43787626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89864 meters 0.03129758886350397 Centerline is valid? [True, True] Translation: X:200.62, Y:-140.24, Z:-14.38 [[ 7.25767722e-01 6.85274453e-01 6.04990687e-02 2.00617865e+02] [-6.82784825e-01 7.28284155e-01 -5.83701343e-02 -1.40238577e+02] [-8.40600750e-02 1.05531341e-03 9.96460130e-01 -1.43804437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92864 meters 0.03129008691548915 Centerline is valid? [True, True] Translation: X:200.64, Y:-140.26, Z:-14.38 [[ 7.25440531e-01 6.85614791e-01 6.05672739e-02 2.00641780e+02] [-6.83116133e-01 7.27963764e-01 -5.84902279e-02 -1.40260692e+02] [-8.41925460e-02 1.05670007e-03 9.96448944e-01 -1.43823910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95864 meters 0.03166480446764886 Centerline is valid? [True, True] Translation: X:200.67, Y:-140.28, Z:-14.38 [[ 7.25266731e-01 6.85748820e-01 6.11287593e-02 2.00665998e+02] [-6.83199241e-01 7.27837457e-01 -5.90883448e-02 -1.40281270e+02] [-8.50115635e-02 1.09168872e-03 9.96379367e-01 -1.43835958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98864 meters 0.03167191908242507 Centerline is valid? [True, True] Translation: X:200.69, Y:-140.30, Z:-14.39 [[ 7.25337856e-01 6.85670469e-01 6.11637336e-02 2.00690734e+02] [-6.83113232e-01 7.27911196e-01 -5.91743382e-02 -1.40303377e+02] [-8.50958627e-02 1.13963179e-03 9.96372117e-01 -1.43863011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01864 meters 0.0317869797119066 Centerline is valid? [True, True] Translation: X:200.72, Y:-140.33, Z:-14.39 [[ 7.27015015e-01 6.83906222e-01 6.10036733e-02 2.00715070e+02] [-6.81351363e-01 7.29568615e-01 -5.90758482e-02 -1.40325200e+02] [-8.49087056e-02 1.38409274e-03 9.96387774e-01 -1.43878010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04864 meters 0.031943691821594206 Centerline is valid? [True, True] Translation: X:200.74, Y:-140.35, Z:-14.39 [[ 7.27525415e-01 6.83363649e-01 6.09991332e-02 2.00738791e+02] [-6.80802664e-01 7.30076648e-01 -5.91254638e-02 -1.40348049e+02] [-8.49382354e-02 1.48690518e-03 9.96385109e-01 -1.43905360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07864 meters 0.03196233419471024 Centerline is valid? [True, True] Translation: X:200.76, Y:-140.37, Z:-14.39 [[ 7.29727243e-01 6.81065918e-01 6.03934273e-02 2.00761914e+02] [-6.78543083e-01 7.32219950e-01 -5.85937731e-02 -1.40370610e+02] [-8.41274941e-02 1.77793020e-03 9.96453413e-01 -1.43924023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10864 meters 0.03210955282118123 Centerline is valid? [True, True] Translation: X:200.79, Y:-140.39, Z:-14.39 [[ 7.30527043e-01 6.80212121e-01 6.03465829e-02 2.00785549e+02] [-6.77686045e-01 7.33012835e-01 -5.85987101e-02 -1.40392995e+02] [-8.40943726e-02 1.91190536e-03 9.96455960e-01 -1.43945384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13864 meters 0.03191736262843122 Centerline is valid? [True, True] Translation: X:200.81, Y:-140.42, Z:-14.40 [[ 7.30680189e-01 6.80041188e-01 6.04189108e-02 2.00808795e+02] [-6.77503965e-01 7.33171256e-01 -5.87221192e-02 -1.40416452e+02] [-8.42308683e-02 1.97303752e-03 9.96444313e-01 -1.43960675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16864 meters 0.03193559810219824 Centerline is valid? [True, True] Translation: X:200.83, Y:-140.44, Z:-14.40 [[ 7.31401176e-01 6.79171428e-01 6.14694343e-02 2.00829632e+02] [-6.76537098e-01 7.33976528e-01 -5.97997684e-02 -1.40441479e+02] [-8.57314161e-02 2.15126823e-03 9.96315962e-01 -1.43989022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19864 meters 0.03185083024424661 Centerline is valid? [True, True] Translation: X:200.85, Y:-140.47, Z:-14.40 [[ 7.31023730e-01 6.79542992e-01 6.18516729e-02 2.00852577e+02] [-6.76872372e-01 7.33632506e-01 -6.02257310e-02 -1.40465337e+02] [-8.63023712e-02 2.16074994e-03 9.96266647e-01 -1.43999662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22864 meters 0.03147307545711126 Centerline is valid? [True, True] Translation: X:200.87, Y:-140.49, Z:-14.40 [[ 7.29513745e-01 6.81131330e-01 6.22077722e-02 2.00874093e+02] [-6.78430629e-01 7.32158457e-01 -6.06290013e-02 -1.40489148e+02] [-8.68422589e-02 2.02603181e-03 9.96220015e-01 -1.44016845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25864 meters 0.031323782441895806 Centerline is valid? [True, True] Translation: X:200.90, Y:-140.51, Z:-14.40 [[ 7.28637039e-01 6.82142302e-01 6.13998819e-02 2.00896222e+02] [-6.79510619e-01 7.31216932e-01 -5.98925510e-02 -1.40513049e+02] [-8.57518759e-02 1.91805926e-03 9.96314678e-01 -1.44046860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864000000002 meters 0.030791506476970387 Centerline is valid? [True, True] Translation: X:200.92, Y:-140.54, Z:-14.41 [[ 7.26557090e-01 6.84455106e-01 6.02992719e-02 2.00915367e+02] [-6.81921710e-01 7.29053156e-01 -5.88581172e-02 -1.40539323e+02] [-8.42471133e-02 1.64439978e-03 9.96443536e-01 -1.44063127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31864000000002 meters 0.030543551536104305 Centerline is valid? [True, True] Translation: X:200.94, Y:-140.56, Z:-14.41 [[ 7.25107930e-01 6.86150066e-01 5.84514876e-02 2.00938223e+02] [-6.83773029e-01 7.27458632e-01 -5.70822478e-02 -1.40561953e+02] [-8.16880273e-02 1.42323986e-03 9.96656932e-01 -1.44074405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864000000002 meters 0.030281842551402545 Centerline is valid? [True, True] Translation: X:200.96, Y:-140.58, Z:-14.41 [[ 7.24083034e-01 6.87297327e-01 5.76727442e-02 2.00961270e+02] [-6.84982982e-01 7.26375015e-01 -5.63706646e-02 -1.40584369e+02] [-8.06354475e-02 1.31219353e-03 9.96742797e-01 -1.44083148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37864000000002 meters 0.030219627397148525 Centerline is valid? [True, True] Translation: X:200.98, Y:-140.61, Z:-14.41 [[ 7.22615428e-01 6.88753629e-01 5.86973764e-02 2.00983015e+02] [-6.86356588e-01 7.24994466e-01 -5.74252338e-02 -1.40608725e+02] [-8.21071113e-02 1.20902892e-03 9.96622777e-01 -1.44111232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters 0.030072654406756133 Centerline is valid? [True, True] Translation: X:201.01, Y:-140.63, Z:-14.41 [[ 7.22329675e-01 6.88985436e-01 5.94887418e-02 2.01005388e+02] [-6.86519277e-01 7.24774125e-01 -5.82559031e-02 -1.40631681e+02] [-8.32533696e-02 1.23979954e-03 9.96527641e-01 -1.44126942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43864 meters 0.030314141375625495 Centerline is valid? [True, True] Translation: X:201.03, Y:-140.65, Z:-14.41 [[ 7.23228567e-01 6.88012423e-01 5.98276409e-02 2.01028042e+02] [-6.85511312e-01 7.25697579e-01 -5.86281950e-02 -1.40654847e+02] [-8.37537007e-02 1.38906083e-03 9.96485518e-01 -1.44129005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46864 meters 0.030333160839154976 Centerline is valid? [True, True] Translation: X:201.05, Y:-140.68, Z:-14.41 [[ 7.23544872e-01 6.87682063e-01 5.98013166e-02 2.01051521e+02] [-6.85179307e-01 7.26010521e-01 -5.86348062e-02 -1.40678741e+02] [-8.37384895e-02 1.45028863e-03 9.96486709e-01 -1.44143310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49864 meters 0.03032929410724496 Centerline is valid? [True, True] Translation: X:201.07, Y:-140.70, Z:-14.42 [[ 7.23909083e-01 6.87357707e-01 5.91187147e-02 2.01074076e+02] [-6.84905891e-01 7.26317487e-01 -5.80243742e-02 -1.40702413e+02] [-8.28224571e-02 1.51361548e-03 9.96563169e-01 -1.44164165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52864 meters 0.030290871477044158 Centerline is valid? [True, True] Translation: X:201.09, Y:-140.73, Z:-14.42 [[ 7.24660707e-01 6.86673074e-01 5.78528173e-02 2.01094045e+02] [-6.84319249e-01 7.26964616e-01 -5.68296713e-02 -1.40728530e+02] [-8.10803562e-02 1.59243327e-03 9.96706296e-01 -1.44199474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55864 meters 0.030157573895016488 Centerline is valid? [True, True] Translation: X:201.12, Y:-140.75, Z:-14.42 [[ 7.24721605e-01 6.86608137e-01 5.78607074e-02 2.01117005e+02] [-6.84250476e-01 7.27025873e-01 -5.68741302e-02 -1.40752450e+02] [-8.11164719e-02 1.62669435e-03 9.96703302e-01 -1.44209206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58864 meters 0.030180643965449252 Centerline is valid? [True, True] Translation: X:201.14, Y:-140.78, Z:-14.42 [[ 7.24129821e-01 6.87234677e-01 5.78316702e-02 2.01140033e+02] [-6.84876758e-01 7.26433719e-01 -5.69023485e-02 -1.40775749e+02] [-8.11161423e-02 1.59712059e-03 9.96703376e-01 -1.44232794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61864 meters 0.029889544077065594 Centerline is valid? [True, True] Translation: X:201.16, Y:-140.80, Z:-14.42 [[ 7.22365975e-01 6.89184288e-01 5.66781780e-02 2.01160728e+02] [-6.86921411e-01 7.24584769e-01 -5.58201259e-02 -1.40800390e+02] [-7.95384982e-02 1.38910566e-03 9.96830827e-01 -1.44248194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64864 meters 0.029961431765567863 Centerline is valid? [True, True] Translation: X:201.18, Y:-140.82, Z:-14.43 [[ 7.21423972e-01 6.90145165e-01 5.69833574e-02 2.01182777e+02] [-6.87856676e-01 7.23669737e-01 -5.61721058e-02 -1.40824928e+02] [-8.00040385e-02 1.32752096e-03 9.96793655e-01 -1.44268846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67864 meters 0.030067952719809384 Centerline is valid? [True, True] Translation: X:201.20, Y:-140.85, Z:-14.43 [[ 7.21159721e-01 6.90360086e-01 5.77200868e-02 2.01203656e+02] [-6.88008113e-01 7.23464650e-01 -5.69538160e-02 -1.40849351e+02] [-8.10770837e-02 1.36091006e-03 9.96706905e-01 -1.44278325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70864 meters 0.030089360187335837 Centerline is valid? [True, True] Translation: X:201.23, Y:-140.87, Z:-14.43 [[ 7.21851745e-01 6.89734720e-01 5.65338331e-02 2.01227086e+02] [-6.87472661e-01 7.24060735e-01 -5.58336185e-02 -1.40873284e+02] [-7.94443140e-02 1.43813022e-03 9.96838268e-01 -1.44282698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73864 meters 0.030227825406827703 Centerline is valid? [True, True] Translation: X:201.25, Y:-140.90, Z:-14.43 [[ 7.21950714e-01 6.89560423e-01 5.73898129e-02 2.01248698e+02] [-6.87224197e-01 7.24226563e-01 -5.67343682e-02 -1.40896575e+02] [-8.06850019e-02 1.51974949e-03 9.96738492e-01 -1.44309835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76864 meters 0.03047356351613491 Centerline is valid? [True, True] Translation: X:201.27, Y:-140.92, Z:-14.43 [[ 7.23360120e-01 6.88074025e-01 5.74828024e-02 2.01268189e+02] [-6.85721567e-01 7.25638453e-01 -5.68750259e-02 -1.40921985e+02] [-8.08459598e-02 1.72392825e-03 9.96725117e-01 -1.44324653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79864 meters 0.030510017925325785 Centerline is valid? [True, True] Translation: X:201.29, Y:-140.95, Z:-14.43 [[ 7.23722168e-01 6.87616020e-01 5.83989156e-02 2.01290472e+02] [-6.85182385e-01 7.26072192e-01 -5.78296702e-02 -1.40945454e+02] [-8.21664363e-02 1.83870601e-03 9.96616925e-01 -1.44345235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82864 meters 0.030518978800390544 Centerline is valid? [True, True] Translation: X:201.31, Y:-140.97, Z:-14.44 [[ 7.24054764e-01 6.87349828e-01 5.74013328e-02 2.01312990e+02] [-6.84993785e-01 7.26324103e-01 -5.68929954e-02 -1.40969759e+02] [-8.07973622e-02 1.87408816e-03 9.96728787e-01 -1.44359065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85864 meters 0.030460937731466114 Centerline is valid? [True, True] Translation: X:201.34, Y:-140.99, Z:-14.44 [[ 7.23768247e-01 6.87728079e-01 5.64766705e-02 2.01335232e+02] [-6.85445130e-01 7.25966064e-01 -5.60200576e-02 -1.40993628e+02] [-7.95267128e-02 1.83388011e-03 9.96831048e-01 -1.44382828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88864 meters 0.030495611462714546 Centerline is valid? [True, True] Translation: X:201.36, Y:-141.02, Z:-14.44 [[ 7.23345215e-01 6.88189837e-01 5.62712028e-02 2.01357927e+02] [-6.85922600e-01 7.25528440e-01 -5.58450492e-02 -1.41018059e+02] [-7.92583533e-02 1.79755937e-03 9.96852488e-01 -1.44408616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91864 meters 0.030546193749628442 Centerline is valid? [True, True] Translation: X:201.38, Y:-141.04, Z:-14.44 [[ 7.23068436e-01 6.88387851e-01 5.73951556e-02 2.01379110e+02] [-6.86025139e-01 7.25340429e-01 -5.70155301e-02 -1.41042594e+02] [-8.08798250e-02 1.85161050e-03 9.96722141e-01 -1.44428067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94864 meters 0.030500417522474517 Centerline is valid? [True, True] Translation: X:201.40, Y:-141.07, Z:-14.44 [[ 7.22427398e-01 6.89053953e-01 5.74743723e-02 2.01401146e+02] [-6.86682606e-01 7.24707767e-01 -5.71458694e-02 -1.41067077e+02] [-8.10287112e-02 1.81708996e-03 9.96710111e-01 -1.44446816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97864 meters 0.030356648757729858 Centerline is valid? [True, True] Translation: X:201.42, Y:-141.09, Z:-14.45 [[ 7.21563462e-01 6.89980304e-01 5.72132049e-02 2.01421189e+02] [-6.87629606e-01 7.23826053e-01 -5.69330299e-02 -1.41093120e+02] [-8.06950776e-02 1.73930053e-03 9.96737317e-01 -1.44462697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00864 meters 0.030374857309289 Centerline is valid? [True, True] Translation: X:201.44, Y:-141.12, Z:-14.45 [[ 7.20545605e-01 6.91079160e-01 5.67769901e-02 2.01443024e+02] [-6.88764912e-01 7.22777243e-01 -5.65327560e-02 -1.41116881e+02] [-8.01057259e-02 1.62843024e-03 9.96785042e-01 -1.44475934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03864000000002 meters 0.03013947834697564 Centerline is valid? [True, True] Translation: X:201.46, Y:-141.14, Z:-14.45 [[ 7.19695313e-01 6.92002468e-01 5.63137712e-02 2.01464410e+02] [-6.89724793e-01 7.21893473e-01 -5.61206193e-02 -1.41140517e+02] [-7.94881509e-02 1.54874254e-03 9.96834608e-01 -1.44489483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864000000002 meters 0.030005288418201173 Centerline is valid? [True, True] Translation: X:201.48, Y:-141.17, Z:-14.45 [[ 7.17561777e-01 6.94123060e-01 5.74306029e-02 2.01484661e+02] [-6.91756426e-01 7.19855039e-01 -5.72867355e-02 -1.41167121e+02] [-8.11057530e-02 1.37878311e-03 9.96704548e-01 -1.44507747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09864000000002 meters 0.029726062208130944 Centerline is valid? [True, True] Translation: X:201.51, Y:-141.19, Z:-14.45 [[ 7.15845295e-01 6.95891603e-01 5.74490228e-02 2.01506330e+02] [-6.93524602e-01 7.18145800e-01 -5.73605751e-02 -1.41191463e+02] [-8.11735171e-02 1.21898710e-03 9.96699240e-01 -1.44521105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864000000002 meters 0.02929114467440276 Centerline is valid? [True, True] Translation: X:201.53, Y:-141.22, Z:-14.45 [[ 7.12867672e-01 6.99001181e-01 5.67188817e-02 2.01526077e+02] [-6.96700658e-01 7.15119969e-01 -5.66711894e-02 -1.41217793e+02] [-8.01740332e-02 8.82976676e-04 9.96780490e-01 -1.44535783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15864 meters 0.029265608490071558 Centerline is valid? [True, True] Translation: X:201.55, Y:-141.24, Z:-14.45 [[ 7.11661143e-01 7.00297903e-01 5.58682803e-02 2.01547589e+02] [-6.98068557e-01 7.13850336e-01 -5.58389422e-02 -1.41242493e+02] [-7.89854848e-02 7.38515614e-04 9.96875493e-01 -1.44549728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18864 meters 0.028954815756018677 Centerline is valid? [True, True] Translation: X:201.57, Y:-141.27, Z:-14.46 [[ 7.08876990e-01 7.03139483e-01 5.55722994e-02 2.01568683e+02] [-7.00940264e-01 7.11051808e-01 -5.55704246e-02 -1.41266943e+02] [-7.85885436e-02 4.39733107e-04 9.96907041e-01 -1.44562208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21864 meters 0.02893680939450741 Centerline is valid? [True, True] Translation: X:201.59, Y:-141.42, Z:-12.78 [[ 7.53044893e-01 -6.57623033e-01 -2.13386018e-02 2.01593336e+02] [-6.57204146e-01 -7.53337118e-01 2.37885911e-02 -1.41418730e+02] [-3.17190862e-02 -3.89005946e-03 -9.99489253e-01 -1.27802989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24864 meters 0.028543176165091243 Centerline is valid? [True, True] Translation: X:201.60, Y:-141.32, Z:-14.46 [[ 7.56740042e-01 6.51017094e-01 5.93401320e-02 2.01602295e+02] [-6.48994854e-01 7.59063014e-01 -5.12739718e-02 -1.41316162e+02] [-7.84231315e-02 2.89627285e-04 9.96920121e-01 -1.44596067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27864 meters 0.02851667007698717 Centerline is valid? [True, True] Translation: X:201.63, Y:-141.34, Z:-14.46 [[ 7.56576910e-01 6.51202969e-01 5.93807469e-02 2.01627287e+02] [-6.49174259e-01 7.58903549e-01 -5.13632685e-02 -1.41337407e+02] [-7.85121725e-02 3.11810571e-04 9.96913106e-01 -1.44623217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30864 meters 0.02851667007698717 Centerline is valid? [True, True] Translation: X:201.65, Y:-141.36, Z:-14.46 [[ 7.56237637e-01 6.51599373e-01 5.93539704e-02 2.01652081e+02] [-6.49569454e-01 7.58563221e-01 -5.13941969e-02 -1.41358422e+02] [-7.85121654e-02 3.11699840e-04 9.96913107e-01 -1.44641191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33864 meters 0.028327237906366556 Centerline is valid? [True, True] Translation: X:201.68, Y:-141.38, Z:-14.47 [[ 7.57420556e-01 6.50290292e-01 5.86228363e-02 2.01677370e+02] [-6.48302097e-01 7.59685661e-01 -5.08142436e-02 -1.41379370e+02] [-7.75789375e-02 4.82444910e-04 9.96986096e-01 -1.44664862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36864 meters 0.028385163701589496 Centerline is valid? [True, True] Translation: X:201.70, Y:-141.40, Z:-14.47 [[ 7.57929350e-01 6.49631978e-01 5.93413371e-02 2.01701009e+02] [-6.47589007e-01 7.60248606e-01 -5.14833479e-02 -1.41400353e+02] [-7.85593980e-02 5.91942830e-04 9.96909259e-01 -1.44689468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39864 meters 0.028308912770649532 Centerline is valid? [True, True] Translation: X:201.73, Y:-141.42, Z:-14.47 [[ 7.58574830e-01 6.48915658e-01 5.89295885e-02 2.01726331e+02] [-6.46896184e-01 7.60860038e-01 -5.11598500e-02 -1.41421970e+02] [-7.80355967e-02 6.87248614e-04 9.96950336e-01 -1.44702341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42864 meters 0.028388977294837654 Centerline is valid? [True, True] Translation: X:201.75, Y:-141.44, Z:-14.47 [[ 7.58327902e-01 6.49034428e-01 6.07709239e-02 2.01751416e+02] [-6.46882665e-01 7.60758680e-01 -5.28114430e-02 -1.41441283e+02] [-8.05084525e-02 7.36733483e-04 9.96753654e-01 -1.44734375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45864 meters 0.028517035867288536 Centerline is valid? [True, True] Translation: X:201.78, Y:-141.46, Z:-14.48 [[ 7.57562359e-01 6.49886500e-01 6.12111916e-02 2.01776733e+02] [-6.47702205e-01 7.60030963e-01 -5.32427452e-02 -1.41461953e+02] [-8.11241422e-02 6.88075960e-04 9.96703767e-01 -1.44751567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48864 meters 0.028241959407773513 Centerline is valid? [True, True] Translation: X:201.80, Y:-141.48, Z:-14.48 [[ 7.56122056e-01 6.51571058e-01 6.11113189e-02 2.01800667e+02] [-6.49394865e-01 7.58587408e-01 -5.32114082e-02 -1.41484007e+02] [-8.10292905e-02 5.48942721e-04 9.96711570e-01 -1.44766830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51864 meters 0.028241712136018532 Centerline is valid? [True, True] Translation: X:201.82, Y:-141.51, Z:-14.48 [[ 7.55344694e-01 6.52576244e-01 5.99886550e-02 2.01824575e+02] [-6.50478404e-01 7.57722919e-01 -5.22859860e-02 -1.41505633e+02] [-7.95753712e-02 4.72617544e-04 9.96828740e-01 -1.44781717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54864 meters 0.02818124285398525 Centerline is valid? [True, True] Translation: X:201.85, Y:-141.53, Z:-14.48 [[ 7.53809003e-01 6.54375716e-01 5.97026745e-02 2.01849091e+02] [-6.52299698e-01 7.56169506e-01 -5.20843849e-02 -1.41526555e+02] [-7.92280986e-02 3.17641771e-04 9.96856463e-01 -1.44789371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57864 meters 0.028323579822162492 Centerline is valid? [True, True] Translation: X:201.87, Y:-141.55, Z:-14.48 [[ 7.51712325e-01 6.56742508e-01 6.01486438e-02 2.01873950e+02] [-6.54638765e-01 7.54114890e-01 -5.25244742e-02 -1.41547448e+02] [-7.98540428e-02 1.07660752e-04 9.96806561e-01 -1.44817668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60864 meters 0.028274684507300096 Centerline is valid? [True, True] Translation: X:201.90, Y:-141.57, Z:-14.48 [[ 7.50356436e-01 6.58290052e-01 6.01616687e-02 2.01898036e+02] [-6.56185853e-01 7.52764377e-01 -5.25920056e-02 -1.41569341e+02] [-7.99083551e-02 -1.44859582e-05 9.96802214e-01 -1.44831799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63864 meters 0.028380321432470795 Centerline is valid? [True, True] Translation: X:201.92, Y:-141.59, Z:-14.48 [[ 7.48549846e-01 6.60302604e-01 6.06102167e-02 2.01922796e+02] [-6.58168852e-01 7.50999624e-01 -5.30407996e-02 -1.41591631e+02] [-8.05412280e-02 -1.88074395e-04 9.96751260e-01 -1.44841738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66864 meters 0.028286334978855212 Centerline is valid? [True, True] Translation: X:201.95, Y:-141.61, Z:-14.49 [[ 7.48363008e-01 6.60646929e-01 5.91476393e-02 2.01948174e+02] [-6.58612739e-01 7.50696743e-01 -5.18040510e-02 -1.41612261e+02] [-7.86261274e-02 -1.87153213e-04 9.96904156e-01 -1.44853649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69864 meters 0.02836042409220432 Centerline is valid? [True, True] Translation: X:201.97, Y:-141.63, Z:-14.49 [[ 7.46384530e-01 6.62988051e-01 5.79394321e-02 2.01973478e+02] [-6.61041303e-01 7.48629868e-01 -5.07712163e-02 -1.41631766e+02] [-7.70358991e-02 -4.05507263e-04 9.97028237e-01 -1.44870194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72864 meters 0.028542991105909542 Centerline is valid? [True, True] Translation: X:202.00, Y:-141.65, Z:-14.49 [[ 7.45267300e-01 6.64194426e-01 5.85014166e-02 2.01998667e+02] [-6.62209471e-01 7.47559708e-01 -5.13137416e-02 -1.41652975e+02] [-7.78156030e-02 -4.97738518e-04 9.96967645e-01 -1.44899557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75864 meters 0.02876327345135747 Centerline is valid? [True, True] Translation: X:202.02, Y:-141.67, Z:-14.49 [[ 7.44187751e-01 6.65394289e-01 5.86091464e-02 2.02023994e+02] [-6.63401399e-01 7.46491863e-01 -5.14634195e-02 -1.41674118e+02] [-7.79947163e-02 -5.82943301e-04 9.96953602e-01 -1.44918611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864000000002 meters 0.028717128511259165 Centerline is valid? [True, True] Translation: X:202.05, Y:-141.69, Z:-14.49 [[ 7.43613899e-01 6.66089225e-01 5.79958070e-02 2.02051453e+02] [-6.64135809e-01 7.45871821e-01 -5.09789530e-02 -1.41693380e+02] [-7.72139695e-02 -6.08434179e-04 9.97014359e-01 -1.44924428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81864000000002 meters 0.02874436129551616 Centerline is valid? [True, True] Translation: X:202.08, Y:-141.71, Z:-14.49 [[ 7.43574639e-01 6.66219488e-01 5.69943008e-02 2.02076394e+02] [-6.64329542e-01 7.45755500e-01 -5.01497243e-02 -1.41713220e+02] [-7.59145369e-02 -5.72934583e-04 9.97114163e-01 -1.44938325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864000000002 meters 0.028541179337129012 Centerline is valid? [True, True] Translation: X:202.10, Y:-141.73, Z:-14.50 [[ 7.44714069e-01 6.65015342e-01 5.61742848e-02 2.02102143e+02] [-6.63172605e-01 7.46829584e-01 -4.94739153e-02 -1.41732733e+02] [-7.48535304e-02 -4.09325964e-04 9.97194455e-01 -1.44965980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87864000000002 meters 0.028442274065809618 Centerline is valid? [True, True] Translation: X:202.13, Y:-141.75, Z:-14.50 [[ 7.45611709e-01 6.63968194e-01 5.66517173e-02 2.02128237e+02] [-6.62087240e-01 7.47760767e-01 -4.99431914e-02 -1.41753165e+02] [-7.55226222e-02 -2.70150945e-04 9.97144052e-01 -1.44991696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters 0.028427428483285055 Centerline is valid? [True, True] Translation: X:202.15, Y:-141.77, Z:-14.50 [[ 7.46211574e-01 6.63234212e-01 5.73468973e-02 2.02153381e+02] [-6.61300455e-01 7.48411889e-01 -5.06098051e-02 -1.41773764e+02] [-7.64852540e-02 -1.57906940e-04 9.97070700e-01 -1.45011630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93864 meters 0.028396052883327316 Centerline is valid? [True, True] Translation: X:202.18, Y:-141.79, Z:-14.50 [[ 7.47072314e-01 6.62234175e-01 5.76962342e-02 2.02178295e+02] [-6.60269722e-01 7.49296936e-01 -5.09705417e-02 -1.41794875e+02] [-7.69860461e-02 -1.63960064e-05 9.97032170e-01 -1.45027158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96864 meters 0.028384611059764128 Centerline is valid? [True, True] Translation: X:202.20, Y:-141.82, Z:-14.51 [[ 7.48691459e-01 6.60312399e-01 5.87250825e-02 2.02202739e+02] [-6.58266985e-01 7.50991002e-01 -5.19335222e-02 -1.41815601e+02] [-7.83943572e-02 2.25401441e-04 9.96922401e-01 -1.45055166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99864 meters 0.028159585314625788 Centerline is valid? [True, True] Translation: X:202.23, Y:-141.84, Z:-14.51 [[ 7.48469713e-01 6.60738122e-01 5.67293822e-02 2.02227572e+02] [-6.58827334e-01 7.50616474e-01 -5.02140842e-02 -1.41836135e+02] [-7.57603685e-02 2.08853641e-04 9.97126032e-01 -1.45063935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02864 meters 0.028136457860401577 Centerline is valid? [True, True] Translation: X:202.25, Y:-141.86, Z:-14.51 [[ 7.47165188e-01 6.62223535e-01 5.66054033e-02 2.02251845e+02] [-6.60321699e-01 7.49306333e-01 -5.01524901e-02 -1.41858435e+02] [-7.56269465e-02 9.44186135e-05 9.97136177e-01 -1.45085699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05864 meters 0.02826092968691348 Centerline is valid? [True, True] Translation: X:202.28, Y:-141.88, Z:-14.51 [[ 7.46140294e-01 6.63474784e-01 5.54605452e-02 2.02275245e+02] [-6.61649514e-01 7.48198644e-01 -4.91803821e-02 -1.41881189e+02] [-7.41254482e-02 2.20087602e-08 9.97248925e-01 -1.45106288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08864 meters 0.02808779477263441 Centerline is valid? [True, True] Translation: X:202.30, Y:-141.90, Z:-14.51 [[ 7.44723345e-01 6.65108198e-01 5.49383602e-02 2.02299186e+02] [-6.63319778e-01 7.46746988e-01 -4.87422606e-02 -1.41903471e+02] [-7.34439321e-02 -1.42201512e-04 9.97299338e-01 -1.45108940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11864 meters 0.02813686643500599 Centerline is valid? [True, True] Translation: X:202.32, Y:-141.93, Z:-14.51 [[ 7.42156075e-01 6.68000693e-01 5.45842043e-02 2.02322805e+02] [-6.66239602e-01 7.44160549e-01 -4.84754608e-02 -1.41926414e+02] [-7.30010528e-02 -3.89800880e-04 9.97331788e-01 -1.45116747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14864 meters 0.028186196062702226 Centerline is valid? [True, True] Translation: X:202.35, Y:-141.95, Z:-14.51 [[ 7.40304991e-01 6.70149144e-01 5.33726948e-02 2.02347016e+02] [-6.68468294e-01 7.42226254e-01 -4.74376214e-02 -1.41948659e+02] [-7.14048967e-02 -5.59646350e-04 9.97447256e-01 -1.45129244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17864 meters 0.028532796656602938 Centerline is valid? [True, True] Translation: X:202.37, Y:-141.97, Z:-14.52 [[ 7.37305462e-01 6.73540607e-01 5.21891399e-02 2.02370961e+02] [-6.71939078e-01 7.39149749e-01 -4.64276344e-02 -1.41970456e+02] [-6.98464867e-02 -8.36574111e-04 9.97557401e-01 -1.45152464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20864 meters 0.028540833142579023 Centerline is valid? [True, True] Translation: X:202.40, Y:-141.99, Z:-14.52 [[ 7.35739691e-01 6.75210682e-01 5.27033462e-02 2.02395262e+02] [-6.73580108e-01 7.37624266e-01 -4.69071415e-02 -1.41991202e+02] [-7.05474701e-02 -9.88479846e-04 9.97507934e-01 -1.45165860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23864 meters 0.028760691810192314 Centerline is valid? [True, True] Translation: X:202.42, Y:-142.01, Z:-14.52 [[ 7.34374084e-01 6.76672848e-01 5.29958713e-02 2.02420002e+02] [-6.75024706e-01 7.36282991e-01 -4.72123225e-02 -1.42011627e+02] [-7.09672554e-02 -1.10201638e-03 9.97478037e-01 -1.45188973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26864 meters 0.029102923090566914 Centerline is valid? [True, True] Translation: X:202.45, Y:-142.03, Z:-14.52 [[ 7.32283292e-01 6.78943041e-01 5.28916605e-02 2.02445837e+02] [-6.77304140e-01 7.34189820e-01 -4.71636586e-02 -1.42031713e+02] [-7.08539565e-02 -1.28658144e-03 9.97485870e-01 -1.45193616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29864 meters 0.029001566588682453 Centerline is valid? [True, True] Translation: X:202.47, Y:-142.05, Z:-14.52 [[ 7.31353207e-01 6.79926455e-01 5.31272242e-02 2.02471396e+02] [-6.78272202e-01 7.33279061e-01 -4.74198114e-02 -1.42052326e+02] [-7.11990653e-02 -1.35408817e-03 9.97461207e-01 -1.45211611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32864 meters 0.02898463355743187 Centerline is valid? [True, True] Translation: X:202.50, Y:-142.07, Z:-14.52 [[ 7.31756830e-01 6.79568692e-01 5.21376477e-02 2.02498614e+02] [-6.77971588e-01 7.33610796e-01 -4.65803215e-02 -1.42070839e+02] [-6.99032694e-02 -1.26237539e-03 9.97552976e-01 -1.45230521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35864 meters 0.029021633665980904 Centerline is valid? [True, True] Translation: X:202.52, Y:-142.09, Z:-14.53 [[ 7.32396636e-01 6.78823653e-01 5.28546632e-02 2.02524976e+02] [-6.77178164e-01 7.34300377e-01 -4.72513589e-02 -1.42090882e+02] [-7.08865392e-02 -1.18528747e-03 9.97483681e-01 -1.45261872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38864 meters 0.02870511137806733 Centerline is valid? [True, True] Translation: X:202.55, Y:-142.11, Z:-14.53 [[ 7.32636276e-01 6.78531552e-01 5.32824518e-02 2.02551841e+02] [-6.76854809e-01 7.34570392e-01 -4.76855068e-02 -1.42111135e+02] [-7.14958324e-02 -1.12835161e-03 9.97440260e-01 -1.45273264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41864 meters 0.028414783309796778 Centerline is valid? [True, True] Translation: X:202.58, Y:-142.13, Z:-14.53 [[ 7.33619755e-01 6.77319017e-01 5.51453021e-02 2.02579709e+02] [-6.75515371e-01 7.35688751e-01 -4.94069393e-02 -1.42129572e+02] [-7.40340380e-02 -1.00559247e-03 9.97255208e-01 -1.45282323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44864 meters 0.028539719531660932 Centerline is valid? [True, True] Translation: X:202.61, Y:-142.15, Z:-14.53 [[ 7.33474593e-01 6.77420366e-01 5.58271384e-02 2.02605554e+02] [-6.75568049e-01 7.35595453e-01 -5.00713570e-02 -1.42149422e+02] [-7.49855461e-02 -9.88962793e-04 9.97184130e-01 -1.45304427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47864 meters 0.028429437482246453 Centerline is valid? [True, True] Translation: X:202.63, Y:-142.17, Z:-14.53 [[ 7.34652272e-01 6.76262522e-01 5.43602820e-02 2.02632042e+02] [-6.74499747e-01 7.36660261e-01 -4.88031868e-02 -1.42167438e+02] [-7.30488258e-02 -8.12624418e-04 9.97328035e-01 -1.45329542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50864 meters 0.028508460463868627 Centerline is valid? [True, True] Translation: X:202.66, Y:-142.19, Z:-14.53 [[ 7.34675689e-01 6.76223409e-01 5.45301082e-02 2.02657843e+02] [-6.74445994e-01 7.36696205e-01 -4.90030951e-02 -1.42188519e+02] [-7.33091638e-02 -7.76230338e-04 9.97308961e-01 -1.45347664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53864000000002 meters 0.028308182808740853 Centerline is valid? [True, True] Translation: X:202.68, Y:-142.21, Z:-14.54 [[ 7.35385115e-01 6.75536139e-01 5.34757726e-02 2.02684779e+02] [-6.73821529e-01 7.37326585e-01 -4.81046223e-02 -1.42207273e+02] [-7.19255196e-02 -6.57703700e-04 9.97409789e-01 -1.45356785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864000000002 meters 0.028192920653783038 Centerline is valid? [True, True] Translation: X:202.71, Y:-142.23, Z:-14.54 [[ 7.35837056e-01 6.74950922e-01 5.46358855e-02 2.02710876e+02] [-6.73155860e-01 7.37862398e-01 -4.91962359e-02 -1.42227224e+02] [-7.35188103e-02 -5.78053149e-04 9.97293663e-01 -1.45375963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59864000000002 meters 0.02808391980689237 Centerline is valid? [True, True] Translation: X:202.74, Y:-142.25, Z:-14.54 [[ 7.35834159e-01 6.74973066e-01 5.44008269e-02 2.02735919e+02] [-6.73189684e-01 7.37842171e-01 -4.90365157e-02 -1.42248972e+02] [-7.32375516e-02 -5.39332129e-04 9.97314379e-01 -1.45402393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864000000002 meters 0.02816183980149056 Centerline is valid? [True, True] Translation: X:202.76, Y:-142.27, Z:-14.54 [[ 7.36663448e-01 6.74135390e-01 5.35578250e-02 2.02759164e+02] [-6.72401143e-01 7.38607681e-01 -4.83259470e-02 -1.42270830e+02] [-7.21364520e-02 -4.12383966e-04 9.97394687e-01 -1.45426142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65864 meters 0.02810553223603118 Centerline is valid? [True, True] Translation: X:202.78, Y:-142.29, Z:-14.54 [[ 7.36477033e-01 6.74337103e-01 5.35822025e-02 2.02784724e+02] [-6.72598456e-01 7.38423533e-01 -4.83942445e-02 -1.42292119e+02] [-7.22003938e-02 -3.98057114e-04 9.97390066e-01 -1.45438670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68864 meters 0.02792736404035175 Centerline is valid? [True, True] Translation: X:202.81, Y:-142.31, Z:-14.55 [[ 7.36476905e-01 6.74358810e-01 5.33100766e-02 2.02811899e+02] [-6.72634193e-01 7.38403728e-01 -4.81993415e-02 -1.42311431e+02] [-7.18680099e-02 -3.60478536e-04 9.97414086e-01 -1.45457677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71864 meters 0.02808639608768281 Centerline is valid? [True, True] Translation: X:202.84, Y:-142.33, Z:-14.55 [[ 7.36316028e-01 6.74514610e-01 5.35606898e-02 2.02836639e+02] [-6.72770377e-01 7.38261421e-01 -4.84777742e-02 -1.42332911e+02] [-7.22407580e-02 -3.39083321e-04 9.97387166e-01 -1.45474801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74864 meters 0.028071589442363837 Centerline is valid? [True, True] Translation: X:202.86, Y:-142.35, Z:-14.55 [[ 7.36036574e-01 6.74795011e-01 5.38688607e-02 2.02861277e+02] [-6.73027592e-01 7.38005138e-01 -4.88085740e-02 -1.42354723e+02] [-7.26912782e-02 -3.30334060e-04 9.97354435e-01 -1.45489120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77864 meters 0.028162713328985744 Centerline is valid? [True, True] Translation: X:202.89, Y:-142.38, Z:-14.55 [[ 7.34736812e-01 6.76152459e-01 5.45863432e-02 2.02885663e+02] [-6.74337524e-01 7.36761606e-01 -4.95099903e-02 -1.42376410e+02] [-7.36934236e-02 -4.32807099e-04 9.97280849e-01 -1.45509205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80864 meters 0.028093321271074043 Centerline is valid? [True, True] Translation: X:202.91, Y:-142.40, Z:-14.55 [[ 7.33945426e-01 6.77130695e-01 5.30860975e-02 2.02910497e+02] [-6.75413699e-01 7.35862615e-01 -4.81928182e-02 -1.42397463e+02] [-7.16969110e-02 -4.84179002e-04 9.97426347e-01 -1.45518272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83864 meters 0.028067771070024006 Centerline is valid? [True, True] Translation: X:202.94, Y:-142.42, Z:-14.55 [[ 7.33320052e-01 6.77779410e-01 5.34487884e-02 2.02936131e+02] [-6.76037175e-01 7.35265125e-01 -4.85688521e-02 -1.42418099e+02] [-7.22179980e-02 -5.16854820e-04 9.97388737e-01 -1.45538866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86864 meters 0.02805523884886952 Centerline is valid? [True, True] Translation: X:202.96, Y:-142.44, Z:-14.56 [[ 7.33356296e-01 6.77749969e-01 5.33246970e-02 2.02961525e+02] [-6.76012035e-01 7.35292292e-01 -4.85074695e-02 -1.42439523e+02] [-7.20851747e-02 -4.74878761e-04 9.97398367e-01 -1.45553366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89864 meters 0.02796480623790127 Centerline is valid? [True, True] Translation: X:202.99, Y:-142.46, Z:-14.56 [[ 7.32823023e-01 6.78254630e-01 5.42316706e-02 2.02986821e+02] [-6.76454477e-01 7.34826791e-01 -4.93855036e-02 -1.42460668e+02] [-7.33468309e-02 -4.94422298e-04 9.97306371e-01 -1.45571299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92864 meters 0.02799779433551969 Centerline is valid? [True, True] Translation: X:203.01, Y:-142.48, Z:-14.56 [[ 7.32794370e-01 6.78296242e-01 5.40982325e-02 2.03011534e+02] [-6.76501243e-01 7.34788403e-01 -4.93160397e-02 -1.42481889e+02] [-7.32016383e-02 -4.59005268e-04 9.97317056e-01 -1.45589093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95864 meters 0.027968296180667433 Centerline is valid? [True, True] Translation: X:203.04, Y:-142.50, Z:-14.56 [[ 7.33214713e-01 6.77902881e-01 5.33279363e-02 2.03036159e+02] [-6.76154082e-01 7.35151373e-01 -4.86632839e-02 -1.42503258e+02] [-7.21930860e-02 -3.77266064e-04 9.97390604e-01 -1.45605233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98864 meters 0.028089991231314723 Centerline is valid? [True, True] Translation: X:203.06, Y:-142.52, Z:-14.56 [[ 7.34351453e-01 6.76610201e-01 5.40978621e-02 2.03062582e+02] [-6.74803457e-01 7.36341353e-01 -4.94136241e-02 -1.42523619e+02] [-7.32682551e-02 -2.18457689e-04 9.97312246e-01 -1.45631894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01864 meters 0.027945225914828953 Centerline is valid? [True, True] Translation: X:203.09, Y:-142.54, Z:-14.56 [[ 7.35086647e-01 6.75834413e-01 5.38095443e-02 2.03088655e+02] [-6.74041021e-01 7.37053482e-01 -4.92023059e-02 -1.42544586e+02] [-7.29131236e-02 -1.01882115e-04 9.97338291e-01 -1.45649852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04864 meters 0.027973086806924622 Centerline is valid? [True, True] Translation: X:203.11, Y:-142.57, Z:-14.57 [[ 7.35725841e-01 6.75088301e-01 5.44359535e-02 2.03113588e+02] [-6.73246886e-01 7.37736935e-01 -4.98281495e-02 -1.42565640e+02] [-7.37978143e-02 1.10209420e-05 9.97273224e-01 -1.45678861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07864 meters 0.027908488739719187 Centerline is valid? [True, True] Translation: X:203.14, Y:-142.59, Z:-14.57 [[ 7.38511719e-01 6.72059016e-01 5.41952047e-02 2.03138521e+02] [-6.70221854e-01 7.40497505e-01 -4.96599563e-02 -1.42587141e+02] [-7.35058352e-02 3.51649055e-04 9.97294725e-01 -1.45702862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10864 meters 0.028003573393899212 Centerline is valid? [True, True] Translation: X:203.16, Y:-142.61, Z:-14.57 [[ 7.39463518e-01 6.70944369e-01 5.50214456e-02 2.03162319e+02] [-6.69043742e-01 7.41507516e-01 -5.04685663e-02 -1.42609066e+02] [-7.46604158e-02 5.07909750e-04 9.97208887e-01 -1.45726412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13864 meters 0.028023308943737852 Centerline is valid? [True, True] Translation: X:203.19, Y:-142.63, Z:-14.57 [[ 7.41364366e-01 6.68859619e-01 5.48241358e-02 2.03185972e+02] [-6.66963526e-01 7.43388356e-01 -5.03329647e-02 -1.42630433e+02] [-7.44213118e-02 7.49367523e-04 9.97226608e-01 -1.45741245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16864 meters 0.02799569706155646 Centerline is valid? [True, True] Translation: X:203.21, Y:-142.65, Z:-14.57 [[ 7.41566980e-01 6.68654785e-01 5.45819794e-02 2.03210688e+02] [-6.66771411e-01 7.43572549e-01 -5.01572407e-02 -1.42652907e+02] [-7.41235406e-02 8.01250090e-04 9.97248745e-01 -1.45746729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19864 meters 0.02818012359550246 Centerline is valid? [True, True] Translation: X:203.23, Y:-142.67, Z:-14.58 [[ 7.40961424e-01 6.69238426e-01 5.56425932e-02 2.03233615e+02] [-6.67278772e-01 7.43047304e-01 -5.11834453e-02 -1.42674829e+02] [-7.55990073e-02 7.95837286e-04 9.97137983e-01 -1.45770176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22864 meters 0.028076475697498694 Centerline is valid? [True, True] Translation: X:203.26, Y:-142.70, Z:-14.58 [[ 7.40731872e-01 6.69502445e-01 5.55227093e-02 2.03257452e+02] [-6.67548364e-01 7.42809419e-01 -5.11209332e-02 -1.42697167e+02] [-7.54683811e-02 8.02810770e-04 9.97147872e-01 -1.45797822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25864 meters 0.028076475697498694 Centerline is valid? [True, True] Translation: X:203.28, Y:-142.72, Z:-14.58 [[ 7.40389136e-01 6.69883623e-01 5.54964746e-02 2.03281598e+02] [-6.67928478e-01 7.42465681e-01 -5.11494015e-02 -1.42718959e+02] [-7.54683742e-02 8.02785408e-04 9.97147873e-01 -1.45815795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864000000002 meters 0.028112488659184146 Centerline is valid? [True, True] Translation: X:203.30, Y:-142.74, Z:-14.58 [[ 7.39659770e-01 6.70588305e-01 5.66987638e-02 2.03304707e+02] [-6.68545381e-01 7.41829298e-01 -5.23102922e-02 -1.42741530e+02] [-7.71394743e-02 7.86122061e-04 9.97020002e-01 -1.45836194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31864000000002 meters 0.028080640963475095 Centerline is valid? [True, True] Translation: X:203.33, Y:-142.77, Z:-14.59 [[ 7.39651451e-01 6.70641135e-01 5.61800547e-02 2.03327732e+02] [-6.68631930e-01 7.41781513e-01 -5.18799497e-02 -1.42765459e+02] [-7.64661543e-02 8.09301714e-04 9.97071849e-01 -1.45854278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864000000002 meters 0.028162374253196513 Centerline is valid? [True, True] Translation: X:203.35, Y:-142.79, Z:-14.59 [[ 7.39762000e-01 6.70523781e-01 5.61252326e-02 2.03351146e+02] [-6.68514083e-01 7.41887538e-01 -5.18825844e-02 -1.42788795e+02] [-7.64271173e-02 8.60255982e-04 9.97074799e-01 -1.45867022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37864000000002 meters 0.028059126380973045 Centerline is valid? [True, True] Translation: X:203.37, Y:-142.81, Z:-14.59 [[ 7.39703273e-01 6.70666138e-01 5.51905723e-02 2.03374166e+02] [-6.68719532e-01 7.41758840e-01 -5.10686778e-02 -1.42811679e+02] [-7.51881278e-02 8.68654493e-04 9.97168988e-01 -1.45884301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters 0.028132421518841218 Centerline is valid? [True, True] Translation: X:203.40, Y:-142.83, Z:-14.59 [[ 7.39305745e-01 6.71059811e-01 5.57292170e-02 2.03398183e+02] [-6.69072372e-01 7.41402703e-01 -5.16158172e-02 -1.42834906e+02] [-7.59550927e-02 8.72990727e-04 9.97110857e-01 -1.45897321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43864 meters 0.028017941772625208 Centerline is valid? [True, True] Translation: X:203.42, Y:-142.86, Z:-14.59 [[ 7.38719117e-01 6.71724435e-01 5.55008921e-02 2.03420927e+02] [-6.69751129e-01 7.40800632e-01 -5.14572539e-02 -1.42858935e+02] [-7.56801907e-02 8.40672078e-04 9.97131788e-01 -1.45916651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46864 meters 0.028023770134388167 Centerline is valid? [True, True] Translation: X:203.44, Y:-142.88, Z:-14.59 [[ 7.38343783e-01 6.72018724e-01 5.69147860e-02 2.03443274e+02] [-6.69940155e-01 7.40533643e-01 -5.28215260e-02 -1.42881730e+02] [-7.76443683e-02 8.70944781e-04 9.96980739e-01 -1.45942961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49864 meters 0.028146129474582362 Centerline is valid? [True, True] Translation: X:203.47, Y:-142.91, Z:-14.60 [[ 7.37878868e-01 6.72523265e-01 5.69845038e-02 2.03466355e+02] [-6.70437224e-01 7.40075486e-01 -5.29358383e-02 -1.42906049e+02] [-7.77734172e-02 8.55703899e-04 9.96970693e-01 -1.45957153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52864 meters 0.028133526601306 Centerline is valid? [True, True] Translation: X:203.49, Y:-142.93, Z:-14.60 [[ 7.37270452e-01 6.73238281e-01 5.64136343e-02 2.03489466e+02] [-6.71191970e-01 7.39425155e-01 -5.24574132e-02 -1.42928693e+02] [-7.70299990e-02 8.10922392e-04 9.97028446e-01 -1.45969810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55864 meters 0.0279423913529533 Centerline is valid? [True, True] Translation: X:203.51, Y:-142.95, Z:-14.60 [[ 7.36157423e-01 6.74594184e-01 5.47260010e-02 2.03511133e+02] [-6.72669596e-01 7.38188478e-01 -5.09252851e-02 -1.42953192e+02] [-7.47520046e-02 6.76509629e-04 9.97201925e-01 -1.45989578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58864 meters 0.027904863027118802 Centerline is valid? [True, True] Translation: X:203.53, Y:-142.98, Z:-14.60 [[ 7.34478628e-01 6.76414241e-01 5.48171477e-02 2.03534376e+02] [-6.74486318e-01 7.36521224e-01 -5.10362018e-02 -1.42976671e+02] [-7.48956064e-02 5.11583389e-04 9.97191249e-01 -1.46010917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61864 meters 0.027978411122437576 Centerline is valid? [True, True] Translation: X:203.56, Y:-143.00, Z:-14.60 [[ 7.32937876e-01 6.78033817e-01 5.54275440e-02 2.03558245e+02] [-6.76063165e-01 7.35030606e-01 -5.16585517e-02 -1.42999569e+02] [-7.57671863e-02 3.89988381e-04 9.97125459e-01 -1.46027756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64864 meters 0.027909524220649483 Centerline is valid? [True, True] Translation: X:203.58, Y:-143.02, Z:-14.60 [[ 7.29492940e-01 6.81767326e-01 5.50759901e-02 2.03581489e+02] [-6.79828316e-01 7.31569075e-01 -5.13823755e-02 -1.43021797e+02] [-7.53227158e-02 4.08625336e-05 9.97159208e-01 -1.46040413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67864 meters 0.027917682695790765 Centerline is valid? [True, True] Translation: X:203.61, Y:-143.04, Z:-14.61 [[ 7.27763868e-01 6.83647646e-01 5.46410831e-02 2.03605172e+02] [-6.81740834e-01 7.29812224e-01 -5.10250254e-02 -1.43044075e+02] [-7.47608689e-02 -1.16887711e-04 9.97201484e-01 -1.46061489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70864 meters 0.028028365206213823 Centerline is valid? [True, True] Translation: X:203.63, Y:-143.07, Z:-14.61 [[ 7.26659270e-01 6.84789449e-01 5.50428659e-02 2.03629292e+02] [-6.82853592e-01 7.28740950e-01 -5.14548321e-02 -1.43066242e+02] [-7.53477165e-02 -1.96088010e-04 9.97157301e-01 -1.46082064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73864 meters 0.02795996642509323 Centerline is valid? [True, True] Translation: X:203.65, Y:-143.09, Z:-14.61 [[ 7.25014221e-01 6.86646380e-01 5.35829151e-02 2.03653112e+02] [-6.84813741e-01 7.26991492e-01 -5.01349255e-02 -1.43087266e+02] [-7.33792884e-02 -3.45782589e-04 9.97304046e-01 -1.46089803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76864 meters 0.028061623568473363 Centerline is valid? [True, True] Translation: X:203.68, Y:-143.11, Z:-14.61 [[ 7.24394928e-01 6.87281548e-01 5.38150794e-02 2.03677974e+02] [-6.85432308e-01 7.26391027e-01 -5.03847946e-02 -1.43109388e+02] [-7.37193304e-02 -3.88104408e-04 9.97278953e-01 -1.46111652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79864 meters 0.028182398972114057 Centerline is valid? [True, True] Translation: X:203.70, Y:-143.13, Z:-14.61 [[ 7.23997838e-01 6.87619875e-01 5.48273424e-02 2.03702623e+02] [-6.85697226e-01 7.26070764e-01 -5.13863813e-02 -1.43129565e+02] [-7.51428275e-02 -3.91327638e-04 9.97172704e-01 -1.46129512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82864 meters 0.02794647030305487 Centerline is valid? [True, True] Translation: X:203.73, Y:-143.15, Z:-14.61 [[ 7.24354252e-01 6.87263547e-01 5.45869407e-02 2.03728435e+02] [-6.85353054e-01 7.26408092e-01 -5.12101057e-02 -1.43150562e+02] [-7.48472343e-02 -3.17068677e-04 9.97194961e-01 -1.46137462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85864 meters 0.028098122228178486 Centerline is valid? [True, True] Translation: X:203.75, Y:-143.17, Z:-14.62 [[ 7.24775098e-01 6.86801862e-01 5.48111281e-02 2.03754134e+02] [-6.84870164e-01 7.26844653e-01 -5.14753293e-02 -1.43171548e+02] [-7.51925274e-02 -2.30469424e-04 9.97169008e-01 -1.46163851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88864 meters 0.027924146529655632 Centerline is valid? [True, True] Translation: X:203.78, Y:-143.19, Z:-14.62 [[ 7.25247724e-01 6.86386343e-01 5.37543197e-02 2.03780627e+02] [-6.84523591e-01 7.27237077e-01 -5.05340193e-02 -1.43190536e+02] [-7.37779950e-02 -1.46417435e-04 9.97274679e-01 -1.46182429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91864 meters 0.028028286385700606 Centerline is valid? [True, True] Translation: X:203.81, Y:-143.21, Z:-14.62 [[ 7.25283480e-01 6.86342408e-01 5.38328282e-02 2.03806061e+02] [-6.84470487e-01 7.27278549e-01 -5.06563392e-02 -1.43212300e+02] [-7.39190550e-02 -1.06776170e-04 9.97264239e-01 -1.46207069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94864 meters 0.0278610764859376 Centerline is valid? [True, True] Translation: X:203.83, Y:-143.23, Z:-14.62 [[ 7.25314268e-01 6.86351955e-01 5.32935908e-02 2.03831440e+02] [-6.84513553e-01 7.27269544e-01 -5.02016594e-02 -1.43232919e+02] [-7.32148126e-02 -6.82053797e-05 9.97316192e-01 -1.46218432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97864 meters 0.027923044730041598 Centerline is valid? [True, True] Translation: X:203.86, Y:-143.25, Z:-14.62 [[ 7.26002254e-01 6.85450695e-01 5.54803851e-02 2.03858008e+02] [-6.83451277e-01 7.28119043e-01 -5.23164513e-02 -1.43251639e+02] [-7.62566728e-02 6.37215063e-05 9.97088219e-01 -1.46236132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00864 meters 0.02802886720835485 Centerline is valid? [True, True] Translation: X:203.88, Y:-143.27, Z:-14.63 [[ 7.27026104e-01 6.84313220e-01 5.61111512e-02 2.03881889e+02] [-6.82260814e-01 7.29188157e-01 -5.29604837e-02 -1.43273052e+02] [-7.71571461e-02 2.21214437e-04 9.97018920e-01 -1.46261356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03864000000002 meters 0.028236412649358215 Centerline is valid? [True, True] Translation: X:203.90, Y:-143.30, Z:-14.63 [[ 7.29926759e-01 6.81179726e-01 5.65783262e-02 2.03904302e+02] [-6.79079748e-01 7.32115994e-01 -5.34496596e-02 -1.43295414e+02] [-7.78307220e-02 5.93141255e-04 9.96966412e-01 -1.46283925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864000000002 meters 0.028353398794288998 Centerline is valid? [True, True] Translation: X:203.93, Y:-143.32, Z:-14.63 [[ 7.31917828e-01 6.79075096e-01 5.61543148e-02 2.03928917e+02] [-6.76996655e-01 7.34068320e-01 -5.30964276e-02 -1.43318021e+02] [-7.72775652e-02 8.45938693e-04 9.97009259e-01 -1.46290609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09864000000002 meters 0.028291140481176792 Centerline is valid? [True, True] Translation: X:203.95, Y:-143.34, Z:-14.63 [[ 7.33004496e-01 6.77889981e-01 5.62990421e-02 2.03951977e+02] [-6.75793289e-01 7.35162669e-01 -5.32849014e-02 -1.43339732e+02] [-7.75102549e-02 1.01155746e-03 9.96991042e-01 -1.46310500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864000000002 meters 0.028622314658935683 Centerline is valid? [True, True] Translation: X:203.97, Y:-143.36, Z:-14.63 [[ 7.35718577e-01 6.74750671e-01 5.85637043e-02 2.03974578e+02] [-6.72468639e-01 7.38044377e-01 -5.54655462e-02 -1.43362491e+02] [-8.06480271e-02 1.42477820e-03 9.96741624e-01 -1.46336940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15864 meters 0.028573335878127472 Centerline is valid? [True, True] Translation: X:204.00, Y:-143.39, Z:-14.64 [[ 7.35785736e-01 6.74641734e-01 5.89735760e-02 2.03996790e+02] [-6.72325179e-01 7.38143877e-01 -5.58790676e-02 -1.43385639e+02] [-8.12293351e-02 1.46560084e-03 9.96694360e-01 -1.46350800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18864 meters 0.02869050554418532 Centerline is valid? [True, True] Translation: X:204.02, Y:-143.41, Z:-14.64 [[ 7.34505850e-01 6.75967387e-01 5.97431878e-02 2.04018493e+02] [-6.73589915e-01 7.36930255e-01 -5.66606210e-02 -1.43410419e+02] [-8.23272945e-02 1.37514882e-03 9.96604398e-01 -1.46374351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21864 meters 0.028347219139689173 Centerline is valid? [True, True] Translation: X:204.04, Y:-143.43, Z:-14.64 [[ 7.33964315e-01 6.76578565e-01 5.94796652e-02 2.04040806e+02] [-6.74220197e-01 7.36369243e-01 -5.64576259e-02 -1.43433692e+02] [-8.19970155e-02 1.33549111e-03 9.96631680e-01 -1.46379069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24864 meters 0.02823493057453843 Centerline is valid? [True, True] Translation: X:204.06, Y:-143.46, Z:-14.64 [[ 7.32999833e-01 6.77775115e-01 5.77246793e-02 2.04063087e+02] [-6.75555953e-01 7.35268315e-01 -5.48147768e-02 -1.43457550e+02] [-7.95952193e-02 1.18297152e-03 9.96826565e-01 -1.46389961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27864 meters 0.028124925382613908 Centerline is valid? [True, True] Translation: X:204.09, Y:-143.48, Z:-14.64 [[ 7.30539721e-01 6.80457723e-01 5.73498345e-02 2.04085126e+02] [-6.78273433e-01 7.32786782e-01 -5.44856113e-02 -1.43481368e+02] [-7.91003557e-02 9.05034068e-04 9.96866247e-01 -1.46410855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30864 meters 0.027886201871911917 Centerline is valid? [True, True] Translation: X:204.11, Y:-143.50, Z:-14.64 [[ 7.29613202e-01 6.81507571e-01 5.66745626e-02 2.04107968e+02] [-6.79373904e-01 7.31810606e-01 -5.38918830e-02 -1.43503801e+02] [-7.82027723e-02 8.17010401e-04 9.96937139e-01 -1.46423868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33864 meters 0.0277514782764387 Centerline is valid? [True, True] Translation: X:204.13, Y:-143.53, Z:-14.64 [[ 7.27935841e-01 6.83294604e-01 5.67264984e-02 2.04131168e+02] [-6.81158470e-01 7.30142483e-01 -5.39916048e-02 -1.43527184e+02] [-7.83105986e-02 6.62689334e-04 9.96928789e-01 -1.46436960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36864 meters 0.027780294153977623 Centerline is valid? [True, True] Translation: X:204.15, Y:-143.55, Z:-14.65 [[ 7.27265224e-01 6.84097466e-01 5.56412733e-02 2.04154079e+02] [-6.82040750e-01 7.29390357e-01 -5.30105833e-02 -1.43549578e+02] [-7.68486139e-02 6.03137981e-04 9.97042590e-01 -1.46451590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39864 meters 0.02775719220988505 Centerline is valid? [True, True] Translation: X:204.18, Y:-143.57, Z:-14.65 [[ 7.26525320e-01 6.84934099e-01 5.50112721e-02 2.04177570e+02] [-6.82922572e-01 7.28604821e-01 -5.24573620e-02 -1.43572134e+02] [-7.60113140e-02 5.43162278e-04 9.97106807e-01 -1.46468561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42864 meters 0.027646675151735592 Centerline is valid? [True, True] Translation: X:204.20, Y:-143.59, Z:-14.65 [[ 7.25015725e-01 6.86599098e-01 5.41652753e-02 2.04200469e+02] [-6.84650220e-01 7.27036121e-01 -5.16967551e-02 -1.43594913e+02] [-7.48750571e-02 3.96692781e-04 9.97192844e-01 -1.46492404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45864 meters 0.027631324447410326 Centerline is valid? [True, True] Translation: X:204.22, Y:-143.62, Z:-14.65 [[ 7.24544366e-01 6.87060363e-01 5.46216055e-02 2.04224688e+02] [-6.85076031e-01 7.26600239e-01 -5.21816513e-02 -1.43616833e+02] [-7.55400158e-02 3.87968794e-04 9.97142696e-01 -1.46513569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48864 meters 0.02769296952433546 Centerline is valid? [True, True] Translation: X:204.25, Y:-143.64, Z:-14.65 [[ 7.24459498e-01 6.87180725e-01 5.42317939e-02 2.04249161e+02] [-6.85220960e-01 7.26486395e-01 -5.18628305e-02 -1.43639492e+02] [-7.50377979e-02 4.11758288e-04 9.97180605e-01 -1.46528462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51864 meters 0.02775288876647962 Centerline is valid? [True, True] Translation: X:204.27, Y:-143.66, Z:-14.65 [[ 7.24530271e-01 6.87139250e-01 5.38101991e-02 2.04272337e+02] [-6.85205792e-01 7.26525600e-01 -5.15128685e-02 -1.43662463e+02] [-7.44910010e-02 4.51572524e-04 9.97221584e-01 -1.46542739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54864 meters 0.027723353996543833 Centerline is valid? [True, True] Translation: X:204.30, Y:-143.69, Z:-14.66 [[ 7.24866040e-01 6.86837721e-01 5.31335000e-02 2.04295678e+02] [-6.84947990e-01 7.26810622e-01 -5.09172899e-02 -1.43685449e+02] [-7.35899075e-02 5.14530231e-04 9.97288454e-01 -1.46559118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57864 meters 0.02797490603306759 Centerline is valid? [True, True] Translation: X:204.32, Y:-143.71, Z:-14.66 [[ 7.25890813e-01 6.85633486e-01 5.46740271e-02 2.04317203e+02] [-6.83624926e-01 7.27946591e-01 -5.24473170e-02 -1.43708869e+02] [-7.57594084e-02 6.94497900e-04 9.97125885e-01 -1.46581596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60864 meters 0.028101687127368023 Centerline is valid? [True, True] Translation: X:204.34, Y:-143.73, Z:-14.66 [[ 7.27031519e-01 6.84388259e-01 5.51169890e-02 2.04340213e+02] [-6.82339728e-01 7.29117248e-01 -5.29200728e-02 -1.43731491e+02] [-7.64046238e-02 8.66049563e-04 9.97076518e-01 -1.46603391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63864 meters 0.027952462210509434 Centerline is valid? [True, True] Translation: X:204.36, Y:-143.76, Z:-14.66 [[ 7.28522576e-01 6.82826624e-01 5.47965063e-02 2.04362001e+02] [-6.80793869e-01 7.30579688e-01 -5.26595409e-02 -1.43755519e+02] [-7.59905510e-02 1.05853883e-03 9.97107976e-01 -1.46615685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66864 meters 0.028087094040729125 Centerline is valid? [True, True] Translation: X:204.38, Y:-143.78, Z:-14.66 [[ 7.28183719e-01 6.83209881e-01 5.45227534e-02 2.04384232e+02] [-6.81194818e-01 7.30221308e-01 -5.24448438e-02 -1.43779670e+02] [-7.56445118e-02 1.04886428e-03 9.97134298e-01 -1.46625441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69864 meters 0.02799325171826006 Centerline is valid? [True, True] Translation: X:204.41, Y:-143.80, Z:-14.66 [[ 7.26698131e-01 6.84827787e-01 5.40437665e-02 2.04406051e+02] [-6.82848647e-01 7.28704380e-01 -5.20350909e-02 -1.43803486e+02] [-7.50170055e-02 9.10090465e-04 9.97181839e-01 -1.46640109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72864 meters 0.027774407792735743 Centerline is valid? [True, True] Translation: X:204.43, Y:-143.83, Z:-14.66 [[ 7.24577312e-01 6.87116925e-01 5.34607264e-02 2.04427839e+02] [-6.85183099e-01 7.26546517e-01 -5.15196928e-02 -1.43826951e+02] [-7.42417575e-02 6.99614325e-04 9.97240027e-01 -1.46646742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75864 meters 0.02784446929115339 Centerline is valid? [True, True] Translation: X:204.45, Y:-143.85, Z:-14.67 [[ 7.21201978e-01 6.90617495e-01 5.39924401e-02 2.04449517e+02] [-6.88651568e-01 7.23220116e-01 -5.20738030e-02 -1.43851448e+02] [-7.50114982e-02 3.73751173e-04 9.97182599e-01 -1.46668771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864000000002 meters 0.027828345795248722 Centerline is valid? [True, True] Translation: X:204.47, Y:-143.87, Z:-14.67 [[ 7.19785277e-01 6.92157155e-01 5.31754503e-02 2.04471753e+02] [-6.90252258e-01 7.21746783e-01 -5.13166762e-02 -1.43874170e+02] [-7.38984148e-02 2.32513310e-04 9.97265747e-01 -1.46675921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81864000000002 meters 0.02779405248987179 Centerline is valid? [True, True] Translation: X:204.49, Y:-143.90, Z:-14.67 [[ 7.17265550e-01 6.94712766e-01 5.38915948e-02 2.04494167e+02] [-6.92759571e-01 7.19287267e-01 -5.20576975e-02 -1.43897932e+02] [-7.49286850e-02 5.27488958e-06 9.97188895e-01 -1.46696126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864000000002 meters 0.027883018416996856 Centerline is valid? [True, True] Translation: X:204.52, Y:-143.92, Z:-14.67 [[ 7.17208573e-01 6.94723199e-01 5.45118372e-02 2.04518241e+02] [-6.92720498e-01 7.19277189e-01 -5.27127796e-02 -1.43920991e+02] [-7.58299119e-02 4.45904408e-05 9.97120766e-01 -1.46709327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87864000000002 meters 0.027920467515673345 Centerline is valid? [True, True] Translation: X:204.54, Y:-143.94, Z:-14.67 [[ 7.16460704e-01 6.95514124e-01 5.42601432e-02 2.04541601e+02] [-6.93527983e-01 7.18512424e-01 -5.25245936e-02 -1.43943907e+02] [-7.55181837e-02 8.79632831e-07 9.97144425e-01 -1.46724215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters 0.027975520280244703 Centerline is valid? [True, True] Translation: X:204.57, Y:-143.97, Z:-14.68 [[ 7.15703011e-01 6.96284401e-01 5.43804562e-02 2.04565934e+02] [-6.94287411e-01 7.17766001e-01 -5.26968565e-02 -1.43965515e+02] [-7.57244417e-02 -4.03672721e-05 9.97128782e-01 -1.46750636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93864 meters 0.027966251763767925 Centerline is valid? [True, True] Translation: X:204.59, Y:-143.99, Z:-14.68 [[ 7.15272872e-01 6.96736684e-01 5.42467654e-02 2.04590861e+02] [-6.94746590e-01 7.17326976e-01 -5.26230524e-02 -1.43987678e+02] [-7.55770793e-02 -4.79134776e-05 9.97139962e-01 -1.46777787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96864 meters 0.02794913675120554 Centerline is valid? [True, True] Translation: X:204.61, Y:-144.01, Z:-14.68 [[ 7.13884535e-01 6.98189100e-01 5.38595628e-02 2.04614711e+02] [-6.96227342e-01 7.15913371e-01 -5.23023239e-02 -1.44010216e+02] [-7.50756936e-02 -1.60680054e-04 9.97177825e-01 -1.46795077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99864 meters 0.02793766286920428 Centerline is valid? [True, True] Translation: X:204.64, Y:-144.03, Z:-14.68 [[ 7.13063915e-01 6.99131286e-01 5.24909446e-02 2.04638038e+02] [-6.97266890e-01 7.14993286e-01 -5.10243564e-02 -1.44032346e+02] [-7.32033969e-02 -2.16570354e-04 9.97317009e-01 -1.46812706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02864 meters 0.02798327466228006 Centerline is valid? [True, True] Translation: X:204.66, Y:-144.05, Z:-14.68 [[ 7.12004545e-01 7.00234320e-01 5.21672701e-02 2.04661933e+02] [-6.98392298e-01 7.13913028e-01 -5.07581184e-02 -1.44054789e+02] [-7.27854703e-02 -2.93208667e-04 9.97347577e-01 -1.46828587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05864 meters 0.028288189119023182 Centerline is valid? [True, True] Translation: X:204.69, Y:-144.08, Z:-14.68 [[ 7.10939514e-01 7.01307902e-01 5.22707658e-02 2.04685286e+02] [-6.99457497e-01 7.12858396e-01 -5.09128407e-02 -1.44077504e+02] [-7.29672318e-02 -3.65228735e-04 9.97334272e-01 -1.46848504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08864 meters 0.028081766566378525 Centerline is valid? [True, True] Translation: X:204.71, Y:-144.10, Z:-14.69 [[ 7.10525547e-01 7.01758417e-01 5.18514321e-02 2.04708782e+02] [-6.99934966e-01 7.12414898e-01 -5.05574597e-02 -1.44100640e+02] [-7.24188557e-02 -3.70263666e-04 9.97374239e-01 -1.46864100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11864 meters 0.028081766566378525 Centerline is valid? [True, True] Translation: X:204.73, Y:-144.12, Z:-14.69 [[ 7.10155659e-01 7.02134706e-01 5.18246480e-02 2.04732276e+02] [-7.00310253e-01 7.12044042e-01 -5.05849038e-02 -1.44123101e+02] [-7.24188484e-02 -3.70176548e-04 9.97374239e-01 -1.46882071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14864 meters 0.027982787864933585 Centerline is valid? [True, True] Translation: X:204.76, Y:-144.15, Z:-14.69 [[ 7.09756905e-01 7.02553495e-01 5.16112629e-02 2.04755915e+02] [-7.00741317e-01 7.11630836e-01 -5.04297548e-02 -1.44145998e+02] [-7.21577667e-02 -3.73277591e-04 9.97393161e-01 -1.46895842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17864 meters 0.028067056670420344 Centerline is valid? [True, True] Translation: X:204.78, Y:-144.17, Z:-14.69 [[ 7.09260600e-01 7.03044721e-01 5.17447749e-02 2.04781553e+02] [-7.01220552e-01 7.11145535e-01 -5.06138863e-02 -1.44167487e+02] [-7.23818912e-02 -3.86064295e-04 9.97376916e-01 -1.46911336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20864 meters 0.028101307517184516 Centerline is valid? [True, True] Translation: X:204.81, Y:-144.19, Z:-14.69 [[ 7.08925611e-01 7.03480529e-01 5.03946855e-02 2.04805581e+02] [-7.01747996e-01 7.10714428e-01 -4.93432007e-02 -1.44189489e+02] [-7.05282110e-02 -3.83710899e-04 9.97509711e-01 -1.46932334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23864 meters 0.02820014164500249 Centerline is valid? [True, True] Translation: X:204.83, Y:-144.21, Z:-14.70 [[ 7.08902099e-01 7.03451222e-01 5.11291719e-02 2.04830099e+02] [-7.01664196e-01 7.10743452e-01 -5.01109032e-02 -1.44212265e+02] [-7.15903003e-02 -3.51784812e-04 9.97434061e-01 -1.46952247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26864 meters 0.028330949759004916 Centerline is valid? [True, True] Translation: X:204.85, Y:-144.23, Z:-14.70 [[ 7.09631826e-01 7.02773180e-01 5.03242324e-02 2.04853307e+02] [-7.01036789e-01 7.11413943e-01 -4.93722930e-02 -1.44234745e+02] [-7.04988840e-02 -2.42987799e-04 9.97511829e-01 -1.46957406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29864 meters 0.028234591335337487 Centerline is valid? [True, True] Translation: X:204.88, Y:-144.26, Z:-14.70 [[ 7.09862537e-01 7.02409043e-01 5.21221203e-02 2.04877622e+02] [-7.00541665e-01 7.11773492e-01 -5.11846733e-02 -1.44256545e+02] [-7.30517210e-02 -1.79634953e-04 9.97328137e-01 -1.46974826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32864 meters 0.028234225694545534 Centerline is valid? [True, True] Translation: X:204.90, Y:-144.28, Z:-14.70 [[ 7.09663076e-01 7.02567160e-01 5.27039337e-02 2.04903065e+02] [-7.00654533e-01 7.11617425e-01 -5.18060413e-02 -1.44277830e+02] [-7.39022609e-02 -1.62415433e-04 9.97265476e-01 -1.46987107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35864 meters 0.02824295774998313 Centerline is valid? [True, True] Translation: X:204.93, Y:-144.30, Z:-14.70 [[ 7.09503052e-01 7.02733563e-01 5.26398988e-02 2.04927153e+02] [-7.00821980e-01 7.11453104e-01 -5.17980030e-02 -1.44300237e+02] [-7.38510146e-02 -1.40356845e-04 9.97269276e-01 -1.47018397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38864 meters 0.028297803065762024 Centerline is valid? [True, True] Translation: X:204.95, Y:-144.32, Z:-14.70 [[ 7.09890382e-01 7.02356877e-01 5.24448510e-02 2.04951243e+02] [-7.00454390e-01 7.11824988e-01 -5.16607596e-02 -1.44322996e+02] [-7.36158452e-02 -6.17497910e-05 9.97286671e-01 -1.47040481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41864 meters 0.028316922638083743 Centerline is valid? [True, True] Translation: X:204.98, Y:-144.34, Z:-14.70 [[ 7.10135149e-01 7.02014356e-01 5.37020906e-02 2.04975740e+02] [-7.00014292e-01 7.12162793e-01 -5.29541962e-02 -1.44343903e+02] [-7.54192368e-02 1.24050722e-05 9.97151914e-01 -1.47042270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44864 meters 0.02822080530234096 Centerline is valid? [True, True] Translation: X:205.00, Y:-144.37, Z:-14.70 [[ 7.09726957e-01 7.02514458e-01 5.25460101e-02 2.04999515e+02] [-7.00597600e-01 7.11669471e-01 -5.18610332e-02 -1.44365527e+02] [-7.38285168e-02 -6.43531995e-06 9.97270951e-01 -1.47046251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47864 meters 0.02849038415934914 Centerline is valid? [True, True] Translation: X:205.02, Y:-144.39, Z:-14.71 [[ 7.08951612e-01 7.03165437e-01 5.42768881e-02 2.05023956e+02] [-7.01118083e-01 7.11026277e-01 -5.36196549e-02 -1.44386236e+02] [-7.62957817e-02 -4.07669823e-05 9.97085228e-01 -1.47067543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50864 meters 0.02855636528012069 Centerline is valid? [True, True] Translation: X:205.05, Y:-144.41, Z:-14.71 [[ 7.08596897e-01 7.03533063e-01 5.41448714e-02 2.05048087e+02] [-7.01492849e-01 7.10662527e-01 -5.35402153e-02 -1.44409040e+02] [-7.61460428e-02 -4.38097332e-05 9.97096674e-01 -1.47097290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53864000000002 meters 0.02852029519839168 Centerline is valid? [True, True] Translation: X:205.07, Y:-144.43, Z:-14.71 [[ 7.09472816e-01 7.02707241e-01 5.33934161e-02 2.05071962e+02] [-7.00717014e-01 7.11479112e-01 -5.28501612e-02 -1.44430031e+02] [-7.51264912e-02 8.20776265e-05 9.97174009e-01 -1.47118769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864000000002 meters 0.028587176227517375 Centerline is valid? [True, True] Translation: X:205.10, Y:-144.45, Z:-14.71 [[ 7.09908904e-01 7.02286649e-01 5.31301336e-02 2.05095987e+02] [-7.00311110e-01 7.11894259e-01 -5.26394634e-02 -1.44452921e+02] [-7.47910295e-02 1.61600920e-04 9.97199216e-01 -1.47126876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59864000000002 meters 0.028635546388557424 Centerline is valid? [True, True] Translation: X:205.12, Y:-144.48, Z:-14.72 [[ 7.10957749e-01 7.01193901e-01 5.35368264e-02 2.05119911e+02] [-6.99180612e-01 7.12970554e-01 -5.30985982e-02 -1.44475551e+02] [-7.54025940e-02 3.18948852e-04 9.97153121e-01 -1.47153888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864000000002 meters 0.028592766023327332 Centerline is valid? [True, True] Translation: X:205.14, Y:-144.50, Z:-14.72 [[ 7.12631505e-01 6.99457070e-01 5.40013389e-02 2.05143527e+02] [-6.97399490e-01 7.14674407e-01 -5.36138357e-02 -1.44497691e+02] [-7.60939513e-02 5.46402250e-04 9.97100502e-01 -1.47163189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65864 meters 0.028905584554453436 Centerline is valid? [True, True] Translation: X:205.17, Y:-144.52, Z:-14.72 [[ 7.16538669e-01 6.95417888e-01 5.44637280e-02 2.05165750e+02] [-6.93309364e-01 7.18604843e-01 -5.41221412e-02 -1.44521222e+02] [-7.67754038e-02 1.02039444e-03 9.97047891e-01 -1.47189578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68864 meters 0.02904144450879126 Centerline is valid? [True, True] Translation: X:205.19, Y:-144.55, Z:-14.72 [[ 7.18766927e-01 6.93179748e-01 5.36278056e-02 2.05187906e+02] [-6.91125713e-01 7.20763631e-01 -5.33388883e-02 -1.44545084e+02] [-7.56264090e-02 1.27467338e-03 9.97135408e-01 -1.47210313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71864 meters 0.029357850226278206 Centerline is valid? [True, True] Translation: X:205.21, Y:-144.57, Z:-14.72 [[ 7.22302856e-01 6.89510748e-01 5.34182790e-02 2.05207353e+02] [-6.87459219e-01 7.24273487e-01 -5.31764853e-02 -1.44570599e+02] [-7.53552013e-02 1.68663886e-03 9.97155328e-01 -1.47225659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74864 meters 0.029265148450815945 Centerline is valid? [True, True] Translation: X:205.23, Y:-144.60, Z:-14.72 [[ 7.22827901e-01 6.88913383e-01 5.40201470e-02 2.05227429e+02] [-6.86810815e-01 7.24841450e-01 -5.38124306e-02 -1.44595702e+02] [-7.62281453e-02 1.79550509e-03 9.97088785e-01 -1.47243052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77864 meters 0.02942613854603793 Centerline is valid? [True, True] Translation: X:205.25, Y:-144.62, Z:-14.73 [[ 7.22718584e-01 6.89066143e-01 5.35322237e-02 2.05248622e+02] [-6.86999842e-01 7.24696263e-01 -5.33530056e-02 -1.44620766e+02] [-7.55583522e-02 1.78257946e-03 9.97139789e-01 -1.47254716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80864 meters 0.029211025948236324 Centerline is valid? [True, True] Translation: X:205.27, Y:-144.65, Z:-14.73 [[ 7.21201564e-01 6.90705842e-01 5.28558837e-02 2.05265874e+02] [-6.88692066e-01 7.23134007e-01 -5.27299375e-02 -1.44648776e+02] [-7.46427628e-02 1.62748569e-03 9.97209010e-01 -1.47258802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83864 meters 0.028988460916894287 Centerline is valid? [True, True] Translation: X:205.29, Y:-144.67, Z:-14.73 [[ 7.19970169e-01 6.92014354e-01 5.25270272e-02 2.05286040e+02] [-6.90025668e-01 7.21882148e-01 -5.24475066e-02 -1.44673734e+02] [-7.42127507e-02 1.51564317e-03 9.97241280e-01 -1.47269267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86864 meters 0.028797792060385345 Centerline is valid? [True, True] Translation: X:205.30, Y:-144.70, Z:-14.73 [[ 7.17419536e-01 6.94718062e-01 5.17302888e-02 2.05302600e+02] [-6.92793018e-01 7.19281066e-01 -5.16970260e-02 -1.44702852e+02] [-7.31234750e-02 1.25007355e-03 9.97322112e-01 -1.47282684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89864 meters 0.028619708397120015 Centerline is valid? [True, True] Translation: X:205.34, Y:-144.84, Z:-13.07 [[ 7.46344788e-01 -6.65064588e-01 -2.56622775e-02 2.05343560e+02] [-6.64504447e-01 -7.46777734e-01 2.75110046e-02 -1.44839732e+02] [-3.74606123e-02 -3.47999736e-03 -9.99292045e-01 -1.30705886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92864 meters 0.02875486643992451 Centerline is valid? [True, True] Translation: X:205.33, Y:-144.76, Z:-14.73 [[ 7.64732706e-01 6.42027046e-01 5.46366220e-02 2.05331923e+02] [-6.40296877e-01 7.66681275e-01 -4.71140296e-02 -1.44762164e+02] [-7.21373563e-02 1.04598095e-03 9.97394159e-01 -1.47308896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95864 meters 0.02876009907325433 Centerline is valid? [True, True] Translation: X:205.35, Y:-144.79, Z:-14.73 [[ 7.63952354e-01 6.42981160e-01 5.43325828e-02 2.05353646e+02] [-6.41269440e-01 7.65881361e-01 -4.68961247e-02 -1.44788121e+02] [-7.17656371e-02 9.84579921e-04 9.97421036e-01 -1.47315768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98864 meters 0.028731718367807316 Centerline is valid? [True, True] Translation: X:205.38, Y:-144.81, Z:-14.73 [[ 7.63389058e-01 6.43643634e-01 5.44060565e-02 2.05377317e+02] [-6.41925373e-01 7.65324734e-01 -4.70092273e-02 -1.44811035e+02] [-7.18954906e-02 9.61701653e-04 9.97411707e-01 -1.47341411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01864 meters 0.028677204937071807 Centerline is valid? [True, True] Translation: X:205.40, Y:-144.84, Z:-14.74 [[ 7.62105699e-01 6.45144955e-01 5.46158553e-02 2.05398506e+02] [-6.43413653e-01 7.64059713e-01 -4.72400793e-02 -1.44837043e+02] [-7.22064736e-02 8.61346715e-04 9.97389334e-01 -1.47364652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04864 meters 0.028603634837342434 Centerline is valid? [True, True] Translation: X:205.42, Y:-144.86, Z:-14.74 [[ 7.60585058e-01 6.47011887e-01 5.37214009e-02 2.05421251e+02] [-6.45338203e-01 7.62479584e-01 -4.65133035e-02 -1.44859804e+02] [-7.10561316e-02 7.08851258e-04 9.97472067e-01 -1.47374417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07864 meters 0.028508353547137502 Centerline is valid? [True, True] Translation: X:205.44, Y:-144.88, Z:-14.74 [[ 7.58087614e-01 6.49952159e-01 5.35290626e-02 2.05444996e+02] [-6.48294726e-01 7.59974984e-01 -4.63893667e-02 -1.44882294e+02] [-7.08316176e-02 4.64595399e-04 9.97488178e-01 -1.47376389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10864 meters 0.028773886545246114 Centerline is valid? [True, True] Translation: X:205.47, Y:-144.90, Z:-14.74 [[ 7.52715286e-01 6.56147923e-01 5.37550037e-02 2.05468435e+02] [-6.54489471e-01 7.54632291e-01 -4.66222817e-02 -1.44904989e+02] [-7.11563749e-02 -8.87798522e-05 9.97465169e-01 -1.47382805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13864 meters 0.028889101978059932 Centerline is valid? [True, True] Translation: X:205.49, Y:-144.93, Z:-14.74 [[ 7.50539237e-01 6.58743202e-01 5.24237332e-02 2.05492210e+02] [-6.57171240e-01 7.52367792e-01 -4.54825998e-02 -1.44926298e+02] [-6.94032818e-02 -3.14893995e-04 9.97588635e-01 -1.47395137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16864 meters 0.02920339352431023 Centerline is valid? [True, True] Translation: X:205.52, Y:-144.95, Z:-14.74 [[ 7.47693460e-01 6.62047694e-01 5.14523225e-02 2.05516954e+02] [-6.60539839e-01 7.49461473e-01 -4.46611995e-02 -1.44947574e+02] [-6.81293775e-02 -5.93421997e-04 9.97676318e-01 -1.47417469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19864 meters 0.02950966590690483 Centerline is valid? [True, True] Translation: X:205.54, Y:-144.97, Z:-14.74 [[ 7.43204107e-01 6.67189846e-01 5.00536185e-02 2.05542257e+02] [-6.65771490e-01 7.44887044e-01 -4.34926850e-02 -1.44967087e+02] [-6.63021698e-02 -1.00033006e-03 9.97799089e-01 -1.47427469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22864 meters 0.029662786007013192 Centerline is valid? [True, True] Translation: X:205.57, Y:-144.99, Z:-14.74 [[ 7.41637655e-01 6.68976570e-01 4.94362061e-02 2.05568560e+02] [-6.67594265e-01 7.43282656e-01 -4.29975714e-02 -1.44987088e+02] [-6.55094424e-02 -1.11470971e-03 9.97851327e-01 -1.47428444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25864 meters 0.02993996178582322 Centerline is valid? [True, True] Translation: X:205.60, Y:-145.00, Z:-14.74 [[ 7.39829589e-01 6.70973818e-01 4.94602259e-02 2.05595402e+02] [-6.69591808e-01 7.41479971e-01 -4.30611646e-02 -1.45004482e+02] [-6.55666809e-02 -1.26023831e-03 9.97847394e-01 -1.47432750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864000000002 meters 0.029944886454381234 Centerline is valid? [True, True] Translation: X:205.62, Y:-145.02, Z:-14.75 [[ 7.39427666e-01 6.71353487e-01 5.03112568e-02 2.05622546e+02] [-6.69922518e-01 7.41136166e-01 -4.38292577e-02 -1.45023660e+02] [-6.67124170e-02 -1.29607812e-03 9.97771404e-01 -1.47451235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31864000000002 meters 0.029888818152351098 Centerline is valid? [True, True] Translation: X:205.65, Y:-145.04, Z:-14.75 [[ 7.39578755e-01 6.71185710e-01 5.03290064e-02 2.05649577e+02] [-6.69750174e-01 7.41288196e-01 -4.38920696e-02 -1.45042672e+02] [-6.67680282e-02 -1.24621868e-03 9.97767747e-01 -1.47470923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864000000002 meters 0.029618793327363033 Centerline is valid? [True, True] Translation: X:205.68, Y:-145.06, Z:-14.75 [[ 7.40288100e-01 6.70304189e-01 5.16316134e-02 2.05679225e+02] [-6.68787730e-01 7.42085541e-01 -4.50779677e-02 -1.45058709e+02] [-6.85310243e-02 -1.15990647e-03 9.97648311e-01 -1.47495787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37864000000002 meters 0.02964171784762841 Centerline is valid? [True, True] Translation: X:205.71, Y:-145.08, Z:-14.75 [[ 7.40907237e-01 6.69635489e-01 5.14273968e-02 2.05705281e+02] [-6.68126157e-01 7.42689162e-01 -4.49471564e-02 -1.45077280e+02] [-6.82927813e-02 -1.05831552e-03 9.97664761e-01 -1.47515772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40864 meters 0.029473031691132467 Centerline is valid? [True, True] Translation: X:205.73, Y:-145.10, Z:-14.75 [[ 7.42042252e-01 6.68352949e-01 5.17458282e-02 2.05731427e+02] [-6.66818753e-01 7.43843734e-01 -4.52686478e-02 -1.45095560e+02] [-6.87462443e-02 -9.13839217e-04 9.97633760e-01 -1.47534983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43864 meters 0.029081036545279815 Centerline is valid? [True, True] Translation: X:205.76, Y:-145.11, Z:-14.76 [[ 7.45008635e-01 6.65160994e-01 5.02293311e-02 2.05759046e+02] [-6.63705506e-01 7.46699757e-01 -4.39826564e-02 -1.45112859e+02] [-6.67617768e-02 -5.70024809e-04 9.97768781e-01 -1.47562375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46864 meters 0.028822172803402834 Centerline is valid? [True, True] Translation: X:205.79, Y:-145.13, Z:-14.76 [[ 7.46642481e-01 6.63381068e-01 4.95031633e-02 2.05785508e+02] [-6.61961090e-01 7.48281642e-01 -4.33831766e-02 -1.45132204e+02] [-6.58218863e-02 -3.77445289e-04 9.97831317e-01 -1.47578868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49864 meters 0.028674205722538103 Centerline is valid? [True, True] Translation: X:205.81, Y:-145.15, Z:-14.76 [[ 7.49625077e-01 6.59879058e-01 5.12042301e-02 2.05813733e+02] [-6.58349993e-01 7.51371829e-01 -4.48961028e-02 -1.45149416e+02] [-6.80994141e-02 -5.50600302e-05 9.97678539e-01 -1.47596083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52864 meters 0.028599652170020355 Centerline is valid? [True, True] Translation: X:205.84, Y:-145.17, Z:-14.76 [[ 7.50699487e-01 6.58662567e-01 5.11263434e-02 2.05840244e+02] [-6.57131988e-01 7.52438446e-01 -4.48768912e-02 -1.45169418e+02] [-6.80281547e-02 9.23035557e-05 9.97683398e-01 -1.47607315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55864 meters 0.02857336572849342 Centerline is valid? [True, True] Translation: X:205.87, Y:-145.19, Z:-14.76 [[ 7.51739842e-01 6.57473614e-01 5.11435009e-02 2.05866500e+02] [-6.55935952e-01 7.53477532e-01 -4.49403606e-02 -1.45189547e+02] [-6.80825802e-02 2.36598631e-04 9.97679661e-01 -1.47628698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58864 meters 0.02862007261200151 Centerline is valid? [True, True] Translation: X:205.89, Y:-145.21, Z:-14.76 [[ 7.53726318e-01 6.55148471e-01 5.17408880e-02 2.05893863e+02] [-6.53565844e-01 7.55499995e-01 -4.55131344e-02 -1.45207672e+02] [-6.89081011e-02 4.88370067e-04 9.97622892e-01 -1.47649363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61864 meters 0.028652049623905586 Centerline is valid? [True, True] Translation: X:205.92, Y:-145.23, Z:-14.77 [[ 7.55152501e-01 6.53538777e-01 5.13007513e-02 2.05920338e+02] [-6.51976337e-01 7.56892746e-01 -4.51688806e-02 -1.45228068e+02] [-6.83487815e-02 6.62517218e-04 9.97661268e-01 -1.47660628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64864 meters 0.028772755597011344 Centerline is valid? [True, True] Translation: X:205.95, Y:-145.25, Z:-14.77 [[ 7.58248598e-01 6.49809092e-01 5.29830927e-02 2.05947231e+02] [-6.48129779e-01 7.60096705e-01 -4.66989225e-02 -1.45246171e+02] [-7.06176586e-02 1.06947234e-03 9.97502883e-01 -1.47681144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67864 meters 0.02892570116286626 Centerline is valid? [True, True] Translation: X:205.97, Y:-145.27, Z:-14.77 [[ 7.59193937e-01 6.48666548e-01 5.34441289e-02 2.05972016e+02] [-6.46951925e-01 7.61071759e-01 -4.71485344e-02 -1.45266728e+02] [-7.12584942e-02 1.21909942e-03 9.97457137e-01 -1.47693101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70864 meters 0.029078529409438388 Centerline is valid? [True, True] Translation: X:206.00, Y:-145.29, Z:-14.77 [[ 7.60583546e-01 6.46992807e-01 5.39719932e-02 2.05997315e+02] [-6.45236768e-01 7.62494776e-01 -4.76574316e-02 -1.45287310e+02] [-7.19873783e-02 1.42274392e-03 9.97404528e-01 -1.47709678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73864 meters 0.02904800322449896 Centerline is valid? [True, True] Translation: X:206.02, Y:-145.31, Z:-14.77 [[ 7.62710839e-01 6.44562094e-01 5.30271898e-02 2.06022165e+02] [-6.42858254e-01 7.64550173e-01 -4.68646720e-02 -1.45308286e+02] [-7.07491382e-02 1.65522662e-03 9.97492767e-01 -1.47716779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76864 meters 0.02931493098875912 Centerline is valid? [True, True] Translation: X:206.05, Y:-145.33, Z:-14.77 [[ 7.63347044e-01 6.43846483e-01 5.25642141e-02 2.06046105e+02] [-6.42167713e-01 7.65152721e-01 -4.64966968e-02 -1.45329060e+02] [-7.01563861e-02 1.73807491e-03 9.97534491e-01 -1.47736580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79864 meters 0.02928772083497301 Centerline is valid? [True, True] Translation: X:206.07, Y:-145.35, Z:-14.78 [[ 7.63896818e-01 6.43221343e-01 5.22298349e-02 2.06069170e+02] [-6.41559570e-01 7.65678136e-01 -4.62418617e-02 -1.45351581e+02] [-6.97349950e-02 1.81546059e-03 9.97563900e-01 -1.47758038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82864 meters 0.029378374665615024 Centerline is valid? [True, True] Translation: X:206.09, Y:-145.37, Z:-14.78 [[ 7.63554591e-01 6.43658694e-01 5.18446912e-02 2.06093295e+02] [-6.42019501e-01 7.65310569e-01 -4.59422843e-02 -1.45374584e+02] [-6.92484408e-02 1.79413933e-03 9.97597832e-01 -1.47770368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85864 meters 0.02928195865323333 Centerline is valid? [True, True] Translation: X:206.12, Y:-145.40, Z:-14.78 [[ 7.62931807e-01 6.44381809e-01 5.20302014e-02 2.06117671e+02] [-6.42729257e-01 7.64701869e-01 -4.61535900e-02 -1.45397542e+02] [-6.95281260e-02 1.77070914e-03 9.97578420e-01 -1.47787382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88864 meters 0.029244563206966924 Centerline is valid? [True, True] Translation: X:206.14, Y:-145.42, Z:-14.78 [[ 7.62463904e-01 6.44989888e-01 5.13501670e-02 2.06140696e+02] [-6.43378615e-01 7.64189153e-01 -4.55949067e-02 -1.45420594e+02] [-6.86494944e-02 1.72687127e-03 9.97639346e-01 -1.47804778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91864 meters 0.029123392595024396 Centerline is valid? [True, True] Translation: X:206.16, Y:-145.44, Z:-14.78 [[ 7.61679642e-01 6.45983650e-01 5.04900701e-02 2.06163318e+02] [-6.44425504e-01 7.63349485e-01 -4.48701975e-02 -1.45443242e+02] [-6.75269830e-02 1.63962712e-03 9.97716101e-01 -1.47820263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94864 meters 0.02896152770940876 Centerline is valid? [True, True] Translation: X:206.18, Y:-145.47, Z:-14.78 [[ 7.60854406e-01 6.47007413e-01 4.98194811e-02 2.06184621e+02] [-6.45490031e-01 7.62482119e-01 -4.43129613e-02 -1.45467013e+02] [-6.66572779e-02 1.55773343e-03 9.97774714e-01 -1.47839524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97864 meters 0.02899755241717241 Centerline is valid? [True, True] Translation: X:206.21, Y:-145.49, Z:-14.79 [[ 7.60242818e-01 6.47743442e-01 4.95912424e-02 2.06208269e+02] [-6.46238842e-01 7.61857029e-01 -4.41500518e-02 -1.45490039e+02] [-6.63793431e-02 1.51697278e-03 9.97793306e-01 -1.47850329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00864 meters 0.02884396696308574 Centerline is valid? [True, True] Translation: X:206.23, Y:-145.51, Z:-14.79 [[ 7.59434708e-01 6.48732397e-01 4.90428444e-02 2.06230819e+02] [-6.47260151e-01 7.61015231e-01 -4.37048657e-02 -1.45513039e+02] [-6.56751139e-02 1.44751302e-03 9.97840009e-01 -1.47862005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03864000000002 meters 0.028530758705511323 Centerline is valid? [True, True] Translation: X:206.25, Y:-145.54, Z:-14.79 [[ 7.58628701e-01 6.49690180e-01 4.88381531e-02 2.06252077e+02] [-6.48229665e-01 7.60197832e-01 -4.35609768e-02 -1.45537175e+02] [-6.54277969e-02 1.38826756e-03 9.97856340e-01 -1.47871689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864000000002 meters 0.028530758705511323 Centerline is valid? [True, True] Translation: X:206.28, Y:-145.56, Z:-14.79 [[ 7.58297475e-01 6.50078235e-01 4.88183205e-02 2.06276534e+02] [-6.48617093e-01 7.59866022e-01 -4.35831932e-02 -1.45558576e+02] [-6.54278683e-02 1.38462818e-03 9.97856341e-01 -1.47889614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09864000000002 meters 0.02872871642762569 Centerline is valid? [True, True] Translation: X:206.30, Y:-145.58, Z:-14.79 [[ 7.58042138e-01 6.50377363e-01 4.87996116e-02 2.06299867e+02] [-6.48915023e-01 7.59609996e-01 -4.36113056e-02 -1.45581650e+02] [-6.54324787e-02 1.39240629e-03 9.97856028e-01 -1.47914973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864000000002 meters 0.028609394089405143 Centerline is valid? [True, True] Translation: X:206.32, Y:-145.61, Z:-14.79 [[ 7.57771654e-01 6.50653378e-01 4.93183803e-02 2.06323273e+02] [-6.49157298e-01 7.59373539e-01 -4.41206389e-02 -1.45605229e+02] [-6.61583158e-02 1.41798301e-03 9.97808131e-01 -1.47937096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15864 meters 0.028596183217706347 Centerline is valid? [True, True] Translation: X:206.35, Y:-145.63, Z:-14.80 [[ 7.57626074e-01 6.50768419e-01 5.00319528e-02 2.06345001e+02] [-6.49225811e-01 7.59274866e-01 -4.48054042e-02 -1.45630717e+02] [-6.71459463e-02 1.46370738e-03 9.97742091e-01 -1.47950198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18864 meters 0.028618709774296043 Centerline is valid? [True, True] Translation: X:206.37, Y:-145.65, Z:-14.80 [[ 7.57493625e-01 6.50803571e-01 5.15569543e-02 2.06366032e+02] [-6.49162223e-01 7.59244584e-01 -4.62176411e-02 -1.45654674e+02] [-6.92229442e-02 1.54074141e-03 9.97600025e-01 -1.47970409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21864 meters 0.02849272323267268 Centerline is valid? [True, True] Translation: X:206.39, Y:-145.68, Z:-14.80 [[ 7.57251227e-01 6.51149218e-01 5.07471639e-02 2.06389521e+02] [-6.49557205e-01 7.58948220e-01 -4.55306092e-02 -1.45677847e+02] [-6.81616903e-02 1.51492372e-03 9.97673137e-01 -1.47983455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24864 meters 0.028571489121460014 Centerline is valid? [True, True] Translation: X:206.41, Y:-145.70, Z:-14.80 [[ 7.56908269e-01 6.51563909e-01 5.05405277e-02 2.06412988e+02] [-6.49982615e-01 7.58592250e-01 -4.53916052e-02 -1.45700718e+02] [-6.79151844e-02 1.50681694e-03 9.97689960e-01 -1.47995417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27864 meters 0.02839734632420432 Centerline is valid? [True, True] Translation: X:206.44, Y:-145.72, Z:-14.80 [[ 7.56536612e-01 6.52062233e-01 4.96709017e-02 2.06435552e+02] [-6.50533071e-01 7.58164020e-01 -4.46546918e-02 -1.45723868e+02] [-6.67763286e-02 1.47034500e-03 9.97766887e-01 -1.48015421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30864 meters 0.028049072276274487 Centerline is valid? [True, True] Translation: X:206.46, Y:-145.75, Z:-14.80 [[ 7.54791306e-01 6.54043644e-01 5.01696792e-02 2.06456697e+02] [-6.52485188e-01 7.56455629e-01 -4.51437849e-02 -1.45748569e+02] [-6.74771418e-02 1.33916375e-03 9.97719922e-01 -1.48029463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33864 meters 0.027956644880563875 Centerline is valid? [True, True] Translation: X:206.48, Y:-145.77, Z:-14.80 [[ 7.54147784e-01 6.54748624e-01 5.06493742e-02 2.06480646e+02] [-6.53158881e-01 7.55845550e-01 -4.56177679e-02 -1.45771858e+02] [-6.81512749e-02 1.32044992e-03 9.97674125e-01 -1.48045957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36864 meters 0.027699588211871233 Centerline is valid? [True, True] Translation: X:206.50, Y:-145.80, Z:-14.81 [[ 7.53040428e-01 6.55981734e-01 5.11671611e-02 2.06503923e+02] [-6.54358812e-01 7.54775717e-01 -4.61320005e-02 -1.45795728e+02] [-6.88814804e-02 1.25757858e-03 9.97624058e-01 -1.48071104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39864 meters 0.027458327545079448 Centerline is valid? [True, True] Translation: X:206.52, Y:-145.82, Z:-14.81 [[ 7.51538924e-01 6.57772703e-01 5.02425823e-02 2.06524196e+02] [-6.56208886e-01 7.53215668e-01 -4.53437474e-02 -1.45821033e+02] [-6.76693795e-02 1.10796219e-03 9.97707185e-01 -1.48077664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42864 meters 0.02724359945868024 Centerline is valid? [True, True] Translation: X:206.55, Y:-145.84, Z:-14.81 [[ 7.49742436e-01 6.59841758e-01 4.99513166e-02 2.06546393e+02] [-6.58297867e-01 7.51403991e-01 -4.51216129e-02 -1.45844532e+02] [-6.73067431e-02 9.46742755e-04 9.97731881e-01 -1.48095190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45864 meters 0.02690685789672172 Centerline is valid? [True, True] Translation: X:206.57, Y:-145.87, Z:-14.81 [[ 7.47456002e-01 6.62381273e-01 5.06021137e-02 2.06567478e+02] [-6.60799764e-01 7.49166519e-01 -4.57515025e-02 -1.45869545e+02] [-6.82143478e-02 7.59370355e-04 9.97670400e-01 -1.48118788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48864 meters 0.02687112702991725 Centerline is valid? [True, True] Translation: X:206.59, Y:-145.89, Z:-14.81 [[ 7.46260066e-01 6.63654512e-01 5.15616262e-02 2.06589718e+02] [-6.62012295e-01 7.48038912e-01 -4.66637725e-02 -1.45893543e+02] [-6.95387260e-02 6.88879510e-04 9.97579015e-01 -1.48137467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51864 meters 0.026964896363008955 Centerline is valid? [True, True] Translation: X:206.61, Y:-145.92, Z:-14.82 [[ 7.45321578e-01 6.64611733e-01 5.27919478e-02 2.06611761e+02] [-6.62888823e-01 7.47188610e-01 -4.78287588e-02 -1.45918142e+02] [-7.12330964e-02 6.52613884e-04 9.97459483e-01 -1.48161088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54864 meters 0.02675597345984265 Centerline is valid? [True, True] Translation: X:206.63, Y:-145.94, Z:-14.82 [[ 7.44339734e-01 6.65665151e-01 5.33691628e-02 2.06634407e+02] [-6.63903275e-01 7.46250327e-01 -4.84034185e-02 -1.45942314e+02] [-7.20472241e-02 5.96625691e-04 9.97401044e-01 -1.48175465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57864 meters 0.02682815371354921 Centerline is valid? [True, True] Translation: X:206.65, Y:-145.97, Z:-14.82 [[ 7.43076637e-01 6.67142488e-01 5.25167808e-02 2.06654084e+02] [-6.65436747e-01 7.44929976e-01 -4.76787936e-02 -1.45968166e+02] [-7.09298732e-02 4.82401878e-04 9.97481188e-01 -1.48196995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60864 meters 0.02674407466563477 Centerline is valid? [True, True] Translation: X:206.68, Y:-145.99, Z:-14.82 [[ 7.41685371e-01 6.68689591e-01 5.25075367e-02 2.06675863e+02] [-6.66985061e-01 7.43541589e-01 -4.77161781e-02 -1.45992993e+02] [-7.09488490e-02 3.68648689e-04 9.97479887e-01 -1.48223827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63864 meters 0.026656599971997597 Centerline is valid? [True, True] Translation: X:206.70, Y:-146.02, Z:-14.82 [[ 7.39538514e-01 6.71050991e-01 5.26626506e-02 2.06695968e+02] [-6.69338667e-01 7.41411178e-01 -4.79083865e-02 -1.46020543e+02] [-7.11936480e-02 1.80948614e-04 9.97462496e-01 -1.48247726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66864 meters 0.026683518855956552 Centerline is valid? [True, True] Translation: X:206.72, Y:-146.04, Z:-14.83 [[ 7.38346787e-01 6.72400882e-01 5.21639313e-02 2.06717728e+02] [-6.70721200e-01 7.40187171e-01 -4.74976232e-02 -1.46044319e+02] [-7.05485165e-02 8.22629190e-05 9.97508346e-01 -1.48260386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69864 meters 0.026578691721030494 Centerline is valid? [True, True] Translation: X:206.74, Y:-146.07, Z:-14.83 [[ 7.36728243e-01 6.74171081e-01 5.22000970e-02 2.06740520e+02] [-6.72491781e-01 7.38575215e-01 -4.75547624e-02 -1.46068161e+02] [-7.06137435e-02 -6.91997124e-05 9.97503732e-01 -1.48270185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72864 meters 0.026676364061607033 Centerline is valid? [True, True] Translation: X:206.76, Y:-146.09, Z:-14.83 [[ 7.33784680e-01 6.77353747e-01 5.24589803e-02 2.06762488e+02] [-6.75662042e-01 7.35657385e-01 -4.78436742e-02 -1.46093540e+02] [-7.09989283e-02 -3.37586572e-04 9.97476335e-01 -1.48296640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75864 meters 0.026789915705302297 Centerline is valid? [True, True] Translation: X:206.79, Y:-146.12, Z:-14.83 [[ 7.31828926e-01 6.79439485e-01 5.28053888e-02 2.06786251e+02] [-6.77726935e-01 7.33731376e-01 -4.82127562e-02 -1.46116961e+02] [-7.15026208e-02 -5.04144615e-04 9.97440284e-01 -1.48316755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864000000002 meters 0.026889022429294578 Centerline is valid? [True, True] Translation: X:206.81, Y:-146.14, Z:-14.83 [[ 7.29526742e-01 6.81948718e-01 5.23132801e-02 2.06809397e+02] [-6.80270726e-01 7.31399651e-01 -4.78151594e-02 -1.46140037e+02] [-7.08694014e-02 -7.04755617e-04 9.97485354e-01 -1.48333685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81864000000002 meters 0.02738201597399364 Centerline is valid? [True, True] Translation: X:206.83, Y:-146.16, Z:-14.84 [[ 7.25965807e-01 6.85730216e-01 5.24186715e-02 2.06831223e+02] [-6.84051636e-01 7.27855063e-01 -4.79621346e-02 -1.46163632e+02] [-7.10422804e-02 -1.03820827e-03 9.97472765e-01 -1.48362571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864000000002 meters 0.0274629572787515 Centerline is valid? [True, True] Translation: X:206.86, Y:-146.19, Z:-14.84 [[ 7.24320302e-01 6.87486608e-01 5.21753131e-02 2.06855085e+02] [-6.85824980e-01 7.26196109e-01 -4.77839689e-02 -1.46185305e+02] [-7.07403481e-02 -1.17223427e-03 9.97494075e-01 -1.48372260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87864000000002 meters 0.027937602428827875 Centerline is valid? [True, True] Translation: X:206.88, Y:-146.20, Z:-14.84 [[ 7.20993647e-01 6.90938471e-01 5.26515826e-02 2.06881911e+02] [-6.89252262e-01 7.22912031e-01 -4.82650452e-02 -1.46203810e+02] [-7.14106391e-02 -1.49143147e-03 9.97445886e-01 -1.48392025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90864 meters 0.028041334839865425 Centerline is valid? [True, True] Translation: X:206.91, Y:-146.22, Z:-14.84 [[ 7.19473313e-01 6.92558102e-01 5.21672973e-02 2.06907524e+02] [-6.90903963e-01 7.21360311e-01 -4.78645467e-02 -1.46223961e+02] [-7.07803974e-02 -1.60532845e-03 9.97490631e-01 -1.48404527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93864 meters 0.02821014785849264 Centerline is valid? [True, True] Translation: X:206.93, Y:-146.24, Z:-14.84 [[ 7.18755463e-01 6.93264488e-01 5.26776512e-02 2.06932567e+02] [-6.91576508e-01 7.20681342e-01 -4.83770293e-02 -1.46244800e+02] [-7.15018767e-02 -1.65937198e-03 9.97439085e-01 -1.48431135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96864 meters 0.02830175543391937 Centerline is valid? [True, True] Translation: X:206.96, Y:-146.26, Z:-14.85 [[ 7.18034177e-01 6.93984271e-01 5.30353843e-02 2.06958446e+02] [-6.92271892e-01 7.19988131e-01 -4.87515960e-02 -1.46264648e+02] [-7.20176881e-02 -1.70959376e-03 9.97401890e-01 -1.48452968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99864 meters 0.02809249559822127 Centerline is valid? [True, True] Translation: X:206.98, Y:-146.28, Z:-14.85 [[ 7.17424544e-01 6.94694715e-01 5.19737981e-02 2.06984514e+02] [-6.93048668e-01 7.19302669e-01 -4.78248291e-02 -1.46284353e+02] [-7.06085477e-02 -1.70966530e-03 9.97502637e-01 -1.48463489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02864 meters 0.02797755855650165 Centerline is valid? [True, True] Translation: X:207.01, Y:-146.30, Z:-14.85 [[ 7.17812235e-01 6.94122954e-01 5.42118023e-02 2.07012144e+02] [-6.92326427e-01 7.19854484e-01 -4.99363660e-02 -1.46300928e+02] [-7.36865869e-02 -1.68732890e-03 9.97280021e-01 -1.48500058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05864 meters 0.02788147720382525 Centerline is valid? [True, True] Translation: X:207.04, Y:-146.32, Z:-14.85 [[ 7.17898592e-01 6.93988274e-01 5.47894865e-02 2.07038021e+02] [-6.92149189e-01 7.19984397e-01 -5.05170052e-02 -1.46321456e+02] [-7.45057846e-02 -1.65641178e-03 9.97219206e-01 -1.48519992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08864 meters 0.027725186462760523 Centerline is valid? [True, True] Translation: X:207.06, Y:-146.34, Z:-14.85 [[ 7.18760478e-01 6.93070794e-01 5.51021821e-02 2.07062846e+02] [-6.91204044e-01 7.20867897e-01 -5.08571036e-02 -1.46341242e+02] [-7.49689673e-02 -1.53277495e-03 9.97184689e-01 -1.48539752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11864 meters 0.027177500361935874 Centerline is valid? [True, True] Translation: X:207.09, Y:-146.36, Z:-14.86 [[ 7.21178050e-01 6.90594931e-01 5.45972620e-02 2.07090733e+02] [-6.88751753e-01 7.23240713e-01 -5.04370381e-02 -1.46358811e+02] [-7.43185255e-02 -1.22987509e-03 9.97233796e-01 -1.48565558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14864 meters 0.02688434572791459 Centerline is valid? [True, True] Translation: X:207.12, Y:-146.38, Z:-14.86 [[ 7.22574061e-01 6.89208232e-01 5.36538769e-02 2.07116125e+02] [-6.87421143e-01 7.24562586e-01 -4.96107968e-02 -1.46378714e+02] [-7.30677614e-02 -1.03533446e-03 9.97326441e-01 -1.48590279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17864 meters 0.026598577536776084 Centerline is valid? [True, True] Translation: X:207.14, Y:-146.40, Z:-14.86 [[ 7.24251196e-01 6.87406401e-01 5.41539039e-02 2.07140572e+02] [-6.85577287e-01 7.26272508e-01 -5.01201411e-02 -1.46399677e+02] [-7.37833974e-02 -8.27114382e-04 9.97273947e-01 -1.48607200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20864 meters 0.026484260608058977 Centerline is valid? [True, True] Translation: X:207.16, Y:-146.42, Z:-14.86 [[ 7.27071965e-01 6.84249471e-01 5.62940350e-02 2.07164880e+02] [-6.82259202e-01 7.29247847e-01 -5.21532262e-02 -1.46421676e+02] [-7.67381213e-02 -4.87974708e-04 9.97051164e-01 -1.48630875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23864 meters 0.026541612980931373 Centerline is valid? [True, True] Translation: X:207.19, Y:-146.44, Z:-14.87 [[ 7.27152278e-01 6.84074534e-01 5.73724333e-02 2.07189433e+02] [-6.82002193e-01 7.29411983e-01 -5.32087315e-02 -1.46443019e+02] [-7.82468785e-02 -4.37274975e-04 9.96933917e-01 -1.48660735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26864 meters 0.026315494577150086 Centerline is valid? [True, True] Translation: X:207.21, Y:-146.46, Z:-14.87 [[ 7.29193047e-01 6.81926453e-01 5.70422122e-02 2.07214428e+02] [-6.79867461e-01 7.31420730e-01 -5.29523491e-02 -1.46462674e+02] [-7.78314641e-02 -1.68659202e-04 9.96966516e-01 -1.48686156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29864 meters 0.026037944978802095 Centerline is valid? [True, True] Translation: X:207.24, Y:-146.48, Z:-14.87 [[ 7.29788292e-01 6.81381373e-01 5.59327676e-02 2.07237957e+02] [-6.79396513e-01 7.31928562e-01 -5.19707391e-02 -1.46484968e+02] [-7.63506837e-02 -7.28903547e-05 9.97081024e-01 -1.48709143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32864 meters 0.026139803238753593 Centerline is valid? [True, True] Translation: X:207.26, Y:-146.51, Z:-14.87 [[ 7.30864624e-01 6.80210729e-01 5.61272244e-02 2.07262574e+02] [-6.78204628e-01 7.33016614e-01 -5.22027438e-02 -1.46507450e+02] [-7.66510544e-02 8.73953960e-05 9.97057976e-01 -1.48731894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35864 meters 0.025966010325100312 Centerline is valid? [True, True] Translation: X:207.29, Y:-146.53, Z:-14.88 [[ 7.33098059e-01 6.77713483e-01 5.71985220e-02 2.07287057e+02] [-6.75617949e-01 7.35325967e-01 -5.32551329e-02 -1.46528425e+02] [-7.81512800e-02 3.96886401e-04 9.96941433e-01 -1.48755211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38864 meters 0.02607754463867548 Centerline is valid? [True, True] Translation: X:207.31, Y:-146.55, Z:-14.88 [[ 7.33677962e-01 6.77011036e-01 5.80749897e-02 2.07310297e+02] [-6.74844425e-01 7.35972683e-01 -5.41222056e-02 -1.46550357e+02] [-7.93829365e-02 5.16686496e-04 9.96844061e-01 -1.48777246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41864 meters 0.026244920616694145 Centerline is valid? [True, True] Translation: X:207.33, Y:-146.58, Z:-14.88 [[ 7.34836627e-01 6.75694296e-01 5.87567036e-02 2.07331068e+02] [-6.73468103e-01 7.37181608e-01 -5.48086878e-02 -1.46575118e+02] [-8.03482789e-02 7.04665611e-04 9.96766601e-01 -1.48792863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44864 meters 0.026354282406989376 Centerline is valid? [True, True] Translation: X:207.35, Y:-146.60, Z:-14.88 [[ 7.35208106e-01 6.75298318e-01 5.86619327e-02 2.07354253e+02] [-6.73073818e-01 7.37544280e-01 -5.47729099e-02 -1.46598732e+02] [-8.02538268e-02 7.85676355e-04 9.96774150e-01 -1.48811144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47864 meters 0.026471900353575717 Centerline is valid? [True, True] Translation: X:207.38, Y:-146.62, Z:-14.88 [[ 7.34901790e-01 6.75525066e-01 5.98769094e-02 2.07377310e+02] [-6.73203351e-01 7.37336568e-01 -5.59645783e-02 -1.46621122e+02] [-8.19549103e-02 8.19132743e-04 9.96635702e-01 -1.48833249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50864 meters 0.026432010710240633 Centerline is valid? [True, True] Translation: X:207.40, Y:-146.64, Z:-14.89 [[ 7.35008044e-01 6.75304898e-01 6.10448215e-02 2.07399444e+02] [-6.72886363e-01 7.37538125e-01 -5.71091638e-02 -1.46644214e+02] [-8.35889812e-02 8.99466939e-04 9.96499911e-01 -1.48866311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53864000000002 meters 0.026438297291546252 Centerline is valid? [True, True] Translation: X:207.42, Y:-146.67, Z:-14.89 [[ 7.34478674e-01 6.75923463e-01 6.05685433e-02 2.07421672e+02] [-6.73540392e-01 7.36971323e-01 -5.67151614e-02 -1.46667976e+02] [-8.29723878e-02 8.60716151e-04 9.96551475e-01 -1.48876941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864000000002 meters 0.026631367067798294 Centerline is valid? [True, True] Translation: X:207.44, Y:-146.69, Z:-14.89 [[ 7.32126510e-01 6.78424912e-01 6.10771010e-02 2.07442381e+02] [-6.76005607e-01 7.34669484e-01 -5.72465570e-02 -1.46693476e+02] [-8.37089727e-02 6.23259197e-04 9.96490050e-01 -1.48899601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59864000000002 meters 0.026448055470765418 Centerline is valid? [True, True] Translation: X:207.46, Y:-146.72, Z:-14.89 [[ 7.31121122e-01 6.79651276e-01 5.94646858e-02 2.07464798e+02] [-6.77358639e-01 7.33535201e-01 -5.57797786e-02 -1.46716630e+02] [-8.15302379e-02 5.02855716e-04 9.96670742e-01 -1.48907599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864000000002 meters 0.02642413126291337 Centerline is valid? [True, True] Translation: X:207.49, Y:-146.74, Z:-14.89 [[ 7.29508343e-01 6.81399944e-01 5.92595450e-02 2.07487629e+02] [-6.79126305e-01 7.31911202e-01 -5.56188272e-02 -1.46740675e+02] [-8.12713905e-02 3.29682643e-04 9.96691955e-01 -1.48932875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65864 meters 0.026815530685750433 Centerline is valid? [True, True] Translation: X:207.51, Y:-146.77, Z:-14.90 [[ 7.27645297e-01 6.83337613e-01 5.98500467e-02 2.07508371e+02] [-6.81019910e-01 7.30102515e-01 -5.62334446e-02 -1.46767086e+02] [-8.21230974e-02 1.58928144e-04 9.96622181e-01 -1.48963711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68864 meters 0.026715472729019824 Centerline is valid? [True, True] Translation: X:207.53, Y:-146.79, Z:-14.90 [[ 7.25841546e-01 6.85334609e-01 5.89111561e-02 2.07530542e+02] [-6.83091163e-01 7.28228311e-01 -5.54074844e-02 -1.46791112e+02] [-8.08734383e-02 -2.46360422e-05 9.96724378e-01 -1.48967882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71864 meters 0.026940239333789643 Centerline is valid? [True, True] Translation: X:207.55, Y:-146.81, Z:-14.90 [[ 7.24520765e-01 6.86670067e-01 5.96144325e-02 2.07553118e+02] [-6.84372764e-01 7.26969188e-01 -5.61223586e-02 -1.46813955e+02] [-8.18753993e-02 -1.36679723e-04 9.96642564e-01 -1.48992865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74864 meters 0.027167719762606287 Centerline is valid? [True, True] Translation: X:207.58, Y:-146.84, Z:-14.90 [[ 7.21964968e-01 6.89370573e-01 5.94541777e-02 2.07576052e+02] [-6.87090197e-01 7.24408761e-01 -5.60268495e-02 -1.46837764e+02] [-8.16923885e-02 -4.00960086e-04 9.96657510e-01 -1.49011200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77864 meters 0.02708413978096991 Centerline is valid? [True, True] Translation: X:207.60, Y:-146.86, Z:-14.90 [[ 7.21079876e-01 6.90411410e-01 5.81024704e-02 2.07598487e+02] [-6.88232604e-01 7.23416800e-01 -5.48089043e-02 -1.46860883e+02] [-7.98729962e-02 -4.66416580e-04 9.96804939e-01 -1.49023699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80864 meters 0.027330426035661878 Centerline is valid? [True, True] Translation: X:207.62, Y:-146.89, Z:-14.90 [[ 7.19351087e-01 6.92235838e-01 5.78235101e-02 2.07619760e+02] [-6.90079533e-01 7.21671083e-01 -5.45993236e-02 -1.46886555e+02] [-7.95251637e-02 -6.26738059e-04 9.96832662e-01 -1.49038483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83864 meters 0.027543790857253083 Centerline is valid? [True, True] Translation: X:207.64, Y:-146.91, Z:-14.91 [[ 7.18160577e-01 6.93463086e-01 5.79166164e-02 2.07642618e+02] [-6.91299064e-01 7.20491796e-01 -5.47464718e-02 -1.46910528e+02] [-7.96931043e-02 -7.20944907e-04 9.96819186e-01 -1.49061423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86864 meters 0.02779217257519605 Centerline is valid? [True, True] Translation: X:207.67, Y:-146.93, Z:-14.91 [[ 7.16448170e-01 6.95239883e-01 5.78232278e-02 2.07665793e+02] [-6.93083907e-01 7.18777254e-01 -5.47170587e-02 -1.46934445e+02] [-7.96035024e-02 -8.74412042e-04 9.96826222e-01 -1.49080740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89864 meters 0.02791648825147559 Centerline is valid? [True, True] Translation: X:207.69, Y:-146.96, Z:-14.91 [[ 7.14161793e-01 6.97559302e-01 5.81717595e-02 2.07687443e+02] [-6.95380357e-01 7.16526212e-01 -5.51030564e-02 -1.46958623e+02] [-8.01192400e-02 -1.09900133e-03 9.96784681e-01 -1.49090250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92864 meters 0.02791648825147559 Centerline is valid? [True, True] Translation: X:207.71, Y:-146.98, Z:-14.91 [[ 7.13797011e-01 6.97934776e-01 5.81452914e-02 2.07711219e+02] [-6.95754801e-01 7.16160480e-01 -5.51309759e-02 -1.46980712e+02] [-8.01191851e-02 -1.10253978e-03 9.96784681e-01 -1.49108174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95864 meters 0.028055378336548028 Centerline is valid? [True, True] Translation: X:207.74, Y:-147.00, Z:-14.91 [[ 7.12603686e-01 6.99183548e-01 5.77784794e-02 2.07735361e+02] [-6.97030544e-01 7.14941215e-01 -5.48404892e-02 -1.47003225e+02] [-7.96517841e-02 -1.19383016e-03 9.96822034e-01 -1.49118602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98864 meters 0.02848757016018886 Centerline is valid? [True, True] Translation: X:207.76, Y:-147.02, Z:-14.91 [[ 7.09221840e-01 7.02588969e-01 5.80785964e-02 2.07760125e+02] [-7.00420359e-01 7.11594237e-01 -5.51811780e-02 -1.47023447e+02] [-8.00980814e-02 -1.54373475e-03 9.96785792e-01 -1.49137681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01864 meters 0.02861340470131608 Centerline is valid? [True, True] Translation: X:207.78, Y:-147.04, Z:-14.92 [[ 7.07186015e-01 7.04637600e-01 5.80843628e-02 2.07784251e+02] [-7.02471380e-01 7.09565237e-01 -5.52370674e-02 -1.47044434e+02] [-8.01367593e-02 -1.73972100e-03 9.96782360e-01 -1.49151019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04864 meters 0.029198644308470852 Centerline is valid? [True, True] Translation: X:207.81, Y:-147.07, Z:-14.92 [[ 7.04786802e-01 7.07000592e-01 5.85297120e-02 2.07808202e+02] [-7.04804989e-01 7.07210161e-01 -5.57110000e-02 -1.47065872e+02] [-8.07805170e-02 -1.98765549e-03 9.96729932e-01 -1.49177867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07864 meters 0.029563673376615557 Centerline is valid? [True, True] Translation: X:207.83, Y:-147.09, Z:-14.92 [[ 7.01685681e-01 7.10204783e-01 5.69769382e-02 2.07833792e+02] [-7.08131011e-01 7.03991522e-01 -5.42808192e-02 -1.47085804e+02] [-7.86617788e-02 -2.25906328e-03 9.96898802e-01 -1.49196181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10864 meters 0.029817526336418845 Centerline is valid? [True, True] Translation: X:207.86, Y:-147.11, Z:-14.92 [[ 7.00231089e-01 7.11697650e-01 5.62394601e-02 2.07858366e+02] [-7.09678406e-01 7.02481941e-01 -5.36253896e-02 -1.47106083e+02] [-7.76722688e-02 -2.36176549e-03 9.96976149e-01 -1.49213206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13864 meters 0.029917865051964528 Centerline is valid? [True, True] Translation: X:207.88, Y:-147.13, Z:-14.92 [[ 6.99550855e-01 7.12332847e-01 5.66614076e-02 2.07883241e+02] [-7.10281453e-01 7.01837640e-01 -5.40757323e-02 -1.47126810e+02] [-7.82870290e-02 -2.41682206e-03 9.96927931e-01 -1.49234428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16864 meters 0.02982845272160574 Centerline is valid? [True, True] Translation: X:207.91, Y:-147.15, Z:-14.92 [[ 6.99233032e-01 7.12586360e-01 5.73920478e-02 2.07909796e+02] [-7.10478451e-01 7.01580160e-01 -5.48238051e-02 -1.47147147e+02] [-7.93318177e-02 -2.44119780e-03 9.96845276e-01 -1.49247384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19864 meters 0.029812983913462408 Centerline is valid? [True, True] Translation: X:207.93, Y:-147.17, Z:-14.93 [[ 6.99341210e-01 7.12489977e-01 5.72704511e-02 2.07934211e+02] [-7.10386473e-01 7.01678225e-01 -5.47606406e-02 -1.47168188e+02] [-7.92018360e-02 -2.38778105e-03 9.96855741e-01 -1.49262974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22864 meters 0.02953286667526779 Centerline is valid? [True, True] Translation: X:207.96, Y:-147.19, Z:-14.93 [[ 6.99935937e-01 7.11933819e-01 5.69203082e-02 2.07960635e+02] [-7.09850879e-01 7.02242859e-01 -5.44673836e-02 -1.47187747e+02] [-7.87490524e-02 -2.28125166e-03 9.96891861e-01 -1.49274018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25864 meters 0.02946710912635218 Centerline is valid? [True, True] Translation: X:207.98, Y:-147.21, Z:-14.93 [[ 7.00434690e-01 7.11496943e-01 5.62436165e-02 2.07984980e+02] [-7.09459376e-01 7.02685802e-01 -5.38521924e-02 -1.47208751e+02] [-7.78372610e-02 -2.18261732e-03 9.96963689e-01 -1.49294389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864000000002 meters 0.029489994645292898 Centerline is valid? [True, True] Translation: X:208.01, Y:-147.23, Z:-14.93 [[ 7.00425508e-01 7.11454436e-01 5.68919401e-02 2.08010036e+02] [-7.09365357e-01 7.02728888e-01 -5.45243074e-02 -1.47230617e+02] [-7.87711701e-02 -2.16695570e-03 9.96890369e-01 -1.49315392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31864000000002 meters 0.029232876249473162 Centerline is valid? [True, True] Translation: X:208.03, Y:-147.25, Z:-14.93 [[ 7.00402498e-01 7.11515791e-01 5.64058581e-02 2.08033874e+02] [-7.09458349e-01 7.02666916e-01 -5.41115158e-02 -1.47251765e+02] [-7.81357283e-02 -2.11776612e-03 9.96940481e-01 -1.49321322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864000000002 meters 0.029386702908163507 Centerline is valid? [True, True] Translation: X:208.06, Y:-147.27, Z:-14.93 [[ 6.99591013e-01 7.12157268e-01 5.83475851e-02 2.08058502e+02] [-7.09953557e-01 7.02016423e-01 -5.60257875e-02 -1.47271889e+02] [-8.08601347e-02 -2.22893819e-03 9.96722966e-01 -1.49346636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37864000000002 meters 0.02941566132184574 Centerline is valid? [True, True] Translation: X:208.08, Y:-147.29, Z:-14.94 [[ 6.97978972e-01 7.13717564e-01 5.85883287e-02 2.08083533e+02] [-7.11497013e-01 7.00429549e-01 -5.63067375e-02 -1.47291528e+02] [-8.12241042e-02 -2.38450210e-03 9.96693011e-01 -1.49356886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40864 meters 0.02957180893706874 Centerline is valid? [True, True] Translation: X:208.11, Y:-147.31, Z:-14.94 [[ 6.97594681e-01 7.14126022e-01 5.81866497e-02 2.08108806e+02] [-7.11933262e-01 7.00013113e-01 -5.59702806e-02 -1.47313279e+02] [-8.07012516e-02 -2.38044124e-03 9.96735492e-01 -1.49370900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43864 meters 0.029521512539923748 Centerline is valid? [True, True] Translation: X:208.13, Y:-147.33, Z:-14.94 [[ 6.97590999e-01 7.14112182e-01 5.84002508e-02 2.08134333e+02] [-7.11898547e-01 7.00027344e-01 -5.62332354e-02 -1.47334780e+02] [-8.10386109e-02 -2.34725480e-03 9.96708199e-01 -1.49391350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46864 meters 0.029447871121228836 Centerline is valid? [True, True] Translation: X:208.16, Y:-147.36, Z:-14.94 [[ 6.97886346e-01 7.13848222e-01 5.80978935e-02 2.08159067e+02] [-7.11652151e-01 7.00296781e-01 -5.59967420e-02 -1.47355807e+02] [-8.06589424e-02 -2.26612923e-03 9.96739183e-01 -1.49405893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49864 meters 0.028979889061028517 Centerline is valid? [True, True] Translation: X:208.18, Y:-147.38, Z:-14.94 [[ 6.99235779e-01 7.12452340e-01 5.89999014e-02 2.08184506e+02] [-7.10178250e-01 7.01717355e-01 -5.69175517e-02 -1.47375236e+02] [-8.19522976e-02 -2.10165808e-03 9.96634037e-01 -1.49433535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52864 meters 0.028909366242854357 Centerline is valid? [True, True] Translation: X:208.21, Y:-147.40, Z:-14.94 [[ 6.99796530e-01 7.11879289e-01 5.92679960e-02 2.08209356e+02] [-7.09578146e-01 7.02298974e-01 -5.72276739e-02 -1.47395533e+02] [-8.23630485e-02 -2.00754711e-03 9.96600370e-01 -1.49447086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55864 meters 0.02851806468769676 Centerline is valid? [True, True] Translation: X:208.24, Y:-147.41, Z:-14.95 [[ 7.00607041e-01 7.11213905e-01 5.76589593e-02 2.08237198e+02] [-7.09029984e-01 7.02973249e-01 -5.57233664e-02 -1.47413429e+02] [-8.01639389e-02 -1.84174812e-03 9.96779991e-01 -1.49458962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58864 meters 0.028451480040104022 Centerline is valid? [True, True] Translation: X:208.26, Y:-147.43, Z:-14.95 [[ 7.00427370e-01 7.11397352e-01 5.75787066e-02 2.08262865e+02] [-7.09215897e-01 7.02787652e-01 -5.56985374e-02 -1.47433868e+02] [-8.00893961e-02 -1.82295396e-03 9.96786018e-01 -1.49479633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61864 meters 0.02840301504899579 Centerline is valid? [True, True] Translation: X:208.29, Y:-147.45, Z:-14.95 [[ 7.00930720e-01 7.10896642e-01 5.76375685e-02 2.08289315e+02] [-7.08704500e-01 7.03294376e-01 -5.58117677e-02 -1.47452943e+02] [-8.02125761e-02 -1.72782163e-03 9.96776282e-01 -1.49491214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64864 meters 0.028543715048372807 Centerline is valid? [True, True] Translation: X:208.31, Y:-147.47, Z:-14.95 [[ 7.01198994e-01 7.10657391e-01 5.73240227e-02 2.08314489e+02] [-7.08484195e-01 7.03536306e-01 -5.55590832e-02 -1.47472853e+02] [-7.98130042e-02 -1.65519077e-03 9.96808479e-01 -1.49505679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67864 meters 0.028364624374889277 Centerline is valid? [True, True] Translation: X:208.34, Y:-147.49, Z:-14.95 [[ 7.01282322e-01 7.10529091e-01 5.78922777e-02 2.08339570e+02] [-7.08308736e-01 7.03665944e-01 -5.61513457e-02 -1.47492540e+02] [-8.06339889e-02 -1.62765994e-03 9.96742449e-01 -1.49521750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70864 meters 0.028333498988610463 Centerline is valid? [True, True] Translation: X:208.37, Y:-147.51, Z:-14.95 [[ 7.01137305e-01 7.10662646e-01 5.80093398e-02 2.08366968e+02] [-7.08431168e-01 7.03531070e-01 -5.62966579e-02 -1.47511136e+02] [-8.08193048e-02 -1.62393738e-03 9.96727447e-01 -1.49549028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73864 meters 0.028157495729273785 Centerline is valid? [True, True] Translation: X:208.39, Y:-147.53, Z:-14.96 [[ 7.01149916e-01 7.10628316e-01 5.82768495e-02 2.08392871e+02] [-7.08371143e-01 7.03565835e-01 -5.66166026e-02 -1.47531617e+02] [-8.12349612e-02 -1.58491227e-03 9.96693719e-01 -1.49560555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76864 meters 0.028006335141034885 Centerline is valid? [True, True] Translation: X:208.42, Y:-147.55, Z:-14.96 [[ 7.01588546e-01 7.10160845e-01 5.86948493e-02 2.08421023e+02] [-7.07864529e-01 7.04037873e-01 -5.70831157e-02 -1.47549597e+02] [-8.18615906e-02 -1.49914166e-03 9.96642580e-01 -1.49564176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79864 meters 0.02788667965857809 Centerline is valid? [True, True] Translation: X:208.45, Y:-147.57, Z:-14.96 [[ 7.02241176e-01 7.09522601e-01 5.86089495e-02 2.08446098e+02] [-7.07226049e-01 7.04681325e-01 -5.70574022e-02 -1.47569653e+02] [-8.17841486e-02 -1.38171859e-03 9.96649108e-01 -1.49578839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82864 meters 0.027812786271871413 Centerline is valid? [True, True] Translation: X:208.47, Y:-147.59, Z:-14.96 [[ 7.02767785e-01 7.08945360e-01 5.92783026e-02 2.08471814e+02] [-7.06589202e-01 7.05262230e-01 -5.77657860e-02 -1.47590060e+02] [-8.27595339e-02 -1.28947509e-03 9.96568712e-01 -1.49607274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85864 meters 0.027438006425215232 Centerline is valid? [True, True] Translation: X:208.50, Y:-147.61, Z:-14.96 [[ 7.04579924e-01 7.07201735e-01 5.85904118e-02 2.08499607e+02] [-7.04889248e-01 7.07011063e-01 -5.71533397e-02 -1.47607134e+02] [-8.18430103e-02 -1.03065562e-03 9.96644701e-01 -1.49628457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88864 meters 0.027338434324219053 Centerline is valid? [True, True] Translation: X:208.53, Y:-147.63, Z:-14.97 [[ 7.04895456e-01 7.06897179e-01 5.84702974e-02 2.08525420e+02] [-7.04588567e-01 7.07315679e-01 -5.70918685e-02 -1.47627927e+02] [-8.17150389e-02 -9.53704435e-04 9.96655278e-01 -1.49651621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91864 meters 0.02724543786016667 Centerline is valid? [True, True] Translation: X:208.55, Y:-147.65, Z:-14.97 [[ 7.07114111e-01 7.04710262e-01 5.80782199e-02 2.08553048e+02] [-7.02420474e-01 7.09494903e-01 -5.67667223e-02 -1.47645800e+02] [-8.12102928e-02 -6.54780325e-04 9.96696774e-01 -1.49656575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94864 meters 0.027002268758915222 Centerline is valid? [True, True] Translation: X:208.58, Y:-147.67, Z:-14.97 [[ 7.07953965e-01 7.03807807e-01 5.87856609e-02 2.08579211e+02] [-7.01454065e-01 7.10390247e-01 -5.75142832e-02 -1.47666279e+02] [-8.22397617e-02 -5.17975880e-04 9.96612439e-01 -1.49683311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97864 meters 0.027020383020659188 Centerline is valid? [True, True] Translation: X:208.61, Y:-147.69, Z:-14.97 [[ 7.08824435e-01 7.02913976e-01 5.89903661e-02 2.08605116e+02] [-7.00535609e-01 7.11274774e-01 -5.77759132e-02 -1.47687150e+02] [-8.25698562e-02 -3.71872979e-04 9.96585210e-01 -1.49717945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00864 meters 0.026787814494508906 Centerline is valid? [True, True] Translation: X:208.63, Y:-147.71, Z:-14.97 [[ 7.11013459e-01 7.00719274e-01 5.87567806e-02 2.08631865e+02] [-6.98347215e-01 7.13437098e-01 -5.76079379e-02 -1.47706533e+02] [-8.22862595e-02 -7.26148602e-05 9.96608733e-01 -1.49742418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03864000000002 meters 0.02671998823536136 Centerline is valid? [True, True] Translation: X:208.66, Y:-147.73, Z:-14.98 [[ 7.12093329e-01 6.99647509e-01 5.84504356e-02 2.08657171e+02] [-6.97291615e-01 7.14488176e-01 -5.73676655e-02 -1.47727821e+02] [-8.18992894e-02 9.41333199e-05 9.96640606e-01 -1.49760613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864000000002 meters 0.02672092529855065 Centerline is valid? [True, True] Translation: X:208.68, Y:-147.75, Z:-14.98 [[ 7.13543786e-01 6.98103981e-01 5.92123031e-02 2.08681922e+02] [-6.95675926e-01 7.15996320e-01 -5.81745233e-02 -1.47748802e+02] [-8.30076575e-02 3.17495820e-04 9.96548859e-01 -1.49775413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09864000000002 meters 0.027060436689648262 Centerline is valid? [True, True] Translation: X:208.71, Y:-147.77, Z:-14.98 [[ 7.17972978e-01 6.93462320e-01 6.02064257e-02 2.08707507e+02] [-6.90930877e-01 7.20492320e-01 -5.92059138e-02 -1.47768652e+02] [-8.44353376e-02 9.09767749e-04 9.96428545e-01 -1.49802982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864000000002 meters 0.027032176969332876 Centerline is valid? [True, True] Translation: X:208.73, Y:-147.79, Z:-14.98 [[ 7.19137333e-01 6.92234147e-01 6.04432147e-02 2.08730960e+02] [-6.89673812e-01 7.21672143e-01 -5.94924429e-02 -1.47790189e+02] [-8.48028848e-02 1.09713447e-03 9.96397143e-01 -1.49820700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15864 meters 0.02727986514548742 Centerline is valid? [True, True] Translation: X:208.75, Y:-147.81, Z:-14.98 [[ 7.22896324e-01 6.88402168e-01 5.93578950e-02 2.08754513e+02] [-6.85915877e-01 7.25327533e-01 -5.84754589e-02 -1.47811813e+02] [-8.33085482e-02 1.55717169e-03 9.96522584e-01 -1.49824238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18864 meters 0.02751754199525839 Centerline is valid? [True, True] Translation: X:208.78, Y:-147.83, Z:-14.99 [[ 7.24155522e-01 6.87048502e-01 5.96920096e-02 2.08777754e+02] [-6.84525117e-01 7.26609425e-01 -5.88566719e-02 -1.47834030e+02] [-8.38101650e-02 1.76070408e-03 9.96480184e-01 -1.49852973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21864 meters 0.02780495980473206 Centerline is valid? [True, True] Translation: X:208.80, Y:-147.86, Z:-14.99 [[ 7.24618387e-01 6.86535966e-01 5.99713383e-02 2.08800757e+02] [-6.83982712e-01 7.27093449e-01 -5.91841726e-02 -1.47856768e+02] [-8.42368303e-02 1.86658113e-03 9.96444014e-01 -1.49866898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24864 meters 0.027648794083795312 Centerline is valid? [True, True] Translation: X:208.82, Y:-147.88, Z:-14.99 [[ 7.25432959e-01 6.85633996e-01 6.04404268e-02 2.08822931e+02] [-6.83032993e-01 7.27943626e-01 -5.96993124e-02 -1.47879622e+02] [-8.49291016e-02 2.02504321e-03 9.96384939e-01 -1.49886573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27864 meters 0.027764043999081292 Centerline is valid? [True, True] Translation: X:208.85, Y:-147.90, Z:-14.99 [[ 7.24925674e-01 6.86146466e-01 6.07107372e-02 2.08845689e+02] [-6.83519200e-01 7.27460632e-01 -6.00211002e-02 -1.47903568e+02] [-8.53479370e-02 2.01388206e-03 9.96349173e-01 -1.49911616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30864 meters 0.027891204364640664 Centerline is valid? [True, True] Translation: X:208.87, Y:-147.93, Z:-14.99 [[ 7.25384221e-01 6.85695292e-01 6.03299104e-02 2.08866211e+02] [-6.83094380e-01 7.27885684e-01 -5.97034228e-02 -1.47929155e+02] [-8.48516340e-02 2.09689814e-03 9.96391391e-01 -1.49924695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33864 meters 0.028007768614683255 Centerline is valid? [True, True] Translation: X:208.89, Y:-147.95, Z:-14.99 [[ 7.25153270e-01 6.85891588e-01 6.08725218e-02 2.08888038e+02] [-6.83239365e-01 7.27700607e-01 -6.02975672e-02 -1.47952425e+02] [-8.56545652e-02 2.13447489e-03 9.96322608e-01 -1.49943930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36864 meters 0.02819179824400679 Centerline is valid? [True, True] Translation: X:208.91, Y:-147.98, Z:-15.00 [[ 7.25305001e-01 6.85737438e-01 6.08014959e-02 2.08911475e+02] [-6.83086171e-01 7.27845704e-01 -6.02819594e-02 -1.47976343e+02] [-8.55917041e-02 2.19014558e-03 9.96327890e-01 -1.49954677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39864 meters 0.028288345920105037 Centerline is valid? [True, True] Translation: X:208.93, Y:-148.00, Z:-15.00 [[ 7.25108876e-01 6.85916278e-01 6.11226513e-02 2.08934944e+02] [-6.83232294e-01 7.27677065e-01 -6.06607030e-02 -1.48000039e+02] [-8.60857151e-02 2.22464483e-03 9.96285251e-01 -1.49971906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42864 meters 0.02832931590827297 Centerline is valid? [True, True] Translation: X:208.96, Y:-148.03, Z:-15.00 [[ 7.25039181e-01 6.86036574e-01 6.05970726e-02 2.08956479e+02] [-6.83393977e-01 7.27563624e-01 -6.01983819e-02 -1.48025055e+02] [-8.53865174e-02 2.23451108e-03 9.96345397e-01 -1.49987567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45864 meters 0.028313916159063764 Centerline is valid? [True, True] Translation: X:208.98, Y:-148.05, Z:-15.00 [[ 7.24329611e-01 6.86735511e-01 6.11633205e-02 2.08979136e+02] [-6.84040442e-01 7.26903999e-01 -6.08214592e-02 -1.48049332e+02] [-8.62281182e-02 2.21659915e-03 9.96272954e-01 -1.50013171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48864 meters 0.028238072624577837 Centerline is valid? [True, True] Translation: X:209.00, Y:-148.07, Z:-15.00 [[ 7.24100711e-01 6.87050264e-01 6.03331989e-02 2.09001811e+02] [-6.84424259e-01 7.26606590e-01 -6.00524609e-02 -1.48072578e+02] [-8.50975590e-02 2.19052468e-03 9.96370216e-01 -1.50026149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51864 meters 0.028471878435287538 Centerline is valid? [True, True] Translation: X:209.02, Y:-148.10, Z:-15.01 [[ 7.24517130e-01 6.86599280e-01 6.04678179e-02 2.09024377e+02] [-6.83955473e-01 7.27032461e-01 -6.02387888e-02 -1.48095864e+02] [-8.53219755e-02 2.28673932e-03 9.96350807e-01 -1.50054356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54864 meters 0.028786433506475664 Centerline is valid? [True, True] Translation: X:209.05, Y:-148.12, Z:-15.01 [[ 7.25080070e-01 6.86022150e-01 6.02702370e-02 2.09046094e+02] [-6.83389217e-01 7.27576747e-01 -6.00937260e-02 -1.48119651e+02] [-8.50768501e-02 2.38473299e-03 9.96371538e-01 -1.50065533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57864 meters 0.029508927500213177 Centerline is valid? [True, True] Translation: X:209.07, Y:-148.14, Z:-15.01 [[ 7.28626418e-01 6.82265196e-01 6.01476997e-02 2.09066018e+02] [-6.79625895e-01 7.31099206e-01 -6.00216098e-02 -1.48144561e+02] [-8.49245909e-02 2.85539632e-03 9.96383290e-01 -1.50089803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60864 meters 0.029881397489292583 Centerline is valid? [True, True] Translation: X:209.09, Y:-148.17, Z:-15.01 [[ 7.29787264e-01 6.80999794e-01 6.04138181e-02 2.09087918e+02] [-6.78328520e-01 7.32277246e-01 -6.03361819e-02 -1.48168560e+02] [-8.53285918e-02 3.05216134e-03 9.96348190e-01 -1.50101391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63864 meters 0.030140465092696037 Centerline is valid? [True, True] Translation: X:209.11, Y:-148.19, Z:-15.01 [[ 7.30387495e-01 6.80326340e-01 6.07468465e-02 2.09109468e+02] [-6.77618715e-01 7.32902395e-01 -6.07203229e-02 -1.48193064e+02] [-8.58311443e-02 3.18616452e-03 9.96304604e-01 -1.50116643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66864 meters 0.030261137934301352 Centerline is valid? [True, True] Translation: X:209.16, Y:-148.34, Z:-13.36 [[ 7.31019109e-01 -6.82162548e-01 -1.62886378e-02 2.09160753e+02] [-6.81892925e-01 -7.31194016e-01 1.94254739e-02 -1.48336819e+02] [-2.51614853e-02 -3.09328572e-03 -9.99678614e-01 -1.33586757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69864 meters 0.03008895479675419 Centerline is valid? [True, True] Translation: X:209.15, Y:-148.26, Z:-15.01 [[ 7.79451835e-01 6.23436075e-01 6.15003822e-02 2.09147866e+02] [-6.21185942e-01 7.81868111e-01 -5.30120924e-02 -1.48262026e+02] [-8.11348385e-02 3.11719977e-03 9.96698260e-01 -1.50149479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72864 meters 0.029780263471855202 Centerline is valid? [True, True] Translation: X:209.17, Y:-148.29, Z:-15.02 [[ 7.78598671e-01 6.24664733e-01 5.98170528e-02 2.09169196e+02] [-6.22536299e-01 7.80887516e-01 -5.16066296e-02 -1.48285988e+02] [-7.89472313e-02 2.94256658e-03 9.96874453e-01 -1.50162066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75864 meters 0.0296106591208364 Centerline is valid? [True, True] Translation: X:209.19, Y:-148.31, Z:-15.02 [[ 7.77936356e-01 6.25497817e-01 5.97286174e-02 2.09191173e+02] [-6.23374635e-01 7.80220571e-01 -5.15744667e-02 -1.48310357e+02] [-7.88612123e-02 2.88834761e-03 9.96881421e-01 -1.50173787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864000000002 meters 0.029201498612592604 Centerline is valid? [True, True] Translation: X:209.21, Y:-148.33, Z:-15.02 [[ 7.76574551e-01 6.27166681e-01 5.99493156e-02 2.09213159e+02] [-6.25029147e-01 7.78880166e-01 -5.18097712e-02 -1.48334487e+02] [-7.91866952e-02 2.76408025e-03 9.96855971e-01 -1.50190050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81864000000002 meters 0.028897430175128153 Centerline is valid? [True, True] Translation: X:209.23, Y:-148.36, Z:-15.02 [[ 7.74051434e-01 6.30232625e-01 6.04252876e-02 2.09232843e+02] [-6.28067318e-01 7.76402340e-01 -5.22575352e-02 -1.48361425e+02] [-7.98487383e-02 2.49887173e-03 9.96803860e-01 -1.50207617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864000000002 meters 0.02847520086959367 Centerline is valid? [True, True] Translation: X:209.25, Y:-148.39, Z:-15.02 [[ 7.71772267e-01 6.33056933e-01 6.00540293e-02 2.09254083e+02] [-6.30924687e-01 7.74102074e-01 -5.19617004e-02 -1.48385499e+02] [-7.93826634e-02 2.21302967e-03 9.96841760e-01 -1.50213820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87864000000002 meters 0.02847520086959367 Centerline is valid? [True, True] Translation: X:209.28, Y:-148.41, Z:-15.02 [[ 7.71456902e-01 6.33443449e-01 6.00303702e-02 2.09278858e+02] [-6.31310246e-01 7.73785833e-01 -5.19890228e-02 -1.48406521e+02] [-7.93827559e-02 2.20950263e-03 9.96841761e-01 -1.50231703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90864 meters 0.02766793848773344 Centerline is valid? [True, True] Translation: X:209.30, Y:-148.43, Z:-15.02 [[ 7.66537435e-01 6.39451952e-01 5.93427516e-02 2.09297729e+02] [-6.37382069e-01 7.68829392e-01 -5.14340724e-02 -1.48432990e+02] [-7.85140696e-02 1.60213616e-03 9.96911718e-01 -1.50244363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93864 meters 0.027445389177918604 Centerline is valid? [True, True] Translation: X:209.32, Y:-148.46, Z:-15.03 [[ 7.64355624e-01 6.42088112e-01 5.90197994e-02 2.09320930e+02] [-6.40046634e-01 7.66629671e-01 -5.11786517e-02 -1.48455410e+02] [-7.81075332e-02 1.34326638e-03 9.96944035e-01 -1.50254574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96864 meters 0.027195228805437295 Centerline is valid? [True, True] Translation: X:209.34, Y:-148.48, Z:-15.03 [[ 7.62179180e-01 6.44678618e-01 5.89268811e-02 2.09343641e+02] [-6.42647663e-01 7.64452904e-01 -5.11442926e-02 -1.48477622e+02] [-7.80184573e-02 1.11189260e-03 9.96951295e-01 -1.50274379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99864 meters 0.02687439524830548 Centerline is valid? [True, True] Translation: X:209.37, Y:-148.50, Z:-15.03 [[ 7.58688552e-01 6.48713355e-01 5.96880567e-02 2.09365166e+02] [-6.46638124e-01 7.61032476e-01 -5.18527411e-02 -1.48501866e+02] [-7.90621153e-02 7.43507994e-04 9.96869414e-01 -1.50295161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02864 meters 0.02680197009944816 Centerline is valid? [True, True] Translation: X:209.39, Y:-148.52, Z:-15.03 [[ 7.56581946e-01 6.51224074e-01 5.90843803e-02 2.09388047e+02] [-6.49194591e-01 7.58885329e-01 -5.13754817e-02 -1.48524097e+02] [-7.82952199e-02 5.12501809e-04 9.96930086e-01 -1.50311494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05864 meters 0.02651257935233128 Centerline is valid? [True, True] Translation: X:209.41, Y:-148.55, Z:-15.03 [[ 7.53220832e-01 6.55244924e-01 5.75540386e-02 2.09412493e+02] [-6.53328174e-01 7.55416491e-01 -5.00821515e-02 -1.48545310e+02] [-7.62933454e-02 1.21244892e-04 9.97085408e-01 -1.50315758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08864 meters 0.02667362819776143 Centerline is valid? [True, True] Translation: X:209.44, Y:-148.57, Z:-15.03 [[ 7.52110724e-01 6.56520167e-01 5.75389391e-02 2.09438011e+02] [-6.54606052e-01 7.54308472e-01 -5.00963746e-02 -1.48565843e+02] [-7.62913894e-02 1.26828403e-05 9.97085565e-01 -1.50335992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11864 meters 0.026742669157678905 Centerline is valid? [True, True] Translation: X:209.46, Y:-148.59, Z:-15.04 [[ 7.50583223e-01 6.58184500e-01 5.84635800e-02 2.09461957e+02] [-6.56209591e-01 7.52856659e-01 -5.09492248e-02 -1.48586484e+02] [-7.75486855e-02 -1.22728525e-04 9.96988559e-01 -1.50357692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14864 meters 0.026740505960427825 Centerline is valid? [True, True] Translation: X:209.49, Y:-148.61, Z:-15.04 [[ 7.49296026e-01 6.59543419e-01 5.96485088e-02 2.09487253e+02] [-6.57489064e-01 7.51666429e-01 -5.20164508e-02 -1.48606118e+02] [-7.91428894e-02 -2.42522279e-04 9.96863253e-01 -1.50359431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17864 meters 0.026931806967264868 Centerline is valid? [True, True] Translation: X:209.51, Y:-148.63, Z:-15.04 [[ 7.48397822e-01 6.60413659e-01 6.12739682e-02 2.09512963e+02] [-6.58244314e-01 7.50901929e-01 -5.34856616e-02 -1.48625566e+02] [-8.13334024e-02 -3.04688546e-04 9.96686904e-01 -1.50374940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20864 meters 0.02703175857897794 Centerline is valid? [True, True] Translation: X:209.54, Y:-148.64, Z:-15.04 [[ 7.46783314e-01 6.62301853e-01 6.05882692e-02 2.09540268e+02] [-6.60182856e-01 7.49236972e-01 -5.29391888e-02 -1.48644608e+02] [-8.04566942e-02 -4.65233769e-04 9.96757997e-01 -1.50383633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23864 meters 0.027122263113413682 Centerline is valid? [True, True] Translation: X:209.57, Y:-148.67, Z:-15.04 [[ 7.45558852e-01 6.63709764e-01 6.02606633e-02 2.09565707e+02] [-6.61613664e-01 7.47989989e-01 -5.27099306e-02 -1.48665709e+02] [-8.00584685e-02 -5.70922894e-04 9.96790006e-01 -1.50408724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26864 meters 0.026981144599978534 Centerline is valid? [True, True] Translation: X:209.59, Y:-148.68, Z:-15.04 [[ 7.44363723e-01 6.65065317e-01 6.00897008e-02 2.09592786e+02] [-6.62980956e-01 7.46784890e-01 -5.26172895e-02 -1.48684960e+02] [-7.98680149e-02 -6.71925840e-04 9.96805221e-01 -1.50421264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29864 meters 0.026818485723715046 Centerline is valid? [True, True] Translation: X:209.62, Y:-148.70, Z:-15.04 [[ 7.43849826e-01 6.65669296e-01 5.97647398e-02 2.09619435e+02] [-6.63604917e-01 7.46246548e-01 -5.23889580e-02 -1.48704315e+02] [-7.94729516e-02 -6.90657894e-04 9.96836784e-01 -1.50440998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32864 meters 0.026734853254912986 Centerline is valid? [True, True] Translation: X:209.65, Y:-148.72, Z:-15.05 [[ 7.43024227e-01 6.66566070e-01 6.00389244e-02 2.09645487e+02] [-6.64481102e-01 7.45445581e-01 -5.26853930e-02 -1.48723872e+02] [-7.98740463e-02 -7.48207261e-04 9.96804683e-01 -1.50457064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35864 meters 0.026888628051547563 Centerline is valid? [True, True] Translation: X:209.67, Y:-148.74, Z:-15.05 [[ 7.42513448e-01 6.67055338e-01 6.09176152e-02 2.09671539e+02] [-6.64906066e-01 7.45007771e-01 -5.35102199e-02 -1.48743368e+02] [-8.10783745e-02 -7.72434022e-04 9.96707430e-01 -1.50477918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38864 meters 0.02687769076165216 Centerline is valid? [True, True] Translation: X:209.70, Y:-148.76, Z:-15.05 [[ 7.42434766e-01 6.67183090e-01 6.04759659e-02 2.09697266e+02] [-6.65061120e-01 7.44893398e-01 -5.31745512e-02 -1.48764461e+02] [-8.05253091e-02 -7.41578099e-04 9.96752289e-01 -1.50493555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41864 meters 0.02697180634277295 Centerline is valid? [True, True] Translation: X:209.72, Y:-148.78, Z:-15.05 [[ 7.42448458e-01 6.67252315e-01 5.95368411e-02 2.09723477e+02] [-6.65192310e-01 7.44831427e-01 -5.23959507e-02 -1.48784018e+02] [-7.93062297e-02 -7.02156076e-04 9.96850053e-01 -1.50514035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44864 meters 0.02661116669784252 Centerline is valid? [True, True] Translation: X:209.75, Y:-148.80, Z:-15.05 [[ 7.42056481e-01 6.67713925e-01 5.92477295e-02 2.09749516e+02] [-6.65672541e-01 7.44417621e-01 -5.21773212e-02 -1.48804142e+02] [-7.89445777e-02 -7.21067259e-04 9.96878746e-01 -1.50514877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47864 meters 0.026855549602525685 Centerline is valid? [True, True] Translation: X:209.78, Y:-148.82, Z:-15.05 [[ 7.40841357e-01 6.69029399e-01 5.96133200e-02 2.09775003e+02] [-6.66962597e-01 7.43235482e-01 -5.25539043e-02 -1.48824495e+02] [-7.94668416e-02 -8.25748924e-04 9.96837168e-01 -1.50535094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50864 meters 0.026700934796522392 Centerline is valid? [True, True] Translation: X:209.80, Y:-148.84, Z:-15.06 [[ 7.39868231e-01 6.70176522e-01 5.88084270e-02 2.09801743e+02] [-6.68164879e-01 7.42201201e-01 -5.18948139e-02 -1.48844075e+02] [-7.84263710e-02 -8.98401335e-04 9.96919504e-01 -1.50550582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53864000000002 meters 0.02676275273769053 Centerline is valid? [True, True] Translation: X:209.83, Y:-148.87, Z:-15.06 [[ 7.38931671e-01 6.71243402e-01 5.84147337e-02 2.09827566e+02] [-6.69257654e-01 7.41236377e-01 -5.16025769e-02 -1.48865029e+02] [-7.79370148e-02 -9.63729306e-04 9.96957819e-01 -1.50571540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864000000002 meters 0.026790895088456473 Centerline is valid? [True, True] Translation: X:209.85, Y:-148.89, Z:-15.06 [[ 7.38440169e-01 6.71792644e-01 5.83160355e-02 2.09854363e+02] [-6.69811011e-01 7.40738608e-01 -5.15705799e-02 -1.48885022e+02] [-7.78416752e-02 -9.78934933e-04 9.96965253e-01 -1.50579541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59864000000002 meters 0.02665193210406753 Centerline is valid? [True, True] Translation: X:209.88, Y:-148.91, Z:-15.06 [[ 7.38100306e-01 6.72148500e-01 5.85177895e-02 2.09880410e+02] [-6.70149853e-01 7.40415718e-01 -5.18048047e-02 -1.48905175e+02] [-7.81480130e-02 -9.78545882e-04 9.96941287e-01 -1.50613088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864000000002 meters 0.02683086226639983 Centerline is valid? [True, True] Translation: X:209.91, Y:-148.93, Z:-15.06 [[ 7.37931659e-01 6.72260752e-01 5.93493728e-02 2.09906211e+02] [-6.70200598e-01 7.40313823e-01 -5.25984998e-02 -1.48925494e+02] [-7.92970681e-02 -9.61886881e-04 9.96850565e-01 -1.50627131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65864 meters 0.026755151316332593 Centerline is valid? [True, True] Translation: X:209.93, Y:-148.95, Z:-15.06 [[ 7.38011188e-01 6.72123854e-01 5.99083583e-02 2.09932849e+02] [-6.70019550e-01 7.40438175e-01 -5.31517819e-02 -1.48945170e+02] [-8.00830160e-02 -9.13161538e-04 9.96787779e-01 -1.50644815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68864 meters 0.026817426611591744 Centerline is valid? [True, True] Translation: X:209.96, Y:-148.97, Z:-15.07 [[ 7.37783774e-01 6.72314557e-01 6.05659963e-02 2.09959272e+02] [-6.70159627e-01 7.40265037e-01 -5.37935771e-02 -1.48965785e+02] [-8.10010945e-02 -9.00857138e-04 9.96713605e-01 -1.50663741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71864 meters 0.02692867234051838 Centerline is valid? [True, True] Translation: X:209.99, Y:-148.98, Z:-15.07 [[ 7.38712465e-01 6.71245060e-01 6.11061590e-02 2.09986878e+02] [-6.69042964e-01 7.41235126e-01 -5.43323165e-02 -1.48984277e+02] [-8.17643305e-02 -7.46686257e-04 9.96651412e-01 -1.50685221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74864 meters 0.026654714182712636 Centerline is valid? [True, True] Translation: X:210.01, Y:-149.00, Z:-15.07 [[ 7.39566381e-01 6.70362942e-01 6.04573782e-02 2.10011994e+02] [-6.68200008e-01 7.42033129e-01 -5.38106448e-02 -1.49004489e+02] [-8.09340396e-02 -6.01076766e-04 9.96719278e-01 -1.50703209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77864 meters 0.026463549507251053 Centerline is valid? [True, True] Translation: X:210.04, Y:-149.03, Z:-15.07 [[ 7.40329012e-01 6.69526118e-01 6.03964411e-02 2.10037187e+02] [-6.67360474e-01 7.42788366e-01 -5.38093038e-02 -1.49025175e+02] [-8.08885081e-02 -4.69608836e-04 9.96723045e-01 -1.50724381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80864 meters 0.026336715791928405 Centerline is valid? [True, True] Translation: X:210.06, Y:-149.04, Z:-15.07 [[ 7.42657524e-01 6.66972375e-01 6.00637502e-02 2.10064132e+02] [-6.64817749e-01 7.45082431e-01 -5.35680032e-02 -1.49043906e+02] [-8.04808233e-02 -1.48766655e-04 9.96756146e-01 -1.50749673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83864 meters 0.026308953732427566 Centerline is valid? [True, True] Translation: X:210.09, Y:-149.07, Z:-15.08 [[ 7.43821350e-01 6.65624098e-01 6.06164916e-02 2.10089479e+02] [-6.63420751e-01 7.46287182e-01 -5.41142226e-02 -1.49065204e+02] [-8.12570414e-02 3.70758057e-05 9.96693178e-01 -1.50774839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86864 meters 0.026445660705631386 Centerline is valid? [True, True] Translation: X:210.11, Y:-149.09, Z:-15.08 [[ 7.44663334e-01 6.64569827e-01 6.18341606e-02 2.10113372e+02] [-6.62268513e-01 7.47226141e-01 -5.52585816e-02 -1.49086446e+02] [-8.29272872e-02 1.98222021e-04 9.96555581e-01 -1.50798439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89864 meters 0.026543855107336815 Centerline is valid? [True, True] Translation: X:210.14, Y:-149.11, Z:-15.08 [[ 7.47020746e-01 6.61836462e-01 6.27096721e-02 2.10136791e+02] [-6.59455438e-01 7.49648049e-01 -5.60921347e-02 -1.49107720e+02] [-8.41340033e-02 5.47754062e-04 9.96454299e-01 -1.50817526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92864 meters 0.026840439289344573 Centerline is valid? [True, True] Translation: X:210.16, Y:-149.13, Z:-15.08 [[ 7.48019368e-01 6.60628703e-01 6.35353575e-02 2.10161378e+02] [-6.58175779e-01 7.50712450e-01 -5.68811147e-02 -1.49129113e+02] [-8.52740809e-02 7.30742092e-04 9.96357264e-01 -1.50834910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95864 meters 0.026789313210353338 Centerline is valid? [True, True] Translation: X:210.19, Y:-149.15, Z:-15.09 [[ 7.50391841e-01 6.58078675e-01 6.20043692e-02 2.10185096e+02] [-6.55729659e-01 7.52948461e-01 -5.55628442e-02 -1.49152702e+02] [-8.32508172e-02 1.03580105e-03 9.96528087e-01 -1.50852019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98864 meters 0.0267135604609258 Centerline is valid? [True, True] Translation: X:210.21, Y:-149.18, Z:-15.09 [[ 7.51043631e-01 6.57390870e-01 6.14060962e-02 2.10208888e+02] [-6.55080040e-01 7.53548893e-01 -5.50836301e-02 -1.49176063e+02] [-8.24839713e-02 1.14430161e-03 9.96591734e-01 -1.50873100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01864 meters 0.026813620968467105 Centerline is valid? [True, True] Translation: X:210.23, Y:-149.20, Z:-15.09 [[ 7.51004080e-01 6.57531311e-01 6.03775460e-02 2.10232288e+02] [-6.55293513e-01 7.53426342e-01 -5.42140033e-02 -1.49198537e+02] [-8.11374383e-02 1.14992340e-03 9.96702259e-01 -1.50891492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04864 meters 0.026715579043434287 Centerline is valid? [True, True] Translation: X:210.26, Y:-149.22, Z:-15.09 [[ 7.49760395e-01 6.58859202e-01 6.13506566e-02 2.10255413e+02] [-6.56548619e-01 7.52265527e-01 -5.51406095e-02 -1.49222213e+02] [-8.24818820e-02 1.06255623e-03 9.96591998e-01 -1.50921314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07864 meters 0.02653820256552834 Centerline is valid? [True, True] Translation: X:210.28, Y:-149.25, Z:-15.09 [[ 7.48630758e-01 6.60199876e-01 6.07298314e-02 2.10278400e+02] [-6.57936727e-01 7.51089371e-01 -5.46261864e-02 -1.49245473e+02] [-8.16777324e-02 9.38456830e-04 9.96658350e-01 -1.50934331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10864 meters 0.026494892564371392 Centerline is valid? [True, True] Translation: X:210.30, Y:-149.27, Z:-15.10 [[ 7.47563759e-01 6.61423561e-01 6.05582226e-02 2.10300655e+02] [-6.59174910e-01 7.50012129e-01 -5.44999492e-02 -1.49269086e+02] [-8.14669520e-02 8.23726002e-04 9.96675703e-01 -1.50950141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13864 meters 0.026662605713497527 Centerline is valid? [True, True] Translation: X:210.32, Y:-149.29, Z:-15.10 [[ 7.47074037e-01 6.61908593e-01 6.12976155e-02 2.10324665e+02] [-6.59602014e-01 7.49584114e-01 -5.52162870e-02 -1.49290944e+02] [-8.24958537e-02 8.18623766e-04 9.96591072e-01 -1.50977351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16864 meters 0.026595817839573963 Centerline is valid? [True, True] Translation: X:210.35, Y:-149.31, Z:-15.10 [[ 7.46473378e-01 6.62571151e-01 6.14570224e-02 2.10348909e+02] [-6.60250354e-01 7.48998565e-01 -5.54131792e-02 -1.49312877e+02] [-8.27463954e-02 7.87442247e-04 9.96570326e-01 -1.50992941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19864 meters 0.0266581056382467 Centerline is valid? [True, True] Translation: X:210.37, Y:-149.34, Z:-15.10 [[ 7.45181144e-01 6.63978513e-01 6.19483448e-02 2.10371075e+02] [-6.61620331e-01 7.47751343e-01 -5.59148157e-02 -1.49336880e+02] [-8.34481942e-02 6.80381912e-04 9.96511885e-01 -1.51019893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22864 meters 0.026873383125245835 Centerline is valid? [True, True] Translation: X:210.39, Y:-149.36, Z:-15.10 [[ 7.44802269e-01 6.64379654e-01 6.22033403e-02 2.10393983e+02] [-6.61998426e-01 7.47394949e-01 -5.62038648e-02 -1.49360768e+02] [-8.38311666e-02 6.82252594e-04 9.96479739e-01 -1.51037971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25864 meters 0.02682827326674045 Centerline is valid? [True, True] Translation: X:210.42, Y:-149.38, Z:-15.11 [[ 7.45195415e-01 6.64022203e-01 6.13050454e-02 2.10418060e+02] [-6.61703622e-01 7.47712476e-01 -5.54469890e-02 -1.49382565e+02] [-8.26565791e-02 7.53071352e-04 9.96577806e-01 -1.51052496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864000000002 meters 0.026869814319276743 Centerline is valid? [True, True] Translation: X:210.44, Y:-149.40, Z:-15.11 [[ 7.45381953e-01 6.63850684e-01 6.08934660e-02 2.10442784e+02] [-6.61558292e-01 7.47864707e-01 -5.51271893e-02 -1.49404974e+02] [-8.21362964e-02 8.06234666e-04 9.96620780e-01 -1.51074736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31864000000002 meters 0.026728021455263967 Centerline is valid? [True, True] Translation: X:210.47, Y:-149.43, Z:-15.11 [[ 7.45400275e-01 6.63888650e-01 6.02518928e-02 2.10465917e+02] [-6.61640067e-01 7.47830973e-01 -5.46008970e-02 -1.49426697e+02] [-8.13071475e-02 8.34457225e-04 9.96688744e-01 -1.51095606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864000000002 meters 0.026865626825999675 Centerline is valid? [True, True] Translation: X:210.49, Y:-149.45, Z:-15.11 [[ 7.46299209e-01 6.62900936e-01 5.99986636e-02 2.10488412e+02] [-6.60663838e-01 7.48706480e-01 -5.44233341e-02 -1.49450467e+02] [-8.09986673e-02 9.77143796e-04 9.96713731e-01 -1.51122328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37864000000002 meters 0.02646734988788171 Centerline is valid? [True, True] Translation: X:210.51, Y:-149.47, Z:-15.11 [[ 7.45035300e-01 6.64415184e-01 5.89479874e-02 2.10510092e+02] [-6.62256376e-01 7.47363205e-01 -5.35231929e-02 -1.49473886e+02] [-7.96171788e-02 8.37987580e-04 9.96825162e-01 -1.51139704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40864 meters 0.026483642220508065 Centerline is valid? [True, True] Translation: X:210.53, Y:-149.50, Z:-15.12 [[ 7.43876909e-01 6.65754552e-01 5.84638378e-02 2.10533276e+02] [-6.63631408e-01 7.46170457e-01 -5.31319514e-02 -1.49496593e+02] [-7.89968271e-02 7.25192813e-04 9.96874604e-01 -1.51161485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43864 meters 0.026552094577248695 Centerline is valid? [True, True] Translation: X:210.56, Y:-149.52, Z:-15.12 [[ 7.42366725e-01 6.67385340e-01 5.90631330e-02 2.10556758e+02] [-6.65219362e-01 7.44712329e-01 -5.37284636e-02 -1.49520145e+02] [-7.98426323e-02 5.96283891e-04 9.96807303e-01 -1.51183275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46864 meters 0.026534126581539384 Centerline is valid? [True, True] Translation: X:210.58, Y:-149.54, Z:-15.12 [[ 7.41510835e-01 6.68223014e-01 6.03298080e-02 2.10579653e+02] [-6.65961137e-01 7.43960813e-01 -5.49369849e-02 -1.49542852e+02] [-8.15931707e-02 5.59062003e-04 9.96665562e-01 -1.51210445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49864 meters 0.02659791219519263 Centerline is valid? [True, True] Translation: X:210.60, Y:-149.57, Z:-15.12 [[ 7.39522052e-01 6.70260361e-01 6.21142750e-02 2.10601564e+02] [-6.67865129e-01 7.42125933e-01 -5.66150982e-02 -1.49566183e+02] [-8.40434705e-02 3.84155261e-04 9.96462015e-01 -1.51220660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52864 meters 0.026452455527225277 Centerline is valid? [True, True] Translation: X:210.63, Y:-149.59, Z:-15.12 [[ 7.38750024e-01 6.71220687e-01 6.09195501e-02 2.10625084e+02] [-6.68915938e-01 7.41257509e-01 -5.55767365e-02 -1.49588657e+02] [-8.24613293e-02 3.07257380e-04 9.96594218e-01 -1.51237839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55864 meters 0.02644782244893295 Centerline is valid? [True, True] Translation: X:210.65, Y:-149.61, Z:-15.13 [[ 7.38437937e-01 6.71628938e-01 6.01995212e-02 2.10648679e+02] [-6.69375677e-01 7.40887631e-01 -5.49701925e-02 -1.49611054e+02] [-8.15206527e-02 2.95980278e-04 9.96671609e-01 -1.51260150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58864 meters 0.0263501315277066 Centerline is valid? [True, True] Translation: X:210.67, Y:-149.63, Z:-15.13 [[ 7.38688175e-01 6.71384744e-01 5.98523688e-02 2.10672817e+02] [-6.69152329e-01 7.41108896e-01 -5.47061701e-02 -1.49634162e+02] [-8.10860109e-02 3.60448951e-04 9.96707043e-01 -1.51284212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61864 meters 0.026448631565647283 Centerline is valid? [True, True] Translation: X:210.70, Y:-149.66, Z:-15.13 [[ 7.39721027e-01 6.70207089e-01 6.02931196e-02 2.10695319e+02] [-6.67933110e-01 7.42173949e-01 -5.51651078e-02 -1.49656593e+02] [-8.17200290e-02 5.35019270e-04 9.96655181e-01 -1.51299689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64864 meters 0.026527601373026965 Centerline is valid? [True, True] Translation: X:210.72, Y:-149.68, Z:-15.13 [[ 7.40251266e-01 6.69667857e-01 5.97747811e-02 2.10720063e+02] [-6.67426849e-01 7.42660465e-01 -5.47433465e-02 -1.49678669e+02] [-8.10522263e-02 6.28537734e-04 9.96709658e-01 -1.51314303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67864 meters 0.026592113330055983 Centerline is valid? [True, True] Translation: X:210.74, Y:-149.70, Z:-15.13 [[ 7.42714297e-01 6.66955159e-01 5.95507229e-02 2.10743936e+02] [-6.64717746e-01 7.45097235e-01 -5.45933106e-02 -1.49699966e+02] [-8.07823691e-02 9.62810043e-04 9.96731299e-01 -1.51324553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70864 meters 0.02684327958812839 Centerline is valid? [True, True] Translation: X:210.77, Y:-149.72, Z:-15.13 [[ 7.43532231e-01 6.65893550e-01 6.12013263e-02 2.10767178e+02] [-6.63522217e-01 7.46045886e-01 -5.61587319e-02 -1.49722406e+02] [-8.30547350e-02 1.14738747e-03 9.96544326e-01 -1.51342999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73864 meters 0.02684327958812839 Centerline is valid? [True, True] Translation: X:210.79, Y:-149.74, Z:-15.14 [[ 7.43188128e-01 6.66280022e-01 6.11746656e-02 2.10791322e+02] [-6.63907607e-01 7.45700761e-01 -5.61877635e-02 -1.49744132e+02] [-8.30547789e-02 1.14375288e-03 9.96544327e-01 -1.51360877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76864 meters 0.02686829096538859 Centerline is valid? [True, True] Translation: X:210.81, Y:-149.77, Z:-15.14 [[ 7.43638274e-01 6.65817363e-01 6.07400778e-02 2.10814453e+02] [-6.63472271e-01 7.46113749e-01 -5.58463875e-02 -1.49767108e+02] [-8.25025016e-02 1.23015377e-03 9.96590098e-01 -1.51375873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79864 meters 0.027102836065470835 Centerline is valid? [True, True] Translation: X:210.84, Y:-149.79, Z:-15.14 [[ 7.43575874e-01 6.65760808e-01 6.21084965e-02 2.10836475e+02] [-6.63304284e-01 7.46164092e-01 -5.71539478e-02 -1.49789723e+02] [-8.43939884e-02 1.30146484e-03 9.96431614e-01 -1.51407730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82864 meters 0.026925339459201125 Centerline is valid? [True, True] Translation: X:210.86, Y:-149.81, Z:-15.14 [[ 7.42848884e-01 6.66625195e-01 6.15336120e-02 2.10859573e+02] [-6.64213982e-01 7.45392088e-01 -5.66605785e-02 -1.49811574e+02] [-8.36380367e-02 1.21876204e-03 9.96495456e-01 -1.51415863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85864 meters 0.026509140530835022 Centerline is valid? [True, True] Translation: X:210.88, Y:-149.83, Z:-15.14 [[ 7.40633759e-01 6.69246775e-01 5.97527277e-02 2.10882804e+02] [-6.66978729e-01 7.43039635e-01 -5.50588456e-02 -1.49834658e+02] [-8.12465998e-02 9.24641457e-04 9.96693601e-01 -1.51428950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88864 meters 0.02648972453809403 Centerline is valid? [True, True] Translation: X:210.91, Y:-149.86, Z:-15.15 [[ 7.39032125e-01 6.70934244e-01 6.06527780e-02 2.10906932e+02] [-6.68600258e-01 7.41516447e-01 -5.59200725e-02 -1.49856875e+02] [-8.24937240e-02 7.74267047e-04 9.96591283e-01 -1.51454135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91864 meters 0.026343125706155143 Centerline is valid? [True, True] Translation: X:210.93, Y:-149.88, Z:-15.15 [[ 7.37793178e-01 6.72310051e-01 6.05014214e-02 2.10931382e+02] [-6.69987504e-01 7.40269381e-01 -5.58389445e-02 -1.49879378e+02] [-8.23284334e-02 6.62395935e-04 9.96605032e-01 -1.51458789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94864 meters 0.026620411318959234 Centerline is valid? [True, True] Translation: X:210.96, Y:-149.90, Z:-15.15 [[ 7.36853033e-01 6.73222712e-01 6.17963357e-02 2.10955267e+02] [-6.70797794e-01 7.39439518e-01 -5.70922003e-02 -1.49901048e+02] [-8.41304186e-02 6.15715303e-04 9.96454562e-01 -1.51480442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97864 meters 0.026522801120905725 Centerline is valid? [True, True] Translation: X:210.98, Y:-149.92, Z:-15.15 [[ 7.35946045e-01 6.74176199e-01 6.22082926e-02 2.10979881e+02] [-6.71717416e-01 7.38570341e-01 -5.75288115e-02 -1.49922721e+02] [-8.47297553e-02 5.51707705e-04 9.96403816e-01 -1.51503276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00864 meters 0.02661124709704055 Centerline is valid? [True, True] Translation: X:211.00, Y:-149.94, Z:-15.15 [[ 7.35451860e-01 6.74836350e-01 6.08807208e-02 2.11003670e+02] [-6.72479135e-01 7.37967237e-01 -5.63575226e-02 -1.49944133e+02] [-8.29600822e-02 5.07230354e-04 9.96552742e-01 -1.51540074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03864000000002 meters 0.02646605712747406 Centerline is valid? [True, True] Translation: X:211.03, Y:-149.97, Z:-15.15 [[ 7.35844159e-01 6.74567893e-01 5.90891825e-02 2.11027626e+02] [-6.72342730e-01 7.38212602e-01 -5.47485860e-02 -1.49965665e+02] [-8.05520175e-02 5.58244949e-04 9.96750250e-01 -1.51544157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864000000002 meters 0.026500314338815084 Centerline is valid? [True, True] Translation: X:211.05, Y:-149.99, Z:-15.16 [[ 7.35766655e-01 6.74660892e-01 5.89924604e-02 2.11052246e+02] [-6.72439063e-01 7.38127589e-01 -5.47116845e-02 -1.49987330e+02] [-8.04557965e-02 5.86198301e-04 9.96758005e-01 -1.51561789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09864000000002 meters 0.0265127894546579 Centerline is valid? [True, True] Translation: X:211.08, Y:-150.01, Z:-15.16 [[ 7.36238643e-01 6.73979773e-01 6.08598869e-02 2.11076988e+02] [-6.71607606e-01 7.38749443e-01 -5.65020709e-02 -1.50008163e+02] [-8.30414605e-02 7.25045076e-04 9.96545829e-01 -1.51574344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864000000002 meters 0.02653651376939743 Centerline is valid? [True, True] Translation: X:211.10, Y:-150.03, Z:-15.16 [[ 7.36129030e-01 6.74148236e-01 6.03175577e-02 2.11100786e+02] [-6.71814569e-01 7.38595703e-01 -5.60497320e-02 -1.50030358e+02] [-8.23361168e-02 7.37620796e-04 9.96604345e-01 -1.51595853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15864 meters 0.026537282136221797 Centerline is valid? [True, True] Translation: X:211.12, Y:-150.05, Z:-15.16 [[ 7.37497497e-01 6.72711013e-01 5.96433908e-02 2.11123490e+02] [-6.70420298e-01 7.39904746e-01 -5.54760406e-02 -1.50053883e+02] [-8.14497714e-02 9.27301310e-04 9.96677016e-01 -1.51618564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18864 meters 0.026648905844444376 Centerline is valid? [True, True] Translation: X:211.15, Y:-150.08, Z:-15.16 [[ 7.37701484e-01 6.72473811e-01 5.97954289e-02 2.11147775e+02] [-6.70165812e-01 7.40120243e-01 -5.56759331e-02 -1.50076042e+02] [-8.16964143e-02 9.99366324e-04 9.96656760e-01 -1.51633141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21864 meters 0.02667134246679341 Centerline is valid? [True, True] Translation: X:211.17, Y:-150.10, Z:-15.16 [[ 7.36187636e-01 6.74094995e-01 6.01971972e-02 2.11172534e+02] [-6.71756346e-01 7.38644152e-01 -5.61090816e-02 -1.50098374e+02] [-8.22871587e-02 8.68962950e-04 9.96608282e-01 -1.51649431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24864 meters 0.026668451098881208 Centerline is valid? [True, True] Translation: X:211.20, Y:-150.12, Z:-15.17 [[ 7.34468479e-01 6.75894548e-01 6.10132309e-02 2.11195899e+02] [-6.73493097e-01 7.36997992e-01 -5.69298523e-02 -1.50121815e+02] [-8.34452054e-02 7.21192215e-04 9.96512106e-01 -1.51663702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27864 meters 0.026646502878373397 Centerline is valid? [True, True] Translation: X:211.22, Y:-150.14, Z:-15.17 [[ 7.33212768e-01 6.77166052e-01 6.20094678e-02 2.11218941e+02] [-6.74684930e-01 7.35829968e-01 -5.79180828e-02 -1.50144308e+02] [-8.48485842e-02 6.29424461e-04 9.96393658e-01 -1.51682738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30864 meters 0.026665701024864943 Centerline is valid? [True, True] Translation: X:211.24, Y:-150.17, Z:-15.17 [[ 7.31117148e-01 6.79280439e-01 6.36066165e-02 2.11242696e+02] [-6.76672693e-01 7.33878665e-01 -5.94657121e-02 -1.50166406e+02] [-8.70734338e-02 4.35541321e-04 9.96201801e-01 -1.51716766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33864 meters 0.026589793671633607 Centerline is valid? [True, True] Translation: X:211.27, Y:-150.19, Z:-15.17 [[ 7.30562364e-01 6.79926558e-01 6.30754191e-02 2.11266571e+02] [-6.77359971e-01 7.33280110e-01 -5.90233010e-02 -1.50188227e+02] [-8.63834602e-02 3.95438302e-04 9.96261884e-01 -1.51734218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36864 meters 0.026499496187257807 Centerline is valid? [True, True] Translation: X:211.29, Y:-150.21, Z:-15.18 [[ 7.30344422e-01 6.80328415e-01 6.12394692e-02 2.11289570e+02] [-6.77906376e-01 7.32907297e-01 -5.73571121e-02 -1.50210510e+02] [-8.39045271e-02 3.75820256e-04 9.96473727e-01 -1.51755496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39864 meters 0.026451713285780568 Centerline is valid? [True, True] Translation: X:211.31, Y:-150.23, Z:-15.18 [[ 7.29783672e-01 6.80925314e-01 6.12903611e-02 2.11313580e+02] [-6.78496640e-01 7.32352780e-01 -5.74605502e-02 -1.50233205e+02] [-8.40125095e-02 3.48467283e-04 9.96464639e-01 -1.51784076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42864 meters 0.026558310968135525 Centerline is valid? [True, True] Translation: X:211.34, Y:-150.26, Z:-15.18 [[ 7.29455207e-01 6.81153485e-01 6.26500728e-02 2.11337044e+02] [-6.78611268e-01 7.32140554e-01 -5.87958891e-02 -1.50255199e+02] [-8.59176838e-02 3.73922121e-04 9.96302169e-01 -1.51799803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45864 meters 0.02650490061895131 Centerline is valid? [True, True] Translation: X:211.36, Y:-150.28, Z:-15.18 [[ 7.28850603e-01 6.81794042e-01 6.27190707e-02 2.11361555e+02] [-6.79243613e-01 7.31544098e-01 -5.89181399e-02 -1.50277861e+02] [-8.60518028e-02 3.40993688e-04 9.96290606e-01 -1.51811876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48864 meters 0.026762850632777363 Centerline is valid? [True, True] Translation: X:211.39, Y:-150.30, Z:-15.18 [[ 7.28357810e-01 6.82312743e-01 6.28030289e-02 2.11385696e+02] [-6.79751966e-01 7.31060335e-01 -5.90597255e-02 -1.50300246e+02] [-8.62100067e-02 3.26130022e-04 9.96276934e-01 -1.51837711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51864 meters 0.02656717206696002 Centerline is valid? [True, True] Translation: X:211.41, Y:-150.32, Z:-15.19 [[ 7.28722964e-01 6.82032503e-01 6.15995691e-02 2.11408119e+02] [-6.79563181e-01 7.31321755e-01 -5.79859876e-02 -1.50322926e+02] [-8.45974332e-02 3.94921576e-04 9.96415134e-01 -1.51872215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54864 meters 0.026628748182839425 Centerline is valid? [True, True] Translation: X:211.43, Y:-150.35, Z:-15.19 [[ 7.28285571e-01 6.82483524e-01 6.17767417e-02 2.11431960e+02] [-6.79996767e-01 7.30900876e-01 -5.82091605e-02 -1.50345347e+02] [-8.48794676e-02 3.84907099e-04 9.96391152e-01 -1.51892006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57864 meters 0.02654609977407159 Centerline is valid? [True, True] Translation: X:211.46, Y:-150.37, Z:-15.19 [[ 7.27221852e-01 6.83523488e-01 6.28014251e-02 2.11455346e+02] [-6.80952163e-01 7.29928451e-01 -5.92334995e-02 -1.50366595e+02] [-8.63280352e-02 3.11128935e-04 9.96266718e-01 -1.51910394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60864 meters 0.026632063045019867 Centerline is valid? [True, True] Translation: X:211.48, Y:-150.39, Z:-15.19 [[ 7.24484607e-01 6.86290275e-01 6.42472786e-02 2.11480474e+02] [-6.83604943e-01 7.27327752e-01 -6.06516587e-02 -1.50386105e+02] [-8.83534722e-02 2.14359554e-05 9.96089185e-01 -1.51935608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63864 meters 0.02676762609378156 Centerline is valid? [True, True] Translation: X:211.50, Y:-150.41, Z:-15.20 [[ 7.22906985e-01 6.88046146e-01 6.32296681e-02 2.11504701e+02] [-6.85447246e-01 7.25666919e-01 -5.97460832e-02 -1.50407661e+02] [-8.69917408e-02 -1.49740946e-04 9.96209022e-01 -1.51953277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66864 meters 0.026698994748733385 Centerline is valid? [True, True] Translation: X:211.53, Y:-150.43, Z:-15.20 [[ 7.20013013e-01 6.90997272e-01 6.40627148e-02 2.11529896e+02] [-6.88335898e-01 7.22857212e-01 -6.05899563e-02 -1.50427220e+02] [-8.81756899e-02 -4.71109367e-04 9.96104827e-01 -1.51975042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69864 meters 0.026831397437071004 Centerline is valid? [True, True] Translation: X:211.56, Y:-150.45, Z:-15.20 [[ 7.18278851e-01 6.92858651e-01 6.34222501e-02 2.11556475e+02] [-6.90252440e-01 7.21073136e-01 -6.00425024e-02 -1.50447347e+02] [-8.73330480e-02 -6.50103243e-04 9.96178958e-01 -1.51981832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72864 meters 0.02752985938716096 Centerline is valid? [True, True] Translation: X:211.58, Y:-150.46, Z:-15.20 [[ 7.15299119e-01 6.95711733e-01 6.58206227e-02 2.11584590e+02] [-6.92911362e-01 7.18320396e-01 -6.23670852e-02 -1.50464220e+02] [-9.06698087e-02 -9.96736175e-04 9.95880511e-01 -1.52006533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75864 meters 0.027287572108480748 Centerline is valid? [True, True] Translation: X:211.61, Y:-150.48, Z:-15.20 [[ 7.14401105e-01 6.96727683e-01 6.48197349e-02 2.11610532e+02] [-6.94012529e-01 7.17334909e-01 -6.14592423e-02 -1.50483894e+02] [-8.93178141e-02 -1.07915755e-03 9.96002592e-01 -1.52016964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864000000002 meters 0.02735471169500243 Centerline is valid? [True, True] Translation: X:211.64, Y:-150.50, Z:-15.20 [[ 7.13518817e-01 6.97691687e-01 6.41654733e-02 2.11636052e+02] [-6.95030075e-01 7.16397232e-01 -6.08949996e-02 -1.50503663e+02] [-8.84539025e-02 -1.14720569e-03 9.96079611e-01 -1.52041145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81864000000002 meters 0.02725910820704512 Centerline is valid? [True, True] Translation: X:211.67, Y:-150.52, Z:-15.21 [[ 7.14030988e-01 6.97210740e-01 6.36940470e-02 2.11665469e+02] [-6.94581309e-01 7.16865471e-01 -6.05037355e-02 -1.50518700e+02] [-8.78439172e-02 -1.03915245e-03 9.96133709e-01 -1.52059466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864000000002 meters 0.027187924494579612 Centerline is valid? [True, True] Translation: X:211.69, Y:-150.54, Z:-15.21 [[ 7.15193265e-01 6.96046094e-01 6.33910804e-02 2.11692262e+02] [-6.93432176e-01 7.17996595e-01 -6.02719512e-02 -1.50536596e+02] [-8.74666361e-02 -8.51321270e-04 9.96167086e-01 -1.52086333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87864000000002 meters 0.027172790709312507 Centerline is valid? [True, True] Translation: X:211.72, Y:-150.55, Z:-15.21 [[ 7.18917282e-01 6.92038180e-01 6.51237244e-02 2.11721567e+02] [-6.89257336e-01 7.21860824e-01 -6.19780312e-02 -1.50552011e+02] [-8.99014292e-02 -3.29927022e-04 9.95950613e-01 -1.52113855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90864 meters 0.02714310863240882 Centerline is valid? [True, True] Translation: X:211.75, Y:-150.57, Z:-15.21 [[ 7.21197915e-01 6.89623008e-01 6.55261326e-02 2.11747883e+02] [-6.86792056e-01 7.24168562e-01 -6.24224747e-02 -1.50572379e+02] [-9.04999400e-02 1.61312449e-05 9.95896461e-01 -1.52132809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93864 meters 0.027272745627381547 Centerline is valid? [True, True] Translation: X:211.77, Y:-150.59, Z:-15.21 [[ 7.23130537e-01 6.87571857e-01 6.57812108e-02 2.11773939e+02] [-6.84704235e-01 7.26116270e-01 -6.27317488e-02 -1.50593484e+02] [-9.08973924e-02 3.22569520e-04 9.95860211e-01 -1.52149510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96864 meters 0.027538543472615896 Centerline is valid? [True, True] Translation: X:211.80, Y:-150.61, Z:-15.22 [[ 7.26210980e-01 6.84239615e-01 6.65865044e-02 2.11799245e+02] [-6.81281430e-01 7.29256826e-01 -6.35617491e-02 -1.50612852e+02] [-9.20501295e-02 7.95091161e-04 9.95754057e-01 -1.52173633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99864 meters 0.027660472977949057 Centerline is valid? [True, True] Translation: X:211.82, Y:-150.63, Z:-15.22 [[ 7.26677495e-01 6.83741991e-01 6.66086215e-02 2.11824059e+02] [-6.80774331e-01 7.29723288e-01 -6.36414417e-02 -1.50634260e+02] [-9.21201884e-02 9.01363669e-04 9.95747487e-01 -1.52190459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02864 meters 0.027495954040636882 Centerline is valid? [True, True] Translation: X:211.85, Y:-150.65, Z:-15.22 [[ 7.26599164e-01 6.83910569e-01 6.57266251e-02 2.11848926e+02] [-6.81016303e-01 7.29565282e-01 -6.28593136e-02 -1.50654970e+02] [-9.09420127e-02 9.12621408e-04 9.95855771e-01 -1.52207952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05864 meters 0.027370227249936225 Centerline is valid? [True, True] Translation: X:211.87, Y:-150.68, Z:-15.22 [[ 7.25631371e-01 6.85025360e-01 6.48025490e-02 2.11872549e+02] [-6.82211570e-01 7.28518780e-01 -6.20303215e-02 -1.50676864e+02] [-8.97022173e-02 8.02098484e-04 9.95968307e-01 -1.52214863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08864 meters 0.027254994690287897 Centerline is valid? [True, True] Translation: X:211.90, Y:-150.70, Z:-15.22 [[ 7.24773390e-01 6.86036065e-01 6.37028291e-02 2.11895496e+02] [-6.83316241e-01 7.27567193e-01 -6.10319124e-02 -1.50698884e+02] [-8.82181816e-02 7.05128386e-04 9.96100926e-01 -1.52236920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11864 meters 0.027221704402612262 Centerline is valid? [True, True] Translation: X:211.92, Y:-150.72, Z:-15.23 [[ 7.23599694e-01 6.87229640e-01 6.41786848e-02 2.11918348e+02] [-6.84468355e-01 7.26439986e-01 -6.15468752e-02 -1.50722852e+02] [-8.89187997e-02 6.07021267e-04 9.96038693e-01 -1.52259900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14864 meters 0.02743034778671625 Centerline is valid? [True, True] Translation: X:211.94, Y:-150.75, Z:-15.23 [[ 7.23354632e-01 6.87480694e-01 6.42524047e-02 2.11941822e+02] [-6.84708301e-01 7.26202386e-01 -6.16817396e-02 -1.50746139e+02] [-8.90652548e-02 6.23617164e-04 9.96025598e-01 -1.52285700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17864 meters 0.027793729922448742 Centerline is valid? [True, True] Translation: X:211.96, Y:-150.77, Z:-15.23 [[ 7.25066050e-01 6.85539023e-01 6.56922387e-02 2.11964287e+02] [-6.82626975e-01 7.28035292e-01 -6.31270664e-02 -1.50768892e+02] [-9.11023356e-02 9.27998555e-04 9.95841103e-01 -1.52303328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20864 meters 0.02807309243827993 Centerline is valid? [True, True] Translation: X:211.99, Y:-150.79, Z:-15.23 [[ 7.26266928e-01 6.84205599e-01 6.63253117e-02 2.11986892e+02] [-6.81226185e-01 7.29288270e-01 -6.37926729e-02 -1.50791811e+02] [-9.20175758e-02 1.14796952e-03 9.95756721e-01 -1.52311210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23864 meters 0.02830873043916912 Centerline is valid? [True, True] Translation: X:212.01, Y:-150.81, Z:-15.23 [[ 7.27404839e-01 6.82899249e-01 6.73113364e-02 2.12009022e+02] [-6.79819509e-01 7.30511278e-01 -6.47974426e-02 -1.50814351e+02] [-9.34218152e-02 1.37441367e-03 9.95625670e-01 -1.52338001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26864 meters 0.02845628344077513 Centerline is valid? [True, True] Translation: X:212.03, Y:-150.84, Z:-15.24 [[ 7.27955335e-01 6.82353209e-01 6.68964003e-02 2.12030584e+02] [-6.79303686e-01 7.31021144e-01 -6.44561066e-02 -1.50839766e+02] [-9.28845142e-02 1.47819533e-03 9.95675792e-01 -1.52362548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29864 meters 0.02824353923404286 Centerline is valid? [True, True] Translation: X:212.05, Y:-150.86, Z:-15.24 [[ 7.27107516e-01 6.83384481e-01 6.55767626e-02 2.12052487e+02] [-6.80453006e-01 7.30057389e-01 -6.32448842e-02 -1.50863371e+02] [-9.10953725e-02 1.36392536e-03 9.95841239e-01 -1.52375196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32864 meters 0.027737152345088823 Centerline is valid? [True, True] Translation: X:212.07, Y:-150.89, Z:-15.24 [[ 7.24500248e-01 6.86315453e-01 6.38003878e-02 2.12073356e+02] [-6.83547465e-01 7.27303294e-01 -6.15855599e-02 -1.50887922e+02] [-8.86693537e-02 1.00816005e-03 9.96060605e-01 -1.52392625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35864 meters 0.027603543348410687 Centerline is valid? [True, True] Translation: X:212.10, Y:-150.91, Z:-15.24 [[ 7.22322314e-01 6.88651974e-01 6.33161448e-02 2.12095623e+02] [-6.85930041e-01 7.25091641e-01 -6.11726327e-02 -1.50911301e+02] [-8.80366616e-02 7.55911734e-04 9.96116948e-01 -1.52415493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38864 meters 0.02773024150659825 Centerline is valid? [True, True] Translation: X:212.12, Y:-150.94, Z:-15.24 [[ 7.17009692e-01 6.94171054e-01 6.34322433e-02 2.12115253e+02] [-6.91455609e-01 7.19810067e-01 -6.13401053e-02 -1.50936793e+02] [-8.82396929e-02 1.20869630e-04 9.96099263e-01 -1.52424456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41864 meters 0.02774827131820955 Centerline is valid? [True, True] Translation: X:212.14, Y:-150.96, Z:-15.24 [[ 7.13449490e-01 6.97784199e-01 6.39299337e-02 2.12136978e+02] [-6.95035247e-01 7.16307985e-01 -6.18779129e-02 -1.50960387e+02] [-8.89709519e-02 -2.86791893e-04 9.96034180e-01 -1.52429168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44864 meters 0.027903821979786598 Centerline is valid? [True, True] Translation: X:212.16, Y:-150.98, Z:-15.24 [[ 7.09617999e-01 7.01711003e-01 6.35921648e-02 2.12160488e+02] [-6.99001460e-01 7.12461321e-01 -6.16102706e-02 -1.50983750e+02] [-8.85395625e-02 -7.31259085e-04 9.96072393e-01 -1.52446768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47864 meters 0.028469758289028563 Centerline is valid? [True, True] Translation: X:212.18, Y:-151.01, Z:-15.25 [[ 7.03050689e-01 7.08204823e-01 6.45419110e-02 2.12184311e+02] [-7.05436368e-01 7.06005363e-01 -6.25776122e-02 -1.51005041e+02] [-8.98847021e-02 -1.53497790e-03 9.95950995e-01 -1.52479282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50864 meters 0.028801392792385954 Centerline is valid? [True, True] Translation: X:212.21, Y:-151.03, Z:-15.25 [[ 6.99711352e-01 7.11439200e-01 6.52555605e-02 2.12207931e+02] [-7.08620008e-01 7.02744954e-01 -6.33025543e-02 -1.51026711e+02] [-9.08939345e-02 -1.94787995e-03 9.95858674e-01 -1.52515162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53864000000002 meters 0.029343470466154598 Centerline is valid? [True, True] Translation: X:212.23, Y:-151.05, Z:-15.25 [[ 6.96407326e-01 7.14771339e-01 6.41776345e-02 2.12232439e+02] [-7.12053693e-01 6.99354438e-01 -6.23129869e-02 -1.51047311e+02] [-8.94224506e-02 -2.30270104e-03 9.95991126e-01 -1.52535228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864000000002 meters 0.029439630635858763 Centerline is valid? [True, True] Translation: X:212.26, Y:-151.07, Z:-15.26 [[ 6.95392881e-01 7.15693287e-01 6.48988459e-02 2.12257944e+02] [-7.12912875e-01 6.98410567e-01 -6.30706989e-02 -1.51067567e+02] [-9.04653155e-02 -2.40830777e-03 9.95896695e-01 -1.52558908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59864000000002 meters 0.029397301870499236 Centerline is valid? [True, True] Translation: X:212.28, Y:-151.09, Z:-15.26 [[ 6.94670727e-01 7.16522118e-01 6.34715306e-02 2.12283763e+02] [-7.13862675e-01 6.97560135e-01 -6.17247051e-02 -1.51087857e+02] [-8.85023259e-02 -2.43161087e-03 9.96073002e-01 -1.52562882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62864000000002 meters 0.029366302740226915 Centerline is valid? [True, True] Translation: X:212.31, Y:-151.11, Z:-15.26 [[ 6.93858280e-01 7.17407484e-01 6.23473224e-02 2.12310659e+02] [-7.14842332e-01 6.96649387e-01 -6.06635931e-02 -1.51106858e+02] [-8.69547397e-02 -2.47656900e-03 9.96209185e-01 -1.52583733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65864 meters 0.029366302740226915 Centerline is valid? [True, True] Translation: X:212.33, Y:-151.13, Z:-15.26 [[ 6.93489732e-01 7.17766250e-01 6.23185560e-02 2.12334171e+02] [-7.15199891e-01 6.96279728e-01 -6.06931351e-02 -1.51129311e+02] [-8.69546312e-02 -2.48015853e-03 9.96209185e-01 -1.52601620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68864 meters 0.02930571147265073 Centerline is valid? [True, True] Translation: X:212.36, Y:-151.15, Z:-15.26 [[ 6.93865648e-01 7.17498758e-01 6.12045313e-02 2.12359368e+02] [-7.15017479e-01 6.96555779e-01 -5.96661724e-02 -1.51149516e+02] [-8.54427746e-02 -2.36200231e-03 9.96340280e-01 -1.52624313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71864 meters 0.029016521053502654 Centerline is valid? [True, True] Translation: X:212.39, Y:-151.17, Z:-15.26 [[ 6.95005109e-01 7.16424802e-01 6.08555809e-02 2.12387823e+02] [-7.13963124e-01 6.97660915e-01 -5.93793391e-02 -1.51166607e+02] [-8.49973916e-02 -2.17969663e-03 9.96378790e-01 -1.52632163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74864 meters 0.02901965770378842 Centerline is valid? [True, True] Translation: X:212.41, Y:-151.19, Z:-15.27 [[ 6.95836089e-01 7.15487531e-01 6.23676951e-02 2.12413947e+02] [-7.12892836e-01 6.98622420e-01 -6.09140249e-02 -1.51187187e+02] [-8.71546954e-02 -2.07530616e-03 9.96192628e-01 -1.52661830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77864 meters 0.028738139593699967 Centerline is valid? [True, True] Translation: X:212.44, Y:-151.21, Z:-15.27 [[ 6.96953338e-01 7.14373342e-01 6.26639633e-02 2.12439419e+02] [-7.11744011e-01 6.99762181e-01 -6.12646116e-02 -1.51207688e+02] [-8.76156769e-02 -1.90212504e-03 9.96152536e-01 -1.52677249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80864 meters 0.028020834333900048 Centerline is valid? [True, True] Translation: X:212.47, Y:-151.23, Z:-15.27 [[ 7.01333836e-01 7.10090596e-01 6.24675617e-02 2.12466575e+02] [-7.07456650e-01 7.04109069e-01 -6.11188002e-02 -1.51226382e+02] [-8.73838620e-02 -1.32840933e-03 9.96173828e-01 -1.52702900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83864 meters 0.027692442629496827 Centerline is valid? [True, True] Translation: X:212.49, Y:-151.25, Z:-15.27 [[ 7.03574442e-01 7.07886329e-01 6.22892451e-02 2.12491589e+02] [-7.05256430e-01 7.06325619e-01 -6.09712024e-02 -1.51247458e+02] [-8.71571702e-02 -1.03211095e-03 9.96194039e-01 -1.52730007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86864 meters 0.027695265857590773 Centerline is valid? [True, True] Translation: X:212.52, Y:-151.27, Z:-15.28 [[ 7.08688349e-01 7.02642165e-01 6.36774054e-02 2.12518100e+02] [-6.99868772e-01 7.11543290e-01 -6.23686486e-02 -1.51268019e+02] [-8.91320729e-02 -3.65892893e-04 9.96019749e-01 -1.52774144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89864 meters 0.02761905542526977 Centerline is valid? [True, True] Translation: X:212.54, Y:-151.29, Z:-15.28 [[ 7.11266673e-01 7.00057643e-01 6.33957159e-02 2.12541520e+02] [-6.97292908e-01 7.14086337e-01 -6.21554787e-02 -1.51289958e+02] [-8.87824324e-02 3.73746401e-06 9.96051043e-01 -1.52788776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92864 meters 0.027728243536175184 Centerline is valid? [True, True] Translation: X:212.57, Y:-151.31, Z:-15.28 [[ 7.13864237e-01 6.97429152e-01 6.31698356e-02 2.12565370e+02] [-6.94668502e-01 7.16653639e-01 -6.19938236e-02 -1.51312653e+02] [-8.85071924e-02 3.73078513e-04 9.96075468e-01 -1.52806163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95864 meters 0.027728692122597834 Centerline is valid? [True, True] Translation: X:212.59, Y:-151.34, Z:-15.28 [[ 7.17401218e-01 6.93890933e-01 6.20553451e-02 2.12588160e+02] [-6.91208257e-01 7.20079624e-01 -6.09629457e-02 -1.51337179e+02] [-8.69864248e-02 8.41724521e-04 9.96209141e-01 -1.52822889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98864 meters 0.0278969528455049 Centerline is valid? [True, True] Translation: X:212.61, Y:-151.36, Z:-15.28 [[ 7.18404997e-01 6.92798158e-01 6.26496050e-02 2.12610424e+02] [-6.90054232e-01 7.21130818e-01 -6.16076247e-02 -1.51359750e+02] [-8.78602098e-02 1.02760038e-03 9.96132284e-01 -1.52848742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01864 meters 0.02787665385863034 Centerline is valid? [True, True] Translation: X:212.63, Y:-151.38, Z:-15.29 [[ 7.18703532e-01 6.92526665e-01 6.22258110e-02 2.12633467e+02] [-6.89813757e-01 7.21391447e-01 -6.12483562e-02 -1.51383276e+02] [-8.73052877e-02 1.09518948e-03 9.96181001e-01 -1.52878201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04864 meters 0.027649700013630422 Centerline is valid? [True, True] Translation: X:212.65, Y:-151.41, Z:-15.29 [[ 7.19706367e-01 6.91483251e-01 6.22387151e-02 2.12653320e+02] [-6.88760087e-01 7.22391384e-01 -6.13207165e-02 -1.51408513e+02] [-8.73629599e-02 1.26536728e-03 9.96175744e-01 -1.52896691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07864 meters 0.027850331168775538 Centerline is valid? [True, True] Translation: X:212.67, Y:-151.43, Z:-15.29 [[ 7.20030905e-01 6.91150399e-01 6.21821708e-02 2.12674795e+02] [-6.88425929e-01 7.22709702e-01 -6.13223108e-02 -1.51433086e+02] [-8.73225977e-02 1.34614020e-03 9.96179177e-01 -1.52923798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10864 meters 0.02786533481893835 Centerline is valid? [True, True] Translation: X:212.70, Y:-151.46, Z:-15.29 [[ 7.20524531e-01 6.90706678e-01 6.13896202e-02 2.12696394e+02] [-6.88044447e-01 7.23133633e-01 -6.06018853e-02 -1.51458174e+02] [-8.62510260e-02 1.42635770e-03 9.96272416e-01 -1.52941266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13864 meters 0.028003838651011442 Centerline is valid? [True, True] Translation: X:212.72, Y:-151.48, Z:-15.30 [[ 7.20376788e-01 6.90815569e-01 6.18961520e-02 2.12715313e+02] [-6.88104359e-01 7.23029525e-01 -6.11612386e-02 -1.51484771e+02] [-8.70038813e-02 1.46812467e-03 9.96206891e-01 -1.52968337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16864 meters 0.027893078254967438 Centerline is valid? [True, True] Translation: X:212.74, Y:-151.51, Z:-15.30 [[ 7.20331933e-01 6.90951168e-01 6.08965587e-02 2.12736497e+02] [-6.88322939e-01 7.22899947e-01 -6.02262246e-02 -1.51509621e+02] [-8.56354992e-02 1.46637452e-03 9.96325454e-01 -1.52985088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19864 meters 0.02813583129588296 Centerline is valid? [True, True] Translation: X:212.75, Y:-151.54, Z:-15.30 [[ 7.19777201e-01 6.91466868e-01 6.15983003e-02 2.12754313e+02] [-6.88774729e-01 7.22406697e-01 -6.09748875e-02 -1.51536993e+02] [-8.66611391e-02 1.46098127e-03 9.96236775e-01 -1.53000216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22864 meters 0.028180566782263296 Centerline is valid? [True, True] Translation: X:212.78, Y:-151.56, Z:-15.30 [[ 7.18934829e-01 6.92336789e-01 6.16642701e-02 2.12775297e+02] [-6.89637059e-01 7.21573151e-01 -6.10975773e-02 -1.51562563e+02] [-8.67953822e-02 1.39921044e-03 9.96225177e-01 -1.53014853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25864 meters 0.02811041889373114 Centerline is valid? [True, True] Translation: X:212.80, Y:-151.59, Z:-15.30 [[ 7.17743985e-01 6.93573495e-01 6.16391031e-02 2.12795853e+02] [-6.90875333e-01 7.20384715e-01 -6.11321313e-02 -1.51587502e+02] [-8.68034937e-02 1.29228371e-03 9.96224615e-01 -1.53033558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864000000002 meters 0.02781520251069913 Centerline is valid? [True, True] Translation: X:212.81, Y:-151.62, Z:-15.31 [[ 7.14872388e-01 6.96578598e-01 6.11205837e-02 2.12813462e+02] [-6.93933044e-01 7.17479863e-01 -6.06595079e-02 -1.51616106e+02] [-8.61069030e-02 9.50214565e-04 9.96285450e-01 -1.53057922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31864000000002 meters 0.027561405445581895 Centerline is valid? [True, True] Translation: X:212.83, Y:-151.64, Z:-15.31 [[ 7.12430525e-01 6.99202533e-01 5.96537125e-02 2.12832925e+02] [-6.96689208e-01 7.14923358e-01 -5.92346167e-02 -1.51641600e+02] [-8.40648265e-02 6.40451291e-04 9.96460082e-01 -1.53072062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864000000002 meters 0.027629565546149926 Centerline is valid? [True, True] Translation: X:212.85, Y:-151.67, Z:-15.31 [[ 7.07943752e-01 7.03611173e-01 6.12124293e-02 2.12849561e+02] [-7.00975976e-01 7.10585175e-01 -6.08390461e-02 -1.51669784e+02] [-8.63036774e-02 1.62180194e-04 9.96268864e-01 -1.53091191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37864000000002 meters 0.02778650998912114 Centerline is valid? [True, True] Translation: X:212.87, Y:-151.70, Z:-15.31 [[ 7.05778678e-01 7.05778041e-01 6.12683756e-02 2.12870636e+02] [-7.03140950e-01 7.08433027e-01 -6.09545000e-02 -1.51695968e+02] [-8.64248884e-02 -5.99173894e-05 9.96258368e-01 -1.53114800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40864 meters 0.027955572861914784 Centerline is valid? [True, True] Translation: X:212.89, Y:-151.72, Z:-15.31 [[ 7.00810977e-01 7.10692190e-01 6.14864685e-02 2.12888533e+02] [-7.08049520e-01 7.03502825e-01 -6.12344104e-02 -1.51723834e+02] [-8.67747215e-02 -6.21717549e-04 9.96227766e-01 -1.53126995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43864 meters 0.02821033172678784 Centerline is valid? [True, True] Translation: X:212.91, Y:-151.75, Z:-15.31 [[ 6.98282144e-01 7.13185032e-01 6.13934672e-02 2.12910046e+02] [-7.10554719e-01 7.00975266e-01 -6.12018608e-02 -1.51748408e+02] [-8.66835530e-02 -8.87251231e-04 9.96235502e-01 -1.53141869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46864 meters 0.02853863306654062 Centerline is valid? [True, True] Translation: X:212.93, Y:-151.77, Z:-15.32 [[ 6.95355679e-01 7.15969134e-01 6.21987126e-02 2.12931916e+02] [-7.13274677e-01 6.98130896e-01 -6.20684088e-02 -1.51772459e+02] [-8.78619078e-02 -1.20514617e-03 9.96131935e-01 -1.53157447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49864 meters 0.029098645101765987 Centerline is valid? [True, True] Translation: X:212.95, Y:-151.80, Z:-15.32 [[ 6.90253704e-01 7.20915386e-01 6.18937018e-02 2.12951745e+02] [-7.18262890e-01 6.93020779e-01 -6.18111753e-02 -1.51797362e+02] [-8.74542487e-02 -1.79055641e-03 9.96166928e-01 -1.53178465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52864 meters 0.02938715092061269 Centerline is valid? [True, True] Translation: X:212.97, Y:-151.82, Z:-15.32 [[ 6.87700834e-01 7.23331413e-01 6.21227082e-02 2.12973813e+02] [-7.20665506e-01 6.90497901e-01 -6.20795981e-02 -1.51821194e+02] [-8.77997230e-02 -2.07750163e-03 9.96135981e-01 -1.53201330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55864 meters 0.030036112784863882 Centerline is valid? [True, True] Translation: X:213.00, Y:-151.84, Z:-15.32 [[ 6.83716514e-01 7.27079591e-01 6.23457802e-02 2.12996046e+02] [-7.24405057e-01 6.86548522e-01 -6.23573680e-02 -1.51843574e+02] [-8.81421729e-02 -2.52883614e-03 9.96104694e-01 -1.53224584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58864 meters 0.029929363715398526 Centerline is valid? [True, True] Translation: X:213.14, Y:-151.91, Z:-13.64 [[ 7.77702262e-01 -6.28450711e-01 -1.51292959e-02 2.13139834e+02] [-6.28197818e-01 -7.77834181e-01 1.84793806e-02 -1.51909292e+02] [-2.33814634e-02 -4.86726544e-03 -9.99714768e-01 -1.36365392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61864 meters 0.030445839703337217 Centerline is valid? [True, True] Translation: X:213.06, Y:-151.91, Z:-15.33 [[ 7.33320594e-01 6.76679967e-01 6.59175871e-02 2.13056280e+02] [-6.74307029e-01 7.36271660e-01 -5.66927935e-02 -1.51914185e+02] [-8.68961290e-02 -2.87469928e-03 9.96213230e-01 -1.53257106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64864 meters 0.030679187069922766 Centerline is valid? [True, True] Translation: X:213.08, Y:-151.93, Z:-15.33 [[ 7.31959840e-01 6.78296550e-01 6.44094982e-02 2.13083398e+02] [-6.76032966e-01 7.34782309e-01 -5.54471586e-02 -1.51933016e+02] [-8.49365762e-02 -2.95785083e-03 9.96381970e-01 -1.53281939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67864 meters 0.030685020545714196 Centerline is valid? [True, True] Translation: X:213.11, Y:-151.95, Z:-15.33 [[ 7.30939652e-01 6.79443586e-01 6.39033578e-02 2.13110656e+02] [-6.77215161e-01 7.33721513e-01 -5.50669351e-02 -1.51952658e+02] [-8.43021442e-02 -3.02571642e-03 9.96435644e-01 -1.53293200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70864 meters 0.030682050691407496 Centerline is valid? [True, True] Translation: X:213.14, Y:-151.97, Z:-15.33 [[ 7.30186238e-01 6.80192931e-01 6.45417280e-02 2.13137063e+02] [-6.77917968e-01 7.33026564e-01 -5.56712208e-02 -1.51971248e+02] [-8.51779720e-02 -3.10363783e-03 9.96360919e-01 -1.53307889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73864 meters 0.030603490794906874 Centerline is valid? [True, True] Translation: X:213.16, Y:-151.99, Z:-15.33 [[ 7.29282389e-01 6.81212493e-01 6.40057553e-02 2.13164054e+02] [-6.78974762e-01 7.32078935e-01 -5.52603512e-02 -1.51990163e+02] [-8.45013068e-02 -3.15789152e-03 9.96418364e-01 -1.53314421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76864 meters 0.031086822978458193 Centerline is valid? [True, True] Translation: X:213.19, Y:-152.01, Z:-15.33 [[ 7.28995723e-01 6.81513060e-01 6.40717237e-02 2.13192267e+02] [-6.79267033e-01 7.31799153e-01 -5.53741639e-02 -1.52007735e+02] [-8.46258490e-02 -3.15428101e-03 9.96407806e-01 -1.53339689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79864 meters 0.030880443924578407 Centerline is valid? [True, True] Translation: X:213.22, Y:-152.02, Z:-15.34 [[ 7.29051475e-01 6.81567205e-01 6.28497521e-02 2.13220431e+02] [-6.79401992e-01 7.31749119e-01 -5.43705773e-02 -1.52023936e+02] [-8.30474531e-02 -3.06129720e-03 9.96540892e-01 -1.53368458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82864 meters 0.030215457336503652 Centerline is valid? [True, True] Translation: X:213.25, Y:-152.04, Z:-15.34 [[ 7.30115648e-01 6.80497278e-01 6.20853899e-02 2.13247038e+02] [-6.78377602e-01 7.32744963e-01 -5.37461447e-02 -1.52042525e+02] [-8.20668619e-02 -2.87643674e-03 9.96622675e-01 -1.53381504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85864 meters 0.030078085817841008 Centerline is valid? [True, True] Translation: X:213.27, Y:-152.06, Z:-15.34 [[ 7.31578833e-01 6.78890932e-01 6.24460837e-02 2.13273666e+02] [-6.76739243e-01 7.34234171e-01 -5.40756758e-02 -1.52061493e+02] [-8.25615344e-02 -2.69909566e-03 9.96582314e-01 -1.53407216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88864 meters 0.02948025195308011 Centerline is valid? [True, True] Translation: X:213.30, Y:-152.08, Z:-15.34 [[ 7.32865034e-01 6.77509230e-01 6.23705469e-02 2.13300292e+02] [-6.75355446e-01 7.35509955e-01 -5.40381959e-02 -1.52080288e+02] [-8.24855347e-02 -2.51958424e-03 9.96589077e-01 -1.53431566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91864 meters 0.029131701732880582 Centerline is valid? [True, True] Translation: X:213.33, Y:-152.10, Z:-15.34 [[ 7.35707806e-01 6.74377345e-01 6.28428230e-02 2.13328065e+02] [-6.72176102e-01 7.38383742e-01 -5.44861215e-02 -1.52098119e+02] [-8.31463247e-02 -2.15557891e-03 9.96535018e-01 -1.53439855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94864 meters 0.029175059207280755 Centerline is valid? [True, True] Translation: X:213.35, Y:-152.12, Z:-15.35 [[ 7.36413314e-01 6.73632601e-01 6.25663628e-02 2.13353472e+02] [-6.71445655e-01 7.39063565e-01 -5.42750353e-02 -1.52117640e+02] [-8.28019523e-02 -2.04105382e-03 9.96563932e-01 -1.53452513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97864 meters 0.028906118093011107 Centerline is valid? [True, True] Translation: X:213.38, Y:-152.14, Z:-15.35 [[ 7.38207532e-01 6.71605310e-01 6.32135061e-02 2.13379696e+02] [-6.69361118e-01 7.40906936e-01 -5.48872143e-02 -1.52136059e+02] [-8.36978697e-02 -1.79450813e-03 9.96489562e-01 -1.53474220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00864 meters 0.028476208540737912 Centerline is valid? [True, True] Translation: X:213.41, Y:-152.16, Z:-15.35 [[ 7.39804519e-01 6.69898985e-01 6.26468095e-02 2.13405547e+02] [-6.67684660e-01 7.42450637e-01 -5.44448976e-02 -1.52155308e+02] [-8.29847453e-02 -1.54973242e-03 9.96549613e-01 -1.53490658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03864000000002 meters 0.028226361031859437 Centerline is valid? [True, True] Translation: X:213.43, Y:-152.17, Z:-15.35 [[ 7.42844697e-01 6.66516667e-01 6.27478198e-02 2.13431262e+02] [-6.64278863e-01 7.45489265e-01 -5.45834110e-02 -1.52174381e+02] [-8.31585792e-02 -1.13505299e-03 9.96535680e-01 -1.53512411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864000000002 meters 0.02797110707637245 Centerline is valid? [True, True] Translation: X:213.46, Y:-152.20, Z:-15.35 [[ 7.44536644e-01 6.64613289e-01 6.28837165e-02 2.13455700e+02] [-6.62354670e-01 7.47186986e-01 -5.47530751e-02 -1.52195203e+02] [-8.33755159e-02 -8.85652440e-04 9.96517807e-01 -1.53523766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09864000000002 meters 0.027758448095386228 Centerline is valid? [True, True] Translation: X:213.48, Y:-152.22, Z:-15.35 [[ 7.45185013e-01 6.63952346e-01 6.21818134e-02 2.13479281e+02] [-6.61737462e-01 7.47774496e-01 -5.41925614e-02 -1.52216549e+02] [-8.24792525e-02 -7.64550825e-04 9.96592489e-01 -1.53542002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12864000000002 meters 0.027827181393132797 Centerline is valid? [True, True] Translation: X:213.50, Y:-152.24, Z:-15.36 [[ 7.46100516e-01 6.62935882e-01 6.20486644e-02 2.13503668e+02] [-6.60722778e-01 7.48675926e-01 -5.41273431e-02 -1.52236930e+02] [-8.23372992e-02 -6.12527345e-04 9.96604332e-01 -1.53558024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15864 meters 0.027837796698818834 Centerline is valid? [True, True] Translation: X:213.53, Y:-152.26, Z:-15.36 [[ 7.46730914e-01 6.62179071e-01 6.25445407e-02 2.13530562e+02] [-6.59923238e-01 7.49345471e-01 -5.46139593e-02 -1.52256775e+02] [-8.30316891e-02 -4.92664134e-04 9.96546786e-01 -1.53581452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18864 meters 0.027883588849042736 Centerline is valid? [True, True] Translation: X:213.56, Y:-152.28, Z:-15.36 [[ 7.46577789e-01 6.62488189e-01 6.10819477e-02 2.13555454e+02] [-6.60333426e-01 7.49072209e-01 -5.33909379e-02 -1.52276615e+02] [-8.11256553e-02 -4.73963474e-04 9.96703769e-01 -1.53592740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21864 meters 0.027739070199107454 Centerline is valid? [True, True] Translation: X:213.58, Y:-152.30, Z:-15.36 [[ 7.46701534e-01 6.62352048e-01 6.10457531e-02 2.13582107e+02] [-6.60195140e-01 7.49192625e-01 -5.34115043e-02 -1.52296430e+02] [-8.11122472e-02 -4.19657256e-04 9.96704885e-01 -1.53604968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24864 meters 0.027840226200064214 Centerline is valid? [True, True] Translation: X:213.61, Y:-152.32, Z:-15.36 [[ 7.46799057e-01 6.62204289e-01 6.14544364e-02 2.13607912e+02] [-6.60013107e-01 7.49323260e-01 -5.38270414e-02 -1.52316447e+02] [-8.16937363e-02 -3.62749716e-04 9.96657415e-01 -1.53622200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27864 meters 0.027693958552102414 Centerline is valid? [True, True] Translation: X:213.63, Y:-152.34, Z:-15.36 [[ 7.46744950e-01 6.62298374e-01 6.10970023e-02 2.13633982e+02] [-6.60128323e-01 7.49240119e-01 -5.35709007e-02 -1.52336255e+02] [-8.12562458e-02 -3.28062073e-04 9.96693190e-01 -1.53640380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30864 meters 0.027809678387986144 Centerline is valid? [True, True] Translation: X:213.66, Y:-152.36, Z:-15.37 [[ 7.47842902e-01 6.61066354e-01 6.10104143e-02 2.13658970e+02] [-6.58893713e-01 7.50327431e-01 -5.35520421e-02 -1.52357078e+02] [-8.11792406e-02 -1.50863870e-04 9.96699507e-01 -1.53678578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33864 meters 0.027518418060668497 Centerline is valid? [True, True] Translation: X:213.68, Y:-152.38, Z:-15.37 [[ 7.48918970e-01 6.59932748e-01 6.00761518e-02 2.13683157e+02] [-6.57818303e-01 7.51324675e-01 -5.27855265e-02 -1.52378336e+02] [-7.99715929e-02 1.28899056e-05 9.96797143e-01 -1.53689582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36864 meters 0.027669042213300722 Centerline is valid? [True, True] Translation: X:213.71, Y:-152.40, Z:-15.37 [[ 7.49703960e-01 6.58980076e-01 6.07390431e-02 2.13707702e+02] [-6.56811432e-01 7.52160379e-01 -5.34182288e-02 -1.52398866e+02] [-8.08870502e-02 1.53759771e-04 9.96723262e-01 -1.53714123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39864 meters 0.027706931292477338 Centerline is valid? [True, True] Translation: X:213.73, Y:-152.42, Z:-15.37 [[ 7.50768081e-01 6.57875074e-01 5.95623639e-02 2.13733190e+02] [-6.55782478e-01 7.53127011e-01 -5.24313521e-02 -1.52418271e+02] [-7.93513048e-02 3.03831035e-04 9.96846667e-01 -1.53722741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42864 meters 0.027575187456452037 Centerline is valid? [True, True] Translation: X:213.76, Y:-152.44, Z:-15.37 [[ 7.50599809e-01 6.58100726e-01 5.91891973e-02 2.13758129e+02] [-6.56031054e-01 7.52929834e-01 -5.21528669e-02 -1.52439188e+02] [-7.88871520e-02 3.15980464e-04 9.96883502e-01 -1.53740368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45864 meters 0.0274283777189575 Centerline is valid? [True, True] Translation: X:213.78, Y:-152.46, Z:-15.38 [[ 7.49176259e-01 6.59736773e-01 5.90112135e-02 2.13781566e+02] [-6.57681177e-01 7.51496746e-01 -5.20395086e-02 -1.52461582e+02] [-7.86791124e-02 1.76199995e-04 9.96899978e-01 -1.53754220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48864 meters 0.027446525959250557 Centerline is valid? [True, True] Translation: X:213.81, Y:-152.48, Z:-15.38 [[ 7.47122875e-01 6.62037646e-01 5.92753341e-02 2.13806002e+02] [-6.59968462e-01 7.49470582e-01 -5.23017699e-02 -1.52484417e+02] [-7.90508598e-02 -4.40023816e-05 9.96870583e-01 -1.53769416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51864 meters 0.02745911706615126 Centerline is valid? [True, True] Translation: X:213.83, Y:-152.51, Z:-15.38 [[ 7.45057581e-01 6.64324096e-01 5.96883273e-02 2.13830386e+02] [-6.62228687e-01 7.47444604e-01 -5.27231482e-02 -1.52506454e+02] [-7.96389760e-02 -2.45541351e-04 9.96823742e-01 -1.53784130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54864 meters 0.027461130763484057 Centerline is valid? [True, True] Translation: X:213.86, Y:-152.53, Z:-15.38 [[ 7.42837311e-01 6.66801120e-01 5.97410725e-02 2.13855430e+02] [-6.64705440e-01 7.45235565e-01 -5.28264304e-02 -1.52528507e+02] [-7.97458948e-02 -4.68772320e-04 9.96815115e-01 -1.53795943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57864 meters 0.027461130763484057 Centerline is valid? [True, True] Translation: X:213.88, Y:-152.55, Z:-15.38 [[ 7.42482706e-01 6.67198468e-01 5.97129430e-02 2.13879983e+02] [-6.65101515e-01 7.44879845e-01 -5.28582132e-02 -1.52549792e+02] [-7.97458866e-02 -4.68859748e-04 9.96815115e-01 -1.53813767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60864 meters 0.02719866080724136 Centerline is valid? [True, True] Translation: X:213.91, Y:-152.57, Z:-15.38 [[ 7.38693367e-01 6.71417541e-01 5.94188166e-02 2.13905390e+02] [-6.69350478e-01 7.41078750e-01 -5.26519078e-02 -1.52570150e+02] [-7.93854369e-02 -8.78398249e-04 9.96843609e-01 -1.53836569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63864 meters 0.02740753831870171 Centerline is valid? [True, True] Translation: X:213.93, Y:-152.59, Z:-15.39 [[ 7.35709408e-01 6.74661464e-01 5.96956942e-02 2.13930156e+02] [-6.72581719e-01 7.38126328e-01 -5.29467206e-02 -1.52590552e+02] [-7.97840756e-02 -1.19683213e-03 9.96811451e-01 -1.53854239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66864 meters 0.027497563266692785 Centerline is valid? [True, True] Translation: X:213.96, Y:-152.61, Z:-15.39 [[ 7.31873506e-01 6.78820485e-01 5.96985730e-02 2.13956589e+02] [-6.76750327e-01 7.34302490e-01 -5.29985582e-02 -1.52608848e+02] [-7.98133178e-02 -1.61278818e-03 9.96808524e-01 -1.53877146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69864 meters 0.027640354436486058 Centerline is valid? [True, True] Translation: X:213.98, Y:-152.63, Z:-15.39 [[ 7.30202178e-01 6.80606152e-01 5.98334883e-02 2.13981825e+02] [-6.78528594e-01 7.32647333e-01 -5.31679713e-02 -1.52628665e+02] [-8.00232940e-02 -1.77536423e-03 9.96791413e-01 -1.53894379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72864 meters 0.027691483435730142 Centerline is valid? [True, True] Translation: X:214.01, Y:-152.65, Z:-15.39 [[ 7.30087392e-01 6.80811778e-01 5.88873769e-02 2.14008461e+02] [-6.78796351e-01 7.32456358e-01 -5.23755328e-02 -1.52646833e+02] [-7.87903132e-02 -1.73382044e-03 9.96889703e-01 -1.53907008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75864 meters 0.027708963932974746 Centerline is valid? [True, True] Translation: X:214.04, Y:-152.67, Z:-15.39 [[ 7.30149108e-01 6.80671212e-01 5.97409539e-02 2.14035059e+02] [-6.78592180e-01 7.32587055e-01 -5.31870354e-02 -1.52666643e+02] [-7.99683333e-02 -1.70527776e-03 9.96795946e-01 -1.53924598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864000000002 meters 0.02784087867347951 Centerline is valid? [True, True] Translation: X:214.06, Y:-152.69, Z:-15.39 [[ 7.30495197e-01 6.80288550e-01 5.98686568e-02 2.14061824e+02] [-6.78194735e-01 7.32942595e-01 -5.33577891e-02 -1.52686650e+02] [-8.01789817e-02 -1.62499919e-03 9.96779158e-01 -1.53933331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81864000000002 meters 0.027628063926802057 Centerline is valid? [True, True] Translation: X:214.09, Y:-152.70, Z:-15.40 [[ 7.31781525e-01 6.78954482e-01 5.93010196e-02 2.14090664e+02] [-6.76891561e-01 7.34178985e-01 -5.29058938e-02 -1.52702843e+02] [-7.94582561e-02 -1.42480412e-03 9.96837176e-01 -1.53957118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864000000002 meters 0.027527219434933643 Centerline is valid? [True, True] Translation: X:214.12, Y:-152.72, Z:-15.40 [[ 7.32057497e-01 6.78628050e-01 5.96304486e-02 2.14118091e+02] [-6.76536843e-01 7.34480853e-01 -5.32520074e-02 -1.52722013e+02] [-7.99357287e-02 -1.35866424e-03 9.96799094e-01 -1.53983276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87864000000002 meters 0.027172677007649196 Centerline is valid? [True, True] Translation: X:214.15, Y:-152.74, Z:-15.40 [[ 7.34145068e-01 6.76519774e-01 5.78965832e-02 2.14146895e+02] [-6.74538686e-01 7.36423698e-01 -5.17464798e-02 -1.52738610e+02] [-7.76439328e-02 -1.06406216e-03 9.96980585e-01 -1.54002069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90864 meters 0.027090251439948643 Centerline is valid? [True, True] Translation: X:214.17, Y:-152.76, Z:-15.40 [[ 7.34841197e-01 6.75769835e-01 5.78234048e-02 2.14173035e+02] [-6.73789382e-01 7.37112068e-01 -5.17075118e-02 -1.52757735e+02] [-7.75647062e-02 -9.63986330e-04 9.96986854e-01 -1.54014185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93864 meters 0.0270390040895859 Centerline is valid? [True, True] Translation: X:214.20, Y:-152.78, Z:-15.40 [[ 7.36117337e-01 6.74300504e-01 5.87375173e-02 2.14199716e+02] [-6.72248056e-01 7.38456645e-01 -5.25769476e-02 -1.52777023e+02] [-7.88277722e-02 -7.83379166e-04 9.96887942e-01 -1.54033680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96864 meters 0.027155025220132918 Centerline is valid? [True, True] Translation: X:214.23, Y:-152.80, Z:-15.40 [[ 7.38171072e-01 6.71954338e-01 5.98400895e-02 2.14227529e+02] [-6.69811575e-01 7.40592411e-01 -5.36221499e-02 -1.52795615e+02] [-8.03487524e-02 -4.99264694e-04 9.96766687e-01 -1.54046877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99864 meters 0.0271712147849953 Centerline is valid? [True, True] Translation: X:214.25, Y:-152.82, Z:-15.41 [[ 7.39167436e-01 6.70749585e-01 6.10450256e-02 2.14252980e+02] [-6.68510726e-01 7.41683816e-01 -5.47587979e-02 -1.52815913e+02] [-8.20055485e-02 -3.33334177e-04 9.96631817e-01 -1.54066799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02864 meters 0.027351077707109754 Centerline is valid? [True, True] Translation: X:214.28, Y:-152.84, Z:-15.41 [[ 7.39786292e-01 6.70050916e-01 6.12210085e-02 2.14279063e+02] [-6.67792304e-01 7.42315110e-01 -5.49701380e-02 -1.52836936e+02] [-8.22780710e-02 -2.16763809e-04 9.96609388e-01 -1.54090175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05864 meters 0.02749844230003801 Centerline is valid? [True, True] Translation: X:214.31, Y:-152.86, Z:-15.41 [[ 7.41967512e-01 6.67728711e-01 6.01878697e-02 2.14305245e+02] [-6.65533750e-01 7.44404703e-01 -5.40968169e-02 -1.52856282e+02] [-8.09261311e-02 8.10220157e-05 9.96720099e-01 -1.54110380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08864 meters 0.02746997657107912 Centerline is valid? [True, True] Translation: X:214.33, Y:-152.88, Z:-15.41 [[ 7.43261139e-01 6.66278706e-01 6.02956484e-02 2.14330705e+02] [-6.64066838e-01 7.45702761e-01 -5.42459836e-02 -1.52877253e+02] [-8.11055753e-02 2.78590913e-04 9.96705477e-01 -1.54139709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11864 meters 0.027380849089037512 Centerline is valid? [True, True] Translation: X:214.36, Y:-152.90, Z:-15.42 [[ 7.44037974e-01 6.65477201e-01 5.95616318e-02 2.14355518e+02] [-6.63311919e-01 7.46418068e-01 -5.36410903e-02 -1.52899229e+02] [-8.01548008e-02 4.03067841e-04 9.96782346e-01 -1.54152593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14864 meters 0.02723366085414734 Centerline is valid? [True, True] Translation: X:214.38, Y:-152.92, Z:-15.42 [[ 7.44736663e-01 6.64720386e-01 5.92799368e-02 2.14380447e+02] [-6.62568743e-01 7.47092052e-01 -5.34427448e-02 -1.52920998e+02] [-7.98120515e-02 5.23738226e-04 9.96809792e-01 -1.54164487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17864 meters 0.02734804137168847 Centerline is valid? [True, True] Translation: X:214.41, Y:-152.94, Z:-15.42 [[ 7.44497912e-01 6.65009421e-01 5.90366761e-02 2.14405301e+02] [-6.62871943e-01 7.46834779e-01 -5.32785255e-02 -1.52943233e+02] [-7.95213643e-02 5.31994805e-04 9.96833020e-01 -1.54186472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20864 meters 0.027442451569553765 Centerline is valid? [True, True] Translation: X:214.43, Y:-152.97, Z:-15.42 [[ 7.43971048e-01 6.65473077e-01 6.04372680e-02 2.14427459e+02] [-6.63229935e-01 7.46421663e-01 -5.45962971e-02 -1.52965940e+02] [-8.14440519e-02 5.34259017e-04 9.96677772e-01 -1.54211189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23864 meters 0.027497030645320136 Centerline is valid? [True, True] Translation: X:214.45, Y:-152.99, Z:-15.42 [[ 7.43459658e-01 6.66050063e-01 6.03742550e-02 2.14451610e+02] [-6.63809464e-01 7.45906868e-01 -5.45888309e-02 -1.52988837e+02] [-8.13924657e-02 5.07591677e-04 9.96682000e-01 -1.54227600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26864 meters 0.027437758936445223 Centerline is valid? [True, True] Translation: X:214.48, Y:-153.01, Z:-15.42 [[ 7.42310738e-01 6.67360422e-01 6.00402777e-02 2.14475357e+02] [-6.65144457e-01 7.44734788e-01 -5.43410168e-02 -1.53009911e+02] [-8.09791274e-02 4.02462367e-04 9.96715716e-01 -1.54247419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29864 meters 0.027248459703189665 Centerline is valid? [True, True] Translation: X:214.50, Y:-153.03, Z:-15.43 [[ 7.42247280e-01 6.67593399e-01 5.82067816e-02 2.14499444e+02] [-6.65508451e-01 7.44525954e-01 -5.27219543e-02 -1.53031370e+02] [-7.85332883e-02 3.95622028e-04 9.96911413e-01 -1.54265028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32864 meters 0.027212989928108767 Centerline is valid? [True, True] Translation: X:214.52, Y:-153.05, Z:-15.43 [[ 7.41176590e-01 6.68807911e-01 5.79071699e-02 2.14523284e+02] [-6.66745378e-01 7.43435197e-01 -5.24853094e-02 -1.53053759e+02] [-7.81528184e-02 2.91544773e-04 9.96941348e-01 -1.54288304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35864 meters 0.027150385123469768 Centerline is valid? [True, True] Translation: X:214.55, Y:-153.08, Z:-15.43 [[ 7.40413503e-01 6.69556479e-01 5.90081901e-02 2.14545872e+02] [-6.67412626e-01 7.42761103e-01 -5.35381277e-02 -1.53076508e+02] [-7.96757886e-02 2.57541547e-04 9.96820798e-01 -1.54309070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38864 meters 0.027090759281894 Centerline is valid? [True, True] Translation: X:214.57, Y:-153.10, Z:-15.43 [[ 7.39687621e-01 6.70337622e-01 5.92426793e-02 2.14570667e+02] [-6.68175036e-01 7.42056216e-01 -5.38023664e-02 -1.53098785e+02] [-8.00271488e-02 2.12465025e-04 9.96792662e-01 -1.54324582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41864 meters 0.026992597542251116 Centerline is valid? [True, True] Translation: X:214.60, Y:-153.12, Z:-15.43 [[ 7.39070462e-01 6.70987758e-01 5.95842377e-02 2.14595332e+02] [-6.68797626e-01 7.41468404e-01 -5.41695617e-02 -1.53120850e+02] [-8.05269424e-02 1.85326298e-04 9.96752415e-01 -1.54345596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44864 meters 0.026950702206835996 Centerline is valid? [True, True] Translation: X:214.62, Y:-153.14, Z:-15.44 [[ 7.40160419e-01 6.69903021e-01 5.82451462e-02 2.14619055e+02] [-6.67802865e-01 7.42448537e-01 -5.30047517e-02 -1.53142396e+02] [-7.87520669e-02 3.35743706e-04 9.96894177e-01 -1.54361653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47864 meters 0.026948069990356805 Centerline is valid? [True, True] Translation: X:214.64, Y:-153.16, Z:-15.44 [[ 7.40169760e-01 6.69877638e-01 5.84181124e-02 2.14643043e+02] [-6.67760857e-01 7.42471418e-01 -5.32130731e-02 -1.53164618e+02] [-7.90200265e-02 3.77378798e-04 9.96872957e-01 -1.54383415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50864 meters 0.027104429333748625 Centerline is valid? [True, True] Translation: X:214.67, Y:-153.19, Z:-15.44 [[ 7.40859652e-01 6.69038630e-01 5.92814251e-02 2.14667055e+02] [-6.66851627e-01 7.43227453e-01 -5.40542450e-02 -1.53185675e+02] [-8.02239606e-02 5.14694398e-04 9.96776731e-01 -1.54394646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53864000000002 meters 0.027107765219729935 Centerline is valid? [True, True] Translation: X:214.69, Y:-153.21, Z:-15.44 [[ 7.40708742e-01 6.69225804e-01 5.90540644e-02 2.14690982e+02] [-6.67052066e-01 7.43058908e-01 -5.38980540e-02 -1.53208260e+02] [-7.99506172e-02 5.30624064e-04 9.96798684e-01 -1.54415241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864000000002 meters 0.027121911547661862 Centerline is valid? [True, True] Translation: X:214.71, Y:-153.23, Z:-15.44 [[ 7.40777133e-01 6.69178988e-01 5.87258055e-02 2.14714952e+02] [-6.67024793e-01 7.43101037e-01 -5.36542026e-02 -1.53231053e+02] [-7.95434720e-02 5.74238062e-04 9.96831233e-01 -1.54437389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59864000000002 meters 0.027127111336331312 Centerline is valid? [True, True] Translation: X:214.74, Y:-153.25, Z:-15.45 [[ 7.40888393e-01 6.69051429e-01 5.87756197e-02 2.14738961e+02] [-6.66888696e-01 7.43215842e-01 -5.37557333e-02 -1.53254228e+02] [-7.96483219e-02 6.30202448e-04 9.96822827e-01 -1.54460924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62864000000002 meters 0.026879856474545553 Centerline is valid? [True, True] Translation: X:214.76, Y:-153.28, Z:-15.45 [[ 7.40197438e-01 6.69854388e-01 5.83339665e-02 2.14761651e+02] [-6.67722374e-01 7.42492265e-01 -5.34047582e-02 -1.53276680e+02] [-7.90859305e-02 5.79170548e-04 9.96867634e-01 -1.54476694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65864 meters 0.02677633689498616 Centerline is valid? [True, True] Translation: X:214.79, Y:-153.30, Z:-15.45 [[ 7.40070436e-01 6.70010624e-01 5.81507768e-02 2.14785918e+02] [-6.67888506e-01 7.42351268e-01 -5.32873212e-02 -1.53298787e+02] [-7.88713742e-02 5.98135606e-04 9.96884622e-01 -1.54494191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68864 meters 0.02676286471795048 Centerline is valid? [True, True] Translation: X:214.81, Y:-153.32, Z:-15.45 [[ 7.39384945e-01 6.70749841e-01 5.83485524e-02 2.14809888e+02] [-6.68611116e-01 7.41683446e-01 -5.35242079e-02 -1.53321363e+02] [-7.91775094e-02 5.62502797e-04 9.96860374e-01 -1.54517248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71864 meters 0.026818258529648527 Centerline is valid? [True, True] Translation: X:214.83, Y:-153.34, Z:-15.45 [[ 7.38534749e-01 6.71658554e-01 5.86618372e-02 2.14832884e+02] [-6.69495123e-01 7.40860666e-01 -5.38679241e-02 -1.53344723e+02] [-7.96410999e-02 5.09519848e-04 9.96823473e-01 -1.54528829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74864 meters 0.026892529106983365 Centerline is valid? [True, True] Translation: X:214.86, Y:-153.37, Z:-15.46 [[ 7.38222887e-01 6.71908038e-01 5.97206597e-02 2.14856470e+02] [-6.69661958e-01 7.40634393e-01 -5.48958821e-02 -1.53367122e+02] [-8.11161590e-02 5.32742646e-04 9.96704512e-01 -1.54554120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77864 meters 0.02695750009107892 Centerline is valid? [True, True] Translation: X:214.88, Y:-153.39, Z:-15.46 [[ 7.37670049e-01 6.72517304e-01 5.96940118e-02 2.14880492e+02] [-6.70270961e-01 7.40081227e-01 -5.49237382e-02 -1.53390305e+02] [-8.11155818e-02 5.04434051e-04 9.96704574e-01 -1.54573310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80864 meters 0.02690186214903056 Centerline is valid? [True, True] Translation: X:214.90, Y:-153.41, Z:-15.46 [[ 7.36826769e-01 6.73425118e-01 5.98742305e-02 2.14902703e+02] [-6.71163468e-01 7.39255308e-01 -5.51469774e-02 -1.53414785e+02] [-8.13997025e-02 4.48372939e-04 9.96681437e-01 -1.54578006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83864 meters 0.026829636928125455 Centerline is valid? [True, True] Translation: X:214.93, Y:-153.44, Z:-15.46 [[ 7.35307674e-01 6.75079817e-01 5.99154885e-02 2.14925882e+02] [-6.72815833e-01 7.37744635e-01 -5.52422717e-02 -1.53437716e+02] [-8.14952728e-02 3.07976998e-04 9.96673681e-01 -1.54605172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86864 meters 0.02661453077037569 Centerline is valid? [True, True] Translation: X:214.95, Y:-153.46, Z:-15.46 [[ 7.33556928e-01 6.77090641e-01 5.86727907e-02 2.14949206e+02] [-6.74922679e-01 7.35899620e-01 -5.41398862e-02 -1.53460500e+02] [-7.98348946e-02 1.15091575e-04 9.96808094e-01 -1.54630400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89864 meters 0.026489664132842008 Centerline is valid? [True, True] Translation: X:214.97, Y:-153.48, Z:-15.46 [[ 7.31528406e-01 6.79393533e-01 5.73639190e-02 2.14972992e+02] [-6.77326344e-01 7.33774090e-01 -5.29585641e-02 -1.53482209e+02] [-7.80718634e-02 -1.13399531e-04 9.96947727e-01 -1.54644707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92864 meters 0.026639161746442545 Centerline is valid? [True, True] Translation: X:215.00, Y:-153.50, Z:-15.47 [[ 7.29667433e-01 6.81441298e-01 5.67731841e-02 2.14997329e+02] [-6.79418828e-01 7.31872715e-01 -5.24631739e-02 -1.53504726e+02] [-7.73013177e-02 -2.92100778e-04 9.97007734e-01 -1.54658654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95864 meters 0.026722491392444016 Centerline is valid? [True, True] Translation: X:215.02, Y:-153.53, Z:-15.47 [[ 7.25885978e-01 6.85418559e-01 5.73667750e-02 2.15020279e+02] [-6.83361663e-01 7.28148977e-01 -5.30651017e-02 -1.53526612e+02] [-7.81433641e-02 -6.83041556e-04 9.96941898e-01 -1.54662373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98864 meters 0.02689283500496493 Centerline is valid? [True, True] Translation: X:215.04, Y:-153.55, Z:-15.47 [[ 7.23984121e-01 6.87408145e-01 5.75937012e-02 2.15044405e+02] [-6.85337488e-01 7.26270811e-01 -5.33220148e-02 -1.53548052e+02] [-7.84826114e-02 -8.66830510e-04 9.96915106e-01 -1.54672655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01864 meters 0.02712970206206704 Centerline is valid? [True, True] Translation: X:215.07, Y:-153.57, Z:-15.47 [[ 7.21782849e-01 6.89628161e-01 5.86729766e-02 2.15069460e+02] [-6.87482251e-01 7.24162832e-01 -5.43723016e-02 -1.53568385e+02] [-7.99854592e-02 -1.09163525e-03 9.96795433e-01 -1.54680726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04864 meters 0.027030262918605757 Centerline is valid? [True, True] Translation: X:215.09, Y:-153.59, Z:-15.47 [[ 7.21446224e-01 6.89915545e-01 5.94296780e-02 2.15094187e+02] [-6.87710630e-01 7.23889031e-01 -5.51249515e-02 -1.53588900e+02] [-8.10520530e-02 -1.10073318e-03 9.96709262e-01 -1.54705073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07864 meters 0.02702725323820584 Centerline is valid? [True, True] Translation: X:215.12, Y:-153.61, Z:-15.47 [[ 7.20709759e-01 6.90660295e-01 5.97143288e-02 2.15120178e+02] [-6.88432325e-01 7.23178423e-01 -5.54427865e-02 -1.53609789e+02] [-8.14762455e-02 -1.15111689e-03 9.96674619e-01 -1.54733244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10864 meters 0.027017655595765074 Centerline is valid? [True, True] Translation: X:215.15, Y:-153.63, Z:-15.47 [[ 7.20029123e-01 6.91439056e-01 5.89075040e-02 2.15145326e+02] [-6.89269142e-01 7.22433826e-01 -5.47486686e-02 -1.53629632e+02] [-8.04121412e-02 -1.18248884e-03 9.96760999e-01 -1.54747067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13864 meters 0.027066160290493226 Centerline is valid? [True, True] Translation: X:215.17, Y:-153.65, Z:-15.48 [[ 7.18887949e-01 6.92608679e-01 5.91044429e-02 2.15171636e+02] [-6.90424043e-01 7.21312399e-01 -5.49823910e-02 -1.53648485e+02] [-8.07140487e-02 -1.28095014e-03 9.96736475e-01 -1.54773133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16864 meters 0.027133027417938146 Centerline is valid? [True, True] Translation: X:215.20, Y:-153.67, Z:-15.48 [[ 7.18487692e-01 6.93021137e-01 5.91366237e-02 2.15196670e+02] [-6.90831199e-01 7.20916112e-01 -5.50655450e-02 -1.53670097e+02] [-8.07941314e-02 -1.28950835e-03 9.96729976e-01 -1.54792583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19864 meters 0.027006982782162188 Centerline is valid? [True, True] Translation: X:215.22, Y:-153.69, Z:-15.48 [[ 7.18759591e-01 6.92700700e-01 5.95851550e-02 2.15223220e+02] [-6.90471424e-01 7.21224134e-01 -5.55424227e-02 -1.53689838e+02] [-8.14485268e-02 -1.22019784e-03 9.96676802e-01 -1.54796706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22864 meters 0.027209425558424177 Centerline is valid? [True, True] Translation: X:215.25, Y:-153.71, Z:-15.48 [[ 7.18887198e-01 6.92594506e-01 5.92793927e-02 2.15248251e+02] [-6.90383208e-01 7.21326210e-01 -5.53129792e-02 -1.53710609e+02] [-8.10692452e-02 -1.16170463e-03 9.96707795e-01 -1.54809352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25864 meters 0.026985598330428077 Centerline is valid? [True, True] Translation: X:215.27, Y:-153.73, Z:-15.48 [[ 7.19590031e-01 6.92036096e-01 5.72383580e-02 2.15273871e+02] [-6.89969125e-01 7.21862168e-01 -5.34566781e-02 -1.53730040e+02] [-7.83121560e-02 -1.02580712e-03 9.96928360e-01 -1.54818472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864000000002 meters 0.027048105647375236 Centerline is valid? [True, True] Translation: X:215.30, Y:-153.75, Z:-15.48 [[ 7.19067332e-01 6.92607697e-01 5.68924461e-02 2.15299097e+02] [-6.90563454e-01 7.21313723e-01 -5.31848517e-02 -1.53751852e+02] [-7.78735397e-02 -1.04435473e-03 9.96962698e-01 -1.54843189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31864000000002 meters 0.026903915867219994 Centerline is valid? [True, True] Translation: X:215.32, Y:-153.77, Z:-15.49 [[ 7.18722733e-01 6.93019890e-01 5.62233527e-02 2.15323228e+02] [-6.91020644e-01 7.20917718e-01 -5.26128725e-02 -1.53772535e+02] [-7.69941782e-02 -1.03742985e-03 9.97031003e-01 -1.54856971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864000000002 meters 0.02676396188426444 Centerline is valid? [True, True] Translation: X:215.35, Y:-153.79, Z:-15.49 [[ 7.18726688e-01 6.92982560e-01 5.66314317e-02 2.15348011e+02] [-6.90950034e-01 7.20953649e-01 -5.30460821e-02 -1.53793895e+02] [-7.75886471e-02 -1.00385471e-03 9.96984952e-01 -1.54879699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37864000000002 meters 0.02663374950199529 Centerline is valid? [True, True] Translation: X:215.37, Y:-153.82, Z:-15.49 [[ 7.18666733e-01 6.93038835e-01 5.67036232e-02 2.15372448e+02] [-6.90996884e-01 7.20899599e-01 -5.31702459e-02 -1.53816127e+02] [-7.77266645e-02 -9.70340037e-04 9.96974234e-01 -1.54902184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40864 meters 0.02634919364483009 Centerline is valid? [True, True] Translation: X:215.40, Y:-153.84, Z:-15.49 [[ 7.19570467e-01 6.92170556e-01 5.58414194e-02 2.15395916e+02] [-6.90183665e-01 7.21733497e-01 -5.24143811e-02 -1.53838231e+02] [-7.65823142e-02 -8.24994812e-04 9.97062921e-01 -1.54909994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43864 meters 0.026437138057882295 Centerline is valid? [True, True] Translation: X:215.42, Y:-153.86, Z:-15.49 [[ 7.19620920e-01 6.92137089e-01 5.56055915e-02 2.15419802e+02] [-6.90163065e-01 7.21765639e-01 -5.22427593e-02 -1.53861531e+02] [-7.62933566e-02 -7.81942925e-04 9.97085108e-01 -1.54924449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46864 meters 0.026437138057882295 Centerline is valid? [True, True] Translation: X:215.44, Y:-153.88, Z:-15.49 [[ 7.19256449e-01 6.92518046e-01 5.55780240e-02 2.15443718e+02] [-6.90542892e-01 7.21400128e-01 -5.22720747e-02 -1.53883566e+02] [-7.62933486e-02 -7.81982615e-04 9.97085108e-01 -1.54942273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49864 meters 0.0263805088290957 Centerline is valid? [True, True] Translation: X:215.47, Y:-153.91, Z:-15.50 [[ 7.19873808e-01 6.91852704e-01 5.58707191e-02 2.15467414e+02] [-6.89850358e-01 7.22038351e-01 -5.26032565e-02 -1.53906863e+02] [-7.67345072e-02 -6.74729047e-04 9.97051333e-01 -1.54955272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52864 meters 0.026431936553971552 Centerline is valid? [True, True] Translation: X:215.49, Y:-153.93, Z:-15.50 [[ 7.20649619e-01 6.90974027e-01 5.67364205e-02 2.15490755e+02] [-6.88901836e-01 7.22879377e-01 -5.34758571e-02 -1.53929869e+02] [-7.79640166e-02 -5.48468188e-04 9.96956023e-01 -1.54970564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55864 meters 0.026535513043901605 Centerline is valid? [True, True] Translation: X:215.51, Y:-153.95, Z:-15.50 [[ 7.22532402e-01 6.88918828e-01 5.77735004e-02 2.15514591e+02] [-6.86758801e-01 7.24838441e-01 -5.45122408e-02 -1.53952168e+02] [-7.94309629e-02 -2.89599575e-04 9.96840327e-01 -1.54988612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58864 meters 0.02644652088399517 Centerline is valid? [True, True] Translation: X:215.54, Y:-153.98, Z:-15.50 [[ 7.23399557e-01 6.88035741e-01 5.74447450e-02 2.15538774e+02] [-6.85892966e-01 7.25676785e-01 -5.42590446e-02 -1.53975077e+02] [-7.90184798e-02 -1.49977652e-04 9.96873140e-01 -1.55012527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61864 meters 0.026178089927617627 Centerline is valid? [True, True] Translation: X:215.56, Y:-154.00, Z:-15.50 [[ 7.25810946e-01 6.85655257e-01 5.54557364e-02 2.15560552e+02] [-6.83647592e-01 7.27926403e-01 -5.24320770e-02 -1.53999146e+02] [-7.63180239e-02 1.43594790e-04 9.97083516e-01 -1.55029132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64864 meters 0.026190499597516462 Centerline is valid? [True, True] Translation: X:215.58, Y:-154.02, Z:-15.51 [[ 7.26754760e-01 6.84622118e-01 5.58576182e-02 2.15583176e+02] [-6.82578239e-01 7.28898121e-01 -5.28628158e-02 -1.54022919e+02] [-7.69055659e-02 2.91108409e-04 9.97038339e-01 -1.55058060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67864 meters 0.026275135590648986 Centerline is valid? [True, True] Translation: X:215.61, Y:-154.05, Z:-15.51 [[ 7.27936926e-01 6.83389534e-01 5.55569638e-02 2.15605881e+02] [-6.81359823e-01 7.30053788e-01 -5.26332357e-02 -1.54046828e+02] [-7.65285743e-02 4.59392765e-04 9.97067283e-01 -1.55076515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70864 meters 0.026520314078845968 Centerline is valid? [True, True] Translation: X:215.63, Y:-154.07, Z:-15.51 [[ 7.31018673e-01 6.80078751e-01 5.57188655e-02 2.15626550e+02] [-6.78023456e-01 7.33138577e-01 -5.28395710e-02 -1.54071267e+02] [-7.67847192e-02 8.48015361e-04 9.97047335e-01 -1.55086399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73864 meters 0.02680598980216538 Centerline is valid? [True, True] Translation: X:215.65, Y:-154.09, Z:-15.51 [[ 7.32191416e-01 6.78801134e-01 5.58994742e-02 2.15648009e+02] [-6.76725039e-01 7.34321441e-01 -5.30588588e-02 -1.54094896e+02] [-7.70645959e-02 1.02066707e-03 9.97025580e-01 -1.55111635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76864 meters 0.027087351821558674 Centerline is valid? [True, True] Translation: X:215.67, Y:-154.12, Z:-15.51 [[ 7.33222729e-01 6.77715000e-01 5.55590652e-02 2.15670247e+02] [-6.75657256e-01 7.35323755e-01 -5.27849214e-02 -1.54119927e+02] [-7.66270334e-02 1.16421849e-03 9.97059147e-01 -1.55122505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79864 meters 0.027263914099467847 Centerline is valid? [True, True] Translation: X:215.69, Y:-154.15, Z:-15.51 [[ 7.34417062e-01 6.76425009e-01 5.55048338e-02 2.15689621e+02] [-6.74363608e-01 7.36510300e-01 -5.27854376e-02 -1.54146885e+02] [-7.65852719e-02 1.33608607e-03 9.97062140e-01 -1.55121566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82864 meters 0.027388460393490684 Centerline is valid? [True, True] Translation: X:215.71, Y:-154.17, Z:-15.51 [[ 7.34604360e-01 6.76226572e-01 5.54441882e-02 2.15711535e+02] [-6.74165376e-01 7.36692397e-01 -5.27764821e-02 -1.54171333e+02] [-7.65341715e-02 1.39128181e-03 9.97065988e-01 -1.55121045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85864 meters 0.02718637992313947 Centerline is valid? [True, True] Translation: X:215.73, Y:-154.20, Z:-15.51 [[ 7.34773705e-01 6.76061133e-01 5.52172725e-02 2.15730889e+02] [-6.74012259e-01 7.36844125e-01 -5.26137790e-02 -1.54198296e+02] [-7.62566539e-02 1.44210269e-03 9.97087179e-01 -1.55139152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88864 meters 0.02719907380605983 Centerline is valid? [True, True] Translation: X:215.75, Y:-154.22, Z:-15.52 [[ 7.34048138e-01 6.76774134e-01 5.61257783e-02 2.15752764e+02] [-6.74654967e-01 7.36189326e-01 -5.35345870e-02 -1.54223329e+02] [-7.75500226e-02 1.43142883e-03 9.96987435e-01 -1.55168925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91864 meters 0.027187454744279665 Centerline is valid? [True, True] Translation: X:215.77, Y:-154.25, Z:-15.52 [[ 7.33756423e-01 6.77139491e-01 5.55303667e-02 2.15774040e+02] [-6.75062180e-01 7.35853317e-01 -5.30183862e-02 -1.54247406e+02] [-7.67630476e-02 1.41613099e-03 9.97048358e-01 -1.55179326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94864 meters 0.026879941403497233 Centerline is valid? [True, True] Translation: X:215.79, Y:-154.27, Z:-15.52 [[ 7.32474465e-01 6.78602734e-01 5.45846907e-02 2.15794016e+02] [-6.76596253e-01 7.34504394e-01 -5.21613474e-02 -1.54272565e+02] [-7.54895281e-02 1.27505780e-03 9.97145779e-01 -1.55194630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97864 meters 0.02679894082400209 Centerline is valid? [True, True] Translation: X:215.82, Y:-154.30, Z:-15.52 [[ 7.30995475e-01 6.80143631e-01 5.52291268e-02 2.15815890e+02] [-6.78090350e-01 7.33077956e-01 -5.28222197e-02 -1.54297417e+02] [-7.64139517e-02 1.16246568e-03 9.97075502e-01 -1.55206221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00864 meters 0.026797399603545068 Centerline is valid? [True, True] Translation: X:215.84, Y:-154.32, Z:-15.52 [[ 7.29443642e-01 6.81812197e-01 5.51733732e-02 2.15837651e+02] [-6.79764699e-01 7.31526551e-01 -5.28096471e-02 -1.54320789e+02] [-7.63670489e-02 1.01674986e-03 9.97079255e-01 -1.55223061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03864000000002 meters 0.026645160758338584 Centerline is valid? [True, True] Translation: X:215.86, Y:-154.34, Z:-15.52 [[ 7.26531883e-01 6.84821162e-01 5.63151781e-02 2.15859363e+02] [-6.82693722e-01 7.28710793e-01 -5.39431354e-02 -1.54344589e+02] [-7.79788788e-02 7.45389196e-04 9.96954733e-01 -1.55227389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864000000002 meters 0.026677192004151598 Centerline is valid? [True, True] Translation: X:215.88, Y:-154.37, Z:-15.52 [[ 7.24762824e-01 6.86658173e-01 5.67397785e-02 2.15883236e+02] [-6.84501727e-01 7.26980209e-01 -5.43797954e-02 -1.54367527e+02] [-7.85890270e-02 5.73977717e-04 9.96906934e-01 -1.55247913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09864000000002 meters 0.026568825705320494 Centerline is valid? [True, True] Translation: X:215.91, Y:-154.39, Z:-15.53 [[ 7.23511980e-01 6.87913557e-01 5.74921888e-02 2.15906801e+02] [-6.85698705e-01 7.25792464e-01 -5.51596343e-02 -1.54390674e+02] [-7.96724577e-02 4.86336853e-04 9.96820978e-01 -1.55266515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12864000000002 meters 0.02639986145974868 Centerline is valid? [True, True] Translation: X:215.93, Y:-154.41, Z:-15.53 [[ 7.22257505e-01 6.89269657e-01 5.70213789e-02 2.15930520e+02] [-6.87090868e-01 7.24504797e-01 -5.47625643e-02 -1.54412994e+02] [-7.90584364e-02 3.73804295e-04 9.96869913e-01 -1.55279177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15864 meters 0.02629622338131206 Centerline is valid? [True, True] Translation: X:215.95, Y:-154.44, Z:-15.53 [[ 7.21470188e-01 6.90080201e-01 5.71846584e-02 2.15954709e+02] [-6.87887213e-01 7.23732832e-01 -5.49724547e-02 -1.54435661e+02] [-7.93218173e-02 3.24391923e-04 9.96849008e-01 -1.55299434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18864 meters 0.026410207903736643 Centerline is valid? [True, True] Translation: X:215.98, Y:-154.46, Z:-15.53 [[ 7.20673069e-01 6.90857158e-01 5.78507989e-02 2.15977378e+02] [-6.88610415e-01 7.22991221e-01 -5.56721682e-02 -1.54459036e+02] [-8.02871357e-02 2.84769692e-04 9.96771737e-01 -1.55331294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21864 meters 0.026517225325780342 Centerline is valid? [True, True] Translation: X:216.00, Y:-154.48, Z:-15.54 [[ 7.19803104e-01 6.91707483e-01 5.85170815e-02 2.16000810e+02] [-6.89406523e-01 7.22177750e-01 -5.63732549e-02 -1.54482004e+02] [-8.12535365e-02 2.35586150e-04 9.96693437e-01 -1.55354053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24864 meters 0.026334208621645417 Centerline is valid? [True, True] Translation: X:216.02, Y:-154.50, Z:-15.54 [[ 7.18846892e-01 6.92746876e-01 5.79733733e-02 2.16024071e+02] [-6.90487365e-01 7.21180797e-01 -5.59057906e-02 -1.54503771e+02] [-8.05378453e-02 1.57822106e-04 9.96751539e-01 -1.55363263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27864 meters 0.026436349906619257 Centerline is valid? [True, True] Translation: X:216.05, Y:-154.53, Z:-15.54 [[ 7.18112590e-01 6.93464890e-01 5.84872144e-02 2.16048168e+02] [-6.91162984e-01 7.20490411e-01 -5.64561518e-02 -1.54525682e+02] [-8.12898363e-02 1.17675768e-04 9.96690498e-01 -1.55380188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30864 meters 0.02657100803826355 Centerline is valid? [True, True] Translation: X:216.07, Y:-154.55, Z:-15.54 [[ 7.17997777e-01 6.93596636e-01 5.83343720e-02 2.16072475e+02] [-6.91302339e-01 7.20363578e-01 -5.63683598e-02 -1.54548269e+02] [-8.11188617e-02 1.45669207e-04 9.96704424e-01 -1.55396008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33864 meters 0.026659411273648268 Centerline is valid? [True, True] Translation: X:216.09, Y:-154.57, Z:-15.54 [[ 7.17150554e-01 6.94415051e-01 5.90154216e-02 2.16093366e+02] [-6.92064819e-01 7.19574686e-01 -5.70837768e-02 -1.54572206e+02] [-8.21058372e-02 9.51651010e-05 9.96623611e-01 -1.55413285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36864 meters 0.026827521355036684 Centerline is valid? [True, True] Translation: X:216.12, Y:-154.60, Z:-15.54 [[ 7.16458372e-01 6.95143224e-01 5.88498046e-02 2.16116354e+02] [-6.92804306e-01 7.18871265e-01 -5.69762960e-02 -1.54595821e+02] [-8.19121196e-02 4.97462235e-05 9.96639555e-01 -1.55441501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39864 meters 0.026729120664625107 Centerline is valid? [True, True] Translation: X:216.14, Y:-154.62, Z:-15.54 [[ 7.16743117e-01 6.94997732e-01 5.70741331e-02 2.16139005e+02] [-6.92793188e-01 7.19011921e-01 -5.53123604e-02 -1.54618776e+02] [-7.94789471e-02 1.04182966e-04 9.96836539e-01 -1.55438172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42864 meters 0.026494407928258707 Centerline is valid? [True, True] Translation: X:216.16, Y:-154.64, Z:-15.54 [[ 7.16610056e-01 6.95236150e-01 5.58276170e-02 2.16161838e+02] [-6.93124609e-01 7.18781388e-01 -5.41441783e-02 -1.54641307e+02] [-7.77708421e-02 1.04767453e-04 9.96971256e-01 -1.55439065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45864 meters 0.026467343523746432 Centerline is valid? [True, True] Translation: X:216.18, Y:-154.66, Z:-15.55 [[ 7.15932007e-01 6.96017258e-01 5.47844778e-02 2.16184224e+02] [-6.93984249e-01 7.18025052e-01 -5.31590738e-02 -1.54664252e+02] [-7.63362603e-02 3.87177569e-05 9.97082130e-01 -1.55460123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48864 meters 0.02638935421284235 Centerline is valid? [True, True] Translation: X:216.21, Y:-154.69, Z:-15.55 [[ 7.14709999e-01 6.97232420e-01 5.52862538e-02 2.16207708e+02] [-6.95161478e-01 7.16845137e-01 -5.36988842e-02 -1.54687097e+02] [-7.70722851e-02 -5.37443937e-05 9.97025506e-01 -1.55480008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51864 meters 0.02659338227594243 Centerline is valid? [True, True] Translation: X:216.23, Y:-154.71, Z:-15.55 [[ 7.13155236e-01 6.98771618e-01 5.59270584e-02 2.16231442e+02] [-6.96652437e-01 7.15344808e-01 -5.43800400e-02 -1.54709535e+02] [-7.80063594e-02 -1.80311224e-04 9.96952845e-01 -1.55490914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54864 meters 0.02668715250605757 Centerline is valid? [True, True] Translation: X:216.26, Y:-154.73, Z:-15.55 [[ 7.10482665e-01 7.01449653e-01 5.64160207e-02 2.16256430e+02] [-6.99297101e-01 7.12718874e-01 -5.49123921e-02 -1.54730673e+02] [-7.87270411e-02 -4.37257089e-04 9.96896114e-01 -1.55493314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57864 meters 0.027091112572149977 Centerline is valid? [True, True] Translation: X:216.28, Y:-154.75, Z:-15.55 [[ 7.08176479e-01 7.03740611e-01 5.68790573e-02 2.16279690e+02] [-7.01555736e-01 7.10456696e-01 -5.54151020e-02 -1.54752636e+02] [-7.94079648e-02 -6.60157113e-04 9.96841983e-01 -1.55511082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60864 meters 0.0270743693700079 Centerline is valid? [True, True] Translation: X:216.30, Y:-154.78, Z:-15.55 [[ 7.06233641e-01 7.05691056e-01 5.68698271e-02 2.16303839e+02] [-7.03508890e-01 7.08519179e-01 -5.54600363e-02 -1.54775807e+02] [-7.94310148e-02 -8.40685496e-04 9.96840011e-01 -1.55525125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63864 meters 0.02704641211086899 Centerline is valid? [True, True] Translation: X:216.33, Y:-154.80, Z:-15.55 [[ 7.04618077e-01 7.07297911e-01 5.69476231e-02 2.16328174e+02] [-7.05110270e-01 7.06914919e-01 -5.55949964e-02 -1.54798688e+02] [-7.95793492e-02 -9.81114467e-04 9.96828052e-01 -1.55534056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66864 meters 0.02716567542974462 Centerline is valid? [True, True] Translation: X:216.35, Y:-154.82, Z:-15.56 [[ 7.04268828e-01 7.07702985e-01 5.62308004e-02 2.16352318e+02] [-7.05567810e-01 7.06509393e-01 -5.49412676e-02 -1.54820647e+02] [-7.86096877e-02 -9.81220518e-04 9.96904988e-01 -1.55553532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69864 meters 0.026914780513816124 Centerline is valid? [True, True] Translation: X:216.38, Y:-154.84, Z:-15.56 [[ 7.04998053e-01 7.07062792e-01 5.51357821e-02 2.16376999e+02] [-7.05006027e-01 7.07150229e-01 -5.38985574e-02 -1.54840808e+02] [-7.70989455e-02 -8.72680726e-04 9.97023064e-01 -1.55561503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72864 meters 0.027001101141038996 Centerline is valid? [True, True] Translation: X:216.40, Y:-154.86, Z:-15.56 [[ 7.05439202e-01 7.06669640e-01 5.45302872e-02 2.16400845e+02] [-7.04652919e-01 7.07543216e-01 -5.33559932e-02 -1.54862775e+02] [-7.62875953e-02 -7.85516801e-04 9.97085546e-01 -1.55581412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75864 meters 0.026869710223282457 Centerline is valid? [True, True] Translation: X:216.42, Y:-154.88, Z:-15.56 [[ 7.06417608e-01 7.05723682e-01 5.41132830e-02 2.16424181e+02] [-7.03731211e-01 7.08486888e-01 -5.29972756e-02 -1.54884500e+02] [-7.57399840e-02 -6.42997504e-04 9.97127395e-01 -1.55603481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864000000002 meters 0.02696187540695908 Centerline is valid? [True, True] Translation: X:216.45, Y:-154.91, Z:-15.56 [[ 7.06844254e-01 7.05256231e-01 5.46337761e-02 2.16448243e+02] [-7.03219744e-01 7.08952279e-01 -5.35598467e-02 -1.54906375e+02] [-7.65061557e-02 -5.61080140e-04 9.97068951e-01 -1.55623345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81864000000002 meters 0.026930153437958904 Centerline is valid? [True, True] Translation: X:216.47, Y:-154.93, Z:-15.56 [[ 7.08866646e-01 7.03171630e-01 5.52968056e-02 2.16473439e+02] [-7.01074429e-01 7.11020091e-01 -5.42685415e-02 -1.54928055e+02] [-7.74772385e-02 -2.98017415e-04 9.96994077e-01 -1.55646173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864000000002 meters 0.02708783600496977 Centerline is valid? [True, True] Translation: X:216.50, Y:-154.95, Z:-15.57 [[ 7.09038718e-01 7.02963733e-01 5.57322725e-02 2.16496481e+02] [-7.00828156e-01 7.11225657e-01 -5.47536435e-02 -1.54950946e+02] [-7.81280477e-02 -2.36292533e-04 9.96943304e-01 -1.55664527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87864000000002 meters 0.027107574627960176 Centerline is valid? [True, True] Translation: X:216.52, Y:-154.98, Z:-15.57 [[ 7.09356627e-01 7.02664349e-01 5.54615941e-02 2.16518419e+02] [-7.00544265e-01 7.11521459e-01 -5.45430643e-02 -1.54975815e+02] [-7.77875811e-02 -1.62817487e-04 9.96969942e-01 -1.55669053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90864 meters 0.027019428175477436 Centerline is valid? [True, True] Translation: X:216.54, Y:-155.00, Z:-15.57 [[ 7.09352187e-01 7.02698666e-01 5.50822966e-02 2.16541826e+02] [-7.00603177e-01 7.11487575e-01 -5.42274744e-02 -1.54998563e+02] [-7.72959435e-02 -1.24454395e-04 9.97008185e-01 -1.55684928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93864 meters 0.026826535260887706 Centerline is valid? [True, True] Translation: X:216.56, Y:-155.02, Z:-15.57 [[ 7.09357039e-01 7.02795828e-01 5.37644413e-02 2.16564979e+02] [-7.00795755e-01 7.11391605e-01 -5.29839089e-02 -1.55021379e+02] [-7.54844423e-02 -9.33835224e-05 9.97146975e-01 -1.55710221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96864 meters 0.026891725183418144 Centerline is valid? [True, True] Translation: X:216.59, Y:-155.04, Z:-15.57 [[ 7.09831469e-01 7.02387877e-01 5.28257098e-02 2.16586897e+02] [-7.00452443e-01 7.11794401e-01 -5.21066713e-02 -1.55044716e+02] [-7.42001387e-02 -1.49424579e-05 9.97243370e-01 -1.55738009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99864 meters 0.026728487563904044 Centerline is valid? [True, True] Translation: X:216.61, Y:-155.07, Z:-15.58 [[ 7.09591333e-01 7.02657406e-01 5.24662628e-02 2.16608774e+02] [-7.00745298e-01 7.11528333e-01 -5.18021032e-02 -1.55069263e+02] [-7.37303640e-02 -7.16348731e-06 9.97278213e-01 -1.55756998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters 0.026685708931225592 Centerline is valid? [True, True] Translation: X:216.63, Y:-155.09, Z:-15.58 [[ 7.10750274e-01 7.01475639e-01 5.25925419e-02 2.16630886e+02] [-6.99546938e-01 7.12693415e-01 -5.19824835e-02 -1.55094381e+02] [-7.39468042e-02 1.55612756e-04 9.97262175e-01 -1.55773724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05864 meters 0.02673702713441982 Centerline is valid? [True, True] Translation: X:216.65, Y:-155.12, Z:-15.58 [[ 7.11229003e-01 7.01034667e-01 5.19971331e-02 2.16654242e+02] [-6.99144269e-01 7.13127155e-01 -5.14485386e-02 -1.55117569e+02] [-7.31477767e-02 2.38195206e-04 9.97321085e-01 -1.55790658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters 0.026893720703558513 Centerline is valid? [True, True] Translation: X:216.67, Y:-155.14, Z:-15.58 [[ 7.11246255e-01 7.00921000e-01 5.32777195e-02 2.16674527e+02] [-6.98931799e-01 7.13238855e-01 -5.27700274e-02 -1.55142038e+02] [-7.49873600e-02 2.94992018e-04 9.97184441e-01 -1.55807942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11864 meters 0.026912269965736854 Centerline is valid? [True, True] Translation: X:216.70, Y:-155.17, Z:-15.58 [[ 7.10648242e-01 7.01430743e-01 5.45342974e-02 2.16695607e+02] [-6.99344225e-01 7.12737563e-01 -5.40631248e-02 -1.55166389e+02] [-7.67901800e-02 2.81618620e-04 9.97047235e-01 -1.55828326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters 0.02693390061848895 Centerline is valid? [True, True] Translation: X:216.72, Y:-155.19, Z:-15.58 [[ 7.10908139e-01 7.01238186e-01 5.36155177e-02 2.16717296e+02] [-6.99217242e-01 7.12926992e-01 -5.32010678e-02 -1.55189538e+02] [-7.55305700e-02 3.32177698e-04 9.97143431e-01 -1.55839554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17864000000003 meters 0.02688406320149604 Centerline is valid? [True, True] Translation: X:216.74, Y:-155.21, Z:-15.59 [[ 7.10412929e-01 7.01774741e-01 5.31571537e-02 2.16740300e+02] [-6.99785943e-01 7.12398847e-01 -5.27969300e-02 -1.55212786e+02] [-7.49206468e-02 3.08992774e-04 9.97189451e-01 -1.55862687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters 0.02662154558575286 Centerline is valid? [True, True] Translation: X:216.76, Y:-155.24, Z:-15.59 [[ 7.09681029e-01 7.02622654e-01 5.17130775e-02 2.16761507e+02] [-7.00739024e-01 7.11562606e-01 -5.14147651e-02 -1.55237119e+02] [-7.29222709e-02 2.50712015e-04 9.97337596e-01 -1.55886981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23864000000003 meters 0.02668107014824027 Centerline is valid? [True, True] Translation: X:216.78, Y:-155.26, Z:-15.59 [[ 7.08960000e-01 7.03369373e-01 5.14513673e-02 2.16784099e+02] [-7.01503177e-01 7.10824509e-01 -5.12036149e-02 -1.55261321e+02] [-7.25879474e-02 2.08017214e-04 9.97361994e-01 -1.55899704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26864 meters 0.02666246847940293 Centerline is valid? [True, True] Translation: X:216.81, Y:-155.28, Z:-15.59 [[ 7.08849268e-01 7.03331105e-01 5.34609363e-02 2.16805591e+02] [-7.01311769e-01 7.10862356e-01 -5.32589223e-02 -1.55284515e+02] [-7.54620239e-02 2.59764263e-04 9.97148643e-01 -1.55930378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29864 meters 0.026779147467434913 Centerline is valid? [True, True] Translation: X:216.83, Y:-155.31, Z:-15.60 [[ 7.08670376e-01 7.03543010e-01 5.30427308e-02 2.16828142e+02] [-7.01552154e-01 7.10652630e-01 -5.28905920e-02 -1.55308910e+02] [-7.49057624e-02 2.69753666e-04 9.97190581e-01 -1.55959918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32864 meters 0.02666613524484378 Centerline is valid? [True, True] Translation: X:216.85, Y:-155.33, Z:-15.60 [[ 7.07873809e-01 7.04366164e-01 5.27539419e-02 2.16850725e+02] [-7.02395061e-01 7.09836783e-01 -5.26585262e-02 -1.55333396e+02] [-7.45375725e-02 2.21483298e-04 9.97218181e-01 -1.55974702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35864 meters 0.02666613524484378 Centerline is valid? [True, True] Translation: X:216.87, Y:-155.36, Z:-15.60 [[ 7.07496754e-01 7.04746997e-01 5.27258272e-02 2.16873934e+02] [-7.02774853e-01 7.09458682e-01 -5.26866659e-02 -1.55356109e+02] [-7.45375654e-02 2.21259619e-04 9.97218182e-01 -1.55992524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38864 meters 0.0266319055470413 Centerline is valid? [True, True] Translation: X:216.97, Y:-155.44, Z:-13.93 [[ 7.56721114e-01 -6.53337878e-01 -2.28642165e-02 2.16974756e+02] [-6.52868584e-01 -7.57055578e-01 2.50891353e-02 -1.55440157e+02] [-3.37011651e-02 -4.05814972e-03 -9.99423715e-01 -1.39310652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41864 meters 0.02678940952828572 Centerline is valid? [True, True] Translation: X:216.92, Y:-155.42, Z:-15.60 [[ 7.56574394e-01 6.51364682e-01 5.76128243e-02 2.16918362e+02] [-6.49476703e-01 7.58764815e-01 -4.95577241e-02 -1.55416573e+02] [-7.59947352e-02 7.59178979e-05 9.97108216e-01 -1.56026371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44864 meters 0.026663728497210423 Centerline is valid? [True, True] Translation: X:216.94, Y:-155.44, Z:-15.60 [[ 7.55017912e-01 6.53185066e-01 5.74214419e-02 2.16943353e+02] [-6.51310839e-01 7.57198300e-01 -4.94461916e-02 -1.55437934e+02] [-7.57769321e-02 -6.64470688e-05 9.97124793e-01 -1.56032710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47864 meters 0.02657558627131443 Centerline is valid? [True, True] Translation: X:216.97, Y:-155.46, Z:-15.61 [[ 7.53184854e-01 6.55201109e-01 5.85156583e-02 2.16967453e+02] [-6.53256599e-01 7.55454467e-01 -5.04416873e-02 -1.55459379e+02] [-7.72553649e-02 -2.33825111e-04 9.97011311e-01 -1.56055084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50864 meters 0.026481776772670083 Centerline is valid? [True, True] Translation: X:216.99, Y:-155.48, Z:-15.61 [[ 7.48727658e-01 6.60242986e-01 5.90431493e-02 2.16991514e+02] [-6.58274962e-01 7.51051714e-01 -5.09450394e-02 -1.55480930e+02] [-7.79805634e-02 -7.22666789e-04 9.96954618e-01 -1.56078122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53864 meters 0.026598276663203285 Centerline is valid? [True, True] Translation: X:217.02, Y:-155.50, Z:-15.61 [[ 7.46414067e-01 6.62818823e-01 5.94747689e-02 2.17016665e+02] [-6.60826161e-01 7.48779195e-01 -5.13663602e-02 -1.55501122e+02] [-7.85800600e-02 -9.61909365e-04 9.96907342e-01 -1.56102078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56864 meters 0.02682343593534769 Centerline is valid? [True, True] Translation: X:217.04, Y:-155.52, Z:-15.61 [[ 7.42102458e-01 6.67719574e-01 5.86047183e-02 2.17042111e+02] [-6.65796345e-01 7.44411545e-01 -5.06623989e-02 -1.55520810e+02] [-7.74543043e-02 -1.42211650e-03 9.96994889e-01 -1.56131629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59864 meters 0.02684280613816495 Centerline is valid? [True, True] Translation: X:217.07, Y:-155.54, Z:-15.61 [[ 7.41207428e-01 6.68796442e-01 5.76443242e-02 2.17067899e+02] [-6.66935378e-01 7.43444112e-01 -4.98803964e-02 -1.55540992e+02] [-7.62151651e-02 -1.47331880e-03 9.97090306e-01 -1.56148504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62864 meters 0.027180093574339037 Centerline is valid? [True, True] Translation: X:217.10, Y:-155.56, Z:-15.62 [[ 7.39824475e-01 6.70378824e-01 5.70261292e-02 2.17095597e+02] [-6.68558240e-01 7.42017343e-01 -4.93977961e-02 -1.55559315e+02] [-7.54296133e-02 -1.57959004e-03 9.97149878e-01 -1.56166498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65864 meters 0.02707315243562454 Centerline is valid? [True, True] Translation: X:217.12, Y:-155.58, Z:-15.62 [[ 7.39447453e-01 6.70810847e-01 5.68354769e-02 2.17122342e+02] [-6.68999764e-01 7.41626802e-01 -4.92849136e-02 -1.55579437e+02] [-7.52115676e-02 -1.57931674e-03 9.97166348e-01 -1.56178925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68864 meters 0.02718307008382925 Centerline is valid? [True, True] Translation: X:217.15, Y:-155.60, Z:-15.62 [[ 7.39433736e-01 6.70754688e-01 5.76706160e-02 2.17148415e+02] [-6.68885632e-01 7.41677642e-01 -5.00628244e-02 -1.55599437e+02] [-7.63528806e-02 -1.55690519e-03 9.97079643e-01 -1.56198099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71864 meters 0.026539263290467865 Centerline is valid? [True, True] Translation: X:217.18, Y:-155.62, Z:-15.62 [[ 7.41422124e-01 6.68615082e-01 5.69833890e-02 2.17175769e+02] [-6.66780645e-01 7.43607569e-01 -4.95111635e-02 -1.55617254e+02] [-7.54771900e-02 -1.28674881e-03 9.97146698e-01 -1.56201091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74864 meters 0.026552547364251746 Centerline is valid? [True, True] Translation: X:217.20, Y:-155.64, Z:-15.62 [[ 7.42111816e-01 6.67825261e-01 5.72666859e-02 2.17201688e+02] [-6.65967584e-01 7.44317145e-01 -4.97912163e-02 -1.55637024e+02] [-7.58764081e-02 -1.18710649e-03 9.97116524e-01 -1.56223064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77864 meters 0.026474736033447938 Centerline is valid? [True, True] Translation: X:217.23, Y:-155.66, Z:-15.63 [[ 7.42159897e-01 6.67742847e-01 5.76036218e-02 2.17227776e+02] [-6.65858753e-01 7.44391147e-01 -5.01392134e-02 -1.55657914e+02] [-7.63597272e-02 -1.14456235e-03 9.97079677e-01 -1.56251578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80864 meters 0.026558168536074622 Centerline is valid? [True, True] Translation: X:217.25, Y:-155.68, Z:-15.63 [[ 7.41483021e-01 6.68508316e-01 5.74417994e-02 2.17252592e+02] [-6.66632964e-01 7.43703731e-01 -5.00524833e-02 -1.55679358e+02] [-7.61801818e-02 -1.17953047e-03 9.97093370e-01 -1.56271801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83864 meters 0.02660630929229955 Centerline is valid? [True, True] Translation: X:217.28, Y:-155.70, Z:-15.63 [[ 7.40948642e-01 6.68961273e-01 5.90417171e-02 2.17276325e+02] [-6.66976978e-01 7.43296258e-01 -5.15012999e-02 -1.55700301e+02] [-7.83378626e-02 -1.21964781e-03 9.96926122e-01 -1.56299413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86864 meters 0.026708214522878127 Centerline is valid? [True, True] Translation: X:217.30, Y:-155.72, Z:-15.63 [[ 7.40057546e-01 6.69934504e-01 5.91826788e-02 2.17301652e+02] [-6.67939794e-01 7.42419088e-01 -5.16752251e-02 -1.55720844e+02] [-7.85573667e-02 -1.28782601e-03 9.96908763e-01 -1.56310122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89864 meters 0.026576860851310703 Centerline is valid? [True, True] Translation: X:217.33, Y:-155.74, Z:-15.63 [[ 7.39773469e-01 6.70276259e-01 5.88638375e-02 2.17327603e+02] [-6.68299774e-01 7.42110577e-01 -5.14519550e-02 -1.55740958e+02] [-7.81705003e-02 -1.27589812e-03 9.96939188e-01 -1.56326366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864000000003 meters 0.02648332340113822 Centerline is valid? [True, True] Translation: X:217.35, Y:-155.76, Z:-15.63 [[ 7.39498577e-01 6.70621584e-01 5.83827504e-02 2.17353622e+02] [-6.68674167e-01 7.41798558e-01 -5.10857874e-02 -1.55761105e+02] [-7.75674717e-02 -1.26116986e-03 9.96986307e-01 -1.56338103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95864 meters 0.026733740211912528 Centerline is valid? [True, True] Translation: X:217.38, Y:-155.78, Z:-15.63 [[ 7.39037924e-01 6.71244924e-01 5.70368247e-02 2.17378887e+02] [-6.69384365e-01 7.41234558e-01 -4.99590042e-02 -1.55781169e+02] [-7.58123935e-02 -1.25796000e-03 9.97121306e-01 -1.56347666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864000000003 meters 0.026721488947347025 Centerline is valid? [True, True] Translation: X:217.41, Y:-155.80, Z:-15.64 [[ 7.39252595e-01 6.70943373e-01 5.77978455e-02 2.17405102e+02] [-6.69027989e-01 7.41507610e-01 -5.06755775e-02 -1.55800865e+02] [-7.68579852e-02 -1.20632421e-03 9.97041321e-01 -1.56377638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01864 meters 0.02649428015632508 Centerline is valid? [True, True] Translation: X:217.43, Y:-155.82, Z:-15.64 [[ 7.39351289e-01 6.70835356e-01 5.77892448e-02 2.17431531e+02] [-6.68916007e-01 7.41605416e-01 -5.07226056e-02 -1.55821420e+02] [-7.68833342e-02 -1.15432700e-03 9.97039428e-01 -1.56387525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters 0.02646112307596565 Centerline is valid? [True, True] Translation: X:217.46, Y:-155.84, Z:-15.64 [[ 7.40215641e-01 6.69922882e-01 5.73073983e-02 2.17458513e+02] [-6.68028748e-01 7.42430003e-01 -5.03515960e-02 -1.55840139e+02] [-7.62784182e-02 -1.01195065e-03 9.97086044e-01 -1.56399479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07864 meters 0.02627329241936418 Centerline is valid? [True, True] Translation: X:217.49, Y:-155.86, Z:-15.64 [[ 7.39864735e-01 6.70368251e-01 5.66266938e-02 2.17485097e+02] [-6.68516553e-01 7.42027890e-01 -4.98018934e-02 -1.55860345e+02] [-7.54041943e-02 -1.00921748e-03 9.97152540e-01 -1.56406448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters 0.0264660406074378 Centerline is valid? [True, True] Translation: X:217.51, Y:-155.88, Z:-15.64 [[ 7.39889849e-01 6.70270833e-01 5.74458227e-02 2.17512322e+02] [-6.68360577e-01 7.42115937e-01 -5.05774110e-02 -1.55879679e+02] [-7.65320239e-02 -9.72810233e-04 9.97066649e-01 -1.56432661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13864 meters 0.026547919726251784 Centerline is valid? [True, True] Translation: X:217.54, Y:-155.90, Z:-15.65 [[ 7.39758317e-01 6.70408393e-01 5.75345025e-02 2.17538184e+02] [-6.68488422e-01 7.41991704e-01 -5.07103627e-02 -1.55899623e+02] [-7.66867763e-02 -9.47736275e-04 9.97054783e-01 -1.56459474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters 0.026506535917339716 Centerline is valid? [True, True] Translation: X:217.56, Y:-155.92, Z:-15.65 [[ 7.39491126e-01 6.70720827e-01 5.73275439e-02 2.17564339e+02] [-6.68811459e-01 7.41709307e-01 -5.05819740e-02 -1.55919315e+02] [-7.64467563e-02 -9.36397381e-04 9.97073225e-01 -1.56470218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19864 meters 0.02644103616358818 Centerline is valid? [True, True] Translation: X:217.59, Y:-155.94, Z:-15.65 [[ 7.39086242e-01 6.71294986e-01 5.58083204e-02 2.17591786e+02] [-6.69483518e-01 7.41189701e-01 -4.92914332e-02 -1.55936592e+02] [-7.44536443e-02 -9.32130531e-04 9.97224040e-01 -1.56481425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters 0.026278404059968258 Centerline is valid? [True, True] Translation: X:217.62, Y:-155.96, Z:-15.65 [[ 7.38388255e-01 6.72112381e-01 5.52062746e-02 2.17617620e+02] [-6.70338658e-01 7.40448519e-01 -4.88065097e-02 -1.55957117e+02] [-7.36808637e-02 -9.68746516e-04 9.97281401e-01 -1.56489099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25864 meters 0.02630508931025296 Centerline is valid? [True, True] Translation: X:217.64, Y:-155.98, Z:-15.65 [[ 7.38080202e-01 6.72468919e-01 5.49833481e-02 2.17644969e+02] [-6.70706666e-01 7.40124738e-01 -4.86614879e-02 -1.55976413e+02] [-7.34178743e-02 -9.61617301e-04 9.97300803e-01 -1.56512897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters 0.026400448213382978 Centerline is valid? [True, True] Translation: X:217.67, Y:-156.00, Z:-15.65 [[ 7.38352876e-01 6.72144939e-01 5.52830121e-02 2.17670995e+02] [-6.70358559e-01 7.40419057e-01 -4.89798219e-02 -1.55996683e+02] [-7.38541351e-02 -8.95047949e-04 9.97268653e-01 -1.56539853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31864 meters 0.02626994930136789 Centerline is valid? [True, True] Translation: X:217.70, Y:-156.02, Z:-15.66 [[ 7.38547641e-01 6.71992178e-01 5.45334292e-02 2.17695301e+02] [-6.70249893e-01 7.40557779e-01 -4.83658694e-02 -1.56017162e+02] [-7.28866411e-02 -8.30526336e-04 9.97339886e-01 -1.56561764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters 0.02623521680078976 Centerline is valid? [True, True] Translation: X:217.72, Y:-156.04, Z:-15.66 [[ 7.40874602e-01 6.69404310e-01 5.47968342e-02 2.17721589e+02] [-6.67634652e-01 7.42898091e-01 -4.86456404e-02 -1.56036177e+02] [-7.32720648e-02 -5.43945841e-04 9.97311841e-01 -1.56571000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37864 meters 0.02626936572302445 Centerline is valid? [True, True] Translation: X:217.75, Y:-156.06, Z:-15.66 [[ 7.41626724e-01 6.68514293e-01 5.54837092e-02 2.17748047e+02] [-6.66693833e-01 7.43699172e-01 -4.93039014e-02 -1.56056834e+02] [-7.42235514e-02 -4.25555908e-04 9.97241537e-01 -1.56582006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters 0.02611494863529264 Centerline is valid? [True, True] Translation: X:217.77, Y:-156.08, Z:-15.66 [[ 7.44325409e-01 6.65474331e-01 5.58891826e-02 2.17774363e+02] [-6.63614472e-01 7.46420731e-01 -4.97184545e-02 -1.56076437e+02] [-7.48031998e-02 -8.21614648e-05 9.97198313e-01 -1.56609309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43864 meters 0.026251897252888005 Centerline is valid? [True, True] Translation: X:217.80, Y:-156.10, Z:-15.66 [[ 7.45017769e-01 6.64723706e-01 5.55960291e-02 2.17799545e+02] [-6.62877247e-01 7.47089281e-01 -4.95112327e-02 -1.56097840e+02] [-7.44464875e-02 3.34054396e-05 9.97225009e-01 -1.56634862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters 0.026105430741573094 Centerline is valid? [True, True] Translation: X:217.82, Y:-156.12, Z:-15.66 [[ 7.46220324e-01 6.63448215e-01 5.46963889e-02 2.17824613e+02] [-6.61654005e-01 7.48222178e-01 -4.87601221e-02 -1.56118300e+02] [-7.32748672e-02 1.95709323e-04 9.97311764e-01 -1.56643424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49864 meters 0.026165683903698268 Centerline is valid? [True, True] Translation: X:217.85, Y:-156.14, Z:-15.67 [[ 7.46022415e-01 6.63668037e-01 5.47292744e-02 2.17850058e+02] [-6.61868804e-01 7.48027201e-01 -4.88363887e-02 -1.56138997e+02] [-7.33501362e-02 2.09441267e-04 9.97306229e-01 -1.56661107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters 0.02607401642703357 Centerline is valid? [True, True] Translation: X:217.88, Y:-156.16, Z:-15.67 [[ 7.45584125e-01 6.64258093e-01 5.35303535e-02 2.17875377e+02] [-6.62534969e-01 7.47503279e-01 -4.78148801e-02 -1.56158175e+02] [-7.17755359e-02 1.84284427e-04 9.97420793e-01 -1.56684780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55864 meters 0.026138727147906604 Centerline is valid? [True, True] Translation: X:217.90, Y:-156.18, Z:-15.67 [[ 7.44836662e-01 6.65084488e-01 5.36746848e-02 2.17900386e+02] [-6.63350876e-01 7.46768107e-01 -4.79896856e-02 -1.56180165e+02] [-7.19997382e-02 1.39327991e-04 9.97404641e-01 -1.56699222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters 0.026105946536387856 Centerline is valid? [True, True] Translation: X:217.93, Y:-156.20, Z:-15.67 [[ 7.43973971e-01 6.65982946e-01 5.44926185e-02 2.17925535e+02] [-6.64194591e-01 7.45966961e-01 -4.87733370e-02 -1.56201805e+02] [-7.31319037e-02 9.23907404e-05 9.97322273e-01 -1.56717951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61864 meters 0.026087619637203702 Centerline is valid? [True, True] Translation: X:217.95, Y:-156.22, Z:-15.67 [[ 7.43483633e-01 6.66487150e-01 5.50178780e-02 2.17950887e+02] [-6.64661556e-01 7.45516514e-01 -4.92964922e-02 -1.56223579e+02] [-7.38722152e-02 8.28667437e-05 9.97267712e-01 -1.56730850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters 0.026172184955986506 Centerline is valid? [True, True] Translation: X:217.98, Y:-156.24, Z:-15.68 [[ 7.42918746e-01 6.67030410e-01 5.60550550e-02 2.17975914e+02] [-6.65132797e-01 7.45030488e-01 -5.02785740e-02 -1.56244398e+02] [-7.53000628e-02 6.88396312e-05 9.97160918e-01 -1.56752592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67864000000003 meters 0.02633454050610857 Centerline is valid? [True, True] Translation: X:218.00, Y:-156.26, Z:-15.68 [[ 7.43202931e-01 6.66634576e-01 5.69889885e-02 2.18001209e+02] [-6.64668242e-01 7.45384680e-01 -5.11645193e-02 -1.56263908e+02] [-7.65867566e-02 1.46849919e-04 9.97062910e-01 -1.56778334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters 0.02633598638638014 Centerline is valid? [True, True] Translation: X:218.03, Y:-156.28, Z:-15.68 [[ 7.43356058e-01 6.66418974e-01 5.75110614e-02 2.18026244e+02] [-6.64411840e-01 7.45577432e-01 -5.16836509e-02 -1.56284703e+02] [-7.73219151e-02 2.08324947e-04 9.97006157e-01 -1.56804672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73864000000003 meters 0.026342136894201854 Centerline is valid? [True, True] Translation: X:218.05, Y:-156.31, Z:-15.68 [[ 7.43703628e-01 6.66137513e-01 5.62647931e-02 2.18050896e+02] [-6.64211895e-01 7.45828895e-01 -5.06144099e-02 -1.56305588e+02] [-7.56800656e-02 2.70375385e-04 9.97132115e-01 -1.56819221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76864 meters 0.026309205498748704 Centerline is valid? [True, True] Translation: X:218.08, Y:-156.33, Z:-15.68 [[ 7.43909339e-01 6.66008493e-01 5.50598099e-02 2.18076242e+02] [-6.64160909e-01 7.45944094e-01 -4.95751558e-02 -1.56325348e+02] [-7.40890148e-02 3.10848070e-04 9.97251584e-01 -1.56835198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79864 meters 0.02611373370826785 Centerline is valid? [True, True] Translation: X:218.10, Y:-156.35, Z:-15.69 [[ 7.43107338e-01 6.66914337e-01 5.49249679e-02 2.18101026e+02] [-6.65074785e-01 7.45134352e-01 -4.95007850e-02 -1.56346387e+02] [-7.39392636e-02 2.55185326e-04 9.97262714e-01 -1.56857827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82864 meters 0.02593961077213679 Centerline is valid? [True, True] Translation: X:218.12, Y:-156.37, Z:-15.69 [[ 7.41544489e-01 6.68682821e-01 5.45440626e-02 2.18124760e+02] [-6.66869720e-01 7.43547760e-01 -4.92087903e-02 -1.56368718e+02] [-7.34611883e-02 1.16723486e-04 9.97298070e-01 -1.56872709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85864 meters 0.025947824017540082 Centerline is valid? [True, True] Translation: X:218.15, Y:-156.39, Z:-15.69 [[ 7.40282919e-01 6.70055517e-01 5.48343333e-02 2.18149173e+02] [-6.68222915e-01 7.42310989e-01 -4.95230508e-02 -1.56391006e+02] [-7.38873216e-02 1.95105373e-05 9.97266596e-01 -1.56889432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88864 meters 0.0260902006737205 Centerline is valid? [True, True] Translation: X:218.17, Y:-156.41, Z:-15.69 [[ 7.38842796e-01 6.71505774e-01 5.64917558e-02 2.18173501e+02] [-6.69560690e-01 7.40999316e-01 -5.10734303e-02 -1.56412298e+02] [-7.61564558e-02 -8.94230170e-05 9.97095876e-01 -1.56913184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91864 meters 0.026068157423540822 Centerline is valid? [True, True] Translation: X:218.20, Y:-156.43, Z:-15.69 [[ 7.36714493e-01 6.73736258e-01 5.77166391e-02 2.18197713e+02] [-6.71708757e-01 7.38971833e-01 -5.22300229e-02 -1.56433281e+02] [-7.78402308e-02 -2.90157077e-04 9.96965804e-01 -1.56931113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94864 meters 0.026114117822692108 Centerline is valid? [True, True] Translation: X:218.22, Y:-156.46, Z:-15.69 [[ 7.36520313e-01 6.73968798e-01 5.74794560e-02 2.18221624e+02] [-6.71954765e-01 7.38759760e-01 -5.20654496e-02 -1.56456256e+02] [-7.75539976e-02 -2.76333190e-04 9.96988115e-01 -1.56937853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97864 meters 0.026109008649078037 Centerline is valid? [True, True] Translation: X:218.25, Y:-156.48, Z:-15.70 [[ 7.36410137e-01 6.74115461e-01 5.71704138e-02 2.18245041e+02] [-6.72119255e-01 7.38625943e-01 -5.18403629e-02 -1.56479682e+02] [-7.71739409e-02 -2.49567200e-04 9.97017613e-01 -1.56956309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00864 meters 0.02601715879176969 Centerline is valid? [True, True] Translation: X:218.27, Y:-156.50, Z:-15.70 [[ 7.36468861e-01 6.74153773e-01 5.59491575e-02 2.18266719e+02] [-6.72238281e-01 7.38590988e-01 -5.07843223e-02 -1.56503419e+02] [-7.55599859e-02 -2.10093470e-04 9.97141236e-01 -1.56964552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03864 meters 0.02596980616852647 Centerline is valid? [True, True] Translation: X:218.29, Y:-156.53, Z:-15.70 [[ 7.35780173e-01 6.74866443e-01 5.64164870e-02 2.18290143e+02] [-6.72917065e-01 7.37939850e-01 -5.12581933e-02 -1.56526009e+02] [-7.62244085e-02 -2.48854481e-04 9.97090657e-01 -1.56984771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06864 meters 0.025910263017023417 Centerline is valid? [True, True] Translation: X:218.31, Y:-156.55, Z:-15.70 [[ 7.34370734e-01 6.76426958e-01 5.60909569e-02 2.18311955e+02] [-6.74500469e-01 7.36509630e-01 -5.10164855e-02 -1.56550864e+02] [-7.58204559e-02 -3.68362854e-04 9.97121418e-01 -1.56997595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09864 meters 0.026046835589937534 Centerline is valid? [True, True] Translation: X:218.34, Y:-156.57, Z:-15.70 [[ 7.32765982e-01 6.78172750e-01 5.59976610e-02 2.18335588e+02] [-6.76253621e-01 7.34902350e-01 -5.09860361e-02 -1.56574402e+02] [-7.57301530e-02 -5.07788259e-04 9.97128219e-01 -1.57009835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12864 meters 0.025996731969893484 Centerline is valid? [True, True] Translation: X:218.36, Y:-156.60, Z:-15.70 [[ 7.30714278e-01 6.80286974e-01 5.71513568e-02 2.18358968e+02] [-6.78290057e-01 7.32945524e-01 -5.20908639e-02 -1.56596468e+02] [-7.73255673e-02 -7.01659105e-04 9.97005649e-01 -1.57025264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15864 meters 0.02632357839088871 Centerline is valid? [True, True] Translation: X:218.38, Y:-156.62, Z:-15.70 [[ 7.25855005e-01 6.85429173e-01 5.76312494e-02 2.18381712e+02] [-6.83410772e-01 7.28138280e-01 -5.25772058e-02 -1.56619071e+02] [-7.80014695e-02 -1.22238872e-03 9.96952495e-01 -1.57046604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18864 meters 0.026598231246851824 Centerline is valid? [True, True] Translation: X:218.40, Y:-156.64, Z:-15.71 [[ 7.23742206e-01 6.87742090e-01 5.66395366e-02 2.18404955e+02] [-6.85795918e-01 7.25953738e-01 -5.17216522e-02 -1.56642008e+02] [-7.66888404e-02 -1.41002030e-03 9.97054078e-01 -1.57059626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21864 meters 0.026799002355340527 Centerline is valid? [True, True] Translation: X:218.43, Y:-156.66, Z:-15.71 [[ 7.20761188e-01 6.90858128e-01 5.67305654e-02 2.18428295e+02] [-6.88911181e-01 7.22988340e-01 -5.18579330e-02 -1.56664273e+02] [-7.68420118e-02 -1.70513534e-03 9.97041823e-01 -1.57066040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24864 meters 0.026785106409363543 Centerline is valid? [True, True] Translation: X:218.45, Y:-156.68, Z:-15.71 [[ 7.19981517e-01 6.91597890e-01 5.76105288e-02 2.18453355e+02] [-6.89588480e-01 7.22280558e-01 -5.27117077e-02 -1.56683847e+02] [-7.80662707e-02 -1.77610169e-03 9.96946590e-01 -1.57091826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27864 meters 0.026785106409363543 Centerline is valid? [True, True] Translation: X:218.48, Y:-156.71, Z:-15.71 [[ 7.19614694e-01 6.91981680e-01 5.75851264e-02 2.18477541e+02] [-6.89971278e-01 7.21912866e-01 -5.27394481e-02 -1.56705573e+02] [-7.80661755e-02 -1.78000145e-03 9.96946590e-01 -1.57109605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30864 meters 0.026844251903600846 Centerline is valid? [True, True] Translation: X:218.50, Y:-156.73, Z:-15.71 [[ 7.19569325e-01 6.91994623e-01 5.79950737e-02 2.18503292e+02] [-6.89950992e-01 7.21900526e-01 -5.31719736e-02 -1.56726388e+02] [-7.86613941e-02 -1.75283744e-03 9.96899851e-01 -1.57127681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33864 meters 0.026786495373993354 Centerline is valid? [True, True] Translation: X:218.53, Y:-156.75, Z:-15.72 [[ 7.21824113e-01 6.89652748e-01 5.78708648e-02 2.18528758e+02] [-6.87606049e-01 7.24138779e-01 -5.31126217e-02 -1.56746462e+02] [-7.85358029e-02 -1.45438571e-03 9.96910233e-01 -1.57152011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36864 meters 0.02661868395520228 Centerline is valid? [True, True] Translation: X:218.55, Y:-156.77, Z:-15.72 [[ 7.22502391e-01 6.88904342e-01 5.83189816e-02 2.18554633e+02] [-6.86819159e-01 7.24851018e-01 -5.35765318e-02 -1.56767726e+02] [-7.91816785e-02 -1.34542159e-03 9.96859294e-01 -1.57172190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39864 meters 0.026633241141847952 Centerline is valid? [True, True] Translation: X:218.58, Y:-156.79, Z:-15.72 [[ 7.23176822e-01 6.88156556e-01 5.87863843e-02 2.18583005e+02] [-6.86030626e-01 7.25561189e-01 -5.40642423e-02 -1.56785246e+02] [-7.98577816e-02 -1.23125312e-03 9.96805507e-01 -1.57186840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864000000003 meters 0.02671049581730931 Centerline is valid? [True, True] Translation: X:218.61, Y:-156.81, Z:-15.72 [[ 7.22245662e-01 6.89095785e-01 5.92300780e-02 2.18608059e+02] [-6.86936216e-01 7.24669095e-01 -5.45283238e-02 -1.56805078e+02] [-8.04974451e-02 -1.30444035e-03 9.96753962e-01 -1.57209603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45864 meters 0.026651831228981057 Centerline is valid? [True, True] Translation: X:218.63, Y:-156.83, Z:-15.72 [[ 7.21204886e-01 6.90257077e-01 5.83839075e-02 2.18634218e+02] [-6.88158536e-01 7.23562903e-01 -5.38010613e-02 -1.56825338e+02] [-7.93809929e-02 -1.37579609e-03 9.96843401e-01 -1.57226078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864000000003 meters 0.026816415218764527 Centerline is valid? [True, True] Translation: X:218.66, Y:-156.84, Z:-15.72 [[ 7.19731593e-01 6.91978053e-01 5.61498649e-02 2.18662702e+02] [-6.90038554e-01 7.21917044e-01 -5.17935793e-02 -1.56841586e+02] [-7.63755647e-02 -1.46809622e-03 9.97078040e-01 -1.57246214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51864 meters 0.027011235933805066 Centerline is valid? [True, True] Translation: X:218.69, Y:-156.86, Z:-15.73 [[ 7.18618370e-01 6.93013090e-01 5.76237476e-02 2.18689243e+02] [-6.90969672e-01 7.20923262e-01 -5.32030296e-02 -1.56860594e+02] [-7.84126960e-02 -1.58358755e-03 9.96919727e-01 -1.57281431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters 0.026942926933869057 Centerline is valid? [True, True] Translation: X:218.72, Y:-156.88, Z:-15.73 [[ 7.18994298e-01 6.92586923e-01 5.80564709e-02 2.18717199e+02] [-6.90507119e-01 7.21332844e-01 -5.36548975e-02 -1.56879543e+02] [-7.90387196e-02 -1.51084109e-03 9.96870402e-01 -1.57297639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57864 meters 0.026816278097077748 Centerline is valid? [True, True] Translation: X:218.74, Y:-156.90, Z:-15.73 [[ 7.20158687e-01 6.91403309e-01 5.77315294e-02 2.18742927e+02] [-6.89338651e-01 7.22467775e-01 -5.34091550e-02 -1.56899214e+02] [-7.86364361e-02 -1.33350765e-03 9.96902469e-01 -1.57310970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters 0.02652272095032695 Centerline is valid? [True, True] Translation: X:218.77, Y:-156.92, Z:-15.73 [[ 7.21822173e-01 6.89745010e-01 5.67853170e-02 2.18770515e+02] [-6.87738718e-01 7.24051527e-01 -5.25817699e-02 -1.56916164e+02] [-7.73835089e-02 -1.09877373e-03 9.97000795e-01 -1.57326258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63864 meters 0.02648876781216299 Centerline is valid? [True, True] Translation: X:218.80, Y:-156.94, Z:-15.74 [[ 7.22877097e-01 6.88660589e-01 5.65269518e-02 2.18796512e+02] [-6.86665488e-01 7.25083240e-01 -5.23908642e-02 -1.56935863e+02] [-7.70662687e-02 -9.42951112e-04 9.97025527e-01 -1.57354415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters 0.026448631009404235 Centerline is valid? [True, True] Translation: X:218.82, Y:-156.96, Z:-15.74 [[ 7.23586548e-01 6.87942753e-01 5.61896489e-02 2.18822558e+02] [-6.85965564e-01 7.25764484e-01 -5.21263799e-02 -1.56955617e+02] [-7.66404168e-02 -8.26216946e-04 9.97058456e-01 -1.57374001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69864 meters 0.026441228781345947 Centerline is valid? [True, True] Translation: X:218.85, Y:-156.98, Z:-15.74 [[ 7.24148493e-01 6.87357594e-01 5.61114717e-02 2.18848510e+02] [-6.85380321e-01 7.26318807e-01 -5.21038075e-02 -1.56976352e+02] [-7.65687650e-02 -7.26804748e-04 9.97064038e-01 -1.57390938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters 0.02657439973319515 Centerline is valid? [True, True] Translation: X:218.88, Y:-156.99, Z:-15.74 [[ 7.25506164e-01 6.85799274e-01 5.76208502e-02 2.18875192e+02] [-6.83704753e-01 7.27790538e-01 -5.35606529e-02 -1.56994660e+02] [-7.86677665e-02 -5.37065351e-04 9.96900744e-01 -1.57401236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75864 meters 0.026608811551057914 Centerline is valid? [True, True] Translation: X:218.90, Y:-157.02, Z:-15.74 [[ 7.25859904e-01 6.85357657e-01 5.84147371e-02 2.18901382e+02] [-6.83199301e-01 7.28206476e-01 -5.43511090e-02 -1.57015688e+02] [-7.97879386e-02 -4.57616759e-04 9.96811755e-01 -1.57419510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters 0.02661391118638381 Centerline is valid? [True, True] Translation: X:218.93, Y:-157.04, Z:-15.74 [[ 7.26215267e-01 6.84946400e-01 5.88201969e-02 2.18927163e+02] [-6.82751924e-01 7.28593364e-01 -5.47861243e-02 -1.57036791e+02] [-8.03815638e-02 -3.73082718e-04 9.96764097e-01 -1.57439601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81864 meters 0.026471809685788515 Centerline is valid? [True, True] Translation: X:218.95, Y:-157.06, Z:-15.75 [[ 7.25960469e-01 6.85291430e-01 5.79400875e-02 2.18950828e+02] [-6.83159064e-01 7.28268853e-01 -5.40200997e-02 -1.57058778e+02] [-7.92154724e-02 -3.65839066e-04 9.96857450e-01 -1.57461097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters 0.026345654548472167 Centerline is valid? [True, True] Translation: X:218.97, Y:-157.08, Z:-15.75 [[ 7.25226617e-01 6.86052494e-01 5.81233938e-02 2.18974895e+02] [-6.83904900e-01 7.27551926e-01 -5.42428164e-02 -1.57081199e+02] [-7.95012066e-02 -4.12539586e-04 9.96834684e-01 -1.57489053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87864 meters 0.026517509910011554 Centerline is valid? [True, True] Translation: X:219.00, Y:-157.10, Z:-15.75 [[ 7.23465621e-01 6.87883691e-01 5.84253585e-02 2.19000538e+02] [-6.85715029e-01 7.25820706e-01 -5.45820746e-02 -1.57102380e+02] [-7.99524539e-02 -5.74891893e-04 9.96798513e-01 -1.57508549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters 0.026544549693788003 Centerline is valid? [True, True] Translation: X:219.03, Y:-157.12, Z:-15.75 [[ 7.22624646e-01 6.88736663e-01 5.87829075e-02 2.19025822e+02] [-6.86539502e-01 7.25011317e-01 -5.49736548e-02 -1.57123520e+02] [-8.04806448e-02 -6.31470223e-04 9.96755972e-01 -1.57524136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93864 meters 0.02665555340519459 Centerline is valid? [True, True] Translation: X:219.05, Y:-157.14, Z:-15.75 [[ 7.20762929e-01 6.90504876e-01 6.08589897e-02 2.19049953e+02] [-6.88150919e-01 7.23327278e-01 -5.69733404e-02 -1.57144358e+02] [-8.33613367e-02 -8.15897942e-04 9.96519052e-01 -1.57544458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters 0.026747335789800222 Centerline is valid? [True, True] Translation: X:219.07, Y:-157.17, Z:-15.76 [[ 7.19848805e-01 6.91435552e-01 6.11111624e-02 2.19074368e+02] [-6.89060742e-01 7.22437602e-01 -5.72643370e-02 -1.57166142e+02] [-8.37436001e-02 -8.87638341e-04 9.96486940e-01 -1.57561672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99864 meters 0.02661768341120401 Centerline is valid? [True, True] Translation: X:219.10, Y:-157.19, Z:-15.76 [[ 7.19589733e-01 6.91802238e-01 6.00023327e-02 2.19098926e+02] [-6.89509666e-01 7.22086492e-01 -5.62807172e-02 -1.57186665e+02] [-8.22620000e-02 -8.73162144e-04 9.96610356e-01 -1.57576351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters 0.02657115915354325 Centerline is valid? [True, True] Translation: X:219.12, Y:-157.21, Z:-15.76 [[ 7.19924028e-01 6.91543989e-01 5.89602018e-02 2.19123094e+02] [-6.89325585e-01 7.22333914e-01 -5.53530012e-02 -1.57207327e+02] [-8.08679886e-02 -7.92820052e-04 9.96724506e-01 -1.57590301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05864 meters 0.026589645345224528 Centerline is valid? [True, True] Translation: X:219.15, Y:-157.23, Z:-15.76 [[ 7.21651852e-01 6.89779819e-01 5.85013326e-02 2.19148234e+02] [-6.87586048e-01 7.24018988e-01 -5.49721065e-02 -1.57228064e+02] [-8.02747253e-02 -5.53977615e-04 9.96772623e-01 -1.57615981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters 0.0265319380560073 Centerline is valid? [True, True] Translation: X:219.17, Y:-157.25, Z:-15.76 [[ 7.24314384e-01 6.87088918e-01 5.72493822e-02 2.19173942e+02] [-6.84975925e-01 7.26573309e-01 -5.38443106e-02 -1.57247220e+02] [-7.85917022e-02 -2.14239826e-04 9.96906866e-01 -1.57626360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11864 meters 0.026450290340231913 Centerline is valid? [True, True] Translation: X:219.20, Y:-157.27, Z:-15.77 [[ 7.25195120e-01 6.86191585e-01 5.68607628e-02 2.19198907e+02] [-6.84100485e-01 7.27420857e-01 -5.35296506e-02 -1.57268393e+02] [-7.80933006e-02 -7.90339521e-05 9.96946052e-01 -1.57655181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters 0.026450172048174722 Centerline is valid? [True, True] Translation: X:219.22, Y:-157.29, Z:-15.77 [[ 7.25853165e-01 6.85490490e-01 5.69207445e-02 2.19223728e+02] [-6.83388415e-01 7.28081580e-01 -5.36422209e-02 -1.57290008e+02] [-7.82141779e-02 3.73984486e-05 9.96936578e-01 -1.57674290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17864000000003 meters 0.02656496930404269 Centerline is valid? [True, True] Translation: X:219.25, Y:-157.31, Z:-15.77 [[ 7.25858216e-01 6.85472238e-01 5.70759207e-02 2.19248818e+02] [-6.83354213e-01 7.28098760e-01 -5.38443526e-02 -1.57312262e+02] [-7.84657160e-02 8.02948821e-05 9.96916809e-01 -1.57691786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters 0.02663871068353357 Centerline is valid? [True, True] Translation: X:219.28, Y:-157.33, Z:-15.77 [[ 7.24366422e-01 6.86946096e-01 5.82953461e-02 2.19275283e+02] [-6.84736734e-01 7.26708373e-01 -5.50503932e-02 -1.57331755e+02] [-8.01803688e-02 -4.03085418e-05 9.96780370e-01 -1.57706235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23864000000003 meters 0.026629389887206614 Centerline is valid? [True, True] Translation: X:219.30, Y:-157.35, Z:-15.77 [[ 7.23028955e-01 6.88435253e-01 5.73239340e-02 2.19300664e+02] [-6.86299820e-01 7.25297784e-01 -5.41819368e-02 -1.57352246e+02] [-7.88776777e-02 -1.66296496e-04 9.96884288e-01 -1.57725742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26864 meters 0.026606646455492808 Centerline is valid? [True, True] Translation: X:219.33, Y:-157.37, Z:-15.77 [[ 7.22746418e-01 6.88846269e-01 5.59323893e-02 2.19327292e+02] [-6.86810981e-01 7.24907434e-01 -5.29139674e-02 -1.57371627e+02] [-7.69953938e-02 -1.71598733e-04 9.97031434e-01 -1.57736220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29864 meters 0.026565642977063264 Centerline is valid? [True, True] Translation: X:219.35, Y:-157.39, Z:-15.77 [[ 7.23288001e-01 6.88360054e-01 5.49081283e-02 2.19351683e+02] [-6.86393812e-01 7.25369167e-01 -5.19914113e-02 -1.57392377e+02] [-7.56174740e-02 -8.38355104e-05 9.97136897e-01 -1.57741524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32864 meters 0.026845762335097886 Centerline is valid? [True, True] Translation: X:219.38, Y:-157.41, Z:-15.78 [[ 7.24223691e-01 6.87296407e-01 5.58900237e-02 2.19376686e+02] [-6.85252169e-01 7.26377068e-01 -5.29699935e-02 -1.57412800e+02] [-7.70033178e-02 6.33642563e-05 9.97030835e-01 -1.57773063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35864 meters 0.026898143030382356 Centerline is valid? [True, True] Translation: X:219.40, Y:-157.43, Z:-15.78 [[ 7.25643077e-01 6.85674492e-01 5.73813233e-02 2.19404230e+02] [-6.83510455e-01 7.27908245e-01 -5.44338517e-02 -1.57431013e+02] [-7.90922419e-02 2.78813244e-04 9.96867263e-01 -1.57779695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38864 meters 0.02700967760135474 Centerline is valid? [True, True] Translation: X:219.43, Y:-157.45, Z:-15.78 [[ 7.25897282e-01 6.85374734e-01 5.77460842e-02 2.19429781e+02] [-6.83177961e-01 7.28190464e-01 -5.48317679e-02 -1.57452329e+02] [-7.96304562e-02 3.51379231e-04 9.96824391e-01 -1.57804423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41864 meters 0.027159612650488482 Centerline is valid? [True, True] Translation: X:219.45, Y:-157.47, Z:-15.78 [[ 7.26890217e-01 6.84355237e-01 5.73456419e-02 2.19454553e+02] [-6.82181264e-01 7.29148585e-01 -5.45074657e-02 -1.57473864e+02] [-7.91159632e-02 5.00821108e-04 9.96865294e-01 -1.57819042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44864 meters 0.0272007448572529 Centerline is valid? [True, True] Translation: X:219.48, Y:-157.50, Z:-15.78 [[ 7.27162462e-01 6.84061036e-01 5.74042842e-02 2.19479417e+02] [-6.81877247e-01 7.29424546e-01 -5.46191515e-02 -1.57495967e+02] [-7.92349273e-02 5.74321456e-04 9.96855805e-01 -1.57840535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47864 meters 0.02718973093150968 Centerline is valid? [True, True] Translation: X:219.50, Y:-157.52, Z:-15.79 [[ 7.27282921e-01 6.84067234e-01 5.57814648e-02 2.19503389e+02] [-6.82001394e-01 7.29418717e-01 -5.31265776e-02 -1.57517071e+02] [-7.70301955e-02 5.95015769e-04 9.97028583e-01 -1.57850274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50864 meters 0.027027908855641842 Centerline is valid? [True, True] Translation: X:219.53, Y:-157.54, Z:-15.79 [[ 7.26054344e-01 6.85426985e-01 5.50902686e-02 2.19526529e+02] [-6.83412453e-01 7.28141208e-01 -5.25147672e-02 -1.57539117e+02] [-7.61085333e-02 4.79199313e-04 9.97099424e-01 -1.57870357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53864 meters 0.027058404273822754 Centerline is valid? [True, True] Translation: X:219.55, Y:-157.56, Z:-15.79 [[ 7.25060622e-01 6.86466462e-01 5.52348730e-02 2.19549551e+02] [-6.84440570e-01 7.27161351e-01 -5.27017535e-02 -1.57562594e+02] [-7.63426512e-02 4.06978195e-04 9.97081558e-01 -1.57892716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56864 meters 0.02678156181699228 Centerline is valid? [True, True] Translation: X:219.57, Y:-157.59, Z:-15.79 [[ 7.23544267e-01 6.88040499e-01 5.55334651e-02 2.19573370e+02] [-6.85993034e-01 7.25672235e-01 -5.30411600e-02 -1.57585666e+02] [-7.67935599e-02 2.82057005e-04 9.97046975e-01 -1.57905471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59864 meters 0.02676463375601513 Centerline is valid? [True, True] Translation: X:219.60, Y:-157.61, Z:-15.79 [[ 7.22912162e-01 6.88743537e-01 5.50485879e-02 2.19597162e+02] [-6.86729663e-01 7.25005021e-01 -5.26316395e-02 -1.57608062e+02] [-7.61602042e-02 2.44554069e-04 9.97095564e-01 -1.57926559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62864 meters 0.02655119274616849 Centerline is valid? [True, True] Translation: X:219.62, Y:-157.63, Z:-15.79 [[ 7.21925877e-01 6.89809717e-01 5.46404880e-02 2.19620511e+02] [-6.87824616e-01 7.23990695e-01 -5.22950463e-02 -1.57630833e+02] [-7.56328359e-02 1.70074473e-04 9.97135721e-01 -1.57942497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65864 meters 0.026464330457824488 Centerline is valid? [True, True] Translation: X:219.64, Y:-157.65, Z:-15.80 [[ 7.20824640e-01 6.91017956e-01 5.39075332e-02 2.19642649e+02] [-6.89085383e-01 7.22837588e-01 -5.16445295e-02 -1.57653827e+02] [-7.46536884e-02 7.97562767e-05 9.97209517e-01 -1.57962564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68864 meters 0.026584292273720108 Centerline is valid? [True, True] Translation: X:219.67, Y:-157.68, Z:-15.80 [[ 7.19970738e-01 6.91821587e-01 5.50002540e-02 2.19665535e+02] [-6.89808407e-01 7.22068481e-01 -5.27396579e-02 -1.57675948e+02] [-7.62003837e-02 3.13728808e-05 9.97092524e-01 -1.57988064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71864 meters 0.02645711343147368 Centerline is valid? [True, True] Translation: X:219.69, Y:-157.70, Z:-15.80 [[ 7.20352723e-01 6.91408157e-01 5.51970566e-02 2.19688906e+02] [-6.89376143e-01 7.22464359e-01 -5.29696461e-02 -1.57699626e+02] [-7.65015515e-02 1.05294774e-04 9.97069457e-01 -1.58001554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74864 meters 0.026540275230641418 Centerline is valid? [True, True] Translation: X:219.71, Y:-157.72, Z:-15.80 [[ 7.20382117e-01 6.91406192e-01 5.48368727e-02 2.19711681e+02] [-6.89398146e-01 7.22466235e-01 -5.26567703e-02 -1.57722997e+02] [-7.60250060e-02 1.28557235e-04 9.97105903e-01 -1.58020959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77864 meters 0.02641885718738378 Centerline is valid? [True, True] Translation: X:219.74, Y:-157.75, Z:-15.80 [[ 7.20662463e-01 6.91117751e-01 5.47893203e-02 2.19735290e+02] [-6.89108143e-01 7.22742150e-01 -5.26664171e-02 -1.57746789e+02] [-7.59972469e-02 1.98943086e-04 9.97108008e-01 -1.58038175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80864 meters 0.026450460824022803 Centerline is valid? [True, True] Translation: X:219.76, Y:-157.77, Z:-15.81 [[ 7.22051704e-01 6.89717805e-01 5.41358079e-02 2.19759176e+02] [-6.87747939e-01 7.24078175e-01 -5.20919296e-02 -1.57770135e+02] [-7.51272884e-02 3.81276201e-04 9.97173879e-01 -1.58071507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83864 meters 0.026700623859905483 Centerline is valid? [True, True] Translation: X:219.78, Y:-157.79, Z:-15.81 [[ 7.22483510e-01 6.89308216e-01 5.35888204e-02 2.19783155e+02] [-6.87372938e-01 7.24468063e-01 -5.16185109e-02 -1.57792766e+02] [-7.44044525e-02 4.58018012e-04 9.97228042e-01 -1.58090025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86864 meters 0.02653514669094674 Centerline is valid? [True, True] Translation: X:219.80, Y:-157.82, Z:-15.81 [[ 7.22483566e-01 6.89196057e-01 5.50117403e-02 2.19803844e+02] [-6.87152034e-01 7.24574719e-01 -5.30429835e-02 -1.57817534e+02] [-7.64171313e-02 5.21254617e-04 9.97075800e-01 -1.58115324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89864 meters 0.026495789695619512 Centerline is valid? [True, True] Translation: X:219.83, Y:-157.84, Z:-15.81 [[ 7.22131614e-01 6.89654247e-01 5.38790444e-02 2.19825603e+02] [-6.87691468e-01 7.24138642e-01 -5.19968374e-02 -1.57841463e+02] [-7.48757378e-02 4.96400948e-04 9.97192748e-01 -1.58124415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864000000003 meters 0.02629371427382024 Centerline is valid? [True, True] Translation: X:219.85, Y:-157.87, Z:-15.81 [[ 7.21198035e-01 6.90620363e-01 5.40084133e-02 2.19848236e+02] [-6.88647165e-01 7.23217345e-01 -5.21704367e-02 -1.57866223e+02] [-7.50897871e-02 4.32475731e-04 9.97176683e-01 -1.58147755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95864 meters 0.026290444247241584 Centerline is valid? [True, True] Translation: X:219.87, Y:-157.89, Z:-15.82 [[ 7.19912425e-01 6.91980458e-01 5.37507825e-02 2.19869532e+02] [-6.90025852e-01 7.21916158e-01 -5.19748471e-02 -1.57892411e+02] [-7.47691369e-02 3.27908709e-04 9.97200817e-01 -1.58159575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864000000003 meters 0.02639798158643587 Centerline is valid? [True, True] Translation: X:219.89, Y:-157.92, Z:-15.82 [[ 7.18924032e-01 6.92880348e-01 5.53629801e-02 2.19890901e+02] [-6.90804990e-01 7.21052525e-01 -5.35884467e-02 -1.57916676e+02] [-7.70499983e-02 2.80999217e-04 9.97027191e-01 -1.58190494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01864 meters 0.026289472504177826 Centerline is valid? [True, True] Translation: X:219.91, Y:-157.94, Z:-15.82 [[ 7.17984730e-01 6.93816188e-01 5.58303194e-02 2.19912061e+02] [-6.91704383e-01 7.20152101e-01 -5.40925002e-02 -1.57942090e+02] [-7.77365741e-02 2.19512556e-04 9.96973910e-01 -1.58201720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters 0.02599636439562627 Centerline is valid? [True, True] Translation: X:219.93, Y:-157.97, Z:-15.82 [[ 7.17487317e-01 6.94446615e-01 5.43677158e-02 2.19934672e+02] [-6.92442042e-01 7.19544207e-01 -5.27271578e-02 -1.57965380e+02] [-7.57361711e-02 1.84574894e-04 9.97127875e-01 -1.58213728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07864 meters 0.02616827718476619 Centerline is valid? [True, True] Translation: X:219.96, Y:-157.99, Z:-15.82 [[ 7.17190094e-01 6.94763968e-01 5.42346580e-02 2.19957449e+02] [-6.92766351e-01 7.19237787e-01 -5.26477809e-02 -1.57989286e+02] [-7.55853965e-02 1.86520848e-04 9.97139315e-01 -1.58237855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters 0.026206105453316343 Centerline is valid? [True, True] Translation: X:219.98, Y:-158.02, Z:-15.83 [[ 7.17998645e-01 6.93950036e-01 5.39564029e-02 2.19978416e+02] [-6.91966488e-01 7.20023091e-01 -5.24321217e-02 -1.58015380e+02] [-7.52351287e-02 3.10169665e-04 9.97165773e-01 -1.58251531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13864 meters 0.025990408005861727 Centerline is valid? [True, True] Translation: X:220.00, Y:-158.04, Z:-15.83 [[ 7.18464850e-01 6.93450372e-01 5.41741757e-02 2.20000461e+02] [-6.91445188e-01 7.20504281e-01 -5.26985150e-02 -1.58039562e+02] [-7.55765303e-02 4.03557475e-04 9.97139923e-01 -1.58253344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters 0.025990408005861727 Centerline is valid? [True, True] Translation: X:220.02, Y:-158.06, Z:-15.83 [[ 7.18104731e-01 6.93825412e-01 5.41469590e-02 2.20024004e+02] [-6.91819185e-01 7.20143135e-01 -5.27264690e-02 -1.58062011e+02] [-7.55765249e-02 4.03221754e-04 9.97139923e-01 -1.58271117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19864 meters 0.026314403696748815 Centerline is valid? [True, True] Translation: X:220.04, Y:-158.09, Z:-15.83 [[ 7.18489912e-01 6.93259182e-01 5.62490199e-02 2.20044524e+02] [-6.91087736e-01 7.20688167e-01 -5.48298010e-02 -1.58087623e+02] [-7.85492661e-02 5.21651031e-04 9.96910097e-01 -1.58295273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters 0.026228769250933 Centerline is valid? [True, True] Translation: X:220.07, Y:-158.11, Z:-15.83 [[ 7.17990886e-01 6.93720176e-01 5.69333504e-02 2.20065913e+02] [-6.91492707e-01 7.20244439e-01 -5.55498318e-02 -1.58112580e+02] [-7.95419681e-02 5.15276388e-04 9.96831385e-01 -1.58316554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25864 meters 0.026018612733734518 Centerline is valid? [True, True] Translation: X:220.09, Y:-158.14, Z:-15.83 [[ 7.16216082e-01 6.95547925e-01 5.69877901e-02 2.20086708e+02] [-6.93317361e-01 7.18479616e-01 -5.56603872e-02 -1.58138498e+02] [-7.96590324e-02 3.54240198e-04 9.96822107e-01 -1.58332862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters 0.02592131986470444 Centerline is valid? [True, True] Translation: X:220.11, Y:-158.16, Z:-15.84 [[ 7.14564074e-01 6.97295242e-01 5.63695716e-02 2.20109209e+02] [-6.95114000e-01 7.16784002e-01 -5.51109868e-02 -1.58162015e+02] [-7.88334361e-02 1.97052916e-04 9.96887782e-01 -1.58352954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31864 meters 0.025906654899855757 Centerline is valid? [True, True] Translation: X:220.13, Y:-158.19, Z:-15.84 [[ 7.13633543e-01 6.98258856e-01 5.62293167e-02 2.20131763e+02] [-6.96087337e-01 7.15845342e-01 -5.50260446e-02 -1.58186083e+02] [-7.86739175e-02 1.27915829e-04 9.96900395e-01 -1.58376995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters 0.025563743732326706 Centerline is valid? [True, True] Translation: X:220.15, Y:-158.21, Z:-15.84 [[ 7.11388859e-01 7.00619344e-01 5.53030468e-02 2.20151563e+02] [-6.98522519e-01 7.13535231e-01 -5.41642420e-02 -1.58211470e+02] [-7.74091879e-02 -9.85852295e-05 9.96999402e-01 -1.58381816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37864 meters 0.025454566353518098 Centerline is valid? [True, True] Translation: X:220.17, Y:-158.23, Z:-15.84 [[ 7.09620972e-01 7.02379962e-01 5.56818131e-02 2.20174627e+02] [-7.00257341e-01 7.11802160e-01 -5.45650236e-02 -1.58234733e+02] [-7.79598141e-02 -2.71113279e-04 9.96956465e-01 -1.58393168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters 0.025417640718861045 Centerline is valid? [True, True] Translation: X:220.20, Y:-158.26, Z:-15.84 [[ 7.06704083e-01 7.05362817e-01 5.50693613e-02 2.20197746e+02] [-7.03291329e-01 7.08846239e-01 -5.40214383e-02 -1.58258137e+02] [-7.71404236e-02 -5.52633308e-04 9.97020085e-01 -1.58401957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43864 meters 0.025542315146926033 Centerline is valid? [True, True] Translation: X:220.22, Y:-158.28, Z:-15.84 [[ 7.05133898e-01 7.06953709e-01 5.47963366e-02 2.20221042e+02] [-7.04903183e-01 7.07259490e-01 -5.38099952e-02 -1.58281999e+02] [-7.67964048e-02 -6.82860419e-04 9.97046562e-01 -1.58423672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters 0.025546929584178805 Centerline is valid? [True, True] Translation: X:220.24, Y:-158.30, Z:-15.85 [[ 7.03879876e-01 7.08148125e-01 5.54919200e-02 2.20243929e+02] [-7.06044501e-01 7.06063466e-01 -5.45485616e-02 -1.58304973e+02] [-7.78092790e-02 -7.84130172e-04 9.96967954e-01 -1.58450425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49864 meters 0.025596724161744727 Centerline is valid? [True, True] Translation: X:220.27, Y:-158.33, Z:-15.85 [[ 7.03275277e-01 7.08743429e-01 5.55575074e-02 2.20268111e+02] [-7.06632583e-01 7.05465867e-01 -5.46653714e-02 -1.58328163e+02] [-7.79376479e-02 -8.13940778e-04 9.96957903e-01 -1.58466876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters 0.02569967689420284 Centerline is valid? [True, True] Translation: X:220.29, Y:-158.35, Z:-15.85 [[ 7.01630333e-01 7.10352867e-01 5.58003680e-02 2.20292380e+02] [-7.08224189e-01 7.03845074e-01 -5.49600770e-02 -1.58349367e+02] [-7.83158624e-02 -9.57513275e-04 9.96928136e-01 -1.58477473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55864 meters 0.0255838717298916 Centerline is valid? [True, True] Translation: X:220.32, Y:-158.37, Z:-15.85 [[ 7.00899906e-01 7.11134776e-01 5.50150168e-02 2.20316277e+02] [-7.09064114e-01 7.03055007e-01 -5.42378078e-02 -1.58371931e+02] [-7.72489743e-02 -9.93899727e-04 9.97011338e-01 -1.58491574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters 0.025519509714145697 Centerline is valid? [True, True] Translation: X:220.34, Y:-158.39, Z:-15.85 [[ 7.00554269e-01 7.11404014e-01 5.59289395e-02 2.20339383e+02] [-7.09260286e-01 7.02782561e-01 -5.51952866e-02 -1.58394021e+02] [-7.85720317e-02 -1.00088191e-03 9.96907937e-01 -1.58510719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61864 meters 0.02544026608574478 Centerline is valid? [True, True] Translation: X:220.36, Y:-158.42, Z:-15.85 [[ 7.00936372e-01 7.11028485e-01 5.59168610e-02 2.20363724e+02] [-7.08880317e-01 7.03162602e-01 -5.52363297e-02 -1.58415760e+02] [-7.85932493e-02 -9.21209586e-04 9.96906341e-01 -1.58524515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters 0.025461390395379393 Centerline is valid? [True, True] Translation: X:220.39, Y:-158.44, Z:-15.85 [[ 7.01261735e-01 7.10768678e-01 5.51349721e-02 2.20387486e+02] [-7.08675197e-01 7.03425319e-01 -5.45186861e-02 -1.58437656e+02] [-7.75335098e-02 -8.40918772e-04 9.96989392e-01 -1.58537855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67864000000003 meters 0.025462807255443292 Centerline is valid? [True, True] Translation: X:220.41, Y:-158.46, Z:-15.86 [[ 7.03340923e-01 7.08652244e-01 5.58886666e-02 2.20412507e+02] [-7.06490106e-01 7.05557697e-01 -5.53178647e-02 -1.58459582e+02] [-7.86338079e-02 -5.77471945e-04 9.96903401e-01 -1.58562918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70864 meters 0.025327223320642852 Centerline is valid? [True, True] Translation: X:220.44, Y:-158.48, Z:-15.86 [[ 7.04475256e-01 7.07606872e-01 5.48372899e-02 2.20436376e+02] [-7.05518063e-01 7.06606216e-01 -5.43315663e-02 -1.58481475e+02] [-7.71937595e-02 -4.13454415e-04 9.97016024e-01 -1.58567589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73864000000003 meters 0.025504191513611135 Centerline is valid? [True, True] Translation: X:220.46, Y:-158.50, Z:-15.86 [[ 7.07528735e-01 7.04533619e-01 5.50950919e-02 2.20462541e+02] [-7.02411644e-01 7.09670613e-01 -5.46397715e-02 -1.58502090e+02] [-7.75949236e-02 -4.02257015e-05 9.96984968e-01 -1.58580769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76864 meters 0.025468729787497812 Centerline is valid? [True, True] Translation: X:220.49, Y:-158.52, Z:-15.86 [[ 7.09543073e-01 7.02546859e-01 5.45576692e-02 2.20486411e+02] [-7.00455863e-01 7.11637453e-01 -5.41638195e-02 -1.58524977e+02] [-7.68779020e-02 2.16323634e-04 9.97040491e-01 -1.58605823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79864 meters 0.025696462387867665 Centerline is valid? [True, True] Translation: X:220.51, Y:-158.55, Z:-15.86 [[ 7.10318531e-01 7.01708544e-01 5.52512754e-02 2.20508853e+02] [-6.99557025e-01 7.12464031e-01 -5.49087717e-02 -1.58548119e+02] [-7.78945006e-02 3.51300221e-04 9.96961546e-01 -1.58628584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82864 meters 0.025975983448208718 Centerline is valid? [True, True] Translation: X:220.53, Y:-158.57, Z:-15.86 [[ 7.12698592e-01 6.99362529e-01 5.43393898e-02 2.20533061e+02] [-6.97270830e-01 7.14766850e-01 -5.40531170e-02 -1.58570354e+02] [-7.66427191e-02 6.34308974e-04 9.97058419e-01 -1.58639450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85864 meters 0.02597023953481905 Centerline is valid? [True, True] Translation: X:220.56, Y:-158.59, Z:-15.87 [[ 7.13579274e-01 6.98516421e-01 5.36603229e-02 2.20557310e+02] [-6.96470208e-01 7.15593627e-01 -5.34322872e-02 -1.58592555e+02] [-7.57223151e-02 7.55356393e-04 9.97128658e-01 -1.58652297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88864 meters 0.026217477438022795 Centerline is valid? [True, True] Translation: X:220.58, Y:-158.62, Z:-15.87 [[ 7.15199556e-01 6.96880245e-01 5.33621509e-02 2.20578525e+02] [-6.94848226e-01 7.17186866e-01 -5.31878073e-02 -1.58616640e+02] [-7.53361659e-02 9.61300343e-04 9.97157730e-01 -1.58667724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91864 meters 0.026417621135956273 Centerline is valid? [True, True] Translation: X:220.60, Y:-158.64, Z:-15.87 [[ 7.16277889e-01 6.95767603e-01 5.34174890e-02 2.20600211e+02] [-6.93724681e-01 7.18266108e-01 -5.32903913e-02 -1.58640027e+02] [-7.54456998e-02 1.11369850e-03 9.97149290e-01 -1.58689347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94864 meters 0.02657888995074642 Centerline is valid? [True, True] Translation: X:220.62, Y:-158.66, Z:-15.87 [[ 7.17073946e-01 6.94940826e-01 5.34995790e-02 2.20621719e+02] [-6.92885714e-01 7.19065865e-01 -5.34197406e-02 -1.58664093e+02] [-7.55932797e-02 1.23681018e-03 9.97137968e-01 -1.58700199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97864 meters 0.026827269184935446 Centerline is valid? [True, True] Translation: X:220.64, Y:-158.69, Z:-15.87 [[ 7.19451301e-01 6.92526021e-01 5.28917415e-02 2.20640600e+02] [-6.90507481e-01 7.21391323e-01 -5.28581013e-02 -1.58690098e+02] [-7.47612539e-02 1.50668652e-03 9.97200323e-01 -1.58713181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00864 meters 0.026990115343167528 Centerline is valid? [True, True] Translation: X:220.66, Y:-158.72, Z:-15.87 [[ 7.20315045e-01 6.91655300e-01 5.25279193e-02 2.20661084e+02] [-6.89658918e-01 7.22225954e-01 -5.25380598e-02 -1.58715287e+02] [-7.42752542e-02 1.61760691e-03 9.97236466e-01 -1.58725034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03864 meters 0.02719607956080391 Centerline is valid? [True, True] Translation: X:220.64, Y:-158.90, Z:-14.21 [[ 7.40429148e-01 -6.71688802e-01 -2.44709922e-02 2.20637392e+02] [-6.71177532e-01 -7.40826877e-01 2.63867233e-02 -1.58895487e+02] [-3.58524353e-02 -3.11311890e-03 -9.99352246e-01 -1.42125018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06864 meters 0.026677557515660186 Centerline is valid? [True, True] Translation: X:220.68, Y:-158.76, Z:-15.87 [[ 7.66294090e-01 6.40069133e-01 5.57213926e-02 2.20676917e+02] [-6.38244992e-01 7.68315940e-01 -4.83109271e-02 -1.58761437e+02] [-7.37339673e-02 1.45647807e-03 9.97276883e-01 -1.58733991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09864 meters 0.026401009952342184 Centerline is valid? [True, True] Translation: X:220.70, Y:-158.79, Z:-15.87 [[ 7.64806014e-01 6.41935954e-01 5.46808186e-02 2.20699155e+02] [-6.40181123e-01 7.66757185e-01 -4.74504991e-02 -1.58785066e+02] [-7.23870919e-02 1.28479924e-03 9.97375786e-01 -1.58744283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12864 meters 0.026095367710898307 Centerline is valid? [True, True] Translation: X:220.72, Y:-158.81, Z:-15.88 [[ 7.61303868e-01 6.45976581e-01 5.59524525e-02 2.20717523e+02] [-6.44146602e-01 7.63356628e-01 -4.85984990e-02 -1.58813505e+02] [-7.41051677e-02 9.56643125e-04 9.97249973e-01 -1.58767650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15864 meters 0.026000265552213568 Centerline is valid? [True, True] Translation: X:220.74, Y:-158.84, Z:-15.88 [[ 7.60224465e-01 6.47157356e-01 5.69747295e-02 2.20740216e+02] [-6.45259545e-01 7.62355927e-01 -4.95334327e-02 -1.58837940e+02] [-7.54909480e-02 8.93039349e-04 9.97146087e-01 -1.58778517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18864 meters 0.025880497780132426 Centerline is valid? [True, True] Translation: X:220.76, Y:-158.86, Z:-15.88 [[ 7.59042550e-01 6.48470506e-01 5.77962888e-02 2.20763678e+02] [-6.46517231e-01 7.61239345e-01 -5.03003860e-02 -1.58861530e+02] [-7.66151258e-02 8.13836619e-04 9.97060410e-01 -1.58801031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21864 meters 0.025797465621821742 Centerline is valid? [True, True] Translation: X:220.78, Y:-158.89, Z:-15.88 [[ 7.56807687e-01 6.51190477e-01 5.65074223e-02 2.20784703e+02] [-6.49327357e-01 7.58914122e-01 -4.92274180e-02 -1.58886500e+02] [-7.49407066e-02 5.63873181e-04 9.97187832e-01 -1.58820216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24864 meters 0.025885104256399706 Centerline is valid? [True, True] Translation: X:220.81, Y:-158.91, Z:-15.88 [[ 7.56606363e-01 6.51479557e-01 5.58676892e-02 2.20807509e+02] [-6.49655800e-01 7.58665980e-01 -4.87162483e-02 -1.58909938e+02] [-7.41225550e-02 5.64255142e-04 9.97248980e-01 -1.58838414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27864 meters 0.02581743503484186 Centerline is valid? [True, True] Translation: X:220.83, Y:-158.93, Z:-15.88 [[ 7.55989373e-01 6.52315522e-01 5.44474729e-02 2.20828724e+02] [-6.50582153e-01 7.57947362e-01 -4.75253471e-02 -1.58934814e+02] [-7.22698400e-02 5.06103200e-04 9.97384988e-01 -1.58835316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30864 meters 0.025896090229800477 Centerline is valid? [True, True] Translation: X:220.85, Y:-158.96, Z:-15.89 [[ 7.54909182e-01 6.53532929e-01 5.48346466e-02 2.20852777e+02] [-6.51774627e-01 7.56897964e-01 -4.79093611e-02 -1.58958173e+02] [-7.28145775e-02 4.27385259e-04 9.97345404e-01 -1.58852970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33864 meters 0.0259058395777605 Centerline is valid? [True, True] Translation: X:220.88, Y:-158.98, Z:-15.89 [[ 7.53613223e-01 6.54957661e-01 5.56558386e-02 2.20876645e+02] [-6.53146222e-01 7.55665502e-01 -4.86791697e-02 -1.58980372e+02] [-7.39399923e-02 3.33865331e-04 9.97262636e-01 -1.58875009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36864 meters 0.025963329781761014 Centerline is valid? [True, True] Translation: X:220.90, Y:-159.00, Z:-15.89 [[ 7.50361113e-01 6.58489749e-01 5.78744343e-02 2.20897322e+02] [-6.56537795e-01 7.52589695e-01 -5.06643295e-02 -1.59004995e+02] [-7.69176446e-02 1.97891732e-05 9.97037449e-01 -1.58902006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39864 meters 0.02601297823056651 Centerline is valid? [True, True] Translation: X:220.92, Y:-159.03, Z:-15.89 [[ 7.48839944e-01 6.60222789e-01 5.78325738e-02 2.20920557e+02] [-6.58276682e-01 7.51069804e-01 -5.06553101e-02 -1.59028094e+02] [-7.68800899e-02 -1.37115205e-04 9.97040337e-01 -1.58922570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864000000003 meters 0.02606179862501744 Centerline is valid? [True, True] Translation: X:220.94, Y:-159.05, Z:-15.89 [[ 7.46083850e-01 6.63403177e-01 5.70536030e-02 2.20942145e+02] [-6.61515225e-01 7.48262015e-01 -5.00156359e-02 -1.59051616e+02] [-7.58715757e-02 -4.25968866e-04 9.97117507e-01 -1.58926286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45864 meters 0.026150629654895993 Centerline is valid? [True, True] Translation: X:220.97, Y:-159.07, Z:-15.89 [[ 7.44779745e-01 6.64828615e-01 5.74982108e-02 2.20965910e+02] [-6.62913187e-01 7.46995719e-01 -5.04331509e-02 -1.59074041e+02] [-7.64803192e-02 -5.54732883e-04 9.97070937e-01 -1.58946468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864000000003 meters 0.026064605118453606 Centerline is valid? [True, True] Translation: X:220.99, Y:-159.10, Z:-15.90 [[ 7.43625022e-01 6.66161185e-01 5.70184381e-02 2.20989529e+02] [-6.64277437e-01 7.45807522e-01 -5.00662319e-02 -1.59096456e+02] [-7.58769603e-02 -6.45559122e-04 9.97116979e-01 -1.58962484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51864 meters 0.02609895579179623 Centerline is valid? [True, True] Translation: X:221.01, Y:-159.12, Z:-15.90 [[ 7.41931177e-01 6.68175601e-01 5.54932051e-02 2.21011657e+02] [-6.66393327e-01 7.44003186e-01 -4.87769666e-02 -1.59119526e+02] [-7.38787004e-02 -7.91149404e-04 9.97266921e-01 -1.58967202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters 0.026147291697352665 Centerline is valid? [True, True] Translation: X:221.04, Y:-159.14, Z:-15.90 [[ 7.41286493e-01 6.68836913e-01 5.61384006e-02 2.21036109e+02] [-6.67011161e-01 7.43408699e-01 -4.93924823e-02 -1.59142020e+02] [-7.47692907e-02 -8.30959780e-04 9.97200513e-01 -1.58981729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57864 meters 0.02620856127279178 Centerline is valid? [True, True] Translation: X:221.06, Y:-159.16, Z:-15.90 [[ 7.40911892e-01 6.69107963e-01 5.78282167e-02 2.21059335e+02] [-6.67167142e-01 7.43164734e-01 -5.09331294e-02 -1.59164242e+02] [-7.70556537e-02 -8.44124815e-04 9.97026436e-01 -1.58989013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters 0.026097707340877796 Centerline is valid? [True, True] Translation: X:221.08, Y:-159.19, Z:-15.90 [[ 7.40553857e-01 6.69441035e-01 5.85549795e-02 2.21083301e+02] [-6.67448087e-01 7.42864709e-01 -5.16243732e-02 -1.59186573e+02] [-7.80579016e-02 -8.51780368e-04 9.96948463e-01 -1.59002743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63864 meters 0.02603626765245717 Centerline is valid? [True, True] Translation: X:221.11, Y:-159.21, Z:-15.90 [[ 7.39743609e-01 6.70335131e-01 5.85679493e-02 2.21107156e+02] [-6.68339731e-01 7.42057945e-01 -5.16914924e-02 -1.59208868e+02] [-7.81114354e-02 -9.04836378e-04 9.96944224e-01 -1.59018547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters 0.026081088277810794 Centerline is valid? [True, True] Translation: X:221.13, Y:-159.23, Z:-15.90 [[ 7.37912000e-01 6.72362711e-01 5.84317240e-02 2.21130421e+02] [-6.70378758e-01 7.40221065e-01 -5.16245567e-02 -1.59230529e+02] [-7.79628198e-02 -1.07700672e-03 9.96955685e-01 -1.59032698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69864 meters 0.02620382556565097 Centerline is valid? [True, True] Translation: X:221.15, Y:-159.25, Z:-15.91 [[ 7.37192923e-01 6.73075322e-01 5.92975975e-02 2.21154355e+02] [-6.71030405e-01 7.39573071e-01 -5.24391788e-02 -1.59251587e+02] [-7.91504235e-02 -1.13269939e-03 9.96862040e-01 -1.59052057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters 0.026349336976193505 Centerline is valid? [True, True] Translation: X:221.18, Y:-159.27, Z:-15.91 [[ 7.36302611e-01 6.73973603e-01 6.01502057e-02 2.21176635e+02] [-6.71868387e-01 7.38754436e-01 -5.32424083e-02 -1.59273996e+02] [-8.03202091e-02 -1.21049738e-03 9.96768378e-01 -1.59081923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75864 meters 0.02632346519376427 Centerline is valid? [True, True] Translation: X:221.20, Y:-159.30, Z:-15.91 [[ 7.36229397e-01 6.74150552e-01 5.90534314e-02 2.21200363e+02] [-6.72118451e-01 7.38593025e-01 -5.23175985e-02 -1.59295478e+02] [-7.88863904e-02 -1.17314682e-03 9.96882923e-01 -1.59088632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters 0.026335753688354387 Centerline is valid? [True, True] Translation: X:221.22, Y:-159.32, Z:-15.91 [[ 7.35676032e-01 6.74684295e-01 5.98487915e-02 2.21224199e+02] [-6.72594763e-01 7.38105438e-01 -5.30720955e-02 -1.59317154e+02] [-7.99816278e-02 -1.21011513e-03 9.96795603e-01 -1.59106431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81864 meters 0.026157463071413714 Centerline is valid? [True, True] Translation: X:221.25, Y:-159.34, Z:-15.91 [[ 7.36042457e-01 6.74331884e-01 5.93128275e-02 2.21248227e+02] [-6.72275424e-01 7.38427537e-01 -5.26357919e-02 -1.59337997e+02] [-7.92922178e-02 -1.13237869e-03 9.96850772e-01 -1.59119463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters 0.02656263069425215 Centerline is valid? [True, True] Translation: X:221.27, Y:-159.36, Z:-15.91 [[ 7.34417544e-01 6.75928548e-01 6.12492338e-02 2.21270904e+02] [-6.73738497e-01 7.36965970e-01 -5.43837972e-02 -1.59360374e+02] [-8.18981620e-02 -1.32555190e-03 9.96639822e-01 -1.59145195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87864 meters 0.026454323191952043 Centerline is valid? [True, True] Translation: X:221.30, Y:-159.38, Z:-15.92 [[ 7.33574503e-01 6.76888030e-01 6.07539567e-02 2.21295073e+02] [-6.74732287e-01 7.36084699e-01 -5.39968132e-02 -1.59382448e+02] [-8.12698545e-02 -1.38197071e-03 9.96691176e-01 -1.59152733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters 0.026544768980841286 Centerline is valid? [True, True] Translation: X:221.32, Y:-159.40, Z:-15.92 [[ 7.32394944e-01 6.78132174e-01 6.11097377e-02 2.21319380e+02] [-6.75950819e-01 7.34938460e-01 -5.43686471e-02 -1.59403796e+02] [-8.17810254e-02 -1.48785501e-03 9.96649211e-01 -1.59176758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93864 meters 0.026525239080753226 Centerline is valid? [True, True] Translation: X:221.34, Y:-159.42, Z:-15.92 [[ 7.31205222e-01 6.79337687e-01 6.19615183e-02 2.21343298e+02] [-6.77095030e-01 7.33824040e-01 -5.51778770e-02 -1.59424855e+02] [-8.29532631e-02 -1.60748426e-03 9.96552142e-01 -1.59194715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters 0.026752730270848884 Centerline is valid? [True, True] Translation: X:221.37, Y:-159.45, Z:-15.92 [[ 7.30493306e-01 6.80062276e-01 6.24085838e-02 2.21366077e+02] [-6.77785403e-01 7.33152461e-01 -5.56274703e-02 -1.59447126e+02] [-8.35851509e-02 -1.66413252e-03 9.96499249e-01 -1.59225287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99864 meters 0.026749142902658327 Centerline is valid? [True, True] Translation: X:221.39, Y:-159.47, Z:-15.92 [[ 7.29437271e-01 6.81186685e-01 6.24977448e-02 2.21389753e+02] [-6.78903097e-01 7.32107649e-01 -5.57581776e-02 -1.59468867e+02] [-8.37368052e-02 -1.75781966e-03 9.96486356e-01 -1.59249577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters 0.02693685205174228 Centerline is valid? [True, True] Translation: X:221.41, Y:-159.49, Z:-15.93 [[ 7.28151019e-01 6.82547717e-01 6.26474845e-02 2.21413560e+02] [-6.80253958e-01 7.30838608e-01 -5.59417730e-02 -1.59489701e+02] [-8.39681299e-02 -1.88214023e-03 9.96466663e-01 -1.59263420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05864 meters 0.02711259380847998 Centerline is valid? [True, True] Translation: X:221.44, Y:-159.51, Z:-15.93 [[ 7.26767167e-01 6.83979007e-01 6.31046973e-02 2.21437605e+02] [-6.81652872e-01 7.29498875e-01 -5.63981667e-02 -1.59510264e+02] [-8.46099678e-02 -2.02716229e-03 9.96412085e-01 -1.59283302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters 0.02711259380847998 Centerline is valid? [True, True] Translation: X:221.46, Y:-159.53, Z:-15.93 [[ 7.26413325e-01 6.84357154e-01 6.30790498e-02 2.21462034e+02] [-6.82029954e-01 7.29144124e-01 -5.64268425e-02 -1.59531687e+02] [-8.46098318e-02 -2.03259117e-03 9.96412086e-01 -1.59301037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11864 meters 0.027555047830637877 Centerline is valid? [True, True] Translation: X:221.49, Y:-159.55, Z:-15.93 [[ 7.23836682e-01 6.87179532e-01 6.20060405e-02 2.21485393e+02] [-6.84936681e-01 7.26484057e-01 -5.55216935e-02 -1.59553765e+02] [-8.31997712e-02 -2.28157315e-03 9.96530277e-01 -1.59320394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters 0.027690804632938618 Centerline is valid? [True, True] Translation: X:221.51, Y:-159.58, Z:-15.93 [[ 7.22960591e-01 6.88136487e-01 6.16129764e-02 2.21510173e+02] [-6.85921155e-01 7.25577499e-01 -5.52219273e-02 -1.59575253e+02] [-8.27052124e-02 -2.33836672e-03 9.96571312e-01 -1.59343530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17864000000003 meters 0.02775571097955115 Centerline is valid? [True, True] Translation: X:221.54, Y:-159.60, Z:-15.94 [[ 7.21968883e-01 6.89183296e-01 6.15411718e-02 2.21535952e+02] [-6.86972422e-01 7.24583016e-01 -5.52118098e-02 -1.59595000e+02] [-8.26427450e-02 -2.41587920e-03 9.96576309e-01 -1.59368212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20864 meters 0.027701039495398826 Centerline is valid? [True, True] Translation: X:221.56, Y:-159.62, Z:-15.94 [[ 7.20898433e-01 6.90295408e-01 6.16254681e-02 2.21561142e+02] [-6.88078372e-01 7.23523286e-01 -5.53372165e-02 -1.59615814e+02] [-8.27864876e-02 -2.51063911e-03 9.96564145e-01 -1.59377242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23864000000003 meters 0.028003277678809002 Centerline is valid? [True, True] Translation: X:221.59, Y:-159.64, Z:-15.94 [[ 7.20114587e-01 6.91121761e-01 6.15279832e-02 2.21585990e+02] [-6.88910399e-01 7.22733796e-01 -5.53021002e-02 -1.59637156e+02] [-8.26888377e-02 -2.56341838e-03 9.96572117e-01 -1.59399833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26864 meters 0.028163044977665867 Centerline is valid? [True, True] Translation: X:221.61, Y:-159.66, Z:-15.94 [[ 7.19165775e-01 6.92173756e-01 6.07953957e-02 2.21612503e+02] [-6.90013962e-01 7.21726175e-01 -5.46997269e-02 -1.59656610e+02] [-8.17393439e-02 -2.61150040e-03 9.96650320e-01 -1.59426878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29864 meters 0.02830517712074855 Centerline is valid? [True, True] Translation: X:221.64, Y:-159.68, Z:-15.95 [[ 7.18789528e-01 6.92556561e-01 6.08853342e-02 2.21638004e+02] [-6.90387110e-01 7.21358825e-01 -5.48368811e-02 -1.59677057e+02] [-8.18978149e-02 -2.61827400e-03 9.96637292e-01 -1.59454346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32864 meters 0.02809783157580763 Centerline is valid? [True, True] Translation: X:221.66, Y:-159.70, Z:-15.95 [[ 7.19303901e-01 6.91987876e-01 6.12754203e-02 2.21663843e+02] [-6.89784829e-01 7.21904658e-01 -5.52318234e-02 -1.59696531e+02] [-8.24547636e-02 -2.53838928e-03 9.96591576e-01 -1.59473943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35864 meters 0.02800372149728521 Centerline is valid? [True, True] Translation: X:221.69, Y:-159.72, Z:-15.95 [[ 7.20471988e-01 6.90816075e-01 6.07722372e-02 2.21690144e+02] [-6.88643517e-01 7.23026643e-01 -5.47958040e-02 -1.59716077e+02] [-8.17937689e-02 -2.37156534e-03 9.96646454e-01 -1.59490312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38864 meters 0.02779549512160824 Centerline is valid? [True, True] Translation: X:221.72, Y:-159.74, Z:-15.95 [[ 7.21000361e-01 6.90254332e-01 6.08887306e-02 2.21715882e+02] [-6.88069959e-01 7.23563177e-01 -5.49186806e-02 -1.59736272e+02] [-8.19647005e-02 -2.29931781e-03 9.96632581e-01 -1.59501752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41864 meters 0.027699630122633188 Centerline is valid? [True, True] Translation: X:221.74, Y:-159.75, Z:-15.95 [[ 7.21755720e-01 6.89600537e-01 5.93277289e-02 2.21742675e+02] [-6.87522530e-01 7.24186775e-01 -5.35376978e-02 -1.59753882e+02] [-7.98839818e-02 -2.14801066e-03 9.96801854e-01 -1.59525088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44864 meters 0.02778694166248794 Centerline is valid? [True, True] Translation: X:221.77, Y:-159.77, Z:-15.95 [[ 7.21275389e-01 6.90075875e-01 5.96414241e-02 2.21769106e+02] [-6.87973272e-01 7.23733760e-01 -5.38722630e-02 -1.59774092e+02] [-8.03404612e-02 -2.17496819e-03 9.96765108e-01 -1.59549767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47864 meters 0.027704289843833996 Centerline is valid? [True, True] Translation: X:221.80, Y:-159.79, Z:-15.96 [[ 7.21705786e-01 6.89710021e-01 5.86587153e-02 2.21795017e+02] [-6.87670869e-01 7.24082758e-01 -5.30371119e-02 -1.59793826e+02] [-7.90539920e-02 -2.06069918e-03 9.96868206e-01 -1.59558475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50864 meters 0.027578969745810214 Centerline is valid? [True, True] Translation: X:221.82, Y:-159.81, Z:-15.96 [[ 7.22959479e-01 6.88321167e-01 5.95278274e-02 2.21822572e+02] [-6.86212352e-01 7.25403582e-01 -5.38725456e-02 -1.59811440e+02] [-8.02633126e-02 -1.90106297e-03 9.96771883e-01 -1.59575442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53864 meters 0.02733371864150918 Centerline is valid? [True, True] Translation: X:221.85, Y:-159.83, Z:-15.96 [[ 7.24849379e-01 6.86293242e-01 5.99580224e-02 2.21849556e+02] [-6.84142792e-01 7.27323076e-01 -5.43119080e-02 -1.59829850e+02] [-8.08827487e-02 -1.65189604e-03 9.96722254e-01 -1.59584750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56864 meters 0.027309389995260665 Centerline is valid? [True, True] Translation: X:221.87, Y:-159.85, Z:-15.96 [[ 7.25354814e-01 6.85740855e-01 6.01653916e-02 2.21874838e+02] [-6.83569260e-01 7.27844115e-01 -5.45528258e-02 -1.59850385e+02] [-8.12001276e-02 -1.55705750e-03 9.96696601e-01 -1.59607115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59864 meters 0.027091845054350732 Centerline is valid? [True, True] Translation: X:221.90, Y:-159.87, Z:-15.96 [[ 7.26185287e-01 6.84870541e-01 6.00605639e-02 2.21900101e+02] [-6.82699024e-01 7.28663390e-01 -5.45133612e-02 -1.59870283e+02] [-8.10985293e-02 -1.41648751e-03 9.96705083e-01 -1.59627059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62864 meters 0.027027174295642407 Centerline is valid? [True, True] Translation: X:221.93, Y:-159.89, Z:-15.97 [[ 7.27105869e-01 6.83884600e-01 6.01573750e-02 2.21925098e+02] [-6.81698550e-01 7.29589088e-01 -5.46520675e-02 -1.59889995e+02] [-8.12658717e-02 -1.27135636e-03 9.96691648e-01 -1.59650465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65864 meters 0.026882580357479667 Centerline is valid? [True, True] Translation: X:221.95, Y:-159.91, Z:-15.97 [[ 7.29078203e-01 6.81829815e-01 5.96076878e-02 2.21950962e+02] [-6.79673494e-01 7.31510148e-01 -5.41926713e-02 -1.59910026e+02] [-8.05538076e-02 -1.00306997e-03 9.96749757e-01 -1.59669629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68864 meters 0.026953229058388112 Centerline is valid? [True, True] Translation: X:221.98, Y:-159.93, Z:-15.97 [[ 7.29832824e-01 6.81105344e-01 5.86477507e-02 2.21975561e+02] [-6.79013478e-01 7.32184896e-01 -5.33476709e-02 -1.59930347e+02] [-7.92763810e-02 -8.87731860e-04 9.96852280e-01 -1.59688053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71864 meters 0.026978134728629005 Centerline is valid? [True, True] Translation: X:222.00, Y:-159.95, Z:-15.97 [[ 7.30537571e-01 6.80390290e-01 5.81713930e-02 2.22000916e+02] [-6.78326181e-01 7.32849551e-01 -5.29634569e-02 -1.59950537e+02] [-7.86667011e-02 -7.67383666e-04 9.96900678e-01 -1.59706216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74864 meters 0.026973676453522732 Centerline is valid? [True, True] Translation: X:222.03, Y:-159.97, Z:-15.97 [[ 7.30442935e-01 6.80544741e-01 5.75497499e-02 2.22025660e+02] [-6.78521263e-01 7.32706154e-01 -5.24460561e-02 -1.59971365e+02] [-7.78589436e-02 -7.39877827e-04 9.96964110e-01 -1.59725755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77864 meters 0.027103028699528624 Centerline is valid? [True, True] Translation: X:222.05, Y:-159.99, Z:-15.97 [[ 7.30044968e-01 6.81088991e-01 5.61438372e-02 2.22050368e+02] [-6.79161344e-01 7.32200268e-01 -5.12116813e-02 -1.59991666e+02] [-7.59882450e-02 -7.43893715e-04 9.97108436e-01 -1.59735180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80864 meters 0.027153712541861743 Centerline is valid? [True, True] Translation: X:222.08, Y:-160.01, Z:-15.98 [[ 7.29765705e-01 6.81362479e-01 5.64551798e-02 2.22076955e+02] [-6.79410323e-01 7.31945780e-01 -5.15459764e-02 -1.60011461e+02] [-7.64436249e-02 -7.39746144e-04 9.97073631e-01 -1.59757034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83864 meters 0.027213177555779986 Centerline is valid? [True, True] Translation: X:222.10, Y:-160.03, Z:-15.98 [[ 7.29217747e-01 6.81931209e-01 5.66683677e-02 2.22101862e+02] [-6.79962526e-01 7.31415910e-01 -5.17854151e-02 -1.60032195e+02] [-7.67622365e-02 -7.69522721e-04 9.97049130e-01 -1.59783991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86864 meters 0.027314124201016202 Centerline is valid? [True, True] Translation: X:222.13, Y:-160.05, Z:-15.98 [[ 7.29147670e-01 6.81938328e-01 5.74786206e-02 2.22126553e+02] [-6.79910577e-01 7.31409283e-01 -5.25553798e-02 -1.60054526e+02] [-7.78799245e-02 -7.59689344e-04 9.96962457e-01 -1.59810241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89864 meters 0.027458818412297553 Centerline is valid? [True, True] Translation: X:222.15, Y:-160.08, Z:-15.98 [[ 7.28752374e-01 6.82379262e-01 5.72583729e-02 2.22150958e+02] [-6.80364011e-01 7.30997922e-01 -5.24104084e-02 -1.60076687e+02] [-7.76195275e-02 -7.62326693e-04 9.96982762e-01 -1.59839543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864000000003 meters 0.027322582918635548 Centerline is valid? [True, True] Translation: X:222.18, Y:-160.10, Z:-15.98 [[ 7.28445561e-01 6.82805239e-01 5.60720087e-02 2.22175394e+02] [-6.80870035e-01 7.30600054e-01 -5.13766165e-02 -1.60098218e+02] [-7.60464355e-02 -7.52682294e-04 9.97103993e-01 -1.59838376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95864 meters 0.02738509080293714 Centerline is valid? [True, True] Translation: X:222.20, Y:-160.12, Z:-15.99 [[ 7.28582358e-01 6.82776969e-01 5.46201304e-02 2.22200067e+02] [-6.80937348e-01 7.30626529e-01 -5.00919461e-02 -1.60118774e+02] [-7.41085434e-02 -6.96778489e-04 9.97249938e-01 -1.59851252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864000000003 meters 0.02752051023679413 Centerline is valid? [True, True] Translation: X:222.22, Y:-160.14, Z:-15.99 [[ 7.28165055e-01 6.83172757e-01 5.52325604e-02 2.22224794e+02] [-6.81288994e-01 7.30256449e-01 -5.07033059e-02 -1.60140633e+02] [-7.49730507e-02 -7.08960007e-04 9.97185308e-01 -1.59884245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01864 meters 0.02762777635411201 Centerline is valid? [True, True] Translation: X:222.25, Y:-160.16, Z:-15.99 [[ 7.27266482e-01 6.83999870e-01 5.68123329e-02 2.22249422e+02] [-6.82004915e-01 7.29481716e-01 -5.22084560e-02 -1.60161174e+02] [-7.71541352e-02 -7.76830125e-04 9.97018874e-01 -1.59916805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters 0.027509980844301573 Centerline is valid? [True, True] Translation: X:222.27, Y:-160.18, Z:-15.99 [[ 7.26806258e-01 6.84590192e-01 5.55781583e-02 2.22273704e+02] [-6.82679276e-01 7.28927740e-01 -5.11210020e-02 -1.60181827e+02] [-7.55093979e-02 -7.86992642e-04 9.97144780e-01 -1.59913333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07864 meters 0.027705528947248714 Centerline is valid? [True, True] Translation: X:222.30, Y:-160.20, Z:-15.99 [[ 7.26685154e-01 6.84649224e-01 5.64280684e-02 2.22297983e+02] [-6.82675622e-01 7.28872314e-01 -5.19532938e-02 -1.60204004e+02] [-7.66986390e-02 -7.68379358e-04 9.97054025e-01 -1.59931375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters 0.027792820111928823 Centerline is valid? [True, True] Translation: X:222.32, Y:-160.23, Z:-16.00 [[ 7.26495506e-01 6.84768139e-01 5.74184322e-02 2.22321655e+02] [-6.82720618e-01 7.28760610e-01 -5.29200374e-02 -1.60225764e+02] [-7.80822472e-02 -7.54578140e-04 9.96946635e-01 -1.59954451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13864 meters 0.02764924533159979 Centerline is valid? [True, True] Translation: X:222.35, Y:-160.25, Z:-16.00 [[ 7.26982467e-01 6.84320385e-01 5.65871325e-02 2.22345253e+02] [-6.82326752e-01 7.29181166e-01 -5.22018224e-02 -1.60247389e+02] [-7.69850425e-02 -6.61104753e-04 9.97032029e-01 -1.59972428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters 0.02762317384647269 Centerline is valid? [True, True] Translation: X:222.37, Y:-160.27, Z:-16.00 [[ 7.29425360e-01 6.81757480e-01 5.60837085e-02 2.22369652e+02] [-6.79788631e-01 7.31578164e-01 -5.17765122e-02 -1.60269102e+02] [-7.63286409e-02 -3.57966348e-04 9.97082650e-01 -1.59991084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19864 meters 0.027528509821566894 Centerline is valid? [True, True] Translation: X:222.39, Y:-160.29, Z:-16.00 [[ 7.29659630e-01 6.81521310e-01 5.59064255e-02 2.22394481e+02] [-6.79562075e-01 7.31798201e-01 -5.16408632e-02 -1.60290737e+02] [-7.61065703e-02 -3.11633398e-04 9.97099640e-01 -1.60005010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters 0.0276435714682593 Centerline is valid? [True, True] Translation: X:222.42, Y:-160.31, Z:-16.00 [[ 7.30740564e-01 6.80326019e-01 5.63447889e-02 2.22420093e+02] [-6.78328056e-01 7.32909603e-01 -5.21014726e-02 -1.60311983e+02] [-7.67416243e-02 -1.47591644e-04 9.97051002e-01 -1.60018039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25864 meters 0.027786119715767377 Centerline is valid? [True, True] Translation: X:222.44, Y:-160.33, Z:-16.00 [[ 7.31113468e-01 6.79878357e-01 5.69079754e-02 2.22443838e+02] [-6.77834508e-01 7.33324905e-01 -5.26779161e-02 -1.60334081e+02] [-7.75466107e-02 -6.06556458e-05 9.96988726e-01 -1.60045978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters 0.02765591019385953 Centerline is valid? [True, True] Translation: X:222.47, Y:-160.36, Z:-16.01 [[ 7.31033215e-01 6.80065267e-01 5.56926525e-02 2.22466549e+02] [-6.78104655e-01 7.33151575e-01 -5.16027724e-02 -1.60356478e+02] [-7.59244090e-02 -4.21062568e-05 9.97113575e-01 -1.60058860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31864 meters 0.027522458496999413 Centerline is valid? [True, True] Translation: X:222.49, Y:-160.38, Z:-16.01 [[ 7.30605616e-01 6.80572797e-01 5.51008409e-02 2.22490851e+02] [-6.78651446e-01 7.32680466e-01 -5.11033310e-02 -1.60378378e+02] [-7.51508467e-02 -5.78847012e-05 9.97172175e-01 -1.60072767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters 0.027625122276539057 Centerline is valid? [True, True] Translation: X:222.52, Y:-160.40, Z:-16.01 [[ 7.30594323e-01 6.80560771e-01 5.53982995e-02 2.22516153e+02] [-6.78614380e-01 7.32691638e-01 -5.14342879e-02 -1.60400185e+02] [-7.55940294e-02 -1.64839040e-05 9.97138678e-01 -1.60086888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37864 meters 0.027736449182610663 Centerline is valid? [True, True] Translation: X:222.54, Y:-160.42, Z:-16.01 [[ 7.31087074e-01 6.79987591e-01 5.59335886e-02 2.22540325e+02] [-6.77997411e-01 7.33223615e-01 -5.19869257e-02 -1.60422312e+02] [-7.63622924e-02 8.41411900e-05 9.97080134e-01 -1.60110312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters 0.02767283298839768 Centerline is valid? [True, True] Translation: X:222.56, Y:-160.45, Z:-16.01 [[ 7.31299793e-01 6.79770405e-01 5.57925579e-02 2.22564216e+02] [-6.77785432e-01 7.33424962e-01 -5.19108156e-02 -1.60445032e+02] [-7.62070909e-02 1.46985737e-04 9.97092001e-01 -1.60134612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43864 meters 0.02776990224556764 Centerline is valid? [True, True] Translation: X:222.59, Y:-160.47, Z:-16.01 [[ 7.31539450e-01 6.79523149e-01 5.56625826e-02 2.22587411e+02] [-6.77542541e-01 7.33654036e-01 -5.18445884e-02 -1.60468974e+02] [-7.60666764e-02 2.12594005e-04 9.97102711e-01 -1.60146496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters 0.027700180730198202 Centerline is valid? [True, True] Translation: X:222.61, Y:-160.49, Z:-16.02 [[ 7.31484298e-01 6.79702239e-01 5.41810696e-02 2.22610581e+02] [-6.77822543e-01 7.33488116e-01 -5.05151866e-02 -1.60491308e+02] [-7.40764561e-02 2.25915414e-04 9.97252540e-01 -1.60155470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49864 meters 0.027763567564227515 Centerline is valid? [True, True] Translation: X:222.63, Y:-160.51, Z:-16.02 [[ 7.31949684e-01 6.79209301e-01 5.40775801e-02 2.22634402e+02] [-6.77331882e-01 7.33944568e-01 -5.04667535e-02 -1.60513983e+02] [-7.39674345e-02 3.10655231e-04 9.97260609e-01 -1.60174895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters 0.027710596056158963 Centerline is valid? [True, True] Translation: X:222.66, Y:-160.54, Z:-16.02 [[ 7.31749654e-01 6.79396939e-01 5.44264945e-02 2.22656169e+02] [-6.77491689e-01 7.33770869e-01 -5.08460737e-02 -1.60538878e+02] [-7.44812430e-02 3.33099096e-04 9.97222359e-01 -1.60195863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55864 meters 0.02773065202400619 Centerline is valid? [True, True] Translation: X:222.68, Y:-160.56, Z:-16.02 [[ 7.31229975e-01 6.79990580e-01 5.39956964e-02 2.22678911e+02] [-6.78113109e-01 7.33220782e-01 -5.04964868e-02 -1.60562415e+02] [-7.39279020e-02 3.09355186e-04 9.97263541e-01 -1.60212047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters 0.027553958163145664 Centerline is valid? [True, True] Translation: X:222.70, Y:-160.59, Z:-16.02 [[ 7.29602808e-01 6.81749992e-01 5.38209179e-02 2.22701947e+02] [-6.79885489e-01 7.31585210e-01 -5.03865301e-02 -1.60586245e+02] [-7.37256040e-02 1.70092753e-04 9.97278550e-01 -1.60232325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61864 meters 0.02738523726725128 Centerline is valid? [True, True] Translation: X:222.72, Y:-160.61, Z:-16.02 [[ 7.27049076e-01 6.84503281e-01 5.34312568e-02 2.22723497e+02] [-6.82669220e-01 7.29009776e-01 -5.00747653e-02 -1.60611409e+02] [-7.32282497e-02 -6.90625478e-05 9.97315205e-01 -1.60242650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters 0.02738236415456289 Centerline is valid? [True, True] Translation: X:222.75, Y:-160.64, Z:-16.03 [[ 7.24878650e-01 6.86753638e-01 5.40405675e-02 2.22746122e+02] [-6.84879633e-01 7.26890207e-01 -5.07002585e-02 -1.60635177e+02] [-7.41001463e-02 -2.59749035e-04 9.97250771e-01 -1.60256671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67864000000003 meters 0.027331874374921857 Centerline is valid? [True, True] Translation: X:222.77, Y:-160.66, Z:-16.03 [[ 7.22978692e-01 6.88695555e-01 5.47744773e-02 2.22768152e+02] [-6.86771760e-01 7.25050516e-01 -5.14421865e-02 -1.60658970e+02] [-7.51422682e-02 -4.25959452e-04 9.97172732e-01 -1.60277038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70864 meters 0.02741121927535516 Centerline is valid? [True, True] Translation: X:222.79, Y:-160.68, Z:-16.03 [[ 7.21573857e-01 6.90138632e-01 5.51347274e-02 2.22791301e+02] [-6.88189791e-01 7.23676982e-01 -5.18308645e-02 -1.60681820e+02] [-7.56702150e-02 -5.43359693e-04 9.97132751e-01 -1.60296119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73864000000003 meters 0.02735976604263757 Centerline is valid? [True, True] Translation: X:222.82, Y:-160.70, Z:-16.03 [[ 7.20699932e-01 6.91103239e-01 5.44786272e-02 2.22815417e+02] [-6.89199263e-01 7.22755806e-01 -5.12681245e-02 -1.60704683e+02] [-7.48063110e-02 -5.97695887e-04 9.97197903e-01 -1.60303470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76864 meters 0.02731412623373304 Centerline is valid? [True, True] Translation: X:222.84, Y:-160.73, Z:-16.03 [[ 7.18072072e-01 6.93906793e-01 5.35337549e-02 2.22839396e+02] [-6.92072227e-01 7.20064348e-01 -5.04318160e-02 -1.60727032e+02] [-7.35427280e-02 -8.35546344e-04 9.97291717e-01 -1.60318420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79864 meters 0.027454447689858 Centerline is valid? [True, True] Translation: X:222.86, Y:-160.75, Z:-16.03 [[ 7.16878628e-01 6.95095155e-01 5.41087613e-02 2.22862749e+02] [-6.93220331e-01 7.18917145e-01 -5.10265715e-02 -1.60748450e+02] [-7.43680388e-02 -9.29434804e-04 9.97230430e-01 -1.60335638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82864 meters 0.02755375110114267 Centerline is valid? [True, True] Translation: X:222.89, Y:-160.77, Z:-16.04 [[ 7.15524134e-01 6.96363329e-01 5.57075173e-02 2.22886224e+02] [-6.94375881e-01 7.17688650e-01 -5.25845762e-02 -1.60770022e+02] [-7.65986234e-02 -1.05642306e-03 9.97061450e-01 -1.60360059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85864 meters 0.027545524452813677 Centerline is valid? [True, True] Translation: X:222.91, Y:-160.79, Z:-16.04 [[ 7.15289885e-01 6.96589791e-01 5.58841993e-02 2.22911630e+02] [-6.94586424e-01 7.17468861e-01 -5.28027729e-02 -1.60791439e+02] [-7.68770454e-02 -1.04711681e-03 9.97040031e-01 -1.60382803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88864 meters 0.027493552515334627 Centerline is valid? [True, True] Translation: X:222.94, Y:-160.81, Z:-16.04 [[ 7.15412117e-01 6.96439780e-01 5.61883997e-02 2.22937118e+02] [-6.94409640e-01 7.17614549e-01 -5.31470593e-02 -1.60812264e+02] [-7.73353394e-02 -9.95716239e-04 9.97004641e-01 -1.60403772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91864 meters 0.027502165022688832 Centerline is valid? [True, True] Translation: X:222.96, Y:-160.83, Z:-16.04 [[ 7.15821955e-01 6.95888967e-01 5.77708792e-02 2.22960950e+02] [-6.93736312e-01 7.18148798e-01 -5.47013047e-02 -1.60833648e+02] [-7.95541219e-02 -9.21361852e-04 9.96830122e-01 -1.60426703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94864 meters 0.027384955808774633 Centerline is valid? [True, True] Translation: X:222.98, Y:-160.86, Z:-16.04 [[ 7.16875098e-01 6.94827845e-01 5.74835660e-02 2.22984188e+02] [-6.92689147e-01 7.19175697e-01 -5.44799237e-02 -1.60855330e+02] [-7.91949517e-02 -7.62941722e-04 9.96858855e-01 -1.60438039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97864 meters 0.027384955808774633 Centerline is valid? [True, True] Translation: X:223.01, Y:-160.88, Z:-16.05 [[ 7.16508319e-01 6.95208250e-01 5.74570965e-02 2.23007992e+02] [-6.93068535e-01 7.18807973e-01 -5.45078296e-02 -1.60877456e+02] [-7.91949119e-02 -7.66392337e-04 9.96858856e-01 -1.60455769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00864 meters 0.02733661813851343 Centerline is valid? [True, True] Translation: X:223.03, Y:-160.90, Z:-16.05 [[ 7.17533244e-01 6.94313720e-01 5.54481983e-02 2.23032301e+02] [-6.92314538e-01 7.19672211e-01 -5.26544367e-02 -1.60898760e+02] [-7.64632253e-02 -6.06285005e-04 9.97072218e-01 -1.60468320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03864 meters 0.027315966520765587 Centerline is valid? [True, True] Translation: X:223.06, Y:-160.92, Z:-16.05 [[ 7.17152734e-01 6.94746317e-01 5.49500795e-02 2.23056587e+02] [-6.92780400e-01 7.19254602e-01 -5.22315505e-02 -1.60920737e+02] [-7.58107749e-02 -6.10338758e-04 9.97122036e-01 -1.60489514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06864 meters 0.027208659725607383 Centerline is valid? [True, True] Translation: X:223.08, Y:-160.94, Z:-16.05 [[ 7.16545741e-01 6.95379700e-01 5.48568535e-02 2.23080516e+02] [-6.93418079e-01 7.18642239e-01 -5.21986519e-02 -1.60943724e+02] [-7.57203350e-02 -6.36012232e-04 9.97128892e-01 -1.60506046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09864 meters 0.027141091335889576 Centerline is valid? [True, True] Translation: X:223.10, Y:-160.97, Z:-16.05 [[ 7.16163409e-01 6.95718399e-01 5.55507083e-02 2.23103772e+02] [-6.93703392e-01 7.18314346e-01 -5.29160054e-02 -1.60966423e+02] [-7.67175093e-02 -6.39207938e-04 9.97052664e-01 -1.60527385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12864 meters 0.027263417230263102 Centerline is valid? [True, True] Translation: X:223.13, Y:-160.99, Z:-16.05 [[ 7.15434575e-01 6.96416339e-01 5.61929802e-02 2.23126630e+02] [-6.94352237e-01 7.17637664e-01 -5.35831532e-02 -1.60988788e+02] [-7.76423825e-02 -6.82481046e-04 9.96981040e-01 -1.60543835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15864 meters 0.027272190347106727 Centerline is valid? [True, True] Translation: X:223.15, Y:-161.01, Z:-16.06 [[ 7.14265588e-01 6.97581866e-01 5.66057413e-02 2.23151504e+02] [-6.95486798e-01 7.16504666e-01 -5.40294227e-02 -1.61010226e+02] [-7.82482233e-02 -7.77188309e-04 9.96933604e-01 -1.60563833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18864 meters 0.02716361343340677 Centerline is valid? [True, True] Translation: X:223.18, Y:-161.03, Z:-16.06 [[ 7.13495677e-01 6.98396852e-01 5.62650589e-02 2.23175162e+02] [-6.96325053e-01 7.15710252e-01 -5.37610981e-02 -1.61033141e+02] [-7.78160612e-02 -8.20459067e-04 9.96967395e-01 -1.60584684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21864 meters 0.02708239926329815 Centerline is valid? [True, True] Translation: X:223.20, Y:-161.06, Z:-16.06 [[ 7.12772160e-01 6.99155696e-01 5.60103581e-02 2.23197508e+02] [-6.97100570e-01 7.14968933e-01 -5.35744373e-02 -1.61056963e+02] [-7.75025390e-02 -8.58485191e-04 9.96991785e-01 -1.60583357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24864 meters 0.027021316650476364 Centerline is valid? [True, True] Translation: X:223.22, Y:-161.08, Z:-16.06 [[ 7.12635859e-01 6.99280474e-01 5.61867510e-02 2.23222214e+02] [-6.97208274e-01 7.14846923e-01 -5.38005542e-02 -1.61079438e+02] [-7.77866031e-02 -8.33663532e-04 9.96969683e-01 -1.60597669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27864 meters 0.027264997037293518 Centerline is valid? [True, True] Translation: X:223.25, Y:-161.10, Z:-16.06 [[ 7.10979940e-01 7.00997226e-01 5.57710792e-02 2.23246374e+02] [-6.98956471e-01 7.13163335e-01 -5.34594201e-02 -1.61101280e+02] [-7.72487940e-02 -9.72981369e-04 9.97011373e-01 -1.60616226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30864 meters 0.027205750000513326 Centerline is valid? [True, True] Translation: X:223.27, Y:-161.12, Z:-16.06 [[ 7.10139888e-01 7.01849646e-01 5.57531420e-02 2.23270080e+02] [-6.99808412e-01 7.12324381e-01 -5.34991783e-02 -1.61123888e+02] [-7.72627018e-02 -1.02461733e-03 9.97010243e-01 -1.60636963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33864 meters 0.027223896380461 Centerline is valid? [True, True] Translation: X:223.29, Y:-161.15, Z:-16.07 [[ 7.08952397e-01 7.03020705e-01 5.61104848e-02 2.23293561e+02] [-7.00952501e-01 7.11168499e-01 -5.38976625e-02 -1.61146178e+02] [-7.77951819e-02 -1.11990759e-03 9.96968733e-01 -1.60657231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36864 meters 0.027145349797013506 Centerline is valid? [True, True] Translation: X:223.32, Y:-161.17, Z:-16.07 [[ 7.06510162e-01 7.05535309e-01 5.53472516e-02 2.23317322e+02] [-7.03526804e-01 7.08673500e-01 -5.32156594e-02 -1.61168733e+02] [-7.67686572e-02 -1.34087090e-03 9.97048031e-01 -1.60673928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39864 meters 0.027234524019550913 Centerline is valid? [True, True] Translation: X:223.34, Y:-161.19, Z:-16.07 [[ 7.05385819e-01 7.06688203e-01 5.49784520e-02 2.23341413e+02] [-7.04705594e-01 7.07523694e-01 -5.29173701e-02 -1.61190889e+02] [-7.62946387e-02 -1.41646028e-03 9.97084310e-01 -1.60683563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864000000003 meters 0.027338990536072128 Centerline is valid? [True, True] Translation: X:223.37, Y:-161.21, Z:-16.07 [[ 7.03436876e-01 7.08586347e-01 5.55153212e-02 2.23366414e+02] [-7.06566474e-01 7.05622300e-01 -5.34882081e-02 -1.61210539e+02] [-7.70738626e-02 -1.59968670e-03 9.97024102e-01 -1.60697472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45864 meters 0.02743435779435589 Centerline is valid? [True, True] Translation: X:223.39, Y:-161.23, Z:-16.07 [[ 7.03113085e-01 7.08858534e-01 5.61388303e-02 2.23391612e+02] [-7.06789911e-01 7.05348835e-01 -5.41391061e-02 -1.61231284e+02] [-7.79744259e-02 -1.61244494e-03 9.96954056e-01 -1.60719312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864000000003 meters 0.027494326030860296 Centerline is valid? [True, True] Translation: X:223.42, Y:-161.25, Z:-16.07 [[ 7.02037866e-01 7.09927329e-01 5.60894115e-02 2.23416589e+02] [-7.07861252e-01 7.04272912e-01 -5.41489943e-02 -1.61252398e+02] [-7.79441041e-02 -1.68887660e-03 9.96956300e-01 -1.60727961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51864 meters 0.027487205815736507 Centerline is valid? [True, True] Translation: X:223.44, Y:-161.27, Z:-16.08 [[ 7.02369404e-01 7.09507832e-01 5.72350957e-02 2.23443403e+02] [-7.07350194e-01 7.04695656e-01 -5.53148764e-02 -1.61272057e+02] [-7.95796613e-02 -1.63377932e-03 9.96827171e-01 -1.60759632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters 0.027489753460093712 Centerline is valid? [True, True] Translation: X:223.47, Y:-161.29, Z:-16.08 [[ 7.03538572e-01 7.08301746e-01 5.78110275e-02 2.23467912e+02] [-7.06091679e-01 7.05908260e-01 -5.59291507e-02 -1.61292442e+02] [-8.04239969e-02 -1.47157073e-03 9.96759658e-01 -1.60776646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57864 meters 0.026896518668955587 Centerline is valid? [True, True] Translation: X:223.49, Y:-161.31, Z:-16.08 [[ 7.07390192e-01 7.04522137e-01 5.69883653e-02 2.23492969e+02] [-7.02359095e-01 7.09681312e-01 -5.51737089e-02 -1.61313501e+02] [-7.93146771e-02 -9.96956088e-04 9.96849130e-01 -1.60797938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters 0.02695978854452327 Centerline is valid? [True, True] Translation: X:223.52, Y:-161.34, Z:-16.08 [[ 7.08851838e-01 7.03128015e-01 5.60362878e-02 2.23515993e+02] [-7.01030230e-01 7.11062826e-01 -5.42795902e-02 -1.61335533e+02] [-7.80108217e-02 -8.06944455e-04 9.96952186e-01 -1.60807890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63864 meters 0.026784717660458993 Centerline is valid? [True, True] Translation: X:223.54, Y:-161.36, Z:-16.08 [[ 7.11316372e-01 7.00645745e-01 5.58977540e-02 2.23540278e+02] [-6.98546729e-01 7.13509141e-01 -5.41956962e-02 -1.61356935e+02] [-7.78555423e-02 -4.96907168e-04 9.96964527e-01 -1.60832248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters 0.02685938236490232 Centerline is valid? [True, True] Translation: X:223.57, Y:-161.38, Z:-16.09 [[ 7.14594998e-01 6.97341046e-01 5.54026609e-02 2.23566325e+02] [-6.95265282e-01 7.16739462e-01 -5.37655269e-02 -1.61376579e+02] [-7.72021821e-02 -9.89701060e-05 9.97015453e-01 -1.60860736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69864 meters 0.02678367078029413 Centerline is valid? [True, True] Translation: X:223.59, Y:-161.40, Z:-16.09 [[ 7.15140894e-01 6.96791829e-01 5.52688891e-02 2.23590956e+02] [-6.94720440e-01 7.17273412e-01 -5.36876435e-02 -1.61398405e+02] [-7.70520160e-02 -2.19760127e-06 9.97027074e-01 -1.60875307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters 0.027085079745192565 Centerline is valid? [True, True] Translation: X:223.62, Y:-161.42, Z:-16.09 [[ 7.14400027e-01 6.97437268e-01 5.66908989e-02 2.23615357e+02] [-6.95255269e-01 7.16645837e-01 -5.51258068e-02 -1.61419463e+02] [-7.90740888e-02 -3.27683550e-05 9.96868741e-01 -1.60892772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75864 meters 0.026867324267252923 Centerline is valid? [True, True] Translation: X:223.64, Y:-161.44, Z:-16.09 [[ 7.13891186e-01 6.97949536e-01 5.67963003e-02 2.23640611e+02] [-6.95756775e-01 7.16146942e-01 -5.52817004e-02 -1.61440956e+02] [-7.92583339e-02 -5.12920836e-05 9.96854109e-01 -1.60906017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters 0.02703556438247963 Centerline is valid? [True, True] Translation: X:223.66, Y:-161.46, Z:-16.09 [[ 7.12639733e-01 6.99162310e-01 5.75905774e-02 2.23664914e+02] [-6.96907003e-01 7.14962966e-01 -5.61122647e-02 -1.61461425e+02] [-8.04067106e-02 -1.47447431e-04 9.96762128e-01 -1.60932642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81864 meters 0.026973582497452443 Centerline is valid? [True, True] Translation: X:223.69, Y:-161.48, Z:-16.10 [[ 7.12143252e-01 6.99777086e-01 5.62496134e-02 2.23689903e+02] [-6.97623720e-01 7.14361253e-01 -5.48556835e-02 -1.61481717e+02] [-7.85692946e-02 -1.75959687e-04 9.96908639e-01 -1.60960193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters 0.026841903330858945 Centerline is valid? [True, True] Translation: X:223.71, Y:-161.50, Z:-16.10 [[ 7.12616177e-01 6.99456230e-01 5.42140904e-02 2.23713380e+02] [-6.97451571e-01 7.14675432e-01 -5.29181841e-02 -1.61503125e+02] [-7.57594320e-02 -1.01348484e-04 9.97126120e-01 -1.60978806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87864 meters 0.026895698712065475 Centerline is valid? [True, True] Translation: X:223.74, Y:-161.52, Z:-16.10 [[ 7.14143300e-01 6.98048008e-01 5.22333700e-02 2.23737803e+02] [-6.96180238e-01 7.16050956e-01 -5.10304295e-02 -1.61524592e+02] [-7.30234442e-02 7.91993770e-05 9.97330221e-01 -1.60974301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters 0.026947669824219173 Centerline is valid? [True, True] Translation: X:223.76, Y:-161.55, Z:-16.10 [[ 7.14881327e-01 6.97244813e-01 5.28616933e-02 2.23763290e+02] [-6.95325889e-01 7.16833057e-01 -5.16940707e-02 -1.61546217e+02] [-7.39364319e-02 1.99021976e-04 9.97262936e-01 -1.60996427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93864 meters 0.0269159171095403 Centerline is valid? [True, True] Translation: X:223.79, Y:-161.57, Z:-16.10 [[ 7.15699126e-01 6.96378391e-01 5.32155776e-02 2.23788259e+02] [-6.94427168e-01 7.17674736e-01 -5.20949215e-02 -1.61567956e+02] [-7.44692532e-02 3.29946914e-04 9.97223256e-01 -1.61018092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters 0.026891048846167248 Centerline is valid? [True, True] Translation: X:223.81, Y:-161.59, Z:-16.10 [[ 7.17067388e-01 6.94987194e-01 5.29826462e-02 2.23811656e+02] [-6.93045234e-01 7.19021932e-01 -5.19207592e-02 -1.61591674e+02] [-7.41799473e-02 5.11312785e-04 9.97244741e-01 -1.61028071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99864 meters 0.02694717111489334 Centerline is valid? [True, True] Translation: X:223.83, Y:-161.61, Z:-16.11 [[ 7.18078828e-01 6.93915281e-01 5.33327249e-02 2.23834159e+02] [-6.91940611e-01 7.20056346e-01 -5.23168219e-02 -1.61614853e+02] [-7.47060092e-02 6.64523880e-04 9.97205380e-01 -1.61052043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters 0.027246807788067203 Centerline is valid? [True, True] Translation: X:223.86, Y:-161.64, Z:-16.11 [[ 7.20085791e-01 6.91966987e-01 5.15571747e-02 2.23856988e+02] [-6.90113438e-01 7.21928618e-01 -5.06212725e-02 -1.61638310e+02] [-7.22488493e-02 8.71359966e-04 9.97386256e-01 -1.61065002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05864 meters 0.02718926451844574 Centerline is valid? [True, True] Translation: X:223.88, Y:-161.66, Z:-16.11 [[ 7.19800553e-01 6.92297130e-01 5.11062302e-02 2.23879009e+02] [-6.90473058e-01 7.21612036e-01 -5.02297409e-02 -1.61662509e+02] [-7.16527763e-02 8.67920275e-04 9.97429259e-01 -1.61084628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters 0.027038939838165348 Centerline is valid? [True, True] Translation: X:223.90, Y:-161.69, Z:-16.11 [[ 7.18844252e-01 6.93338008e-01 5.04514420e-02 2.23899334e+02] [-6.91559512e-01 7.20612089e-01 -4.96352578e-02 -1.61687633e+02] [-7.07699297e-02 7.89845165e-04 9.97492352e-01 -1.61095914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11864 meters 0.026609584117762316 Centerline is valid? [True, True] Translation: X:223.92, Y:-161.71, Z:-16.11 [[ 7.16567288e-01 6.95647698e-01 5.10450941e-02 2.23918781e+02] [-6.93829489e-01 7.18382848e-01 -5.02665212e-02 -1.61714562e+02] [-7.16377099e-02 6.02753209e-04 9.97430537e-01 -1.61102225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters 0.02647080678317164 Centerline is valid? [True, True] Translation: X:223.94, Y:-161.74, Z:-16.11 [[ 7.15047375e-01 6.97160929e-01 5.17096746e-02 2.23941128e+02] [-6.95295610e-01 7.16914499e-01 -5.09668120e-02 -1.61738210e+02] [-7.26034855e-02 4.90175332e-04 9.97360764e-01 -1.61123349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17864000000003 meters 0.02639405200287601 Centerline is valid? [True, True] Translation: X:223.96, Y:-161.76, Z:-16.12 [[ 7.12342892e-01 6.99870946e-01 5.24238918e-02 2.23962666e+02] [-6.97958604e-01 7.14269278e-01 -5.17028614e-02 -1.61763837e+02] [-7.36301059e-02 2.40459453e-04 9.97285591e-01 -1.61155063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20864 meters 0.026541286428328606 Centerline is valid? [True, True] Translation: X:223.98, Y:-161.79, Z:-16.12 [[ 7.11578062e-01 7.00639359e-01 5.25466412e-02 2.23984015e+02] [-6.98716040e-01 7.13515555e-01 -5.18791586e-02 -1.61788974e+02] [-7.38414263e-02 2.00890124e-04 9.97269975e-01 -1.61168375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23864000000003 meters 0.02652972529741769 Centerline is valid? [True, True] Translation: X:224.00, Y:-161.81, Z:-16.12 [[ 7.11075647e-01 7.01088531e-01 5.33506922e-02 2.24004550e+02] [-6.99102888e-01 7.13074213e-01 -5.27287256e-02 -1.61814416e+02] [-7.50105076e-02 1.96489724e-04 9.97182724e-01 -1.61184669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26864 meters 0.026733862456946006 Centerline is valid? [True, True] Translation: X:224.03, Y:-161.84, Z:-16.12 [[ 7.10110140e-01 7.02064963e-01 5.33701791e-02 2.24027431e+02] [-7.00076580e-01 7.12112891e-01 -5.28016362e-02 -1.61837935e+02] [-7.50757714e-02 1.31764821e-04 9.97177823e-01 -1.61209783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29864 meters 0.026564350264234794 Centerline is valid? [True, True] Translation: X:224.05, Y:-161.86, Z:-16.12 [[ 7.09527582e-01 7.02697917e-01 5.27849229e-02 2.24049825e+02] [-7.00750610e-01 7.11488319e-01 -5.22776801e-02 -1.61862766e+02] [-7.42912729e-02 1.03389058e-04 9.97236580e-01 -1.61235448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32864 meters 0.026358803947359483 Centerline is valid? [True, True] Translation: X:224.07, Y:-161.89, Z:-16.13 [[ 7.09525574e-01 7.02748888e-01 5.21292759e-02 2.24073373e+02] [-7.00845869e-01 7.11437968e-01 -5.16825421e-02 -1.61886525e+02] [-7.34065951e-02 1.35497603e-04 9.97302087e-01 -1.61251033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35864 meters 0.0263554839833325 Centerline is valid? [True, True] Translation: X:224.10, Y:-161.91, Z:-16.13 [[ 7.08521572e-01 7.03763279e-01 5.21001860e-02 2.24097037e+02] [-7.01861085e-01 7.10434545e-01 -5.17085575e-02 -1.61909784e+02] [-7.34043559e-02 6.95353991e-05 9.97302259e-01 -1.61258968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38864 meters 0.026330938803747764 Centerline is valid? [True, True] Translation: X:224.12, Y:-161.93, Z:-16.13 [[ 7.05762047e-01 7.06380494e-01 5.40974220e-02 2.24119817e+02] [-7.04332772e-01 7.07832303e-01 -5.37473452e-02 -1.61931979e+02] [-7.62579790e-02 -1.69750902e-04 9.97088106e-01 -1.61282219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41864 meters 0.026398388737410336 Centerline is valid? [True, True] Translation: X:224.14, Y:-161.96, Z:-16.13 [[ 7.04369432e-01 7.07791230e-01 5.38077931e-02 2.24143202e+02] [-7.05765608e-01 7.06421612e-01 -5.35108596e-02 -1.61955772e+02] [-7.58855051e-02 -2.84276072e-04 9.97116497e-01 -1.61298126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44864 meters 0.026545641295024888 Centerline is valid? [True, True] Translation: X:224.17, Y:-161.98, Z:-16.13 [[ 7.04134778e-01 7.07952656e-01 5.47471626e-02 2.24165493e+02] [-7.05851703e-01 7.06259843e-01 -5.45014395e-02 -1.61979404e+02] [-7.72501613e-02 -2.67019040e-04 9.97011706e-01 -1.61328361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47864 meters 0.026510453389567718 Centerline is valid? [True, True] Translation: X:224.19, Y:-162.00, Z:-16.13 [[ 7.04201862e-01 7.07936468e-01 5.40897006e-02 2.24188747e+02] [-7.05881893e-01 7.06276084e-01 -5.38966324e-02 -1.62001631e+02] [-7.63576535e-02 -2.26831369e-04 9.97080467e-01 -1.61344524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50864 meters 0.026411350360567448 Centerline is valid? [True, True] Translation: X:224.21, Y:-162.02, Z:-16.14 [[ 7.03658937e-01 7.08567505e-01 5.28790317e-02 2.24212792e+02] [-7.06602162e-01 7.05642988e-01 -5.27385789e-02 -1.62023074e+02] [-7.46825612e-02 -2.54465792e-04 9.97207326e-01 -1.61355886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53864 meters 0.02645812235080647 Centerline is valid? [True, True] Translation: X:224.24, Y:-162.04, Z:-16.14 [[ 7.04152227e-01 7.08122620e-01 5.22685010e-02 2.24236512e+02] [-7.06197668e-01 7.06089460e-01 -5.21778557e-02 -1.62044411e+02] [-7.38545576e-02 -1.70740267e-04 9.97269008e-01 -1.61383153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56864 meters 0.026485819984832935 Centerline is valid? [True, True] Translation: X:224.26, Y:-162.07, Z:-16.14 [[ 7.03996209e-01 7.08328473e-01 5.15762744e-02 2.24259372e+02] [-7.06451164e-01 7.05882958e-01 -5.15364200e-02 -1.62068342e+02] [-7.29115268e-02 -1.54674802e-04 9.97338401e-01 -1.61403275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59864 meters 0.026463098955082424 Centerline is valid? [True, True] Translation: X:224.29, Y:-162.20, Z:-14.48 [[ 7.56199514e-01 -6.53894752e-01 -2.41650317e-02 2.24291106e+02] [-6.53384239e-01 -7.56575073e-01 2.61380178e-02 -1.62203664e+02] [-3.53741733e-02 -3.97650554e-03 -9.99366227e-01 -1.44813746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62864 meters 0.026533519799699905 Centerline is valid? [True, True] Translation: X:224.29, Y:-162.12, Z:-16.14 [[ 7.55740460e-01 6.52553252e-01 5.50509720e-02 2.24290508e+02] [-6.50821747e-01 7.57742864e-01 -4.75058473e-02 -1.62116028e+02] [-7.27145763e-02 7.37210917e-05 9.97352789e-01 -1.61430394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65864 meters 0.026471849449731178 Centerline is valid? [True, True] Translation: X:224.32, Y:-162.14, Z:-16.15 [[ 7.55286118e-01 6.53075942e-01 5.50880594e-02 2.24315127e+02] [-6.51339758e-01 7.57292420e-01 -4.75889675e-02 -1.62137946e+02] [-7.27969796e-02 6.22432488e-05 9.97346778e-01 -1.61457493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68864 meters 0.026607823914034958 Centerline is valid? [True, True] Translation: X:224.34, Y:-162.16, Z:-16.15 [[ 7.54040131e-01 6.54503876e-01 5.52101215e-02 2.24339152e+02] [-6.52760033e-01 7.56058646e-01 -4.77458311e-02 -1.62160185e+02] [-7.29919212e-02 -3.66879619e-05 9.97332531e-01 -1.61480194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71864 meters 0.026558881109569107 Centerline is valid? [True, True] Translation: X:224.36, Y:-162.18, Z:-16.15 [[ 7.53111158e-01 6.55492699e-01 5.61507405e-02 2.24362653e+02] [-6.53687767e-01 7.55201504e-01 -4.86106086e-02 -1.62182112e+02] [-7.42690227e-02 -9.58604054e-05 9.97238238e-01 -1.61499814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74864 meters 0.02665827481693162 Centerline is valid? [True, True] Translation: X:224.39, Y:-162.20, Z:-16.15 [[ 7.51979520e-01 6.56777568e-01 5.63029957e-02 2.24387024e+02] [-6.54962849e-01 7.54084339e-01 -4.87901252e-02 -1.62204020e+02] [-7.45014671e-02 -1.87195565e-04 9.97220886e-01 -1.61510001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77864 meters 0.02666611646568642 Centerline is valid? [True, True] Translation: X:224.41, Y:-162.23, Z:-16.15 [[ 7.51109819e-01 6.57782695e-01 5.61779913e-02 2.24412196e+02] [-6.55974928e-01 7.53207717e-01 -4.87342599e-02 -1.62225820e+02] [-7.43702494e-02 -2.46572713e-04 9.97230668e-01 -1.61517320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80864 meters 0.026518522061676042 Centerline is valid? [True, True] Translation: X:224.44, Y:-162.25, Z:-16.15 [[ 7.49329256e-01 6.59751062e-01 5.68700498e-02 2.24435878e+02] [-6.57900178e-01 7.51484111e-01 -4.93860960e-02 -1.62247237e+02] [-7.53194681e-02 -4.08369388e-04 9.97159371e-01 -1.61542582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83864 meters 0.026553398975226968 Centerline is valid? [True, True] Translation: X:224.46, Y:-162.27, Z:-16.16 [[ 7.48206900e-01 6.60968985e-01 5.75016058e-02 2.24460335e+02] [-6.59076679e-01 7.50413052e-01 -4.99818229e-02 -1.62268333e+02] [-7.61863903e-02 -5.01222562e-04 9.97093467e-01 -1.61555894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86864 meters 0.026571597356534995 Centerline is valid? [True, True] Translation: X:224.49, Y:-162.29, Z:-16.16 [[ 7.47917731e-01 6.61153911e-01 5.91149305e-02 2.24485241e+02] [-6.59150542e-01 7.50250130e-01 -5.14325309e-02 -1.62287779e+02] [-7.83558032e-02 -4.98336648e-04 9.96925333e-01 -1.61586363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89864 meters 0.026571597356534995 Centerline is valid? [True, True] Translation: X:224.51, Y:-162.31, Z:-16.16 [[ 7.47566666e-01 6.61552968e-01 5.90910316e-02 2.24509965e+02] [-6.59548675e-01 7.49898271e-01 -5.14599776e-02 -1.62308869e+02] [-7.83557634e-02 -5.03647672e-04 9.96925334e-01 -1.61604044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864000000003 meters 0.026711894247074607 Centerline is valid? [True, True] Translation: X:224.53, Y:-162.33, Z:-16.16 [[ 7.47540155e-01 6.61607589e-01 5.88142426e-02 2.24534844e+02] [-6.59617930e-01 7.49850106e-01 -5.12738287e-02 -1.62330184e+02] [-7.80250202e-02 -4.65683054e-04 9.96951292e-01 -1.61623907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95864 meters 0.026549034342149884 Centerline is valid? [True, True] Translation: X:224.56, Y:-162.35, Z:-16.16 [[ 7.48177004e-01 6.60953635e-01 5.80643026e-02 2.24559235e+02] [-6.59008498e-01 7.50426657e-01 -5.06718039e-02 -1.62350757e+02] [-7.70647135e-02 -3.53390433e-04 9.97026030e-01 -1.61636109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864000000003 meters 0.02660123536896019 Centerline is valid? [True, True] Translation: X:224.58, Y:-162.37, Z:-16.16 [[ 7.48773839e-01 6.60340232e-01 5.73455919e-02 2.24584757e+02] [-6.58437682e-01 7.50966520e-01 -5.00909518e-02 -1.62370937e+02] [-7.61416903e-02 -2.51704331e-04 9.97096976e-01 -1.61645482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01864 meters 0.026503981477265365 Centerline is valid? [True, True] Translation: X:224.61, Y:-162.39, Z:-16.17 [[ 7.48172142e-01 6.60970923e-01 5.79299978e-02 2.24611067e+02] [-6.59027377e-01 7.50411460e-01 -5.06513259e-02 -1.62391545e+02] [-7.69503879e-02 -2.81543503e-04 9.97034883e-01 -1.61659131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters 0.02659924985022646 Centerline is valid? [True, True] Translation: X:224.64, Y:-162.41, Z:-16.17 [[ 7.48520642e-01 6.60636297e-01 5.72410064e-02 2.24635929e+02] [-6.58734542e-01 7.50706093e-01 -5.00915654e-02 -1.62412756e+02] [-7.60634785e-02 -2.12057456e-04 9.97102955e-01 -1.61668897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07864 meters 0.026537776402635087 Centerline is valid? [True, True] Translation: X:224.66, Y:-162.43, Z:-16.17 [[ 7.48294950e-01 6.60902477e-01 5.71190397e-02 2.24660299e+02] [-6.59007523e-01 7.50471764e-01 -5.00121597e-02 -1.62434423e+02] [-7.59193867e-02 -2.18030344e-04 9.97113935e-01 -1.61689255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters 0.026629494093660517 Centerline is valid? [True, True] Translation: X:224.69, Y:-162.45, Z:-16.17 [[ 7.48822909e-01 6.60262108e-01 5.76038146e-02 2.24686490e+02] [-6.58328712e-01 7.51035243e-01 -5.04913017e-02 -1.62454081e+02] [-7.65999882e-02 -1.13201626e-04 9.97061898e-01 -1.61719600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13864 meters 0.02662575261201729 Centerline is valid? [True, True] Translation: X:224.71, Y:-162.47, Z:-16.17 [[ 7.49599481e-01 6.59465212e-01 5.66237723e-02 2.24711269e+02] [-6.57591027e-01 7.51735082e-01 -4.96830662e-02 -1.62474298e+02] [-7.53303300e-02 7.11606647e-06 9.97158634e-01 -1.61738448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters 0.026596817522753398 Centerline is valid? [True, True] Translation: X:224.74, Y:-162.50, Z:-16.18 [[ 7.50269085e-01 6.58734912e-01 5.62549165e-02 2.24735818e+02] [-6.56879447e-01 7.52375108e-01 -4.94073840e-02 -1.62496473e+02] [-7.48711676e-02 1.16134423e-04 9.97193208e-01 -1.61752129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19864 meters 0.02653303284019212 Centerline is valid? [True, True] Translation: X:224.76, Y:-162.52, Z:-16.18 [[ 7.52283604e-01 6.56547866e-01 5.49024436e-02 2.24759779e+02] [-6.54771246e-01 7.54284275e-01 -4.82685004e-02 -1.62518460e+02] [-7.31026308e-02 3.63060057e-04 9.97324357e-01 -1.61759675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters 0.02670594424736009 Centerline is valid? [True, True] Translation: X:224.79, Y:-162.54, Z:-16.18 [[ 7.52599283e-01 6.56137905e-01 5.54740430e-02 2.24785224e+02] [-6.54319431e-01 7.54640877e-01 -4.88183207e-02 -1.62539512e+02] [-7.38945311e-02 4.42888867e-04 9.97265964e-01 -1.61781694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25864 meters 0.026872911242730044 Centerline is valid? [True, True] Translation: X:224.81, Y:-162.56, Z:-16.18 [[ 7.53953848e-01 6.54590990e-01 5.53554968e-02 2.24810391e+02] [-6.52772301e-01 7.55982960e-01 -4.87656466e-02 -1.62561240e+02] [-7.37693652e-02 6.32511932e-04 9.97275128e-01 -1.61805645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters 0.02672150749530721 Centerline is valid? [True, True] Translation: X:224.83, Y:-162.58, Z:-16.18 [[ 7.54089897e-01 6.54420106e-01 5.55225399e-02 2.24834024e+02] [-6.52586097e-01 7.56130841e-01 -4.89646617e-02 -1.62583668e+02] [-7.40257639e-02 6.90519060e-04 9.97256090e-01 -1.61820590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31864 meters 0.026643634396381604 Centerline is valid? [True, True] Translation: X:224.86, Y:-162.61, Z:-16.18 [[ 7.53357225e-01 6.55243781e-01 5.57537322e-02 2.24857434e+02] [-6.53392845e-01 7.55417211e-01 -4.92201818e-02 -1.62607496e+02] [-7.43685470e-02 6.51289857e-04 9.97230613e-01 -1.61825176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters 0.026629932491294785 Centerline is valid? [True, True] Translation: X:224.88, Y:-162.63, Z:-16.18 [[ 7.52681971e-01 6.56107423e-01 5.47074082e-02 2.24881668e+02] [-6.54324124e-01 7.54667277e-01 -4.83450242e-02 -1.62629301e+02] [-7.30054201e-02 5.92051143e-04 9.97331368e-01 -1.61837087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37864 meters 0.026591556825631083 Centerline is valid? [True, True] Translation: X:224.91, Y:-162.65, Z:-16.19 [[ 7.51499215e-01 6.57459810e-01 5.47314214e-02 2.24905865e+02] [-6.55675127e-01 7.53489451e-01 -4.84125601e-02 -1.62651248e+02] [-7.30688612e-02 4.95969180e-04 9.97326775e-01 -1.61858132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters 0.026531614836673816 Centerline is valid? [True, True] Translation: X:224.93, Y:-162.67, Z:-16.19 [[ 7.49219653e-01 6.60025957e-01 5.50967187e-02 2.24929376e+02] [-6.58220425e-01 7.51242740e-01 -4.87874706e-02 -1.62674358e+02] [-7.35920069e-02 2.86746141e-04 9.97288391e-01 -1.61884422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43864 meters 0.02641937584151341 Centerline is valid? [True, True] Translation: X:224.95, Y:-162.70, Z:-16.19 [[ 7.48390977e-01 6.60958127e-01 5.51842391e-02 2.24953782e+02] [-6.59145510e-01 7.50422747e-01 -4.89172414e-02 -1.62696624e+02] [-7.37437566e-02 2.34778669e-04 9.97277195e-01 -1.61898724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters 0.02625585636962641 Centerline is valid? [True, True] Translation: X:224.98, Y:-162.72, Z:-16.19 [[ 7.47369660e-01 6.62111500e-01 5.51992091e-02 2.24978922e+02] [-6.60297176e-01 7.49405322e-01 -4.89826826e-02 -1.62717871e+02] [-7.37985785e-02 1.60289009e-04 9.97273154e-01 -1.61906365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49864 meters 0.026210410982247787 Centerline is valid? [True, True] Translation: X:225.00, Y:-162.74, Z:-16.19 [[ 7.47693904e-01 6.61744317e-01 5.52112827e-02 2.25004278e+02] [-6.59924322e-01 7.49729554e-01 -4.90457431e-02 -1.62739213e+02] [-7.38492721e-02 2.35934813e-04 9.97269387e-01 -1.61926698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters 0.026334933232815123 Centerline is valid? [True, True] Translation: X:225.03, Y:-162.76, Z:-16.19 [[ 7.48194232e-01 6.61218754e-01 5.47279666e-02 2.25028777e+02] [-6.59425332e-01 7.50193078e-01 -4.86680306e-02 -1.62761513e+02] [-7.32367563e-02 3.24132176e-04 9.97314530e-01 -1.61943696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55864 meters 0.02629369377024435 Centerline is valid? [True, True] Translation: X:225.05, Y:-162.78, Z:-16.20 [[ 7.49406837e-01 6.59783826e-01 5.54499445e-02 2.25051962e+02] [-6.57934982e-01 7.51455284e-01 -4.93610782e-02 -1.62783307e+02] [-7.42357948e-02 5.09071220e-04 9.97240587e-01 -1.61961599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters 0.02636215400035789 Centerline is valid? [True, True] Translation: X:225.08, Y:-162.80, Z:-16.20 [[ 7.49476380e-01 6.59637998e-01 5.62393753e-02 2.25076584e+02] [-6.57732123e-01 7.51583256e-01 -5.01105099e-02 -1.62803532e+02] [-7.53233693e-02 5.66199813e-04 9.97158999e-01 -1.61979811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61864 meters 0.026365845891767506 Centerline is valid? [True, True] Translation: X:225.10, Y:-162.82, Z:-16.20 [[ 7.48394562e-01 6.60824201e-01 5.67182135e-02 2.25102149e+02] [-6.58885436e-01 7.50540564e-01 -5.05850127e-02 -1.62823519e+02] [-7.59971206e-02 4.86743592e-04 9.97107918e-01 -1.62017089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters 0.02632103565874607 Centerline is valid? [True, True] Translation: X:225.13, Y:-162.84, Z:-16.20 [[ 7.47062448e-01 6.62393124e-01 5.59736385e-02 2.25125771e+02] [-6.60505765e-01 7.49156339e-01 -4.99691378e-02 -1.62844789e+02] [-7.50322194e-02 3.59155523e-04 9.97181045e-01 -1.62028594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67864000000003 meters 0.02634192219325939 Centerline is valid? [True, True] Translation: X:225.15, Y:-162.87, Z:-16.21 [[ 7.46511050e-01 6.63027051e-01 5.58245685e-02 2.25150619e+02] [-6.61147932e-01 7.48595365e-01 -4.98837801e-02 -1.62866340e+02] [-7.48643088e-02 3.30495066e-04 9.97193675e-01 -1.62050475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70864 meters 0.026297570896972936 Centerline is valid? [True, True] Translation: X:225.18, Y:-162.89, Z:-16.21 [[ 7.46865786e-01 6.62747581e-01 5.43796099e-02 2.25175839e+02] [-6.60960306e-01 7.48842771e-01 -4.86413251e-02 -1.62886709e+02] [-7.29586983e-02 3.85777926e-04 9.97334888e-01 -1.62067585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73864000000003 meters 0.026475784476665213 Centerline is valid? [True, True] Translation: X:225.20, Y:-162.91, Z:-16.21 [[ 7.47563242e-01 6.61977264e-01 5.41784292e-02 2.25200994e+02] [-6.60197798e-01 7.49523754e-01 -4.85078249e-02 -1.62907790e+02] [-7.27190968e-02 4.94187107e-04 9.97352339e-01 -1.62087674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76864 meters 0.026660624657717912 Centerline is valid? [True, True] Translation: X:225.22, Y:-162.93, Z:-16.21 [[ 7.50871025e-01 6.58293427e-01 5.33147898e-02 2.25224994e+02] [-6.56557533e-01 7.52760917e-01 -4.77829178e-02 -1.62928535e+02] [-7.15884708e-02 8.74581644e-04 9.97433870e-01 -1.62103759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79864 meters 0.02694998786811456 Centerline is valid? [True, True] Translation: X:225.25, Y:-162.95, Z:-16.21 [[ 7.52735230e-01 6.56177916e-01 5.31057075e-02 2.25249239e+02] [-6.54447268e-01 7.54605409e-01 -4.76387508e-02 -1.62949720e+02] [-7.13333503e-02 1.10448081e-03 9.97451920e-01 -1.62127675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82864 meters 0.027432814287360496 Centerline is valid? [True, True] Translation: X:225.27, Y:-162.97, Z:-16.21 [[ 7.54977786e-01 6.53589354e-01 5.31930288e-02 2.25272809e+02] [-6.51843485e-01 7.56848096e-01 -4.77601454e-02 -1.62971692e+02] [-7.14745651e-02 1.38431965e-03 9.97441462e-01 -1.62143487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85864 meters 0.027524981859767064 Centerline is valid? [True, True] Translation: X:225.30, Y:-162.99, Z:-16.22 [[ 7.55493504e-01 6.53000533e-01 5.31024451e-02 2.25296250e+02] [-6.51256120e-01 7.57356022e-01 -4.77213011e-02 -1.62993382e+02] [-7.13794916e-02 1.46984069e-03 9.97448148e-01 -1.62155886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88864 meters 0.027573633814694864 Centerline is valid? [True, True] Translation: X:225.32, Y:-163.02, Z:-16.22 [[ 7.55570608e-01 6.52967275e-01 5.24098641e-02 2.25320344e+02] [-6.51265010e-01 7.57384663e-01 -4.71418971e-02 -1.63016559e+02] [-7.04765434e-02 1.48632120e-03 9.97512330e-01 -1.62166779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91864 meters 0.027679707048501742 Centerline is valid? [True, True] Translation: X:225.34, Y:-163.04, Z:-16.22 [[ 7.55660938e-01 6.52868252e-01 5.23411152e-02 2.25344066e+02] [-6.51166836e-01 7.57469937e-01 -4.71279797e-02 -1.63039709e+02] [-7.04151829e-02 1.52997501e-03 9.97516597e-01 -1.62183904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94864 meters 0.027814467276130968 Centerline is valid? [True, True] Translation: X:225.37, Y:-163.06, Z:-16.22 [[ 7.55713151e-01 6.52761136e-01 5.29200715e-02 2.25366311e+02] [-6.51018174e-01 7.57562118e-01 -4.76966998e-02 -1.63063192e+02] [-7.12247933e-02 1.59309500e-03 9.97459017e-01 -1.62200349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97864 meters 0.02759742223755092 Centerline is valid? [True, True] Translation: X:225.39, Y:-163.09, Z:-16.22 [[ 7.54987419e-01 6.53530159e-01 5.37803718e-02 2.25387929e+02] [-6.51728642e-01 7.56898828e-01 -4.85174333e-02 -1.63087950e+02] [-7.24139063e-02 1.57984306e-03 9.97373416e-01 -1.62224270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00864 meters 0.027669070383555146 Centerline is valid? [True, True] Translation: X:225.41, Y:-163.11, Z:-16.23 [[ 7.54497937e-01 6.54123549e-01 5.34344978e-02 2.25410744e+02] [-6.52343097e-01 7.56386131e-01 -4.82545804e-02 -1.63111244e+02] [-7.19815704e-02 1.55035562e-03 9.97404757e-01 -1.62250476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03864 meters 0.02756847177341444 Centerline is valid? [True, True] Translation: X:225.43, Y:-163.13, Z:-16.23 [[ 7.53655381e-01 6.55129022e-01 5.30050160e-02 2.25433298e+02] [-6.53376177e-01 7.55515571e-01 -4.79144311e-02 -1.63134865e+02] [-7.14362493e-02 1.47875405e-03 9.97444071e-01 -1.62263146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06864 meters 0.027407729099923873 Centerline is valid? [True, True] Translation: X:225.45, Y:-163.16, Z:-16.23 [[ 7.52940827e-01 6.56040435e-01 5.18754282e-02 2.25454390e+02] [-6.54361283e-01 7.54724465e-01 -4.69285876e-02 -1.63160257e+02] [-6.99387058e-02 1.38917776e-03 9.97550323e-01 -1.62277042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09864 meters 0.027310972816915077 Centerline is valid? [True, True] Translation: X:225.48, Y:-163.18, Z:-16.23 [[ 7.52181663e-01 6.56829758e-01 5.28905840e-02 2.25477928e+02] [-6.55084408e-01 7.54037678e-01 -4.78706437e-02 -1.63183216e+02] [-7.13243565e-02 1.35962347e-03 9.97452248e-01 -1.62291088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12864 meters 0.02714139818056988 Centerline is valid? [True, True] Translation: X:225.50, Y:-163.21, Z:-16.23 [[ 7.50271591e-01 6.58958008e-01 5.35432890e-02 2.25501058e+02] [-6.57171609e-01 7.52178766e-01 -4.85034069e-02 -1.63206186e+02] [-7.22358334e-02 1.20359892e-03 9.97386854e-01 -1.62315837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15864 meters 0.026996538344191454 Centerline is valid? [True, True] Translation: X:225.53, Y:-163.23, Z:-16.23 [[ 7.49125058e-01 6.60189195e-01 5.44231059e-02 2.25525624e+02] [-6.58344888e-01 7.51098507e-01 -4.93258568e-02 -1.63228845e+02] [-7.34415114e-02 1.12206175e-03 9.97298895e-01 -1.62339857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18864 meters 0.02701132050917629 Centerline is valid? [True, True] Translation: X:225.55, Y:-163.25, Z:-16.24 [[ 7.47123718e-01 6.62388210e-01 5.52087787e-02 2.25549467e+02] [-6.60492208e-01 7.49160156e-01 -5.00909633e-02 -1.63250911e+02] [-7.45398808e-02 9.59178626e-04 9.97217572e-01 -1.62365538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21864 meters 0.026623925166098912 Centerline is valid? [True, True] Translation: X:225.57, Y:-163.27, Z:-16.24 [[ 7.44373894e-01 6.65486192e-01 5.50965918e-02 2.25573493e+02] [-6.63602560e-01 7.46409845e-01 -5.00398430e-02 -1.63272847e+02] [-7.44254632e-02 6.86113427e-04 9.97226343e-01 -1.62369263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24864 meters 0.026658304335753395 Centerline is valid? [True, True] Translation: X:225.60, Y:-163.29, Z:-16.24 [[ 7.43311783e-01 6.66659908e-01 5.52463593e-02 2.25598581e+02] [-6.64765632e-01 7.45361791e-01 -5.02240453e-02 -1.63294757e+02] [-7.46608827e-02 6.06243660e-04 9.97208797e-01 -1.62394759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27864 meters 0.026521705369716774 Centerline is valid? [True, True] Translation: X:225.62, Y:-163.32, Z:-16.24 [[ 7.41430823e-01 6.68814715e-01 5.44721300e-02 2.25622251e+02] [-6.66975874e-01 7.43429018e-01 -4.95628741e-02 -1.63317136e+02] [-7.36445416e-02 4.15846007e-04 9.97284467e-01 -1.62428256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30864 meters 0.02649434409177632 Centerline is valid? [True, True] Translation: X:225.65, Y:-163.34, Z:-16.24 [[ 7.40998674e-01 6.69424211e-01 5.28411833e-02 2.25646509e+02] [-6.67693907e-01 7.42880270e-01 -4.81014703e-02 -1.63338828e+02] [-7.14549613e-02 3.61389587e-04 9.97443762e-01 -1.62439593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33864 meters 0.026442566278032337 Centerline is valid? [True, True] Translation: X:225.67, Y:-163.36, Z:-16.25 [[ 7.39930405e-01 6.70588567e-01 5.30468574e-02 2.25671191e+02] [-6.68844377e-01 7.41829423e-01 -4.83353568e-02 -1.63360650e+02] [-7.17648572e-02 2.84707860e-04 9.97421538e-01 -1.62455883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36864 meters 0.026451910486344536 Centerline is valid? [True, True] Translation: X:225.70, Y:-163.38, Z:-16.25 [[ 7.39169064e-01 6.71422047e-01 5.31180721e-02 2.25695835e+02] [-6.69671578e-01 7.41075149e-01 -4.84520453e-02 -1.63383263e+02] [-7.18962546e-02 2.42589794e-04 9.97412086e-01 -1.62471509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39864 meters 0.02649345357176505 Centerline is valid? [True, True] Translation: X:225.72, Y:-163.41, Z:-16.25 [[ 7.39074689e-01 6.71538061e-01 5.29644907e-02 2.25719920e+02] [-6.69794293e-01 7.40970013e-01 -4.83636773e-02 -1.63405631e+02] [-7.17231495e-02 2.69056173e-04 9.97424542e-01 -1.62480591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864000000003 meters 0.026613004860116037 Centerline is valid? [True, True] Translation: X:225.75, Y:-163.43, Z:-16.25 [[ 7.38764078e-01 6.71883310e-01 5.29193313e-02 2.25745532e+02] [-6.70139686e-01 7.40656967e-01 -4.83741403e-02 -1.63427043e+02] [-7.16968489e-02 2.73733111e-04 9.97426432e-01 -1.62496898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45864 meters 0.026561799127693853 Centerline is valid? [True, True] Translation: X:225.77, Y:-163.45, Z:-16.25 [[ 7.38000960e-01 6.72793228e-01 5.19986119e-02 2.25769770e+02] [-6.71108617e-01 7.39830538e-01 -4.75814957e-02 -1.63447599e+02] [-7.04826691e-02 2.18472953e-04 9.97512980e-01 -1.62511822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864000000003 meters 0.026723026784107273 Centerline is valid? [True, True] Translation: X:225.79, Y:-163.47, Z:-16.25 [[ 7.37226138e-01 6.73591962e-01 5.26449490e-02 2.25793529e+02] [-6.71863808e-01 7.39103400e-01 -4.82201983e-02 -1.63470190e+02] [-7.13907988e-02 1.78954609e-04 9.97448406e-01 -1.62543264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51864 meters 0.026887361852565076 Centerline is valid? [True, True] Translation: X:225.82, Y:-163.49, Z:-16.26 [[ 7.38174732e-01 6.72490893e-01 5.34234506e-02 2.25817114e+02] [-6.70704558e-01 7.40105325e-01 -4.89847358e-02 -1.63492416e+02] [-7.24807689e-02 3.27942446e-04 9.97369756e-01 -1.62558867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters 0.027103077475501447 Centerline is valid? [True, True] Translation: X:225.84, Y:-163.51, Z:-16.26 [[ 7.39205482e-01 6.71297063e-01 5.41803299e-02 2.25840370e+02] [-6.69453017e-01 7.41188246e-01 -4.97256690e-02 -1.63514332e+02] [-7.35385193e-02 4.86301822e-04 9.97292259e-01 -1.62579442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57864 meters 0.027183529699324194 Centerline is valid? [True, True] Translation: X:225.86, Y:-163.54, Z:-16.26 [[ 7.42032068e-01 6.68208923e-01 5.37144890e-02 2.25862702e+02] [-6.66385070e-01 7.43973228e-01 -4.93434385e-02 -1.63537059e+02] [-7.29338676e-02 8.19880139e-04 9.97336442e-01 -1.62596369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters 0.02736482124100169 Centerline is valid? [True, True] Translation: X:225.89, Y:-163.56, Z:-16.26 [[ 7.42715299e-01 6.67535981e-01 5.26279280e-02 2.25886140e+02] [-6.65780334e-01 7.44576995e-01 -4.83905535e-02 -1.63559960e+02] [-7.14879801e-02 9.01764966e-04 9.97441054e-01 -1.62615337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63864 meters 0.027296907816342367 Centerline is valid? [True, True] Translation: X:225.91, Y:-163.59, Z:-16.26 [[ 7.42738766e-01 6.67516885e-01 5.25388754e-02 2.25907975e+02] [-6.65763518e-01 7.44594067e-01 -4.83592206e-02 -1.63585113e+02] [-7.14007312e-02 9.39801375e-04 9.97447268e-01 -1.62630001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters 0.027335364256996907 Centerline is valid? [True, True] Translation: X:225.93, Y:-163.61, Z:-16.26 [[ 7.42543775e-01 6.67677183e-01 5.32533653e-02 2.25931019e+02] [-6.65872382e-01 7.44450285e-01 -4.90687738e-02 -1.63609138e+02] [-7.24065837e-02 9.75767343e-04 9.97374721e-01 -1.62644510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69864 meters 0.02737465035378906 Centerline is valid? [True, True] Translation: X:225.95, Y:-163.63, Z:-16.27 [[ 7.42058223e-01 6.68189595e-01 5.35934540e-02 2.25954359e+02] [-6.66359190e-01 7.43990405e-01 -4.94338630e-02 -1.63632899e+02] [-7.29042084e-02 9.70313949e-04 9.97338476e-01 -1.62663755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters 0.02737415574221602 Centerline is valid? [True, True] Translation: X:225.98, Y:-163.66, Z:-16.27 [[ 7.39862867e-01 6.70573232e-01 5.41708279e-02 2.25976132e+02] [-6.68705569e-01 7.41842927e-01 -5.00193401e-02 -1.63657895e+02] [-7.37278761e-02 7.83118058e-04 9.97278089e-01 -1.62684745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75864 meters 0.027115094923413754 Centerline is valid? [True, True] Translation: X:226.00, Y:-163.68, Z:-16.27 [[ 7.38004876e-01 6.72651171e-01 5.37513230e-02 2.25997549e+02] [-6.70814142e-01 7.39959480e-01 -4.96825452e-02 -1.63681577e+02] [-7.31928232e-02 6.08812976e-04 9.97317622e-01 -1.62698375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters 0.027115094923413754 Centerline is valid? [True, True] Translation: X:226.02, Y:-163.70, Z:-16.27 [[ 7.37650174e-01 6.73042022e-01 5.37276302e-02 2.26021606e+02] [-6.71204163e-01 7.39603996e-01 -4.97081570e-02 -1.63703384e+02] [-7.31928485e-02 6.05021641e-04 9.97317623e-01 -1.62716052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81864 meters 0.026934006831177984 Centerline is valid? [True, True] Translation: X:226.04, Y:-163.73, Z:-16.27 [[ 7.34652886e-01 6.76356222e-01 5.31732862e-02 2.26042592e+02] [-6.74561129e-01 7.36574616e-01 -4.92454768e-02 -1.63728717e+02] [-7.24735775e-02 3.09699711e-04 9.97370285e-01 -1.62724090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters 0.026845521880508292 Centerline is valid? [True, True] Translation: X:226.07, Y:-163.75, Z:-16.27 [[ 7.32607899e-01 6.78556463e-01 5.33553423e-02 2.26066405e+02] [-6.76751353e-01 7.34548235e-01 -4.94620699e-02 -1.63751424e+02] [-7.27548798e-02 1.28003003e-04 9.97349844e-01 -1.62746658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87864 meters 0.02698990016033614 Centerline is valid? [True, True] Translation: X:226.09, Y:-163.77, Z:-16.28 [[ 7.30790655e-01 6.80401939e-01 5.47560028e-02 2.26089148e+02] [-6.78501788e-01 7.32839137e-01 -5.08145908e-02 -1.63773630e+02] [-7.47016879e-02 -1.72176534e-05 9.97205925e-01 -1.62775949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters 0.0270532155163366 Centerline is valid? [True, True] Translation: X:226.11, Y:-163.80, Z:-16.28 [[ 7.28524697e-01 6.82743728e-01 5.57921808e-02 2.26110619e+02] [-6.80773924e-01 7.30657889e-01 -5.18257982e-02 -1.63798015e+02] [-7.61487358e-02 -2.25487858e-04 9.97096444e-01 -1.62799917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93864 meters 0.027150143755877303 Centerline is valid? [True, True] Translation: X:226.13, Y:-163.82, Z:-16.28 [[ 7.26425569e-01 6.84916894e-01 5.65220374e-02 2.26132974e+02] [-6.82897813e-01 7.28621074e-01 -5.25538553e-02 -1.63821544e+02] [-7.71781709e-02 -4.22311445e-04 9.97017227e-01 -1.62802920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters 0.027065876151815393 Centerline is valid? [True, True] Translation: X:226.16, Y:-163.84, Z:-16.28 [[ 7.25087932e-01 6.86404132e-01 5.56494211e-02 2.26157470e+02] [-6.84447532e-01 7.27220106e-01 -5.17928029e-02 -1.63844132e+02] [-7.60201718e-02 -5.34772518e-04 9.97106137e-01 -1.62822361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99864 meters 0.027280257754171058 Centerline is valid? [True, True] Translation: X:226.18, Y:-163.87, Z:-16.28 [[ 7.23230602e-01 6.88316126e-01 5.61996983e-02 2.26180925e+02] [-6.86322097e-01 7.25410516e-01 -5.23599384e-02 -1.63866381e+02] [-7.68080422e-02 -7.02785002e-04 9.97045651e-01 -1.62849924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters 0.027304550886179738 Centerline is valid? [True, True] Translation: X:226.20, Y:-163.89, Z:-16.29 [[ 7.19426273e-01 6.92298884e-01 5.61078731e-02 2.26204013e+02] [-6.90319616e-01 7.21610053e-01 -5.23236044e-02 -1.63889113e+02] [-7.67115782e-02 -1.08938972e-03 9.97052730e-01 -1.62869318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05864 meters 0.027629680327173046 Centerline is valid? [True, True] Translation: X:226.23, Y:-163.91, Z:-16.29 [[ 7.16916487e-01 6.94899167e-01 5.60883081e-02 2.26227709e+02] [-6.92925446e-01 7.19105955e-01 -5.23541009e-02 -1.63910336e+02] [-7.67142575e-02 -1.33149777e-03 9.97052230e-01 -1.62880734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters 0.02768200598798695 Centerline is valid? [True, True] Translation: X:226.25, Y:-163.93, Z:-16.29 [[ 7.15015364e-01 6.96932137e-01 5.51237325e-02 2.26252916e+02] [-6.95028119e-01 7.17135541e-01 -5.15027107e-02 -1.63931256e+02] [-7.54250819e-02 -1.48731469e-03 9.97150362e-01 -1.62890627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11864 meters 0.02771990571767286 Centerline is valid? [True, True] Translation: X:226.28, Y:-163.95, Z:-16.29 [[ 7.12058794e-01 7.00002963e-01 5.44805091e-02 2.26278217e+02] [-6.98148887e-01 7.14137770e-01 -5.09448371e-02 -1.63951337e+02] [-7.45681262e-02 -1.75978755e-03 9.97214369e-01 -1.62897474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters 0.02803402534359887 Centerline is valid? [True, True] Translation: X:226.30, Y:-163.97, Z:-16.29 [[ 7.11015280e-01 7.01059139e-01 5.45284810e-02 2.26301643e+02] [-6.99203004e-01 7.13100726e-01 -5.10148415e-02 -1.63973746e+02] [-7.46487203e-02 -1.85414594e-03 9.97208168e-01 -1.62915663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17864000000003 meters 0.02815800797688517 Centerline is valid? [True, True] Translation: X:226.32, Y:-164.00, Z:-16.29 [[ 7.10757914e-01 7.01158574e-01 5.65671488e-02 2.26323990e+02] [-6.99157336e-01 7.13002837e-01 -5.29714467e-02 -1.63996099e+02] [-7.74739216e-02 -1.89946208e-03 9.96992569e-01 -1.62945303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20864 meters 0.02792971413305624 Centerline is valid? [True, True] Translation: X:226.35, Y:-164.02, Z:-16.30 [[ 7.11240816e-01 7.00670458e-01 5.65456583e-02 2.26347965e+02] [-6.98665636e-01 7.13482742e-01 -5.29972234e-02 -1.64017706e+02] [-7.74779402e-02 -1.81271993e-03 9.96992419e-01 -1.62956412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23864000000003 meters 0.028172323366042855 Centerline is valid? [True, True] Translation: X:226.37, Y:-164.04, Z:-16.30 [[ 7.10964816e-01 7.00900237e-01 5.71654553e-02 2.26371604e+02] [-6.98847858e-01 7.13256995e-01 -5.36295612e-02 -1.64040263e+02] [-7.83626330e-02 -1.82122493e-03 9.96923257e-01 -1.62981610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26864 meters 0.028052999012540877 Centerline is valid? [True, True] Translation: X:226.40, Y:-164.06, Z:-16.30 [[ 7.09965608e-01 7.02007796e-01 5.59811643e-02 2.26396205e+02] [-7.00038947e-01 7.12166820e-01 -5.25727433e-02 -1.64061780e+02] [-7.67744034e-02 -1.86415563e-03 9.97046747e-01 -1.62974964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29864 meters 0.0282691503240692 Centerline is valid? [True, True] Translation: X:226.42, Y:-164.08, Z:-16.30 [[ 7.08441982e-01 7.03506780e-01 5.64638780e-02 2.26419740e+02] [-7.01504385e-01 7.10685716e-01 -5.30792862e-02 -1.64083010e+02] [-7.74697093e-02 -2.00606336e-03 9.96992688e-01 -1.63002395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32864 meters 0.028892901898913095 Centerline is valid? [True, True] Translation: X:226.44, Y:-164.10, Z:-16.30 [[ 7.04998231e-01 7.07082588e-01 5.48790295e-02 2.26443711e+02] [-7.05198458e-01 7.07127240e-01 -5.16352692e-02 -1.64104919e+02] [-7.53168565e-02 -2.29783354e-03 9.97157004e-01 -1.63013366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35864 meters 0.028937383010092348 Centerline is valid? [True, True] Translation: X:226.47, Y:-164.13, Z:-16.30 [[ 7.03321655e-01 7.08684182e-01 5.57259395e-02 2.26467672e+02] [-7.06742734e-01 7.05521516e-01 -5.24795022e-02 -1.64126781e+02] [-7.65072424e-02 -2.47393254e-03 9.97065956e-01 -1.63033895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38864 meters 0.02917023886741195 Centerline is valid? [True, True] Translation: X:226.49, Y:-164.15, Z:-16.30 [[ 7.01976256e-01 7.10083890e-01 5.48653403e-02 2.26490968e+02] [-7.08202904e-01 7.04112453e-01 -5.17136414e-02 -1.64148241e+02] [-7.53523930e-02 -2.55404498e-03 9.97153696e-01 -1.63047161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41864 meters 0.029281030982520447 Centerline is valid? [True, True] Translation: X:226.52, Y:-164.17, Z:-16.31 [[ 7.01352396e-01 7.10524184e-01 5.70981637e-02 2.26515578e+02] [-7.08484530e-01 7.03667698e-01 -5.38650285e-02 -1.64169071e+02] [-7.84505388e-02 -2.67479889e-03 9.96914419e-01 -1.63069031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44864 meters 0.029049908021513367 Centerline is valid? [True, True] Translation: X:226.54, Y:-164.19, Z:-16.31 [[ 7.03026655e-01 7.08912293e-01 5.65409931e-02 2.26541091e+02] [-7.06904145e-01 7.05292415e-01 -5.33773179e-02 -1.64189585e+02] [-7.77177704e-02 -2.44338515e-03 9.96972406e-01 -1.63069369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47864 meters 0.02890786237589334 Centerline is valid? [True, True] Translation: X:226.57, Y:-164.21, Z:-16.31 [[ 7.02959970e-01 7.08953737e-01 5.68496245e-02 2.26566210e+02] [-7.06921482e-01 7.05250763e-01 -5.36971160e-02 -1.64210256e+02] [-7.81620121e-02 -2.44129776e-03 9.96937681e-01 -1.63090480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50864 meters 0.028693848720703647 Centerline is valid? [True, True] Translation: X:226.59, Y:-164.23, Z:-16.31 [[ 7.03101982e-01 7.08874576e-01 5.60752945e-02 2.26591452e+02] [-7.06893178e-01 7.05330597e-01 -5.30168189e-02 -1.64230426e+02] [-7.71338960e-02 -2.36301267e-03 9.97017943e-01 -1.63110155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53864 meters 0.02865192276351307 Centerline is valid? [True, True] Translation: X:226.62, Y:-164.25, Z:-16.31 [[ 7.02730425e-01 7.09214100e-01 5.64385415e-02 2.26618674e+02] [-7.07204132e-01 7.04989143e-01 -5.34099549e-02 -1.64249760e+02] [-7.76676522e-02 -2.38076944e-03 9.96976463e-01 -1.63134471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56864 meters 0.028648805233666978 Centerline is valid? [True, True] Translation: X:226.64, Y:-164.27, Z:-16.31 [[ 7.02197444e-01 7.09744026e-01 5.64107051e-02 2.26643629e+02] [-7.07733494e-01 7.04455577e-01 -5.34382075e-02 -1.64270983e+02] [-7.76662843e-02 -2.39957269e-03 9.96976524e-01 -1.63147782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59864 meters 0.02846910094132243 Centerline is valid? [True, True] Translation: X:226.67, Y:-164.29, Z:-16.31 [[ 7.01823506e-01 7.10132028e-01 5.61806731e-02 2.26670764e+02] [-7.08134880e-01 7.04064465e-01 -5.32749483e-02 -1.64289897e+02] [-7.73870627e-02 -2.39388320e-03 9.96998251e-01 -1.63141145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62864 meters 0.028667912401935825 Centerline is valid? [True, True] Translation: X:226.70, Y:-164.31, Z:-16.32 [[ 7.01178198e-01 7.10792885e-01 5.58803138e-02 2.26696394e+02] [-7.08814958e-01 7.03397214e-01 -5.30444568e-02 -1.64310092e+02] [-7.70096796e-02 -2.41518568e-03 9.97027420e-01 -1.63165374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65864 meters 0.028676683453694153 Centerline is valid? [True, True] Translation: X:226.72, Y:-164.33, Z:-16.32 [[ 7.01171550e-01 7.10803655e-01 5.58267110e-02 2.26722458e+02] [-7.08825347e-01 7.03386466e-01 -5.30481489e-02 -1.64330318e+02] [-7.69745710e-02 -2.37553501e-03 9.97030226e-01 -1.63194086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68864 meters 0.028257531206516785 Centerline is valid? [True, True] Translation: X:226.75, Y:-164.35, Z:-16.32 [[ 7.01474950e-01 7.10638668e-01 5.40886155e-02 2.26749775e+02] [-7.08778102e-01 7.03553556e-01 -5.14392587e-02 -1.64348895e+02] [-7.46089640e-02 -2.25347476e-03 9.97210321e-01 -1.63211819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71864 meters 0.02810071819717709 Centerline is valid? [True, True] Translation: X:226.78, Y:-164.37, Z:-16.32 [[ 7.01976832e-01 7.10195603e-01 5.33922543e-02 2.26775020e+02] [-7.08379458e-01 7.04001096e-01 -5.08035340e-02 -1.64368716e+02] [-7.36686521e-02 -2.15907237e-03 9.97280436e-01 -1.63230521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74864 meters 0.027825779365405836 Centerline is valid? [True, True] Translation: X:226.80, Y:-164.39, Z:-16.32 [[ 7.04168439e-01 7.07997527e-01 5.37244023e-02 2.26802429e+02] [-7.06149386e-01 7.06212321e-01 -5.11586008e-02 -1.64387156e+02] [-7.41609977e-02 -1.91318162e-03 9.97244447e-01 -1.63243844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77864 meters 0.027685142516038586 Centerline is valid? [True, True] Translation: X:226.83, Y:-164.41, Z:-16.32 [[ 7.05228128e-01 7.06907167e-01 5.41806699e-02 2.26827106e+02] [-7.05022351e-01 7.07304059e-01 -5.16183410e-02 -1.64407429e+02] [-7.48115830e-02 -1.79587727e-03 9.97196070e-01 -1.63249721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80864 meters 0.027466002396808388 Centerline is valid? [True, True] Translation: X:226.85, Y:-164.43, Z:-16.33 [[ 7.06451373e-01 7.05635400e-01 5.48191481e-02 2.26851505e+02] [-7.03698361e-01 7.08573193e-01 -5.22747203e-02 -1.64428118e+02] [-7.57302720e-02 -1.64659668e-03 9.97126980e-01 -1.63254731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83864 meters 0.027051422317967946 Centerline is valid? [True, True] Translation: X:226.88, Y:-164.45, Z:-16.33 [[ 7.09544174e-01 7.02493310e-01 5.52287424e-02 2.26878225e+02] [-7.00513920e-01 7.11689185e-01 -5.27138679e-02 -1.64447093e+02] [-7.63368382e-02 -1.28568500e-03 9.97081258e-01 -1.63268143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86864 meters 0.026690956467995238 Centerline is valid? [True, True] Translation: X:226.90, Y:-164.47, Z:-16.33 [[ 7.11355997e-01 7.00762879e-01 5.38890724e-02 2.26903624e+02] [-6.98870013e-01 7.13393515e-01 -5.14820227e-02 -1.64466732e+02] [-7.45208053e-02 -1.03941113e-03 9.97218917e-01 -1.63297432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89864 meters 0.02667203893299916 Centerline is valid? [True, True] Translation: X:226.93, Y:-164.49, Z:-16.33 [[ 7.12035902e-01 7.00019610e-01 5.45657346e-02 2.26927288e+02] [-6.98072790e-01 7.14123005e-01 -5.21796208e-02 -1.64488928e+02] [-7.54934042e-02 -9.37091245e-04 9.97145861e-01 -1.63323627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864000000003 meters 0.026513828315725123 Centerline is valid? [True, True] Translation: X:226.95, Y:-164.51, Z:-16.33 [[ 7.12235797e-01 6.99818467e-01 5.45369763e-02 2.26951032e+02] [-6.97868868e-01 7.14320199e-01 -5.22082020e-02 -1.64511735e+02] [-7.54931277e-02 -8.75107515e-04 9.97145938e-01 -1.63344453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95864 meters 0.026486453907008312 Centerline is valid? [True, True] Translation: X:226.97, Y:-164.53, Z:-16.33 [[ 7.13264072e-01 6.98816259e-01 5.39462731e-02 2.26974539e+02] [-6.96901853e-01 7.15300856e-01 -5.16961517e-02 -1.64533531e+02] [-7.47139267e-02 -7.22250045e-04 9.97204747e-01 -1.63348460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864000000003 meters 0.026556046532403007 Centerline is valid? [True, True] Translation: X:227.00, Y:-164.56, Z:-16.34 [[ 7.12916590e-01 6.99136803e-01 5.43844342e-02 2.26998071e+02] [-6.97188178e-01 7.14987556e-01 -5.21674133e-02 -1.64556151e+02] [-7.53563522e-02 -7.25170136e-04 9.97156404e-01 -1.63369039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01864 meters 0.026626420315301002 Centerline is valid? [True, True] Translation: X:227.02, Y:-164.58, Z:-16.34 [[ 7.12349904e-01 6.99634574e-01 5.53992514e-02 2.27020222e+02] [-6.97609645e-01 7.14500453e-01 -5.31966745e-02 -1.64579805e+02] [-7.68010229e-02 -7.52406161e-04 9.97046156e-01 -1.63383687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters 0.026669649085937934 Centerline is valid? [True, True] Translation: X:227.04, Y:-164.60, Z:-16.34 [[ 7.12636539e-01 6.99336581e-01 5.54753100e-02 2.27044178e+02] [-6.97301188e-01 7.14792193e-01 -5.33214297e-02 -1.64602903e+02] [-7.69429448e-02 -6.84200430e-04 9.97035263e-01 -1.63403170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07864 meters 0.026624763664435377 Centerline is valid? [True, True] Translation: X:227.07, Y:-164.63, Z:-16.34 [[ 7.12574450e-01 6.99414913e-01 5.52850235e-02 2.27067979e+02] [-6.97389320e-01 7.14715579e-01 -5.31956548e-02 -1.64625542e+02] [-7.67189018e-02 -6.49320503e-04 9.97052551e-01 -1.63422097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters 0.026561045202751606 Centerline is valid? [True, True] Translation: X:227.09, Y:-164.65, Z:-16.35 [[ 7.12493551e-01 6.99524387e-01 5.49415374e-02 2.27091831e+02] [-6.97519901e-01 7.14608461e-01 -5.29219747e-02 -1.64648373e+02] [-7.62818994e-02 -6.16250070e-04 9.97086101e-01 -1.63454849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13864 meters 0.026407164509551023 Centerline is valid? [True, True] Translation: X:227.11, Y:-164.67, Z:-16.35 [[ 7.13184668e-01 6.98912628e-01 5.37472550e-02 2.27114151e+02] [-6.96988784e-01 7.15206884e-01 -5.18241978e-02 -1.64671085e+02] [-7.46609931e-02 -5.01010560e-04 9.97208847e-01 -1.63471562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters 0.026349694291343175 Centerline is valid? [True, True] Translation: X:227.13, Y:-164.70, Z:-16.35 [[ 7.14691655e-01 6.97414907e-01 5.31816295e-02 2.27134975e+02] [-6.95523700e-01 7.16667534e-01 -5.13266907e-02 -1.64695641e+02] [-7.39095464e-02 -3.06326211e-04 9.97264902e-01 -1.63491942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19864 meters 0.026226837720931796 Centerline is valid? [True, True] Translation: X:227.16, Y:-164.72, Z:-16.35 [[ 7.14946107e-01 6.97144953e-01 5.33008321e-02 2.27157429e+02] [-6.95240772e-01 7.16930161e-01 -5.14918685e-02 -1.64719621e+02] [-7.41102704e-02 -2.43000774e-04 9.97250023e-01 -1.63505795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters 0.0261984773647365 Centerline is valid? [True, True] Translation: X:227.18, Y:-164.74, Z:-16.35 [[ 7.14708540e-01 6.97353524e-01 5.37565399e-02 2.27179977e+02] [-6.95413052e-01 7.16727292e-01 -5.19872769e-02 -1.64743043e+02] [-7.47822900e-02 -2.27248722e-04 9.97199858e-01 -1.63519411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25864 meters 0.0262826640885761 Centerline is valid? [True, True] Translation: X:227.20, Y:-164.77, Z:-16.35 [[ 7.13759277e-01 6.98333492e-01 5.36472705e-02 2.27201201e+02] [-6.96399690e-01 7.15772485e-01 -5.19347828e-02 -1.64768203e+02] [-7.46670383e-02 -2.91009543e-04 9.97208478e-01 -1.63534802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters 0.026453631678474122 Centerline is valid? [True, True] Translation: X:227.22, Y:-164.80, Z:-16.36 [[ 7.13215497e-01 6.98850138e-01 5.41492266e-02 2.27221349e+02] [-6.96877130e-01 7.15268054e-01 -5.24773925e-02 -1.64795117e+02] [-7.54050449e-02 -3.07667991e-04 9.97152939e-01 -1.63562918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31864 meters 0.026230096158704534 Centerline is valid? [True, True] Translation: X:227.24, Y:-164.82, Z:-16.36 [[ 7.13145143e-01 6.98946989e-01 5.38248224e-02 2.27243350e+02] [-6.96993660e-01 7.15173427e-01 -5.22188464e-02 -1.64819532e+02] [-7.49922881e-02 -2.75943272e-04 9.97184076e-01 -1.63570353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters 0.026199254745046266 Centerline is valid? [True, True] Translation: X:227.27, Y:-164.84, Z:-16.36 [[ 7.12127212e-01 7.00012148e-01 5.34586433e-02 2.27265453e+02] [-6.98084185e-01 7.14130852e-01 -5.19191347e-02 -1.64843511e+02] [-7.45204915e-02 -3.45604773e-04 9.97219423e-01 -1.63582077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37864 meters 0.026117045051525876 Centerline is valid? [True, True] Translation: X:227.29, Y:-164.87, Z:-16.36 [[ 7.10467383e-01 7.01707174e-01 5.33210946e-02 2.27286793e+02] [-6.99789737e-01 7.12465304e-01 -5.18412461e-02 -1.64868367e+02] [-7.43668042e-02 -4.82040346e-04 9.97230839e-01 -1.63590917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters 0.02616769860901107 Centerline is valid? [True, True] Translation: X:227.31, Y:-164.89, Z:-16.36 [[ 7.08552515e-01 7.03625934e-01 5.35152176e-02 2.27309000e+02] [-7.01695717e-01 7.10570284e-01 -5.20863953e-02 -1.64892521e+02] [-7.46756619e-02 -6.45452625e-04 9.97207666e-01 -1.63609261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43864 meters 0.026200914186907117 Centerline is valid? [True, True] Translation: X:227.33, Y:-164.92, Z:-16.36 [[ 7.04977990e-01 7.07255724e-01 5.28713021e-02 2.27329809e+02] [-7.05377941e-01 7.06957129e-01 -5.15128964e-02 -1.64917243e+02] [-7.38105348e-02 -9.78791973e-04 9.97271802e-01 -1.63633559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters 0.026397149328413697 Centerline is valid? [True, True] Translation: X:227.35, Y:-164.94, Z:-16.37 [[ 7.03104888e-01 7.09070944e-01 5.34968456e-02 2.27352476e+02] [-7.07149946e-01 7.05136212e-01 -5.21715953e-02 -1.64940530e+02] [-7.47159254e-02 -1.14818780e-03 9.97204198e-01 -1.63652019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49864 meters 0.02633240246816829 Centerline is valid? [True, True] Translation: X:227.38, Y:-164.96, Z:-16.37 [[ 7.01689458e-01 7.10470701e-01 5.35096932e-02 2.27375687e+02] [-7.08549200e-01 7.03725648e-01 -5.22325965e-02 -1.64963231e+02] [-7.47658730e-02 -1.26318797e-03 9.97200315e-01 -1.63658375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters 0.026456327784908546 Centerline is valid? [True, True] Translation: X:227.40, Y:-164.99, Z:-16.37 [[ 7.00593014e-01 7.11535239e-01 5.37311212e-02 2.27397614e+02] [-7.09597240e-01 7.02649120e-01 -5.24973355e-02 -1.64986931e+02] [-7.51078292e-02 -1.34818880e-03 9.97174507e-01 -1.63669304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55864 meters 0.026375961056804575 Centerline is valid? [True, True] Translation: X:227.42, Y:-165.01, Z:-16.37 [[ 7.00734016e-01 7.11411808e-01 5.35264219e-02 2.27421216e+02] [-7.09484441e-01 7.02774191e-01 -5.23475369e-02 -1.65009705e+02] [-7.48576437e-02 -1.29446382e-03 9.97193390e-01 -1.63680860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters 0.026283893091444265 Centerline is valid? [True, True] Translation: X:227.44, Y:-165.03, Z:-16.37 [[ 7.00707617e-01 7.11521274e-01 5.24052584e-02 2.27444360e+02] [-7.09670429e-01 7.02663456e-01 -5.13025285e-02 -1.65031915e+02] [-7.33261004e-02 -1.24238966e-03 9.97307244e-01 -1.63693282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61864 meters 0.02617147175511189 Centerline is valid? [True, True] Translation: X:227.47, Y:-165.05, Z:-16.37 [[ 7.01227957e-01 7.11054574e-01 5.17759019e-02 2.27467979e+02] [-7.09243318e-01 7.03135889e-01 -5.07330077e-02 -1.65054241e+02] [-7.24794320e-02 -1.14630910e-03 9.97369249e-01 -1.63708571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters 0.026024592652358906 Centerline is valid? [True, True] Translation: X:227.49, Y:-165.08, Z:-16.37 [[ 7.00845373e-01 7.11429435e-01 5.18065885e-02 2.27491669e+02] [-7.09613472e-01 7.02756597e-01 -5.08122674e-02 -1.65077405e+02] [-7.25567645e-02 -1.15111066e-03 9.97363620e-01 -1.63726511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67864000000003 meters 0.02612859655328374 Centerline is valid? [True, True] Translation: X:227.52, Y:-165.10, Z:-16.38 [[ 7.00953849e-01 7.11320844e-01 5.18300933e-02 2.27516684e+02] [-7.09498974e-01 7.02866590e-01 -5.08897212e-02 -1.65099255e+02] [-7.26285603e-02 -1.10205201e-03 9.97358450e-01 -1.63756489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70864 meters 0.02612859655328374 Centerline is valid? [True, True] Translation: X:227.54, Y:-165.12, Z:-16.38 [[ 7.00575547e-01 7.11695412e-01 5.18029205e-02 2.27540068e+02] [-7.09872521e-01 7.02487314e-01 -5.09173704e-02 -1.65121785e+02] [-7.26285533e-02 -1.10200515e-03 9.97358451e-01 -1.63774168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73864000000003 meters 0.026091070476276963 Centerline is valid? [True, True] Translation: X:227.56, Y:-165.14, Z:-16.38 [[ 6.98718321e-01 7.13518837e-01 5.18032584e-02 2.27563788e+02] [-7.11697082e-01 7.00634923e-01 -5.09702649e-02 -1.65143452e+02] [-7.26634161e-02 -1.25436994e-03 9.97355731e-01 -1.63801836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76864 meters 0.026235537026513135 Centerline is valid? [True, True] Translation: X:227.59, Y:-165.17, Z:-16.38 [[ 6.97531633e-01 7.14723119e-01 5.11906611e-02 2.27587320e+02] [-7.12944021e-01 6.99406245e-01 -5.04155453e-02 -1.65167161e+02] [-7.18362238e-02 -1.32963811e-03 9.97415555e-01 -1.63813730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79864 meters 0.02641696785225899 Centerline is valid? [True, True] Translation: X:227.61, Y:-165.19, Z:-16.38 [[ 6.96536467e-01 7.15641966e-01 5.18991928e-02 2.27610460e+02] [-7.13811876e-01 6.98465888e-01 -5.11664838e-02 -1.65189998e+02] [-7.28666989e-02 -1.40693828e-03 9.97340696e-01 -1.63836309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82864 meters 0.02651888799149428 Centerline is valid? [True, True] Translation: X:227.63, Y:-165.21, Z:-16.39 [[ 6.95901030e-01 7.16198224e-01 5.27433420e-02 2.27634522e+02] [-7.14306031e-01 6.97895398e-01 -5.20471684e-02 -1.65211291e+02] [-7.40854252e-02 -1.45520922e-03 9.97250837e-01 -1.63850711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85864 meters 0.02638643810611759 Centerline is valid? [True, True] Translation: X:227.66, Y:-165.23, Z:-16.39 [[ 6.96048475e-01 7.16053156e-01 5.27674026e-02 2.27659064e+02] [-7.14155123e-01 6.98044341e-01 -5.21206180e-02 -1.65233464e+02] [-7.41551198e-02 -1.40563417e-03 9.97245728e-01 -1.63859694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88864 meters 0.02620064448709522 Centerline is valid? [True, True] Translation: X:227.68, Y:-165.26, Z:-16.39 [[ 6.97027556e-01 7.15195234e-01 5.14622643e-02 2.27683389e+02] [-7.13384023e-01 6.98923619e-01 -5.08823227e-02 -1.65255065e+02] [-7.23589866e-02 -1.24597615e-03 9.97377875e-01 -1.63874372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91864 meters 0.02608989031889053 Centerline is valid? [True, True] Translation: X:227.71, Y:-165.28, Z:-16.39 [[ 6.97123284e-01 7.15068319e-01 5.19271109e-02 2.27707609e+02] [-7.13220221e-01 6.99053529e-01 -5.13914392e-02 -1.65277524e+02] [-7.30482202e-02 -1.20929662e-03 9.97327677e-01 -1.63904993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94864 meters 0.02605189168273036 Centerline is valid? [True, True] Translation: X:227.73, Y:-165.30, Z:-16.39 [[ 6.97736478e-01 7.14548300e-01 5.08383176e-02 2.27731404e+02] [-7.12771947e-01 6.99585254e-01 -5.03648990e-02 -1.65298709e+02] [-7.15538904e-02 -1.09469940e-03 9.97436135e-01 -1.63924200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97864 meters 0.02595771430608597 Centerline is valid? [True, True] Translation: X:227.76, Y:-165.32, Z:-16.39 [[ 6.97564966e-01 7.14642169e-01 5.18622115e-02 2.27756487e+02] [-7.12790021e-01 6.99489370e-01 -5.14296255e-02 -1.65319810e+02] [-7.30308448e-02 -1.09136186e-03 9.97329085e-01 -1.63943709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00864 meters 0.02613909208016534 Centerline is valid? [True, True] Translation: X:227.78, Y:-165.34, Z:-16.40 [[ 6.97345074e-01 7.14757563e-01 5.32116006e-02 2.27779922e+02] [-7.12803793e-01 6.99371455e-01 -5.28234863e-02 -1.65341189e+02] [-7.49706608e-02 -1.09323278e-03 9.97185141e-01 -1.63970282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03864 meters 0.02625063921644778 Centerline is valid? [True, True] Translation: X:227.80, Y:-165.36, Z:-16.40 [[ 6.96412335e-01 7.15600270e-01 5.40935531e-02 2.27803409e+02] [-7.13579731e-01 6.98509048e-01 -5.37501451e-02 -1.65363388e+02] [-7.62484546e-02 -1.16779898e-03 9.97088165e-01 -1.63985297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06864 meters 0.026408155829161402 Centerline is valid? [True, True] Translation: X:227.83, Y:-165.38, Z:-16.40 [[ 6.95791399e-01 7.16226927e-01 5.37895834e-02 2.27828298e+02] [-7.14226979e-01 6.97866439e-01 -5.35000566e-02 -1.65384545e+02] [-7.58561261e-02 -1.19309243e-03 9.97118060e-01 -1.64001707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09864 meters 0.026396796754397 Centerline is valid? [True, True] Translation: X:227.85, Y:-165.41, Z:-16.40 [[ 6.95590348e-01 7.16450280e-01 5.34140817e-02 2.27853745e+02] [-7.14474585e-01 6.97637176e-01 -5.31830581e-02 -1.65405835e+02] [-7.53666660e-02 -1.16938195e-03 9.97155203e-01 -1.64027508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12864 meters 0.02634876868329395 Centerline is valid? [True, True] Translation: X:227.88, Y:-165.43, Z:-16.40 [[ 6.95816940e-01 7.16256952e-01 5.30543591e-02 2.27877811e+02] [-7.14303164e-01 6.97835771e-01 -5.28793601e-02 -1.65427426e+02] [-7.48984389e-02 -1.10254203e-03 9.97190558e-01 -1.64038258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15864 meters 0.026286109430283932 Centerline is valid? [True, True] Translation: X:227.90, Y:-165.45, Z:-16.41 [[ 6.96134517e-01 7.15921701e-01 5.34121041e-02 2.27902015e+02] [-7.13936513e-01 6.98179807e-01 -5.32880180e-02 -1.65449808e+02] [-7.54413010e-02 -1.03722273e-03 9.97149705e-01 -1.64053209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18864 meters 0.026580528471631632 Centerline is valid? [True, True] Translation: X:227.93, Y:-165.47, Z:-16.41 [[ 6.96794789e-01 7.15189823e-01 5.45943140e-02 2.27926326e+02] [-7.13108808e-01 6.98929638e-01 -5.45269536e-02 -1.65472743e+02] [-7.71547064e-02 -9.37589062e-04 9.97018692e-01 -1.64074349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21864 meters 0.026480185528397295 Centerline is valid? [True, True] Translation: X:227.95, Y:-165.49, Z:-16.41 [[ 6.96988688e-01 7.15101105e-01 5.32651722e-02 2.27949671e+02] [-7.13115980e-01 6.99020499e-01 -5.32535521e-02 -1.65494252e+02] [-7.53151212e-02 -8.67122060e-04 9.97159406e-01 -1.64084722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24864 meters 0.026143580727055655 Centerline is valid? [True, True] Translation: X:228.03, Y:-165.59, Z:-14.76 [[ 7.64021585e-01 -6.44748380e-01 -2.38860784e-02 2.28032482e+02] [-6.44242383e-01 -7.64382139e-01 2.59171254e-02 -1.65593888e+02] [-3.49681163e-02 -4.41281915e-03 -9.99378686e-01 -1.47593154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27864 meters 0.026236403111043225 Centerline is valid? [True, True] Translation: X:227.99, Y:-165.55, Z:-16.41 [[ 7.48714014e-01 6.60654043e-01 5.44385885e-02 2.27994809e+02] [-6.58987227e-01 7.50690126e-01 -4.69059630e-02 -1.65550526e+02] [-7.18551249e-02 -7.55182648e-04 9.97414794e-01 -1.64142526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30864 meters 0.02614187119396386 Centerline is valid? [True, True] Translation: X:228.02, Y:-165.57, Z:-16.42 [[ 7.48748240e-01 6.60548192e-01 5.52463474e-02 2.28020227e+02] [-6.58827430e-01 7.50783305e-01 -4.76533937e-02 -1.65572222e+02] [-7.29553984e-02 -7.17414393e-04 9.97334946e-01 -1.64161681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33864 meters 0.02608435871634802 Centerline is valid? [True, True] Translation: X:228.05, Y:-165.59, Z:-16.42 [[ 7.49280992e-01 6.59880351e-01 5.59992588e-02 2.28045620e+02] [-6.58106479e-01 7.51370439e-01 -4.83562346e-02 -1.65593471e+02] [-7.39855167e-02 -6.21067548e-04 9.97259123e-01 -1.64168350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36864 meters 0.02607979651335788 Centerline is valid? [True, True] Translation: X:228.07, Y:-165.61, Z:-16.42 [[ 7.50976966e-01 6.57847346e-01 5.71879834e-02 2.28071280e+02] [-6.55987196e-01 7.53151192e-01 -4.94376386e-02 -1.65614418e+02] [-7.55936172e-02 -3.88057029e-04 9.97138634e-01 -1.64204807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39864 meters 0.02609605626200091 Centerline is valid? [True, True] Translation: X:228.10, Y:-165.64, Z:-16.42 [[ 7.51948379e-01 6.56766018e-01 5.68509764e-02 2.28096682e+02] [-6.54920619e-01 7.54094385e-01 -4.92000134e-02 -1.65635658e+02] [-7.51838990e-02 -2.37006318e-04 9.97169657e-01 -1.64222016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864000000003 meters 0.02597841663958178 Centerline is valid? [True, True] Translation: X:228.12, Y:-165.66, Z:-16.42 [[ 7.52885393e-01 6.55765527e-01 5.59924799e-02 2.28120595e+02] [-6.53969018e-01 7.54964611e-01 -4.85073185e-02 -1.65657226e+02] [-7.40817681e-02 -9.68955403e-05 9.97252166e-01 -1.64238743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45864 meters 0.025971305202072876 Centerline is valid? [True, True] Translation: X:228.14, Y:-165.68, Z:-16.42 [[ 7.55909347e-01 6.52314617e-01 5.55580756e-02 2.28143175e+02] [-6.50533096e-01 7.57948259e-01 -4.81780766e-02 -1.65681940e+02] [-7.35374103e-02 2.75891461e-04 9.97292421e-01 -1.64249145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864000000003 meters 0.026089374053209335 Centerline is valid? [True, True] Translation: X:228.17, Y:-165.71, Z:-16.43 [[ 7.56779965e-01 6.51274570e-01 5.59063439e-02 2.28166829e+02] [-6.49463881e-01 7.58842051e-01 -4.85325480e-02 -1.65705191e+02] [-7.40320990e-02 4.19308901e-04 9.97255771e-01 -1.64261551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51864 meters 0.026117981414902597 Centerline is valid? [True, True] Translation: X:228.19, Y:-165.73, Z:-16.43 [[ 7.57554404e-01 6.50289261e-01 5.68788311e-02 2.28188953e+02] [-6.48408264e-01 7.59686487e-01 -4.94283844e-02 -1.65728894e+02] [-7.53528269e-02 5.63986173e-04 9.97156775e-01 -1.64264618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters 0.026041588130507963 Centerline is valid? [True, True] Translation: X:228.21, Y:-165.75, Z:-16.43 [[ 7.57433321e-01 6.50475025e-01 5.63649397e-02 2.28212037e+02] [-6.48624887e-01 7.59527425e-01 -4.90290376e-02 -1.65752183e+02] [-7.47028820e-02 5.76524104e-04 9.97205669e-01 -1.64288698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57864 meters 0.026062815708433346 Centerline is valid? [True, True] Translation: X:228.23, Y:-165.78, Z:-16.43 [[ 7.56034021e-01 6.52112628e-01 5.62288101e-02 2.28234509e+02] [-6.50272038e-01 7.58121965e-01 -4.89628714e-02 -1.65776560e+02] [-7.45576027e-02 4.53573639e-04 9.97216605e-01 -1.64302098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters 0.02597325622114217 Centerline is valid? [True, True] Translation: X:228.25, Y:-165.80, Z:-16.43 [[ 7.53142349e-01 6.55352492e-01 5.73560257e-02 2.28254285e+02] [-6.53442454e-01 7.55323163e-01 -4.99987869e-02 -1.65803802e+02] [-7.60891643e-02 1.77341661e-04 9.97101002e-01 -1.64319893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63864 meters 0.025939578119672225 Centerline is valid? [True, True] Translation: X:228.28, Y:-165.83, Z:-16.43 [[ 7.51639019e-01 6.57101211e-01 5.70682393e-02 2.28277030e+02] [-6.55211266e-01 7.53802359e-01 -4.98016114e-02 -1.65827435e+02] [-7.57428726e-02 4.10810198e-05 9.97127382e-01 -1.64338217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters 0.025983065328374785 Centerline is valid? [True, True] Translation: X:228.30, Y:-165.85, Z:-16.44 [[ 7.49209637e-01 6.59848789e-01 5.73105215e-02 2.28297434e+02] [-6.57946589e-01 7.51398388e-01 -5.00674430e-02 -1.65853717e+02] [-7.60999751e-02 -1.96251302e-04 9.97100173e-01 -1.64356004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69864 meters 0.02604503074237522 Centerline is valid? [True, True] Translation: X:228.32, Y:-165.88, Z:-16.44 [[ 7.47752892e-01 6.61501463e-01 5.72837455e-02 2.28320854e+02] [-6.59601727e-01 7.49943805e-01 -5.00984226e-02 -1.65877707e+02] [-7.60997699e-02 -3.23217051e-04 9.97100156e-01 -1.64369844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters 0.026160988871704236 Centerline is valid? [True, True] Translation: X:228.34, Y:-165.90, Z:-16.44 [[ 7.46640325e-01 6.62769765e-01 5.71354857e-02 2.28344708e+02] [-6.60879432e-01 7.48823124e-01 -5.00230570e-02 -1.65900782e+02] [-7.59381426e-02 -4.10435784e-04 9.97112446e-01 -1.64383869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75864 meters 0.026318095022702544 Centerline is valid? [True, True] Translation: X:228.37, Y:-165.92, Z:-16.44 [[ 7.44100743e-01 6.65647402e-01 5.68121464e-02 2.28367893e+02] [-6.63782695e-01 7.46266106e-01 -4.97939055e-02 -1.65924154e+02] [-7.55421632e-02 -6.59237562e-04 9.97142391e-01 -1.64399683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters 0.026354978295019357 Centerline is valid? [True, True] Translation: X:228.39, Y:-165.95, Z:-16.44 [[ 7.43290399e-01 6.66640398e-01 5.57670365e-02 2.28391678e+02] [-6.64842791e-01 7.45379150e-01 -4.89283727e-02 -1.65946286e+02] [-7.41852162e-02 -7.08322589e-04 9.97244229e-01 -1.64415059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81864 meters 0.02659728593778215 Centerline is valid? [True, True] Translation: X:228.41, Y:-165.97, Z:-16.44 [[ 7.41271431e-01 6.68781920e-01 5.69860398e-02 2.28413457e+02] [-6.66907498e-01 7.43458082e-01 -5.00446872e-02 -1.65969366e+02] [-7.58357139e-02 -9.07720345e-04 9.97119913e-01 -1.64444327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters 0.026621823083978608 Centerline is valid? [True, True] Translation: X:228.44, Y:-165.99, Z:-16.45 [[ 7.40019649e-01 6.70192734e-01 5.66799643e-02 2.28437903e+02] [-6.68339057e-01 7.42186415e-01 -4.98219862e-02 -1.65991511e+02] [-7.54574327e-02 -1.01218517e-03 9.97148510e-01 -1.64454847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87864 meters 0.027025738229294945 Centerline is valid? [True, True] Translation: X:228.46, Y:-166.01, Z:-16.45 [[ 7.36170455e-01 6.74319364e-01 5.78485682e-02 2.28462661e+02] [-6.72396874e-01 7.38438466e-01 -5.09026215e-02 -1.66012431e+02] [-7.70422313e-02 -1.42419036e-03 9.97026813e-01 -1.64467751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters 0.027249495874885805 Centerline is valid? [True, True] Translation: X:228.49, Y:-166.03, Z:-16.45 [[ 7.34093473e-01 6.76630422e-01 5.72542063e-02 2.28487289e+02] [-6.74750733e-01 7.36321033e-01 -5.04260284e-02 -1.66033324e+02] [-7.62772613e-02 -1.61489933e-03 9.97085338e-01 -1.64479320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93864 meters 0.027734475032027285 Centerline is valid? [True, True] Translation: X:228.51, Y:-166.05, Z:-16.45 [[ 7.32137332e-01 6.78697294e-01 5.78351965e-02 2.28512355e+02] [-6.76782015e-01 7.34415884e-01 -5.09844338e-02 -1.66054005e+02] [-7.70780843e-02 -1.81421353e-03 9.97023409e-01 -1.64495468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters 0.027997839239579225 Centerline is valid? [True, True] Translation: X:228.54, Y:-166.07, Z:-16.45 [[ 7.29345260e-01 6.81715762e-01 5.76117285e-02 2.28539434e+02] [-6.79821086e-01 7.31614140e-01 -5.08334744e-02 -1.66071807e+02] [-7.68035359e-02 -2.09051418e-03 9.97044055e-01 -1.64513486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99864 meters 0.028163089268578023 Centerline is valid? [True, True] Translation: X:228.57, Y:-166.09, Z:-16.45 [[ 7.28559270e-01 6.82714129e-01 5.57028545e-02 2.28566134e+02] [-6.80942761e-01 7.30682590e-01 -4.91925689e-02 -1.66090836e+02] [-7.42855678e-02 -2.09075343e-03 9.97234818e-01 -1.64519903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters 0.027991439487255625 Centerline is valid? [True, True] Translation: X:228.60, Y:-166.11, Z:-16.45 [[ 7.28478496e-01 6.82893185e-01 5.45525362e-02 2.28595544e+02] [-6.81191667e-01 7.30515409e-01 -4.82198152e-02 -1.66106158e+02] [-7.27804514e-02 -2.03363464e-03 9.97345913e-01 -1.64534536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05864 meters 0.028128453381890302 Centerline is valid? [True, True] Translation: X:228.62, Y:-166.12, Z:-16.45 [[ 7.27999114e-01 6.83383715e-01 5.48086534e-02 2.28622903e+02] [-6.81664195e-01 7.30056477e-01 -4.84919204e-02 -1.66124617e+02] [-7.31520011e-02 -2.05902153e-03 9.97318678e-01 -1.64549976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters 0.027869769367584722 Centerline is valid? [True, True] Translation: X:228.65, Y:-166.14, Z:-16.46 [[ 7.28720420e-01 6.82627527e-01 5.46462166e-02 2.28649888e+02] [-6.80912539e-01 7.30763908e-01 -4.83965352e-02 -1.66142188e+02] [-7.29702900e-02 -1.94175060e-03 9.97332225e-01 -1.64566211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11864 meters 0.027432436756917877 Centerline is valid? [True, True] Translation: X:228.68, Y:-166.16, Z:-16.46 [[ 7.31008921e-01 6.80192408e-01 5.44448879e-02 2.28681083e+02] [-6.78480096e-01 7.33031741e-01 -4.82620477e-02 -1.66155444e+02] [-7.27373094e-02 -1.65978537e-03 9.97349753e-01 -1.64579935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters 0.02751654972785418 Centerline is valid? [True, True] Translation: X:228.71, Y:-166.17, Z:-16.46 [[ 7.32251487e-01 6.78870610e-01 5.42444001e-02 2.28708193e+02] [-6.77164059e-01 7.34256410e-01 -4.81286043e-02 -1.66173501e+02] [-7.25023935e-02 -1.49011604e-03 9.97367125e-01 -1.64603056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17864000000003 meters 0.027247433211243996 Centerline is valid? [True, True] Translation: X:228.74, Y:-166.19, Z:-16.46 [[ 7.35159527e-01 6.75674085e-01 5.48178847e-02 2.28737884e+02] [-6.73918961e-01 7.37199567e-01 -4.86829790e-02 -1.66188494e+02] [-7.33055482e-02 -1.15305605e-03 9.97308862e-01 -1.64616804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20864 meters 0.026957088968009905 Centerline is valid? [True, True] Translation: X:228.77, Y:-166.21, Z:-16.46 [[ 7.36468920e-01 6.74304311e-01 5.41038358e-02 2.28765277e+02] [-6.72587760e-01 7.38452946e-01 -4.80931502e-02 -1.66206335e+02] [-7.23825554e-02 -9.70467332e-04 9.97376471e-01 -1.64626426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23864000000003 meters 0.026966849814236492 Centerline is valid? [True, True] Translation: X:228.80, Y:-166.22, Z:-16.47 [[ 7.38515772e-01 6.71961346e-01 5.53389979e-02 2.28795255e+02] [-6.70155194e-01 7.40585869e-01 -4.92400858e-02 -1.66222881e+02] [-7.40707142e-02 -7.21136859e-04 9.97252731e-01 -1.64657464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26864 meters 0.026959383020303568 Centerline is valid? [True, True] Translation: X:228.82, Y:-166.24, Z:-16.47 [[ 7.39325108e-01 6.71022990e-01 5.59154059e-02 2.28822336e+02] [-6.69172199e-01 7.41436306e-01 -4.98073489e-02 -1.66242629e+02] [-7.48795881e-02 -5.93211576e-04 9.97192406e-01 -1.64684395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29864 meters 0.026955011244781016 Centerline is valid? [True, True] Translation: X:228.85, Y:-166.26, Z:-16.47 [[ 7.40347566e-01 6.69887315e-01 5.60041704e-02 2.28851324e+02] [-6.68023345e-01 7.42462654e-01 -4.99401489e-02 -1.66259212e+02] [-7.50352773e-02 -4.39025593e-04 9.97180783e-01 -1.64700931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32864 meters 0.026950661625412826 Centerline is valid? [True, True] Translation: X:228.88, Y:-166.28, Z:-16.47 [[ 7.40587842e-01 6.69550370e-01 5.68502396e-02 2.28878121e+02] [-6.67624385e-01 7.42766561e-01 -5.07495430e-02 -1.66278386e+02] [-7.62058323e-02 -3.70111691e-04 9.97092039e-01 -1.64726328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35864 meters 0.02689146242845733 Centerline is valid? [True, True] Translation: X:228.90, Y:-166.30, Z:-16.47 [[ 7.41472067e-01 6.68600628e-01 5.65011007e-02 2.28904733e+02] [-6.66691406e-01 7.43621642e-01 -5.04917991e-02 -1.66298370e+02] [-7.57742899e-02 -2.30539652e-04 9.97124969e-01 -1.64740886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38864 meters 0.026947074739118237 Centerline is valid? [True, True] Translation: X:228.93, Y:-166.32, Z:-16.48 [[ 7.43796190e-01 6.66122363e-01 5.52107405e-02 2.28931231e+02] [-6.64289480e-01 7.45842473e-01 -4.93810885e-02 -1.66317753e+02] [-7.40723626e-02 5.35514133e-05 9.97252868e-01 -1.64750678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41864 meters 0.02695941784919317 Centerline is valid? [True, True] Translation: X:228.96, Y:-166.34, Z:-16.48 [[ 7.44205520e-01 6.65620689e-01 5.57426431e-02 2.28957063e+02] [-6.63748849e-01 7.46290213e-01 -4.98836917e-02 -1.66338387e+02] [-7.48038063e-02 1.24603505e-04 9.97198263e-01 -1.64769198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44864 meters 0.027024836850336752 Centerline is valid? [True, True] Translation: X:228.98, Y:-166.36, Z:-16.48 [[ 7.45437227e-01 6.64209966e-01 5.61111537e-02 2.28984014e+02] [-6.62305207e-01 7.47546003e-01 -5.02671501e-02 -1.66357296e+02] [-7.53336107e-02 3.08295662e-04 9.97158339e-01 -1.64792213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47864 meters 0.02716852409339577 Centerline is valid? [True, True] Translation: X:229.01, Y:-166.38, Z:-16.48 [[ 7.45462204e-01 6.64173251e-01 5.62138399e-02 2.29009724e+02] [-6.62257346e-01 7.47578604e-01 -5.04126940e-02 -1.66377782e+02] [-7.55070268e-02 3.52729562e-04 9.97145207e-01 -1.64817852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50864 meters 0.027151409876516906 Centerline is valid? [True, True] Translation: X:229.04, Y:-166.40, Z:-16.48 [[ 7.45538056e-01 6.64055636e-01 5.65961122e-02 2.29035179e+02] [-6.62109097e-01 7.47683052e-01 -5.08094135e-02 -1.66398112e+02] [-7.60562313e-02 4.07550613e-04 9.97103447e-01 -1.64835896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53864 meters 0.027211410284769342 Centerline is valid? [True, True] Translation: X:229.06, Y:-166.42, Z:-16.48 [[ 7.47270220e-01 6.62133321e-01 5.62732924e-02 2.29061011e+02] [-6.60199502e-01 7.49385786e-01 -5.05723429e-02 -1.66418518e+02] [-7.56560388e-02 6.39606225e-04 9.97133770e-01 -1.64847052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56864 meters 0.02742623046647903 Centerline is valid? [True, True] Translation: X:229.09, Y:-166.44, Z:-16.49 [[ 7.48011552e-01 6.61354018e-01 5.55839964e-02 2.29085483e+02] [-6.59461310e-01 7.50073531e-01 -5.00047906e-02 -1.66440643e+02] [-7.47629536e-02 7.48665925e-04 9.97201053e-01 -1.64868315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59864 meters 0.02742623046647903 Centerline is valid? [True, True] Translation: X:229.11, Y:-166.46, Z:-16.49 [[ 7.47671855e-01 6.61740205e-01 5.55580646e-02 2.29109861e+02] [-6.59846421e-01 7.49732846e-01 -5.00335898e-02 -1.66462140e+02] [-7.47629439e-02 7.48916795e-04 9.97201054e-01 -1.64885944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62864 meters 0.027697555558919718 Centerline is valid? [True, True] Translation: X:229.13, Y:-166.48, Z:-16.49 [[ 7.49857279e-01 6.59258060e-01 5.56136005e-02 2.29133472e+02] [-6.57349889e-01 7.51916045e-01 -5.01336685e-02 -1.66484103e+02] [-7.48677836e-02 1.03550210e-03 9.97192932e-01 -1.64906157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65864 meters 0.028023908124089253 Centerline is valid? [True, True] Translation: X:229.16, Y:-166.51, Z:-16.49 [[ 7.50878584e-01 6.58083489e-01 5.57447152e-02 2.29158173e+02] [-6.56159652e-01 7.52944026e-01 -5.02971731e-02 -1.66505045e+02] [-7.50723895e-02 1.18963718e-03 9.97177377e-01 -1.64928095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68864 meters 0.028156682400521285 Centerline is valid? [True, True] Translation: X:229.18, Y:-166.53, Z:-16.49 [[ 7.52768687e-01 6.55988861e-01 5.49355819e-02 2.29181939e+02] [-6.54111707e-01 7.54769251e-01 -4.96110129e-02 -1.66527516e+02] [-7.40079599e-02 1.41160977e-03 9.97256652e-01 -1.64930050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71864 meters 0.02841891773940224 Centerline is valid? [True, True] Translation: X:229.20, Y:-166.55, Z:-16.50 [[ 7.53139673e-01 6.55496445e-01 5.57229094e-02 2.29204822e+02] [-6.53560287e-01 7.55196739e-01 -5.03670164e-02 -1.66550687e+02] [-7.50971597e-02 1.51511763e-03 9.97175070e-01 -1.64962970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74864 meters 0.028297097274255004 Centerline is valid? [True, True] Translation: X:229.23, Y:-166.57, Z:-16.50 [[ 7.53625826e-01 6.54968706e-01 5.53543972e-02 2.29228550e+02] [-6.53053252e-01 7.55654326e-01 -5.00798429e-02 -1.66574088e+02] [-7.46295196e-02 1.59209383e-03 9.97210058e-01 -1.64978212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77864 meters 0.02843519711829346 Centerline is valid? [True, True] Translation: X:229.25, Y:-166.60, Z:-16.50 [[ 7.53033707e-01 6.55673990e-01 5.50622886e-02 2.29250701e+02] [-6.53776844e-01 7.55042521e-01 -4.98661109e-02 -1.66598108e+02] [-7.42702811e-02 1.55241300e-03 9.97236940e-01 -1.64997487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80864 meters 0.028338126824580163 Centerline is valid? [True, True] Translation: X:229.27, Y:-166.62, Z:-16.50 [[ 7.52434338e-01 6.56337772e-01 5.53470505e-02 2.29273911e+02] [-6.54418873e-01 7.54465623e-01 -5.01753129e-02 -1.66622245e+02] [-7.46894001e-02 1.53347392e-03 9.97205667e-01 -1.65030385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83864 meters 0.02790229321599691 Centerline is valid? [True, True] Translation: X:229.29, Y:-166.65, Z:-16.50 [[ 7.50892495e-01 6.58203054e-01 5.41220920e-02 2.29292479e+02] [-6.56369984e-01 7.52839237e-01 -4.91073141e-02 -1.66649313e+02] [-7.30678185e-02 1.35019690e-03 9.97326060e-01 -1.65036594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86864 meters 0.02800933713328418 Centerline is valid? [True, True] Translation: X:229.32, Y:-166.67, Z:-16.51 [[ 7.49912986e-01 6.59315038e-01 5.41681994e-02 2.29315858e+02] [-6.57479444e-01 7.51865730e-01 -4.91803218e-02 -1.66672104e+02] [-7.31525386e-02 1.26648430e-03 9.97319960e-01 -1.65052755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89864 meters 0.02790251023980802 Centerline is valid? [True, True] Translation: X:229.34, Y:-166.70, Z:-16.51 [[ 7.48356077e-01 6.61136606e-01 5.34936520e-02 2.29338817e+02] [-6.59348136e-01 7.50264730e-01 -4.86093711e-02 -1.66695499e+02] [-7.22718350e-02 1.10617847e-03 9.97384358e-01 -1.65058690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864000000003 meters 0.027637002344760655 Centerline is valid? [True, True] Translation: X:229.36, Y:-166.72, Z:-16.51 [[ 7.46206086e-01 6.63575019e-01 5.33354663e-02 2.29359188e+02] [-6.61801682e-01 7.48109224e-01 -4.84883761e-02 -1.66720834e+02] [-7.20764294e-02 8.84820036e-04 9.97398719e-01 -1.65079709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95864 meters 0.027662464537909243 Centerline is valid? [True, True] Translation: X:229.38, Y:-166.74, Z:-16.51 [[ 7.44589901e-01 6.65233282e-01 5.52318743e-02 2.29380515e+02] [-6.63332433e-01 7.46635161e-01 -5.02595257e-02 -1.66744943e+02] [-7.46723686e-02 7.85641673e-04 9.97207812e-01 -1.65114966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864000000003 meters 0.0275758969704877 Centerline is valid? [True, True] Translation: X:229.40, Y:-166.77, Z:-16.51 [[ 7.43178448e-01 6.66813120e-01 5.51910970e-02 2.29403462e+02] [-6.64915856e-01 7.45224680e-01 -5.02700778e-02 -1.66769462e+02] [-7.46505151e-02 6.62202904e-04 9.97209538e-01 -1.65129190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01864 meters 0.02760694323588352 Centerline is valid? [True, True] Translation: X:229.43, Y:-166.79, Z:-16.51 [[ 7.41028948e-01 6.69245863e-01 5.46449716e-02 2.29425250e+02] [-6.67388871e-01 7.43040895e-01 -4.98229171e-02 -1.66793510e+02] [-7.39472298e-02 4.50778043e-04 9.97262054e-01 -1.65149036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters 0.027510942907368413 Centerline is valid? [True, True] Translation: X:229.45, Y:-166.82, Z:-16.52 [[ 7.39365259e-01 6.71080091e-01 5.46856976e-02 2.29449621e+02] [-6.69221760e-01 7.41384798e-01 -4.99080904e-02 -1.66816360e+02] [-7.40354708e-02 3.03449390e-04 9.97255563e-01 -1.65168366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07864 meters 0.027510526109919317 Centerline is valid? [True, True] Translation: X:229.47, Y:-166.84, Z:-16.52 [[ 7.36080574e-01 6.74756360e-01 5.37516806e-02 2.29473163e+02] [-6.72967127e-01 7.38040550e-01 -4.91059276e-02 -1.66838198e+02] [-7.28054569e-02 -2.71947194e-05 9.97346161e-01 -1.65184807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters 0.027429195154518284 Centerline is valid? [True, True] Translation: X:229.50, Y:-166.86, Z:-16.52 [[ 7.34951211e-01 6.75997989e-01 5.36044431e-02 2.29498177e+02] [-6.74218375e-01 7.36903458e-01 -4.90191511e-02 -1.66859980e+02] [-7.26381470e-02 -1.14416071e-04 9.97358354e-01 -1.65198369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13864 meters 0.027417357822419792 Centerline is valid? [True, True] Translation: X:229.52, Y:-166.88, Z:-16.52 [[ 7.32873670e-01 6.78242623e-01 5.36947664e-02 2.29523225e+02] [-6.76459124e-01 7.34837979e-01 -4.91548419e-02 -1.66881683e+02] [-7.27958625e-02 -2.98025253e-04 9.97346817e-01 -1.65201287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters 0.02766340024777809 Centerline is valid? [True, True] Translation: X:229.55, Y:-166.90, Z:-16.52 [[ 7.29880818e-01 6.81386017e-01 5.46542489e-02 2.29549426e+02] [-6.79542941e-01 7.31924010e-01 -5.00862846e-02 -1.66900067e+02] [-7.41308510e-02 -5.82890679e-04 9.97248353e-01 -1.65212074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19864 meters 0.027738666849719745 Centerline is valid? [True, True] Translation: X:229.58, Y:-166.92, Z:-16.52 [[ 7.27845587e-01 6.83508287e-01 5.52921630e-02 2.29575331e+02] [-6.81624351e-01 7.29942344e-01 -5.07190266e-02 -1.66919916e+02] [-7.50269660e-02 -7.72865048e-04 9.97181206e-01 -1.65239279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters 0.027600133572821987 Centerline is valid? [True, True] Translation: X:229.60, Y:-166.94, Z:-16.53 [[ 7.27065699e-01 6.84351441e-01 5.51232743e-02 2.29604413e+02] [-6.82477712e-01 7.29151858e-01 -5.06136379e-02 -1.66936597e+02] [-7.48307539e-02 -8.20966164e-04 9.97195911e-01 -1.65250122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25864 meters 0.027682272478193947 Centerline is valid? [True, True] Translation: X:229.63, Y:-166.95, Z:-16.53 [[ 7.27439428e-01 6.83999445e-01 5.45585720e-02 2.29631330e+02] [-6.82159113e-01 7.29482155e-01 -5.01470945e-02 -1.66954521e+02] [-7.41000894e-02 -7.38653288e-04 9.97250536e-01 -1.65271423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters 0.02734539455084037 Centerline is valid? [True, True] Translation: X:229.66, Y:-166.97, Z:-16.53 [[ 7.28571997e-01 6.82881964e-01 5.34328452e-02 2.29658035e+02] [-6.81110552e-01 7.30528500e-01 -4.91581878e-02 -1.66973192e+02] [-7.26034561e-02 -5.78395631e-04 9.97360719e-01 -1.65278439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31864 meters 0.027127449510383067 Centerline is valid? [True, True] Translation: X:229.69, Y:-166.99, Z:-16.53 [[ 7.30435333e-01 6.80814220e-01 5.43711619e-02 2.29687091e+02] [-6.78970545e-01 7.32456061e-01 -5.00711366e-02 -1.66990779e+02] [-7.39136288e-02 -3.42690054e-04 9.97264588e-01 -1.65309207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters 0.0274690217734905 Centerline is valid? [True, True] Translation: X:229.72, Y:-167.01, Z:-16.53 [[ 7.32623132e-01 6.78386309e-01 5.52753386e-02 2.29715686e+02] [-6.76469588e-01 7.34705392e-01 -5.09596241e-02 -1.67007933e+02] [-7.51814006e-02 -5.78861040e-05 9.97169872e-01 -1.65339337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37864 meters 0.027232301513713125 Centerline is valid? [True, True] Translation: X:229.74, Y:-167.03, Z:-16.54 [[ 7.33337240e-01 6.77596899e-01 5.54881528e-02 2.29741859e+02] [-6.75658947e-01 7.35433504e-01 -5.12108358e-02 -1.67028722e+02] [-7.55081502e-02 6.37461158e-05 9.97145183e-01 -1.65361133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters 0.02737766379628166 Centerline is valid? [True, True] Translation: X:229.77, Y:-167.05, Z:-16.54 [[ 7.35027036e-01 6.75735856e-01 5.58239091e-02 2.29767583e+02] [-6.73764764e-01 7.37143788e-01 -5.15759490e-02 -1.67049819e+02] [-7.60019658e-02 2.97534001e-04 9.97107623e-01 -1.65375570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43864 meters 0.027192084030224065 Centerline is valid? [True, True] Translation: X:229.79, Y:-167.07, Z:-16.54 [[ 7.37723576e-01 6.72779344e-01 5.59632017e-02 2.29793200e+02] [-6.70785815e-01 7.39842916e-01 -5.17576124e-02 -1.67070020e+02] [-7.62254309e-02 6.43489034e-04 9.97090402e-01 -1.65389491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters 0.027262692891735565 Centerline is valid? [True, True] Translation: X:229.82, Y:-167.09, Z:-16.54 [[ 7.38544463e-01 6.71905871e-01 5.56289288e-02 2.29818663e+02] [-6.69929915e-01 7.40636155e-01 -5.14975175e-02 -1.67091778e+02] [-7.58022803e-02 7.65722846e-04 9.97122574e-01 -1.65404995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49864 meters 0.027572763562249157 Centerline is valid? [True, True] Translation: X:229.84, Y:-167.11, Z:-16.55 [[ 7.41061032e-01 6.69073955e-01 5.62902333e-02 2.29841960e+02] [-6.67038413e-01 7.43195005e-01 -5.21626254e-02 -1.67113814e+02] [-7.67352743e-02 1.10794108e-03 9.97050886e-01 -1.65451420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters 0.027522672530207237 Centerline is valid? [True, True] Translation: X:229.87, Y:-167.14, Z:-16.55 [[ 7.41393282e-01 6.68771418e-01 5.55048719e-02 2.29865120e+02] [-6.66787897e-01 7.43467180e-01 -5.14825574e-02 -1.67137131e+02] [-7.56961135e-02 1.15884545e-03 9.97130260e-01 -1.65456905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55864 meters 0.02776440587882959 Centerline is valid? [True, True] Translation: X:229.89, Y:-167.16, Z:-16.55 [[ 7.42007570e-01 6.68012148e-01 5.64316981e-02 2.29888355e+02] [-6.65955520e-01 7.44149240e-01 -5.23942239e-02 -1.67158969e+02] [-7.69935833e-02 1.29590994e-03 9.97030746e-01 -1.65492676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters 0.027774355090823814 Centerline is valid? [True, True] Translation: X:229.91, Y:-167.18, Z:-16.55 [[ 7.41976796e-01 6.68002994e-01 5.69423719e-02 2.29912233e+02] [-6.65905188e-01 7.44157371e-01 -5.29158548e-02 -1.67180541e+02] [-7.77220352e-02 1.34411555e-03 9.96974161e-01 -1.65501633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61864 meters 0.027580436365224396 Centerline is valid? [True, True] Translation: X:229.94, Y:-167.20, Z:-16.55 [[ 7.41685189e-01 6.68363165e-01 5.65133605e-02 2.29936134e+02] [-6.66294195e-01 7.43833922e-01 -5.25655934e-02 -1.67203362e+02] [-7.71694610e-02 1.33259800e-03 9.97017100e-01 -1.65515975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters 0.02763207814288595 Centerline is valid? [True, True] Translation: X:229.96, Y:-167.23, Z:-16.55 [[ 7.41361723e-01 6.68862332e-01 5.48267872e-02 2.29957870e+02] [-6.66912877e-01 7.43385194e-01 -5.10457563e-02 -1.67227299e+02] [-7.49000054e-02 1.27867946e-03 9.97190230e-01 -1.65525837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67864000000003 meters 0.027398538183063773 Centerline is valid? [True, True] Translation: X:229.98, Y:-167.25, Z:-16.55 [[ 7.40915105e-01 6.69397011e-01 5.43364517e-02 2.29981521e+02] [-6.67480415e-01 7.42903821e-01 -5.06340647e-02 -1.67249350e+02] [-7.42610492e-02 1.24702603e-03 9.97238057e-01 -1.65539599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70864 meters 0.027368759553727973 Centerline is valid? [True, True] Translation: X:230.01, Y:-167.27, Z:-16.56 [[ 7.40681705e-01 6.69624218e-01 5.47176238e-02 2.30005884e+02] [-6.67677643e-01 7.42698995e-01 -5.10369271e-02 -1.67270938e+02] [-7.48142867e-02 1.26838412e-03 9.97196678e-01 -1.65553244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73864000000003 meters 0.027231278295693058 Centerline is valid? [True, True] Translation: X:230.03, Y:-167.29, Z:-16.56 [[ 7.40993863e-01 6.69249521e-01 5.50742483e-02 2.30028711e+02] [-6.67272588e-01 7.43036506e-01 -5.14202680e-02 -1.67292990e+02] [-7.53351668e-02 1.35256679e-03 9.97157351e-01 -1.65575358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76864 meters 0.027399859605216004 Centerline is valid? [True, True] Translation: X:230.05, Y:-167.32, Z:-16.56 [[ 7.40992633e-01 6.69233390e-01 5.52864200e-02 2.30052145e+02] [-6.67237489e-01 7.43050956e-01 -5.16663286e-02 -1.67316332e+02] [-7.56574595e-02 1.39519681e-03 9.97132891e-01 -1.65598165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79864 meters 0.027396373238226537 Centerline is valid? [True, True] Translation: X:230.07, Y:-167.34, Z:-16.56 [[ 7.42240173e-01 6.67883084e-01 5.48790630e-02 2.30074224e+02] [-6.65909062e-01 7.44264573e-01 -5.13358208e-02 -1.67339960e+02] [-7.51308688e-02 1.55904318e-03 9.97172464e-01 -1.65610756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82864 meters 0.02746209648503338 Centerline is valid? [True, True] Translation: X:230.10, Y:-167.36, Z:-16.56 [[ 7.42247627e-01 6.67912995e-01 5.44122369e-02 2.30097907e+02] [-6.65969073e-01 7.44237693e-01 -5.09455640e-02 -1.67362944e+02] [-7.45228418e-02 1.57735702e-03 9.97218059e-01 -1.65628355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85864 meters 0.02759113942509622 Centerline is valid? [True, True] Translation: X:230.12, Y:-167.39, Z:-16.56 [[ 7.43159028e-01 6.66870922e-01 5.47524615e-02 2.30118855e+02] [-6.64895964e-01 7.45171242e-01 -5.13144858e-02 -1.67388182e+02] [-7.50200983e-02 1.73013272e-03 9.97180521e-01 -1.65643370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88864 meters 0.02780171804754013 Centerline is valid? [True, True] Translation: X:230.14, Y:-167.41, Z:-16.57 [[ 7.43607961e-01 6.66293858e-01 5.56749106e-02 2.30141058e+02] [-6.64246526e-01 7.45686972e-01 -5.22254078e-02 -1.67411572e+02] [-7.63135239e-02 1.85336305e-03 9.97082149e-01 -1.65659547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91864 meters 0.027783076926921065 Centerline is valid? [True, True] Translation: X:230.16, Y:-167.43, Z:-16.57 [[ 7.43381068e-01 6.66472789e-01 5.65562557e-02 2.30163658e+02] [-6.64356868e-01 7.45526937e-01 -5.30993251e-02 -1.67434987e+02] [-7.75534674e-02 1.89949608e-03 9.96986385e-01 -1.65675354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94864 meters 0.027255418341720277 Centerline is valid? [True, True] Translation: X:230.18, Y:-167.46, Z:-16.57 [[ 7.41795763e-01 6.68259148e-01 5.62917130e-02 2.30184766e+02] [-6.66164551e-01 7.43926533e-01 -5.28971163e-02 -1.67459192e+02] [-7.72258808e-02 1.73931303e-03 9.97012105e-01 -1.65689951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97864 meters 0.02708152562499728 Centerline is valid? [True, True] Translation: X:230.21, Y:-167.48, Z:-16.57 [[ 7.40385472e-01 6.69900358e-01 5.53431362e-02 2.30206331e+02] [-6.67876983e-01 7.42449344e-01 -5.20510081e-02 -1.67482519e+02] [-7.59584642e-02 1.57540341e-03 9.97109738e-01 -1.65711286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00864 meters 0.02641263747049223 Centerline is valid? [True, True] Translation: X:230.23, Y:-167.51, Z:-16.57 [[ 7.37554541e-01 6.73144484e-01 5.37568869e-02 2.30226996e+02] [-6.71241480e-01 7.39509961e-01 -5.05953846e-02 -1.67508234e+02] [-7.38117574e-02 1.23300336e-03 9.97271430e-01 -1.65732218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03864 meters 0.026390415663995487 Centerline is valid? [True, True] Translation: X:230.25, Y:-167.53, Z:-16.58 [[ 7.35777312e-01 6.75052703e-01 5.41811326e-02 2.30249318e+02] [-6.73122824e-01 7.37768735e-01 -5.10191891e-02 -1.67530858e+02] [-7.44137873e-02 1.06820484e-03 9.97226879e-01 -1.65752640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06864 meters 0.02621713579735208 Centerline is valid? [True, True] Translation: X:230.27, Y:-167.55, Z:-16.58 [[ 7.34810418e-01 6.76149074e-01 5.36290856e-02 2.30272204e+02] [-6.74257938e-01 7.36764187e-01 -5.05446857e-02 -1.67553157e+02] [-7.36877321e-02 9.80924942e-04 9.97280881e-01 -1.65759213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09864 meters 0.02602181389226222 Centerline is valid? [True, True] Translation: X:230.29, Y:-167.58, Z:-16.58 [[ 7.31759014e-01 6.79387693e-01 5.44160704e-02 2.30292760e+02] [-6.77445926e-01 7.33779172e-01 -5.13336601e-02 -1.67577851e+02] [-7.48048360e-02 6.99923312e-04 9.97197948e-01 -1.65785097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12864 meters 0.025834319092999946 Centerline is valid? [True, True] Translation: X:230.31, Y:-167.60, Z:-16.58 [[ 7.31144945e-01 6.80134292e-01 5.33330479e-02 2.30314466e+02] [-6.78268363e-01 7.33087264e-01 -5.03496779e-02 -1.67601183e+02] [-7.33423207e-02 6.38793403e-04 9.97306621e-01 -1.65792610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15864 meters 0.025804788182448815 Centerline is valid? [True, True] Translation: X:230.34, Y:-167.62, Z:-16.58 [[ 7.30042623e-01 6.81282336e-01 5.37786912e-02 2.30337864e+02] [-6.79386175e-01 7.32020546e-01 -5.07971110e-02 -1.67624986e+02] [-7.39742813e-02 5.47556828e-04 9.97259999e-01 -1.65804316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18864 meters 0.025828838073336125 Centerline is valid? [True, True] Translation: X:230.36, Y:-167.65, Z:-16.58 [[ 7.29840848e-01 6.81453598e-01 5.43445616e-02 2.30361468e+02] [-6.79513621e-01 7.31861095e-01 -5.13865409e-02 -1.67647606e+02] [-7.47902135e-02 5.76126691e-04 9.97199124e-01 -1.65840602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21864 meters 0.025892503834798873 Centerline is valid? [True, True] Translation: X:230.38, Y:-167.67, Z:-16.59 [[ 7.29192381e-01 6.82128018e-01 5.45878933e-02 2.30384565e+02] [-6.80168437e-01 7.31232566e-01 -5.16704158e-02 -1.67670436e+02] [-7.51622836e-02 5.48711531e-04 9.97171164e-01 -1.65858623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24864 meters 0.0257047422363424 Centerline is valid? [True, True] Translation: X:230.41, Y:-167.69, Z:-16.59 [[ 7.26473038e-01 6.85128850e-01 5.32483321e-02 2.30406627e+02] [-6.83268883e-01 7.28421847e-01 -5.04504340e-02 -1.67693898e+02] [-7.33522962e-02 2.67951657e-04 9.97306056e-01 -1.65867623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27864 meters 0.02553438422421721 Centerline is valid? [True, True] Translation: X:230.43, Y:-167.72, Z:-16.59 [[ 7.24783427e-01 6.86950671e-01 5.27992354e-02 2.30429814e+02] [-6.85123327e-01 7.26704040e-01 -5.00726000e-02 -1.67716885e+02] [-7.27668239e-02 1.17802792e-04 9.97348974e-01 -1.65889902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30864 meters 0.02558641985450996 Centerline is valid? [True, True] Translation: X:230.45, Y:-167.74, Z:-16.59 [[ 7.21427239e-01 6.90585792e-01 5.13225417e-02 2.30451950e+02] [-6.88865004e-01 7.23250456e-01 -4.87214942e-02 -1.67740520e+02] [-7.07654234e-02 -2.05289874e-04 9.97492964e-01 -1.65892298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33864 meters 0.025597551083926508 Centerline is valid? [True, True] Translation: X:230.48, Y:-167.76, Z:-16.59 [[ 7.19164040e-01 6.92901312e-01 5.18734659e-02 2.30475214e+02] [-6.91145905e-01 7.21032323e-01 -4.92922730e-02 -1.67763273e+02] [-7.15571262e-02 -4.02903318e-04 9.97436422e-01 -1.65907812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36864 meters 0.025803235015735643 Centerline is valid? [True, True] Translation: X:230.50, Y:-167.79, Z:-16.59 [[ 7.17576592e-01 6.94449947e-01 5.31329070e-02 2.30498808e+02] [-6.92608461e-01 7.19540817e-01 -5.05423860e-02 -1.67785725e+02] [-7.33304526e-02 -5.32267834e-04 9.97307556e-01 -1.65922765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39864 meters 0.025870175841637238 Centerline is valid? [True, True] Translation: X:230.52, Y:-167.81, Z:-16.59 [[ 7.15307123e-01 6.96861641e-01 5.21495284e-02 2.30521989e+02] [-6.95090728e-01 7.17205214e-01 -4.96544030e-02 -1.67809154e+02] [-7.20041625e-02 -7.30505538e-04 9.97404064e-01 -1.65943907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864000000003 meters 0.02599997809451459 Centerline is valid? [True, True] Translation: X:230.55, Y:-167.83, Z:-16.60 [[ 7.14558048e-01 6.97626060e-01 5.21984390e-02 2.30545274e+02] [-6.95850002e-01 7.16461644e-01 -4.97542720e-02 -1.67831970e+02] [-7.21080562e-02 -7.69968374e-04 9.97396529e-01 -1.65972466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45864 meters 0.025930330026194957 Centerline is valid? [True, True] Translation: X:230.57, Y:-167.85, Z:-16.60 [[ 7.13405763e-01 6.98861949e-01 5.14217245e-02 2.30568801e+02] [-6.97137888e-01 7.15256083e-01 -4.90662906e-02 -1.67854541e+02] [-7.10702647e-02 -8.43857966e-04 9.97470955e-01 -1.65974890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864000000003 meters 0.02620473218336809 Centerline is valid? [True, True] Translation: X:230.59, Y:-167.88, Z:-16.60 [[ 7.12502447e-01 6.99675984e-01 5.28562311e-02 2.30592147e+02] [-6.97852555e-01 7.14459716e-01 -5.04888698e-02 -1.67876440e+02] [-7.30894975e-02 -9.12412593e-04 9.97324969e-01 -1.66005751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51864 meters 0.02620473218336809 Centerline is valid? [True, True] Translation: X:230.62, Y:-167.90, Z:-16.60 [[ 7.12126487e-01 7.00060498e-01 5.28314886e-02 2.30615842e+02] [-6.98236206e-01 7.14082950e-01 -5.05147503e-02 -1.67898651e+02] [-7.30894465e-02 -9.15966474e-04 9.97324969e-01 -1.66023380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters 0.02630329723485839 Centerline is valid? [True, True] Translation: X:230.64, Y:-167.92, Z:-16.60 [[ 7.11169112e-01 7.00988670e-01 5.34170327e-02 2.30638739e+02] [-6.99122361e-01 7.13171729e-01 -5.11273899e-02 -1.67920464e+02] [-7.39352386e-02 -9.84821539e-04 9.97262559e-01 -1.66038734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57864 meters 0.026636140071612448 Centerline is valid? [True, True] Translation: X:230.66, Y:-167.94, Z:-16.61 [[ 7.09521295e-01 7.02686674e-01 5.30185867e-02 2.30662202e+02] [-7.00849419e-01 7.11498549e-01 -5.07927791e-02 -1.67943559e+02] [-7.34140565e-02 -1.11948726e-03 9.97300919e-01 -1.66057322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters 0.026628538820301476 Centerline is valid? [True, True] Translation: X:230.69, Y:-167.97, Z:-16.61 [[ 7.07900663e-01 7.04398959e-01 5.19495672e-02 2.30686220e+02] [-7.02635947e-01 7.09803202e-01 -4.98210790e-02 -1.67966792e+02] [-7.19678854e-02 -1.23325849e-03 9.97406187e-01 -1.66070817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63864 meters 0.026818183704545542 Centerline is valid? [True, True] Translation: X:230.71, Y:-167.99, Z:-16.61 [[ 7.05838327e-01 7.06530691e-01 5.10552535e-02 2.30709931e+02] [-7.04829831e-01 7.07681040e-01 -4.90148374e-02 -1.67989704e+02] [-7.07613218e-02 -1.38871489e-03 9.97492309e-01 -1.66082437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters 0.027346045830730543 Centerline is valid? [True, True] Translation: X:230.73, Y:-168.01, Z:-16.61 [[ 7.02315634e-01 7.09984260e-01 5.17213788e-02 2.30733703e+02] [-7.08244255e-01 7.04215439e-01 -4.97060419e-02 -1.68011404e+02] [-7.17135009e-02 -1.72203902e-03 9.97423786e-01 -1.66092083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69864 meters 0.027737134679509966 Centerline is valid? [True, True] Translation: X:230.76, Y:-168.03, Z:-16.61 [[ 7.00927118e-01 7.11362827e-01 5.16149550e-02 2.30757101e+02] [-7.09630430e-01 7.02822588e-01 -4.96493954e-02 -1.68033252e+02] [-7.15948905e-02 -1.82693506e-03 9.97432120e-01 -1.66110880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters 0.028032050721235074 Centerline is valid? [True, True] Translation: X:230.78, Y:-168.05, Z:-16.61 [[ 6.98393267e-01 7.13876413e-01 5.12573066e-02 2.30780791e+02] [-7.12171532e-01 7.00268742e-01 -4.93497559e-02 -1.68054390e+02] [-7.11235163e-02 -2.03845731e-03 9.97465433e-01 -1.66123638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75864 meters 0.028009516402944315 Centerline is valid? [True, True] Translation: X:230.80, Y:-168.08, Z:-16.61 [[ 6.97690446e-01 7.14622218e-01 5.04294229e-02 2.30804762e+02] [-7.12970980e-01 6.99507600e-01 -4.85952665e-02 -1.68077044e+02] [-7.00030217e-02 -2.05026182e-03 9.97544672e-01 -1.66137735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters 0.028169284747242958 Centerline is valid? [True, True] Translation: X:230.83, Y:-168.10, Z:-16.62 [[ 6.97213065e-01 7.15088033e-01 5.04286363e-02 2.30828650e+02] [-7.13434516e-01 6.99031369e-01 -4.86449977e-02 -1.68099453e+02] [-7.00366544e-02 -2.06160179e-03 9.97542288e-01 -1.66157541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81864 meters 0.028175448498951018 Centerline is valid? [True, True] Translation: X:230.85, Y:-168.12, Z:-16.62 [[ 6.97625796e-01 7.14535717e-01 5.25067378e-02 2.30853497e+02] [-7.12737478e-01 6.99595954e-01 -5.07029526e-02 -1.68120373e+02] [-7.29625720e-02 -2.05183221e-03 9.97332569e-01 -1.66185042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters 0.02813244442825637 Centerline is valid? [True, True] Translation: X:230.88, Y:-168.14, Z:-16.62 [[ 6.98185053e-01 7.13877602e-01 5.40037062e-02 2.30877714e+02] [-7.11969296e-01 7.00267633e-01 -5.22011884e-02 -1.68142084e+02] [-7.50823067e-02 -2.00289120e-03 9.97175328e-01 -1.66211119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87864 meters 0.028002493767457847 Centerline is valid? [True, True] Translation: X:230.90, Y:-168.16, Z:-16.62 [[ 6.98453135e-01 7.13561598e-01 5.47089020e-02 2.30901810e+02] [-7.11597877e-01 7.00589766e-01 -5.29380908e-02 -1.68163904e+02] [-7.61030855e-02 -1.95596303e-03 9.97098037e-01 -1.66230802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters 0.027703210283273636 Centerline is valid? [True, True] Translation: X:230.93, Y:-168.18, Z:-16.62 [[ 6.99198194e-01 7.12994003e-01 5.25493769e-02 2.30927110e+02] [-7.11177213e-01 7.01167860e-01 -5.08979715e-02 -1.68184007e+02] [-7.31358825e-02 -1.78414966e-03 9.97320390e-01 -1.66236907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93864 meters 0.027699039050148127 Centerline is valid? [True, True] Translation: X:230.95, Y:-168.20, Z:-16.63 [[ 6.99049225e-01 7.13210070e-01 5.15904832e-02 2.30951883e+02] [-7.11456417e-01 7.00948188e-01 -5.00140468e-02 -1.68204451e+02] [-7.18327775e-02 -1.74209968e-03 9.97415168e-01 -1.66256155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters 0.027904120951703693 Centerline is valid? [True, True] Translation: X:230.98, Y:-168.22, Z:-16.63 [[ 6.97603279e-01 7.14640998e-01 5.13605763e-02 2.30977262e+02] [-7.12903559e-01 6.99488974e-01 -4.98366471e-02 -1.68224911e+02] [-7.15414681e-02 -1.84892919e-03 9.97435913e-01 -1.66277291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99864 meters 0.027984605628718545 Centerline is valid? [True, True] Translation: X:231.00, Y:-168.25, Z:-16.63 [[ 6.96348407e-01 7.15825733e-01 5.18884934e-02 2.31001859e+02] [-7.14052246e-01 6.98276224e-01 -5.03954824e-02 -1.68246132e+02] [-7.23068843e-02 -1.95828135e-03 9.97380509e-01 -1.66288453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters 0.028223021434670495 Centerline is valid? [True, True] Translation: X:231.03, Y:-168.27, Z:-16.63 [[ 6.95013717e-01 7.17149181e-01 5.15071418e-02 2.31025982e+02] [-7.15402050e-01 6.96916678e-01 -5.00704631e-02 -1.68267144e+02] [-7.18041777e-02 -2.04865615e-03 9.97416645e-01 -1.66306604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05864 meters 0.028158523709332667 Centerline is valid? [True, True] Translation: X:231.05, Y:-168.29, Z:-16.63 [[ 6.94199433e-01 7.17863232e-01 5.25311942e-02 2.31050664e+02] [-7.16044428e-01 6.96180892e-01 -5.11130453e-02 -1.68288203e+02] [-7.32633895e-02 -2.13202180e-03 9.97310348e-01 -1.66331836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters 0.02812650983817831 Centerline is valid? [True, True] Translation: X:231.08, Y:-168.31, Z:-16.64 [[ 6.95267056e-01 7.16868749e-01 5.19895893e-02 2.31075242e+02] [-7.15081216e-01 6.97205349e-01 -5.06315703e-02 -1.68308726e+02] [-7.25436102e-02 -1.97431588e-03 9.97363287e-01 -1.66353778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11864 meters 0.027904496403500397 Centerline is valid? [True, True] Translation: X:231.10, Y:-168.33, Z:-16.64 [[ 6.96139176e-01 7.15999427e-01 5.22978722e-02 2.31099183e+02] [-7.14184740e-01 6.98098383e-01 -5.09784821e-02 -1.68329939e+02] [-7.30096239e-02 -1.86222369e-03 9.97329498e-01 -1.66370245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters 0.027361604604610627 Centerline is valid? [True, True] Translation: X:231.13, Y:-168.35, Z:-16.64 [[ 6.99845331e-01 7.12289120e-01 5.34857195e-02 2.31125860e+02] [-7.10377075e-01 7.01884621e-01 -5.21765297e-02 -1.68349273e+02] [-7.47055783e-02 -1.47952828e-03 9.97204536e-01 -1.66384646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17864000000003 meters 0.02723519640978006 Centerline is valid? [True, True] Translation: X:231.15, Y:-168.37, Z:-16.64 [[ 7.00566146e-01 7.11486758e-01 5.47144305e-02 2.31151010e+02] [-7.09481053e-01 7.02698099e-01 -5.34042861e-02 -1.68370713e+02] [-7.64441686e-02 -1.40561689e-03 9.97072873e-01 -1.66406555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20864 meters 0.027038974534792752 Centerline is valid? [True, True] Translation: X:231.18, Y:-168.39, Z:-16.64 [[ 7.00955060e-01 7.11218707e-01 5.31973099e-02 2.31175510e+02] [-7.09318180e-01 7.02969599e-01 -5.19755925e-02 -1.68392274e+02] [-7.43621053e-02 -1.30126453e-03 9.97230457e-01 -1.66409383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23864000000003 meters 0.027015809146371122 Centerline is valid? [True, True] Translation: X:231.20, Y:-168.41, Z:-16.64 [[ 7.00195478e-01 7.11968656e-01 5.31688460e-02 2.31202117e+02] [-7.10068570e-01 7.02209958e-01 -5.19980830e-02 -1.68412456e+02] [-7.43566984e-02 -1.34470386e-03 9.97230802e-01 -1.66427997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26864 meters 0.027023487332071466 Centerline is valid? [True, True] Translation: X:231.23, Y:-168.43, Z:-16.64 [[ 6.99163228e-01 7.12948066e-01 5.36268307e-02 2.31227154e+02] [-7.11013845e-01 7.01215395e-01 -5.25003029e-02 -1.68432898e+02] [-7.50339487e-02 -1.42313788e-03 9.97179964e-01 -1.66440789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29864 meters 0.02746668433177819 Centerline is valid? [True, True] Translation: X:231.25, Y:-168.45, Z:-16.65 [[ 6.96979426e-01 7.15069733e-01 5.38048000e-02 2.31254119e+02] [-7.13125213e-01 6.99051246e-01 -5.27236755e-02 -1.68451643e+02] [-7.53134171e-02 -1.62224235e-03 9.97158592e-01 -1.66456756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32864 meters 0.027427495832999207 Centerline is valid? [True, True] Translation: X:231.28, Y:-168.47, Z:-16.65 [[ 6.96535245e-01 7.15498426e-01 5.38577234e-02 2.31279694e+02] [-7.13547507e-01 6.98612432e-01 -5.28263686e-02 -1.68472410e+02] [-7.54228587e-02 -1.63461666e-03 9.97150300e-01 -1.66477310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35864 meters 0.027515155989903464 Centerline is valid? [True, True] Translation: X:231.30, Y:-168.49, Z:-16.65 [[ 6.96183398e-01 7.15864759e-01 5.35380623e-02 2.31304909e+02] [-7.13933885e-01 6.98237069e-01 -5.25680883e-02 -1.68493698e+02] [-7.50139015e-02 -1.62560644e-03 9.97181163e-01 -1.66498820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38864 meters 0.02740518835784441 Centerline is valid? [True, True] Translation: X:231.33, Y:-168.51, Z:-16.65 [[ 6.96609740e-01 7.15392458e-01 5.43001083e-02 2.31332613e+02] [-7.13400338e-01 6.98721123e-01 -5.33736879e-02 -1.68513253e+02] [-7.61237664e-02 -1.55708480e-03 9.97097161e-01 -1.66509426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41864 meters 0.027205124742167103 Centerline is valid? [True, True] Translation: X:231.36, Y:-168.53, Z:-16.65 [[ 6.97429351e-01 7.14591151e-01 5.43303547e-02 2.31357565e+02] [-7.12590193e-01 6.99540875e-01 -5.34582211e-02 -1.68534033e+02] [-7.62070756e-02 -1.43194548e-03 9.97090984e-01 -1.66532718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44864 meters 0.02737733962277375 Centerline is valid? [True, True] Translation: X:231.38, Y:-168.56, Z:-16.66 [[ 6.97659517e-01 7.14332918e-01 5.47693410e-02 2.31382244e+02] [-7.12294616e-01 6.99804675e-01 -5.39425445e-02 -1.68555940e+02] [-7.68607761e-02 -1.37837719e-03 9.97040882e-01 -1.66560286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47864 meters 0.026997804286223375 Centerline is valid? [True, True] Translation: X:231.41, Y:-168.58, Z:-16.66 [[ 6.99495977e-01 7.12574266e-01 5.42521275e-02 2.31407615e+02] [-7.10564891e-01 7.01595771e-01 -5.34874710e-02 -1.68575550e+02] [-7.61768586e-02 -1.13538635e-03 9.97093675e-01 -1.66573960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50864 meters 0.02699600743465454 Centerline is valid? [True, True] Translation: X:231.43, Y:-168.60, Z:-16.66 [[ 6.99899838e-01 7.12234969e-01 5.34936081e-02 2.31431802e+02] [-7.10276834e-01 7.01940346e-01 -5.27879678e-02 -1.68596600e+02] [-7.51467584e-02 -1.04898052e-03 9.97171933e-01 -1.66588975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53864 meters 0.026901567685176885 Centerline is valid? [True, True] Translation: X:231.46, Y:-168.62, Z:-16.66 [[ 7.00410923e-01 7.11665511e-01 5.43758980e-02 2.31457272e+02] [-7.09636425e-01 7.02517804e-01 -5.37110755e-02 -1.68617951e+02] [-7.64243564e-02 -9.67293913e-04 9.97074913e-01 -1.66610971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56864 meters 0.026971608407912788 Centerline is valid? [True, True] Translation: X:231.48, Y:-168.64, Z:-16.66 [[ 7.00731809e-01 7.11351780e-01 5.43468304e-02 2.31481682e+02] [-7.09319518e-01 7.02835578e-01 -5.37398474e-02 -1.68640400e+02] [-7.64248220e-02 -8.92047104e-04 9.97074947e-01 -1.66625072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59864 meters 0.02690786549770673 Centerline is valid? [True, True] Translation: X:231.51, Y:-168.66, Z:-16.66 [[ 7.00662248e-01 7.11375945e-01 5.49243018e-02 2.31506009e+02] [-7.09295763e-01 7.02811155e-01 -5.43691167e-02 -1.68662970e+02] [-7.72782937e-02 -8.63187056e-04 9.97009188e-01 -1.66647262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62864 meters 0.026837378867986355 Centerline is valid? [True, True] Translation: X:231.53, Y:-168.69, Z:-16.67 [[ 7.01471787e-01 7.10518297e-01 5.56873521e-02 2.31530196e+02] [-7.08372485e-01 7.03678339e-01 -5.51834882e-02 -1.68685607e+02] [-7.83948615e-02 -7.37727900e-04 9.96922114e-01 -1.66670674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65864 meters 0.0265830083613349 Centerline is valid? [True, True] Translation: X:231.55, Y:-168.71, Z:-16.67 [[ 7.02101347e-01 7.09946841e-01 5.50380015e-02 2.31552987e+02] [-7.07844805e-01 7.04254989e-01 -5.45952529e-02 -1.68708161e+02] [-7.75205145e-02 -6.26962802e-04 9.96990560e-01 -1.66680369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68864 meters 0.026516951361027923 Centerline is valid? [True, True] Translation: X:231.58, Y:-168.73, Z:-16.67 [[ 7.04185154e-01 7.07948484e-01 5.41499153e-02 2.31575178e+02] [-7.05904161e-01 7.06263981e-01 -5.37634158e-02 -1.68731323e+02] [-7.63058635e-02 -3.65251304e-04 9.97084391e-01 -1.66702603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71864 meters 0.026443373267914745 Centerline is valid? [True, True] Translation: X:231.60, Y:-168.75, Z:-16.67 [[ 7.04259866e-01 7.07918017e-01 5.35735143e-02 2.31598243e+02] [-7.05913257e-01 7.06294539e-01 -5.32399990e-02 -1.68753682e+02] [-7.55282351e-02 -3.23459373e-04 9.97143611e-01 -1.66714841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74864 meters 0.02642868412741317 Centerline is valid? [True, True] Translation: X:231.62, Y:-168.78, Z:-16.67 [[ 7.03484414e-01 7.08753599e-01 5.27068781e-02 2.31620988e+02] [-7.06812035e-01 7.05456021e-01 -5.24266148e-02 -1.68776208e+02] [-7.43399364e-02 -3.72549401e-04 9.97232889e-01 -1.66723617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77864 meters 0.026587827146593992 Centerline is valid? [True, True] Translation: X:231.64, Y:-168.80, Z:-16.67 [[ 7.02124885e-01 7.10008457e-01 5.39317820e-02 2.31643421e+02] [-7.07975313e-01 7.04192985e-01 -5.36954079e-02 -1.68799478e+02] [-7.61025762e-02 -4.81488134e-04 9.97099878e-01 -1.66739428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80864 meters 0.02669765692014351 Centerline is valid? [True, True] Translation: X:231.67, Y:-168.82, Z:-16.68 [[ 7.01218572e-01 7.10846325e-01 5.46810480e-02 2.31665918e+02] [-7.08754800e-01 7.03347145e-01 -5.44924450e-02 -1.68822625e+02] [-7.71955133e-02 -5.44340793e-04 9.97015826e-01 -1.66769171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83864 meters 0.02680702812495224 Centerline is valid? [True, True] Translation: X:231.69, Y:-168.85, Z:-16.68 [[ 6.99359162e-01 7.12722156e-01 5.40730101e-02 2.31688923e+02] [-7.10678566e-01 7.01446098e-01 -5.39383590e-02 -1.68845834e+02] [-7.63723655e-02 -7.06243779e-04 9.97079116e-01 -1.66794305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86864 meters 0.02696369118664285 Centerline is valid? [True, True] Translation: X:231.71, Y:-168.87, Z:-16.68 [[ 6.98612721e-01 7.13488195e-01 5.36177396e-02 2.31713014e+02] [-7.11476907e-01 7.00666855e-01 -5.35403489e-02 -1.68868467e+02] [-7.57685799e-02 -7.43814753e-04 9.97125152e-01 -1.66816223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89864 meters 0.026757156373188668 Centerline is valid? [True, True] Translation: X:231.74, Y:-168.89, Z:-16.68 [[ 6.98343210e-01 7.13805334e-01 5.29028020e-02 2.31736447e+02] [-7.11844948e-01 7.00343775e-01 -5.28712331e-02 -1.68891209e+02] [-7.47899163e-02 -7.36325756e-04 9.97199040e-01 -1.66829296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864000000003 meters 0.02688666574720272 Centerline is valid? [True, True] Translation: X:231.76, Y:-168.91, Z:-16.68 [[ 6.97299107e-01 7.14896738e-01 5.19288914e-02 2.31759417e+02] [-7.13008993e-01 6.99229565e-01 -5.19248688e-02 -1.68914789e+02] [-7.34311354e-02 -8.18601913e-04 9.97299954e-01 -1.66843541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95864 meters 0.02693914497670378 Centerline is valid? [True, True] Translation: X:231.75, Y:-169.07, Z:-15.04 [[ 7.62747920e-01 -6.46222427e-01 -2.47423684e-02 2.31754423e+02] [-6.45689851e-01 -7.63137012e-01 2.65803754e-02 -1.69074121e+02] [-3.60586518e-02 -4.29822990e-03 -9.99340432e-01 -1.50397016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864000000003 meters 0.026931011818345885 Centerline is valid? [True, True] Translation: X:231.79, Y:-168.95, Z:-16.69 [[ 7.44836762e-01 6.65018783e-01 5.44813429e-02 2.31786967e+02] [-6.63340654e-01 7.46826008e-01 -4.72238256e-02 -1.68954847e+02] [-7.20928148e-02 -9.65648292e-04 9.97397460e-01 -1.66863893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01864 meters 0.027012459400452434 Centerline is valid? [True, True] Translation: X:231.81, Y:-168.98, Z:-16.69 [[ 7.44321852e-01 6.65634507e-01 5.39970694e-02 2.31813423e+02] [-6.63983101e-01 7.46277272e-01 -4.68687095e-02 -1.68975270e+02] [-7.14942160e-02 -9.67736980e-04 9.97440545e-01 -1.66878424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters 0.027020663537397835 Centerline is valid? [True, True] Translation: X:231.84, Y:-169.00, Z:-16.69 [[ 7.42677179e-01 6.67465143e-01 5.40452742e-02 2.31838844e+02] [-6.65812080e-01 7.44640219e-01 -4.69597522e-02 -1.68995778e+02] [-7.15882825e-02 -1.10806014e-03 9.97433652e-01 -1.66892786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07864 meters 0.02706319440762765 Centerline is valid? [True, True] Translation: X:231.86, Y:-169.02, Z:-16.69 [[ 7.41963471e-01 6.68221466e-01 5.45002824e-02 2.31864231e+02] [-6.66539106e-01 7.43961515e-01 -4.74013097e-02 -1.69016085e+02] [-7.22206853e-02 -1.15652928e-03 9.97388006e-01 -1.66924515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters 0.02706915248467313 Centerline is valid? [True, True] Translation: X:231.89, Y:-169.03, Z:-16.69 [[ 7.41510287e-01 6.68640189e-01 5.55228939e-02 2.31890818e+02] [-6.66891445e-01 7.43585167e-01 -4.83414853e-02 -1.69034420e+02] [-7.36090603e-02 -1.18203431e-03 9.97286473e-01 -1.66924777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13864 meters 0.027029394074690523 Centerline is valid? [True, True] Translation: X:231.92, Y:-169.05, Z:-16.69 [[ 7.41695749e-01 6.68320370e-01 5.68796962e-02 2.31916718e+02] [-6.66480500e-01 7.43872688e-01 -4.95698211e-02 -1.69053687e+02] [-7.54397737e-02 -1.14348276e-03 9.97149704e-01 -1.66942518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters 0.026895302250463573 Centerline is valid? [True, True] Translation: X:231.94, Y:-169.07, Z:-16.70 [[ 7.42023178e-01 6.67995723e-01 5.64208921e-02 2.31942129e+02] [-6.66181064e-01 7.44164347e-01 -4.92160081e-02 -1.69072808e+02] [-7.48624992e-02 -1.06711119e-03 9.97193295e-01 -1.66970374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19864 meters 0.026929889547172528 Centerline is valid? [True, True] Translation: X:231.97, Y:-169.09, Z:-16.70 [[ 7.42320778e-01 6.67707144e-01 5.59198796e-02 2.31966828e+02] [-6.65920394e-01 7.44423388e-01 -4.88246681e-02 -1.69093492e+02] [-7.42286460e-02 -9.94622651e-04 9.97240753e-01 -1.66985808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters 0.02678671898928103 Centerline is valid? [True, True] Translation: X:231.99, Y:-169.11, Z:-16.70 [[ 7.42816366e-01 6.67195959e-01 5.54382384e-02 2.31991695e+02] [-6.65435161e-01 7.44881695e-01 -4.84490214e-02 -1.69113668e+02] [-7.36199203e-02 -9.01827046e-04 9.97285964e-01 -1.67000826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25864 meters 0.026721730524887192 Centerline is valid? [True, True] Translation: X:232.02, Y:-169.13, Z:-16.70 [[ 7.43916715e-01 6.65885300e-01 5.64330423e-02 2.32018225e+02] [-6.64053234e-01 7.46053755e-01 -4.93669681e-02 -1.69133118e+02] [-7.49748214e-02 -7.49631495e-04 9.97185145e-01 -1.67001444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters 0.02672604911240324 Centerline is valid? [True, True] Translation: X:232.04, Y:-169.15, Z:-16.70 [[ 7.44771463e-01 6.64816625e-01 5.77435995e-02 2.32044028e+02] [-6.62890918e-01 7.47006343e-01 -5.05683176e-02 -1.69154258e+02] [-7.67534933e-02 -6.15867734e-04 9.97049909e-01 -1.67021909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31864 meters 0.026763710145193093 Centerline is valid? [True, True] Translation: X:232.07, Y:-169.18, Z:-16.71 [[ 7.45978893e-01 6.63350506e-01 5.90050576e-02 2.32066636e+02] [-6.61330781e-01 7.48308704e-01 -5.17269903e-02 -1.69176650e+02] [-7.84671235e-02 -4.34617828e-04 9.96916607e-01 -1.67057161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters 0.026801047687061152 Centerline is valid? [True, True] Translation: X:232.09, Y:-169.20, Z:-16.71 [[ 7.45861718e-01 6.63458680e-01 5.92695268e-02 2.32090439e+02] [-6.61417072e-01 7.48212812e-01 -5.20100506e-02 -1.69199054e+02] [-7.88527389e-02 -4.09571170e-04 9.96886191e-01 -1.67072157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37864 meters 0.02676760993957503 Centerline is valid? [True, True] Translation: X:232.11, Y:-169.22, Z:-16.71 [[ 7.45756907e-01 6.63552862e-01 5.95334776e-02 2.32114776e+02] [-6.61488877e-01 7.48129304e-01 -5.22973260e-02 -1.69220740e+02] [-7.92407794e-02 -3.79641206e-04 9.96855433e-01 -1.67084033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters 0.02676760993957503 Centerline is valid? [True, True] Translation: X:232.14, Y:-169.24, Z:-16.71 [[ 7.45411386e-01 6.63943444e-01 5.95060318e-02 2.32139420e+02] [-6.61878210e-01 7.47782695e-01 -5.23285416e-02 -1.69241956e+02] [-7.92407729e-02 -3.79455041e-04 9.96855434e-01 -1.67101618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43864 meters 0.026856255909583467 Centerline is valid? [True, True] Translation: X:232.16, Y:-169.26, Z:-16.71 [[ 7.45563165e-01 6.63683626e-01 6.04947221e-02 2.32162744e+02] [-6.61543832e-01 7.48013331e-01 -5.32523640e-02 -1.69264082e+02] [-8.05935806e-02 -3.16909236e-04 9.96746996e-01 -1.67125899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters 0.026779547268737693 Centerline is valid? [True, True] Translation: X:232.19, Y:-169.29, Z:-16.71 [[ 7.45494732e-01 6.63781015e-01 6.02691391e-02 2.32186858e+02] [-6.61653369e-01 7.47926922e-01 -5.31049695e-02 -1.69286381e+02] [-8.03269823e-02 -2.87803998e-04 9.96768525e-01 -1.67135163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49864 meters 0.026729470354449843 Centerline is valid? [True, True] Translation: X:232.21, Y:-169.31, Z:-16.71 [[ 7.44907726e-01 6.64559134e-01 5.89375645e-02 2.32210356e+02] [-6.62522938e-01 7.47235607e-01 -5.19837009e-02 -1.69308356e+02] [-7.85864901e-02 -3.24427919e-04 9.96907247e-01 -1.67148808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters 0.026638230498743743 Centerline is valid? [True, True] Translation: X:232.23, Y:-169.33, Z:-16.72 [[ 7.44490401e-01 6.65267136e-01 5.61576414e-02 2.32234015e+02] [-6.63417429e-01 7.46605329e-01 -4.95761852e-02 -1.69330220e+02] [-7.49090010e-02 -3.46964090e-04 9.97190313e-01 -1.67159581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55864 meters 0.026685875944410332 Centerline is valid? [True, True] Translation: X:232.26, Y:-169.35, Z:-16.72 [[ 7.43965397e-01 6.65854652e-01 5.61522143e-02 2.32258433e+02] [-6.64003373e-01 7.46081394e-01 -4.96193042e-02 -1.69352107e+02] [-7.49333668e-02 -3.70214302e-04 9.97188474e-01 -1.67183925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters 0.02686637238484053 Centerline is valid? [True, True] Translation: X:232.28, Y:-169.37, Z:-16.72 [[ 7.43406837e-01 6.66548682e-01 5.53093975e-02 2.32281832e+02] [-6.64750888e-01 7.45461399e-01 -4.89240247e-02 -1.69374127e+02] [-7.38412650e-02 -3.96516604e-04 9.97269929e-01 -1.67192660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61864 meters 0.026693394174136735 Centerline is valid? [True, True] Translation: X:232.31, Y:-169.40, Z:-16.72 [[ 7.42817392e-01 6.67178204e-01 5.56378090e-02 2.32306602e+02] [-6.65357186e-01 7.44898021e-01 -4.92620774e-02 -1.69395801e+02] [-7.43110782e-02 -4.26288134e-04 9.97235018e-01 -1.67207170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64864 meters 0.02675003434689091 Centerline is valid? [True, True] Translation: X:232.33, Y:-169.42, Z:-16.72 [[ 7.42085942e-01 6.67988307e-01 5.56783273e-02 2.32330952e+02] [-6.66162985e-01 7.44171622e-01 -4.93505386e-02 -1.69418381e+02] [-7.43998139e-02 -4.68499748e-04 9.97228383e-01 -1.67224082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67864000000003 meters 0.026749126962291498 Centerline is valid? [True, True] Translation: X:232.36, Y:-169.44, Z:-16.72 [[ 7.41402354e-01 6.68742499e-01 5.57316777e-02 2.32355279e+02] [-6.66911849e-01 7.43493924e-01 -4.94506903e-02 -1.69440285e+02] [-7.45059419e-02 -5.05258062e-04 9.97220442e-01 -1.67236130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70864 meters 0.02671383468446232 Centerline is valid? [True, True] Translation: X:232.38, Y:-169.46, Z:-16.72 [[ 7.38624719e-01 6.71912626e-01 5.44697020e-02 2.32380377e+02] [-6.70168928e-01 7.40630025e-01 -4.83815553e-02 -1.69462507e+02] [-7.28500746e-02 -7.68089149e-04 9.97342607e-01 -1.67241617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73864000000003 meters 0.026997566416799124 Centerline is valid? [True, True] Translation: X:232.41, Y:-169.48, Z:-16.73 [[ 7.36266157e-01 6.74469546e-01 5.47994273e-02 2.32405189e+02] [-6.72707982e-01 7.38302006e-01 -4.87249337e-02 -1.69483293e+02] [-7.33220110e-02 -9.89492444e-04 9.97307828e-01 -1.67259944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76864 meters 0.027250098079860684 Centerline is valid? [True, True] Translation: X:232.43, Y:-169.50, Z:-16.73 [[ 7.33361918e-01 6.77618416e-01 5.48960830e-02 2.32429471e+02] [-6.75856039e-01 7.35412580e-01 -4.88564381e-02 -1.69504105e+02] [-7.34772922e-02 -1.27239811e-03 9.97296079e-01 -1.67263224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79864 meters 0.027736875932651808 Centerline is valid? [True, True] Translation: X:232.45, Y:-169.53, Z:-16.73 [[ 7.29874810e-01 6.81252015e-01 5.63777705e-02 2.32453082e+02] [-6.79400300e-01 7.32047115e-01 -5.02220416e-02 -1.69525195e+02] [-7.54850513e-02 -1.64727116e-03 9.97145573e-01 -1.67289534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82864 meters 0.02779005322520739 Centerline is valid? [True, True] Translation: X:232.48, Y:-169.55, Z:-16.73 [[ 7.28621144e-01 6.82629465e-01 5.59306875e-02 2.32478477e+02] [-6.80807636e-01 7.30762601e-01 -4.98696649e-02 -1.69545833e+02] [-7.49145573e-02 -1.74194686e-03 9.97188435e-01 -1.67304208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85864 meters 0.028036743507800627 Centerline is valid? [True, True] Translation: X:232.51, Y:-169.57, Z:-16.73 [[ 7.27247776e-01 6.84161911e-01 5.50740660e-02 2.32505058e+02] [-6.82396083e-01 7.29327856e-01 -4.91575522e-02 -1.69565388e+02] [-7.37987753e-02 -1.83260639e-03 9.97271469e-01 -1.67322877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88864 meters 0.02798103218763103 Centerline is valid? [True, True] Translation: X:232.53, Y:-169.59, Z:-16.73 [[ 7.26598061e-01 6.84846937e-01 5.51355604e-02 2.32530172e+02] [-6.83075229e-01 7.28684562e-01 -4.92649992e-02 -1.69586608e+02] [-7.39154155e-02 -1.86588268e-03 9.97262769e-01 -1.67348615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91864 meters 0.028019373631872225 Centerline is valid? [True, True] Translation: X:232.56, Y:-169.61, Z:-16.74 [[ 7.26561553e-01 6.84865562e-01 5.53847648e-02 2.32555214e+02] [-6.83073889e-01 7.28667130e-01 -4.95406554e-02 -1.69607654e+02] [-7.42857464e-02 -1.83755119e-03 9.97235304e-01 -1.67364675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94864 meters 0.027854636634114204 Centerline is valid? [True, True] Translation: X:232.58, Y:-169.63, Z:-16.74 [[ 7.26269448e-01 6.85120012e-01 5.60647675e-02 2.32581254e+02] [-6.83280696e-01 7.28427867e-01 -5.02029266e-02 -1.69628723e+02] [-7.52341687e-02 -1.84712160e-03 9.97164183e-01 -1.67374417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97864 meters 0.027846281505848974 Centerline is valid? [True, True] Translation: X:232.61, Y:-169.65, Z:-16.74 [[ 7.26129429e-01 6.85201144e-01 5.68809659e-02 2.32607652e+02] [-6.83303866e-01 7.28351561e-01 -5.09885271e-02 -1.69648717e+02] [-7.63667375e-02 -1.84271381e-03 9.97078094e-01 -1.67387250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00864 meters 0.027891121918977944 Centerline is valid? [True, True] Translation: X:232.63, Y:-169.67, Z:-16.74 [[ 7.26264397e-01 6.85037913e-01 5.71234046e-02 2.32632238e+02] [-6.83119690e-01 7.28505211e-01 -5.12605853e-02 -1.69670112e+02] [-7.67301422e-02 -1.79338435e-03 9.97050284e-01 -1.67411307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03864 meters 0.02773421573071195 Centerline is valid? [True, True] Translation: X:232.66, Y:-169.69, Z:-16.74 [[ 7.26475413e-01 6.84804015e-01 5.72445146e-02 2.32656760e+02] [-6.82872695e-01 7.28725229e-01 -5.14239543e-02 -1.69692647e+02] [-7.69308523e-02 -1.73247752e-03 9.97034925e-01 -1.67438850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06864 meters 0.02768184451035484 Centerline is valid? [True, True] Translation: X:232.68, Y:-169.71, Z:-16.74 [[ 7.25378098e-01 6.85949786e-01 5.74413349e-02 2.32680969e+02] [-6.84004696e-01 7.27646597e-01 -5.16527432e-02 -1.69713173e+02] [-7.72281800e-02 -1.82237423e-03 9.97011779e-01 -1.67444221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09864 meters 0.02785511555745741 Centerline is valid? [True, True] Translation: X:232.71, Y:-169.73, Z:-16.75 [[ 7.24076349e-01 6.87272095e-01 5.80560781e-02 2.32706572e+02] [-6.85285689e-01 7.26397455e-01 -5.22519194e-02 -1.69733492e+02] [-7.80830735e-02 -1.95062049e-03 9.96944948e-01 -1.67457872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12864 meters 0.028136537540183235 Centerline is valid? [True, True] Translation: X:232.73, Y:-169.75, Z:-16.75 [[ 7.21470077e-01 6.89994787e-01 5.82075765e-02 2.32732088e+02] [-6.88003048e-01 7.23810944e-01 -5.24358913e-02 -1.69752560e+02] [-7.83117725e-02 -2.21606350e-03 9.96926454e-01 -1.67480348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15864 meters 0.0282228709769713 Centerline is valid? [True, True] Translation: X:232.76, Y:-169.77, Z:-16.75 [[ 7.20443853e-01 6.91136858e-01 5.73628618e-02 2.32757602e+02] [-6.89202572e-01 7.22720334e-01 -5.17216927e-02 -1.69774069e+02] [-7.72040749e-02 -2.27205627e-03 9.97012722e-01 -1.67495653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18864 meters 0.028275973545009863 Centerline is valid? [True, True] Translation: X:232.79, Y:-169.79, Z:-16.75 [[ 7.19467331e-01 6.92187179e-01 5.69532161e-02 2.32785123e+02] [-6.90279613e-01 7.21714269e-01 -5.14059358e-02 -1.69793233e+02] [-7.66864784e-02 -2.32875250e-03 9.97052537e-01 -1.67514148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21864 meters 0.02831836370573001 Centerline is valid? [True, True] Translation: X:232.81, Y:-169.81, Z:-16.75 [[ 7.19745949e-01 6.91925730e-01 5.66087723e-02 2.32810240e+02] [-6.90036443e-01 7.21965182e-01 -5.11466835e-02 -1.69812684e+02] [-7.62592689e-02 -2.24949759e-03 9.97085485e-01 -1.67536621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24864 meters 0.02818159887608071 Centerline is valid? [True, True] Translation: X:232.84, Y:-169.83, Z:-16.76 [[ 7.20015596e-01 6.91620677e-01 5.69067731e-02 2.32835865e+02] [-6.89706634e-01 7.22257593e-01 -5.14657957e-02 -1.69833708e+02] [-7.66961574e-02 -2.19280341e-03 9.97052100e-01 -1.67555945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27864 meters 0.027927083738158644 Centerline is valid? [True, True] Translation: X:232.86, Y:-169.85, Z:-16.76 [[ 7.21990366e-01 6.89627163e-01 5.60739529e-02 2.32860686e+02] [-6.87758917e-01 7.24162075e-01 -5.07637724e-02 -1.69854485e+02] [-7.56147064e-02 -1.91440651e-03 9.97135272e-01 -1.67584697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30864 meters 0.027878706197664038 Centerline is valid? [True, True] Translation: X:232.89, Y:-169.88, Z:-16.76 [[ 7.23556751e-01 6.88058157e-01 5.51507043e-02 2.32885818e+02] [-6.86243652e-01 7.25653569e-01 -4.99654565e-02 -1.69875145e+02] [-7.43994453e-02 -1.69397734e-03 9.97227082e-01 -1.67620553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33864 meters 0.027656419112131975 Centerline is valid? [True, True] Translation: X:232.91, Y:-169.89, Z:-16.76 [[ 7.24440003e-01 6.87179068e-01 5.45124740e-02 2.32911745e+02] [-6.85402109e-01 7.26486388e-01 -4.94113114e-02 -1.69894761e+02] [-7.35569893e-02 -1.56743409e-03 9.97289784e-01 -1.67634739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36864 meters 0.02740892668737593 Centerline is valid? [True, True] Translation: X:232.94, Y:-169.91, Z:-16.77 [[ 7.26050467e-01 6.85423507e-01 5.51845559e-02 2.32938893e+02] [-6.83593830e-01 7.28143346e-01 -5.00673749e-02 -1.69912199e+02] [-7.44996229e-02 -1.37238099e-03 9.97220097e-01 -1.67672269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39864 meters 0.02748744386646918 Centerline is valid? [True, True] Translation: X:232.96, Y:-169.93, Z:-16.77 [[ 7.26349611e-01 6.85139963e-01 5.47674577e-02 2.32962954e+02] [-6.83333658e-01 7.28410285e-01 -4.97349896e-02 -1.69932849e+02] [-7.39686083e-02 -1.29945684e-03 9.97259724e-01 -1.67692103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864000000003 meters 0.02734047572021463 Centerline is valid? [True, True] Translation: X:232.99, Y:-169.95, Z:-16.77 [[ 7.26391910e-01 6.85046380e-01 5.53737319e-02 2.32988367e+02] [-6.83195873e-01 7.28498352e-01 -5.03343890e-02 -1.69954224e+02] [-7.48210634e-02 -1.26861210e-03 9.97196169e-01 -1.67706063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45864 meters 0.027415728845823457 Centerline is valid? [True, True] Translation: X:233.01, Y:-169.97, Z:-16.77 [[ 7.25698043e-01 6.85773554e-01 5.54705576e-02 2.33014638e+02] [-6.83914652e-01 7.27813798e-01 -5.04759742e-02 -1.69974838e+02] [-7.49873255e-02 -1.30681138e-03 9.97183631e-01 -1.67717322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864000000003 meters 0.027355376876542926 Centerline is valid? [True, True] Translation: X:233.04, Y:-169.99, Z:-16.77 [[ 7.25625225e-01 6.85906393e-01 5.47763978e-02 2.33040994e+02] [-6.84090395e-01 7.27688680e-01 -4.98950509e-02 -1.69994211e+02] [-7.40834990e-02 -1.26690011e-03 9.97251237e-01 -1.67724659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51864 meters 0.027469582696513145 Centerline is valid? [True, True] Translation: X:233.07, Y:-170.01, Z:-16.78 [[ 7.25371367e-01 6.86058543e-01 5.62143713e-02 2.33066887e+02] [-6.84142604e-01 7.27545211e-01 -5.12529251e-02 -1.70013316e+02] [-7.60610038e-02 -1.28124208e-03 9.97102343e-01 -1.67755172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters 0.02754931744760802 Centerline is valid? [True, True] Translation: X:233.09, Y:-170.04, Z:-16.78 [[ 7.25655653e-01 6.85667367e-01 5.73073803e-02 2.33092178e+02] [-6.83670882e-01 7.27913976e-01 -5.23007517e-02 -1.70035196e+02] [-7.75757617e-02 -1.22705115e-03 9.96985705e-01 -1.67783561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57864 meters 0.027390819159644732 Centerline is valid? [True, True] Translation: X:233.12, Y:-170.05, Z:-16.78 [[ 7.26953067e-01 6.84219063e-01 5.81679651e-02 2.33119623e+02] [-6.82152935e-01 7.29275790e-01 -5.31431667e-02 -1.70053894e+02] [-7.87820565e-02 -1.04686005e-03 9.96891314e-01 -1.67787927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters 0.027205756632272867 Centerline is valid? [True, True] Translation: X:233.15, Y:-170.07, Z:-16.78 [[ 7.27660010e-01 6.83479371e-01 5.80246480e-02 2.33145400e+02] [-6.81416844e-01 7.29969242e-01 -5.30659189e-02 -1.70073887e+02] [-7.86256692e-02 -9.25025450e-04 9.96903781e-01 -1.67809827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63864 meters 0.02716136193835565 Centerline is valid? [True, True] Translation: X:233.17, Y:-170.09, Z:-16.78 [[ 7.28630976e-01 6.82457718e-01 5.78650484e-02 2.33170277e+02] [-6.80399511e-01 7.30924661e-01 -5.29683481e-02 -1.70094606e+02] [-7.84436488e-02 -7.76971525e-04 9.96918247e-01 -1.67826784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters 0.02708585853988118 Centerline is valid? [True, True] Translation: X:233.20, Y:-170.11, Z:-16.79 [[ 7.31254410e-01 6.79617165e-01 5.82022097e-02 2.33195109e+02] [-6.77521967e-01 7.33566846e-01 -5.33260477e-02 -1.70114565e+02] [-7.89365087e-02 -4.38368018e-04 9.96879549e-01 -1.67851880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69864 meters 0.027111219957192793 Centerline is valid? [True, True] Translation: X:233.22, Y:-170.14, Z:-16.79 [[ 7.32382460e-01 6.78325918e-01 5.90752204e-02 2.33220209e+02] [-6.76158872e-01 7.34761104e-01 -5.41784132e-02 -1.70135409e+02] [-8.01567960e-02 -2.64914846e-04 9.96782232e-01 -1.67875473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters 0.02710701611342395 Centerline is valid? [True, True] Translation: X:233.25, Y:-170.16, Z:-16.79 [[ 7.34944378e-01 6.75562732e-01 5.89216148e-02 2.33245200e+02] [-6.73393524e-01 7.37302509e-01 -5.40941053e-02 -1.70157394e+02] [-7.99870160e-02 7.87247219e-05 9.96795902e-01 -1.67900248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75864 meters 0.027153686391811694 Centerline is valid? [True, True] Translation: X:233.27, Y:-170.18, Z:-16.79 [[ 7.36003346e-01 6.74415139e-01 5.88497696e-02 2.33268855e+02] [-6.72243046e-01 7.38352328e-01 -5.40844380e-02 -1.70180113e+02] [-7.99272282e-02 2.44978999e-04 9.96800671e-01 -1.67922799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters 0.02733973047980173 Centerline is valid? [True, True] Translation: X:233.29, Y:-170.20, Z:-16.79 [[ 7.36878245e-01 6.73478093e-01 5.86319848e-02 2.33292837e+02] [-6.71314659e-01 7.39207081e-01 -5.39399720e-02 -1.70202805e+02] [-7.96685678e-02 3.86681035e-04 9.96821333e-01 -1.67936720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81864 meters 0.027311089043401484 Centerline is valid? [True, True] Translation: X:233.32, Y:-170.23, Z:-16.80 [[ 7.37095808e-01 6.73194517e-01 5.91515955e-02 2.33316495e+02] [-6.70987217e-01 7.39465299e-01 -5.44722450e-02 -1.70225011e+02] [-8.04109690e-02 4.61299061e-04 9.96761688e-01 -1.67954585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters 0.02743208663873248 Centerline is valid? [True, True] Translation: X:233.34, Y:-170.25, Z:-16.80 [[ 7.36690146e-01 6.73614469e-01 5.94236916e-02 2.33340658e+02] [-6.71383942e-01 7.39082769e-01 -5.47746683e-02 -1.70248162e+02] [-8.08160357e-02 4.55846125e-04 9.96728930e-01 -1.67972963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87864 meters 0.02730872499968334 Centerline is valid? [True, True] Translation: X:233.36, Y:-170.27, Z:-16.80 [[ 7.35191802e-01 6.75267734e-01 5.92157255e-02 2.33361902e+02] [-6.73053626e-01 7.37572633e-01 -5.46390627e-02 -1.70273233e+02] [-8.05718946e-02 3.14832183e-04 9.96748750e-01 -1.67987267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters 0.0272054749326084 Centerline is valid? [True, True] Translation: X:233.38, Y:-170.30, Z:-16.80 [[ 7.34648228e-01 6.75934730e-01 5.83457004e-02 2.33384627e+02] [-6.73783213e-01 7.36961440e-01 -5.38889489e-02 -1.70295969e+02] [-7.94239435e-02 2.77067395e-04 9.96840890e-01 -1.68007085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93864 meters 0.027115040028211215 Centerline is valid? [True, True] Translation: X:233.41, Y:-170.32, Z:-16.80 [[ 7.34012482e-01 6.76693902e-01 5.75416333e-02 2.33407108e+02] [-6.74599946e-01 7.36264430e-01 -5.31940044e-02 -1.70318534e+02] [-7.83619163e-02 2.27480482e-04 9.96924951e-01 -1.68018924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters 0.027352720333875778 Centerline is valid? [True, True] Translation: X:233.43, Y:-170.34, Z:-16.80 [[ 7.34581022e-01 6.76010529e-01 5.83136963e-02 2.33428495e+02] [-6.73853831e-01 7.36891884e-01 -5.39570755e-02 -1.70343172e+02] [-7.94464406e-02 3.40936032e-04 9.96839078e-01 -1.68042888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99864 meters 0.027256352146438394 Centerline is valid? [True, True] Translation: X:233.45, Y:-170.37, Z:-16.81 [[ 7.36066783e-01 6.74356405e-01 5.87293017e-02 2.33450106e+02] [-6.72159578e-01 7.38405800e-01 -5.43909515e-02 -1.70367852e+02] [-8.00449435e-02 5.59910001e-04 9.96791098e-01 -1.68052025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters 0.027260425658123765 Centerline is valid? [True, True] Translation: X:233.47, Y:-170.39, Z:-16.81 [[ 7.36376566e-01 6.74034581e-01 5.85400464e-02 2.33473944e+02] [-6.71846819e-01 7.38699524e-01 -5.42666176e-02 -1.70391248e+02] [-7.98210813e-02 6.30721592e-04 9.96809007e-01 -1.68070670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05864 meters 0.027138944695862297 Centerline is valid? [True, True] Translation: X:233.50, Y:-170.41, Z:-16.81 [[ 7.36332599e-01 6.74145578e-01 5.78104020e-02 2.33496495e+02] [-6.72008286e-01 7.38598211e-01 -5.36427649e-02 -1.70413962e+02] [-7.88616923e-02 6.49847311e-04 9.96885355e-01 -1.68090104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters 0.027058116104895735 Centerline is valid? [True, True] Translation: X:233.52, Y:-170.44, Z:-16.81 [[ 7.35864343e-01 6.74667726e-01 5.76812664e-02 2.33519103e+02] [-6.72537626e-01 7.38121306e-01 -5.35731233e-02 -1.70438027e+02] [-7.87198290e-02 6.29729246e-04 9.96896580e-01 -1.68103291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11864 meters 0.027080085554827178 Centerline is valid? [True, True] Translation: X:233.54, Y:-170.46, Z:-16.81 [[ 7.34523803e-01 6.76153516e-01 5.73690304e-02 2.33539867e+02] [-6.74046866e-01 7.36760589e-01 -5.33353225e-02 -1.70463521e+02] [-7.83301065e-02 5.06648783e-04 9.96927348e-01 -1.68112115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14864 meters 0.026848819630511105 Centerline is valid? [True, True] Translation: X:233.56, Y:-170.49, Z:-16.81 [[ 7.33691860e-01 6.77119508e-01 5.66164875e-02 2.33561535e+02] [-6.75067073e-01 7.35872940e-01 -5.26826604e-02 -1.70486954e+02] [-7.73349983e-02 4.32912597e-04 9.97005071e-01 -1.68132344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17864000000003 meters 0.02690085695481153 Centerline is valid? [True, True] Translation: X:233.58, Y:-170.51, Z:-16.81 [[ 7.32706264e-01 6.78141420e-01 5.71467039e-02 2.33584830e+02] [-6.76049419e-01 7.34931345e-01 -5.32268919e-02 -1.70510822e+02] [-7.80942640e-02 3.65681141e-04 9.96945912e-01 -1.68146062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20864 meters 0.026864774360405748 Centerline is valid? [True, True] Translation: X:233.61, Y:-170.53, Z:-16.82 [[ 7.32382142e-01 6.78527084e-01 5.67220861e-02 2.33607682e+02] [-6.76462986e-01 7.34575296e-01 -5.28863287e-02 -1.70534300e+02] [-7.75514495e-02 3.62610924e-04 9.96988285e-01 -1.68158932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23864 meters 0.026861661593862145 Centerline is valid? [True, True] Translation: X:233.63, Y:-170.56, Z:-16.82 [[ 7.32361898e-01 6.78445009e-01 5.79518767e-02 2.33628257e+02] [-6.76285670e-01 7.34651069e-01 -5.40878810e-02 -1.70559493e+02] [-7.92700611e-02 4.19879382e-04 9.96853089e-01 -1.68174804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26864 meters 0.027114116437459715 Centerline is valid? [True, True] Translation: X:233.65, Y:-170.58, Z:-16.82 [[ 7.32244168e-01 6.78531072e-01 5.84299829e-02 2.33651179e+02] [-6.76331994e-01 7.34571562e-01 -5.45862091e-02 -1.70583185e+02] [-7.99594428e-02 4.52366424e-04 9.96798015e-01 -1.68199866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29864 meters 0.027043583105768643 Centerline is valid? [True, True] Translation: X:233.67, Y:-170.61, Z:-16.82 [[ 7.32063283e-01 6.78705319e-01 5.86723176e-02 2.33672733e+02] [-6.76484923e-01 7.34410561e-01 -5.48568847e-02 -1.70606690e+02] [-8.03212291e-02 4.67772838e-04 9.96768921e-01 -1.68220995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32864 meters 0.027043583105768643 Centerline is valid? [True, True] Translation: X:233.70, Y:-170.63, Z:-16.82 [[ 7.31710293e-01 6.79087182e-01 5.86570301e-02 2.33696702e+02] [-6.76866700e-01 7.34057490e-01 -5.48732268e-02 -1.70628667e+02] [-8.03213372e-02 4.48314449e-04 9.96768921e-01 -1.68238593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35864 meters 0.027135866517743547 Centerline is valid? [True, True] Translation: X:233.72, Y:-170.65, Z:-16.83 [[ 7.31677792e-01 6.79144199e-01 5.84017608e-02 2.33717621e+02] [-6.76938642e-01 7.34004717e-01 -5.46914101e-02 -1.70653976e+02] [-8.00105218e-02 4.82081555e-04 9.96793902e-01 -1.68256753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38864 meters 0.027024814768874132 Centerline is valid? [True, True] Translation: X:233.74, Y:-170.68, Z:-16.83 [[ 7.31440363e-01 6.79456864e-01 5.77353118e-02 2.33740183e+02] [-6.77298145e-01 7.33715298e-01 -5.41210177e-02 -1.70677180e+02] [-7.91341784e-02 4.82277248e-04 9.96863857e-01 -1.68268472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41864 meters 0.02687688180992624 Centerline is valid? [True, True] Translation: X:233.76, Y:-170.70, Z:-16.83 [[ 7.31520377e-01 6.79419456e-01 5.71589115e-02 2.33761220e+02] [-6.77299629e-01 7.33749912e-01 -5.36309446e-02 -1.70702460e+02] [-7.83782535e-02 5.18419189e-04 9.96923558e-01 -1.68284713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44864 meters 0.026769266761708974 Centerline is valid? [True, True] Translation: X:233.78, Y:-170.73, Z:-16.83 [[ 7.30601220e-01 6.80429223e-01 5.69028094e-02 2.33782938e+02] [-6.78327107e-01 7.32813668e-01 -5.34459032e-02 -1.70726845e+02] [-7.80653108e-02 4.48924022e-04 9.96948146e-01 -1.68303323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47864 meters 0.026747265621066958 Centerline is valid? [True, True] Translation: X:233.80, Y:-170.75, Z:-16.83 [[ 7.29758942e-01 6.81388171e-01 5.62320805e-02 2.33804439e+02] [-6.79334163e-01 7.31922138e-01 -5.28685084e-02 -1.70751167e+02] [-7.71814808e-02 3.80893411e-04 9.97016988e-01 -1.68319178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50864 meters 0.026675660140924026 Centerline is valid? [True, True] Translation: X:233.82, Y:-170.78, Z:-16.83 [[ 7.27054303e-01 6.84364784e-01 5.51079250e-02 2.33824186e+02] [-6.82397167e-01 7.29139790e-01 -5.18582029e-02 -1.70777563e+02] [-7.56713087e-02 9.82376676e-05 9.97132811e-01 -1.68339869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53864 meters 0.0265713230109301 Centerline is valid? [True, True] Translation: X:233.85, Y:-170.80, Z:-16.84 [[ 7.25258776e-01 6.86317114e-01 5.44841899e-02 2.33845790e+02] [-6.84395819e-01 7.27302423e-01 -5.13181024e-02 -1.70800998e+02] [-7.48469753e-02 -6.98476071e-05 9.97195029e-01 -1.68351665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56864 meters 0.026726656590720384 Centerline is valid? [True, True] Translation: X:233.87, Y:-170.83, Z:-16.84 [[ 7.21262382e-01 6.90434543e-01 5.55042175e-02 2.33866543e+02] [-6.88448910e-01 7.23394720e-01 -5.23275914e-02 -1.70825231e+02] [-7.62802346e-02 -4.69894822e-04 9.97086308e-01 -1.68368544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59864 meters 0.026955418489455492 Centerline is valid? [True, True] Translation: X:233.89, Y:-170.85, Z:-16.84 [[ 7.19093373e-01 6.92708324e-01 5.53163586e-02 2.33889803e+02] [-6.90739015e-01 7.21217531e-01 -5.22004509e-02 -1.70848497e+02] [-7.60548144e-02 -6.72168753e-04 9.97103412e-01 -1.68381763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62864 meters 0.02685492225292025 Centerline is valid? [True, True] Translation: X:233.91, Y:-170.87, Z:-16.84 [[ 7.17627082e-01 6.94269264e-01 5.47864896e-02 2.33913345e+02] [-6.92338636e-01 7.19714912e-01 -5.17460939e-02 -1.70871244e+02] [-7.53563760e-02 -7.96405123e-04 9.97156348e-01 -1.68392406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65864 meters 0.02689527598139007 Centerline is valid? [True, True] Translation: X:233.94, Y:-170.90, Z:-16.84 [[ 7.15100639e-01 6.96956132e-01 5.36956869e-02 2.33936239e+02] [-6.95106910e-01 7.17113018e-01 -5.07474462e-02 -1.70895647e+02] [-7.38746199e-02 -1.03471178e-03 9.97267000e-01 -1.68404915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68864 meters 0.026974923055799897 Centerline is valid? [True, True] Translation: X:233.96, Y:-170.92, Z:-16.84 [[ 7.13789087e-01 6.98296740e-01 5.37289772e-02 2.33959752e+02] [-6.96444970e-01 7.15807498e-01 -5.08333475e-02 -1.70918699e+02] [-7.39563656e-02 -1.13498726e-03 9.97260832e-01 -1.68421871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71864 meters 0.027005044470871868 Centerline is valid? [True, True] Translation: X:233.98, Y:-170.94, Z:-16.84 [[ 7.12924945e-01 6.99143441e-01 5.41892311e-02 2.33982899e+02] [-6.97258101e-01 7.14980436e-01 -5.13236470e-02 -1.70941629e+02] [-7.46268312e-02 -1.19397211e-03 9.97210815e-01 -1.68439179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74864 meters 0.02704978584972522 Centerline is valid? [True, True] Translation: X:234.01, Y:-170.96, Z:-16.85 [[ 7.11953788e-01 7.00083454e-01 5.48175237e-02 2.34006915e+02] [-6.98152775e-01 7.14059905e-01 -5.19726385e-02 -1.70963076e+02] [-7.55281800e-02 -1.26888942e-03 9.97142860e-01 -1.68459150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77864 meters 0.027076495122994596 Centerline is valid? [True, True] Translation: X:234.03, Y:-170.99, Z:-16.85 [[ 7.11470318e-01 7.00616434e-01 5.42825842e-02 2.34031755e+02] [-6.98721132e-01 7.13536952e-01 -5.15150188e-02 -1.70985520e+02] [-7.48248984e-02 -1.27698184e-03 9.97195870e-01 -1.68477854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80864 meters 0.02723357140033927 Centerline is valid? [True, True] Translation: X:234.06, Y:-171.01, Z:-16.85 [[ 7.09811122e-01 7.02256652e-01 5.48066138e-02 2.34055827e+02] [-7.00325310e-01 7.11922442e-01 -5.20662738e-02 -1.71007297e+02] [-7.55819455e-02 -1.42523858e-03 9.97138575e-01 -1.68500419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83864 meters 0.027195913392249204 Centerline is valid? [True, True] Translation: X:234.08, Y:-171.03, Z:-16.85 [[ 7.08957918e-01 7.03123897e-01 5.47307613e-02 2.34080564e+02] [-7.01196670e-01 7.11065817e-01 -5.20445406e-02 -1.71029338e+02] [-7.55109337e-02 -1.47963845e-03 9.97143876e-01 -1.68509293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86864 meters 0.02733505854101668 Centerline is valid? [True, True] Translation: X:234.11, Y:-171.05, Z:-16.85 [[ 7.08322506e-01 7.03769925e-01 5.46545561e-02 2.34105792e+02] [-7.01845785e-01 7.10426366e-01 -5.20276116e-02 -1.71050751e+02] [-7.54435060e-02 -1.50674161e-03 9.97148939e-01 -1.68523950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89864 meters 0.027088086802324444 Centerline is valid? [True, True] Translation: X:234.13, Y:-171.07, Z:-16.85 [[ 7.08678070e-01 7.03437522e-01 5.43235336e-02 2.34131581e+02] [-7.01531675e-01 7.10755671e-01 -5.17656851e-02 -1.71069984e+02] [-7.50246848e-02 -1.42447367e-03 9.97180659e-01 -1.68544875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864000000003 meters 0.026971257006399803 Centerline is valid? [True, True] Translation: X:234.16, Y:-171.09, Z:-16.86 [[ 7.09371642e-01 7.02741730e-01 5.42764689e-02 2.34155678e+02] [-7.00833537e-01 7.11443836e-01 -5.17689365e-02 -1.71091184e+02] [-7.49948512e-02 -1.31535421e-03 9.97183053e-01 -1.68570445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95864 meters 0.02677130537387617 Centerline is valid? [True, True] Translation: X:234.18, Y:-171.11, Z:-16.86 [[ 7.11750243e-01 7.00369235e-01 5.38007932e-02 2.34179637e+02] [-6.98484059e-01 7.13780001e-01 -5.13627209e-02 -1.71113148e+02] [-7.43747998e-02 -1.02156728e-03 9.97229836e-01 -1.68591067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters 0.02666129157464588 Centerline is valid? [True, True] Translation: X:234.20, Y:-171.14, Z:-16.86 [[ 7.12672002e-01 6.99410185e-01 5.40741204e-02 2.34203590e+02] [-6.97499229e-01 7.14719946e-01 -5.16742234e-02 -1.71135182e+02] [-7.47893305e-02 -8.89885014e-04 9.97198959e-01 -1.68614515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01864 meters 0.026543349013963685 Centerline is valid? [True, True] Translation: X:234.23, Y:-171.16, Z:-16.86 [[ 7.14990670e-01 6.96973610e-01 5.49193053e-02 2.34228094e+02] [-6.94990816e-01 7.17096523e-01 -5.25389572e-02 -1.71157297e+02] [-7.60007095e-02 -6.03548687e-04 9.97107581e-01 -1.68628988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters 0.02639836890370701 Centerline is valid? [True, True] Translation: X:234.25, Y:-171.18, Z:-16.86 [[ 7.16182359e-01 6.95725342e-01 5.52184557e-02 2.34252171e+02] [-6.93712811e-01 7.18307776e-01 -5.28817016e-02 -1.71179978e+02] [-7.64549860e-02 -4.32808361e-04 9.97072940e-01 -1.68646121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07864 meters 0.026483288650210046 Centerline is valid? [True, True] Translation: X:234.27, Y:-171.20, Z:-16.87 [[ 7.17493018e-01 6.94315715e-01 5.59415583e-02 2.34274913e+02] [-6.92242227e-01 7.19670497e-01 -5.36197262e-02 -1.71202820e+02] [-7.74885076e-02 -2.53329671e-04 9.96993213e-01 -1.68668798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters 0.026385914979227418 Centerline is valid? [True, True] Translation: X:234.30, Y:-171.23, Z:-16.87 [[ 7.20422370e-01 6.91376781e-01 5.46786648e-02 2.34296408e+02] [-6.89385497e-01 7.22494388e-01 -5.24356349e-02 -1.71227048e+02] [-7.57578089e-02 8.11258320e-05 9.97126245e-01 -1.68700884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13864 meters 0.026322771596009202 Centerline is valid? [True, True] Translation: X:234.32, Y:-171.25, Z:-16.87 [[ 7.21845368e-01 6.89881565e-01 5.47968117e-02 2.34319347e+02] [-6.87873421e-01 7.23922199e-01 -5.26004504e-02 -1.71251073e+02] [-7.59567095e-02 2.76121147e-04 9.97111078e-01 -1.68719284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters 0.026273613283936213 Centerline is valid? [True, True] Translation: X:234.34, Y:-171.28, Z:-16.87 [[ 7.23529027e-01 6.88146869e-01 5.44025158e-02 2.34339783e+02] [-6.86158502e-01 7.25571252e-01 -5.22768511e-02 -1.71277427e+02] [-7.54470529e-02 4.95070404e-04 9.97149686e-01 -1.68729063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19864 meters 0.02640930458278031 Centerline is valid? [True, True] Translation: X:234.36, Y:-171.30, Z:-16.87 [[ 7.23388806e-01 6.88229316e-01 5.52181490e-02 2.34361300e+02] [-6.86176865e-01 7.25493022e-01 -5.31148413e-02 -1.71301666e+02] [-7.66155726e-02 5.33265322e-04 9.97060565e-01 -1.68742427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters 0.026492819990173628 Centerline is valid? [True, True] Translation: X:234.38, Y:-171.33, Z:-16.88 [[ 7.22436344e-01 6.89212908e-01 5.54192810e-02 2.34381490e+02] [-6.87144396e-01 7.24558727e-01 -5.33594475e-02 -1.71328765e+02] [-7.69305437e-02 4.67755814e-04 9.97036345e-01 -1.68756897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25864 meters 0.026517352616501524 Centerline is valid? [True, True] Translation: X:234.40, Y:-171.35, Z:-16.88 [[ 7.21435454e-01 6.90225779e-01 5.58503341e-02 2.34403832e+02] [-6.88123501e-01 7.23593955e-01 -5.38315497e-02 -1.71353309e+02] [-7.75688874e-02 4.04061077e-04 9.96986913e-01 -1.68777119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters 0.0264885650805421 Centerline is valid? [True, True] Translation: X:234.43, Y:-171.38, Z:-16.88 [[ 7.20162528e-01 6.91661780e-01 5.44969244e-02 2.34425468e+02] [-6.89660420e-01 7.22221505e-01 -5.25794826e-02 -1.71377226e+02] [-7.57260693e-02 2.81401296e-04 9.97128619e-01 -1.68785802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31864 meters 0.02658023377877008 Centerline is valid? [True, True] Translation: X:234.44, Y:-171.40, Z:-16.88 [[ 7.17961933e-01 6.94009417e-01 5.36804504e-02 2.34444693e+02] [-6.92070650e-01 7.19965919e-01 -5.18390944e-02 -1.71403069e+02] [-7.46249145e-02 6.78322300e-05 9.97211671e-01 -1.68795989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters 0.026594188651336302 Centerline is valid? [True, True] Translation: X:234.47, Y:-171.43, Z:-16.88 [[ 7.16683169e-01 6.95277744e-01 5.43515748e-02 2.34467006e+02] [-6.93289861e-01 7.18741162e-01 -5.25386540e-02 -1.71427045e+02] [-7.55936709e-02 -2.78267248e-05 9.97138705e-01 -1.68812994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37864 meters 0.026771253947508924 Centerline is valid? [True, True] Translation: X:234.49, Y:-171.45, Z:-16.88 [[ 7.15479485e-01 6.96507837e-01 5.44604322e-02 2.34488346e+02] [-6.94511232e-01 7.17549175e-01 -5.27003775e-02 -1.71452472e+02] [-7.57842641e-02 -1.17342874e-04 9.97124231e-01 -1.68836876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters 0.02658852873974299 Centerline is valid? [True, True] Translation: X:234.51, Y:-171.48, Z:-16.88 [[ 7.14203291e-01 6.97859255e-01 5.39084352e-02 2.34511112e+02] [-6.95902627e-01 7.16234887e-01 -5.22218476e-02 -1.71476683e+02] [-7.50546017e-02 -2.18006220e-04 9.97179402e-01 -1.68847198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43864 meters 0.026779446420184025 Centerline is valid? [True, True] Translation: X:234.53, Y:-171.50, Z:-16.89 [[ 7.12219286e-01 6.99883791e-01 5.39107432e-02 2.34533272e+02] [-6.97928548e-01 7.14256625e-01 -5.22801654e-02 -1.71500640e+02] [-7.50961459e-02 -3.90904685e-04 9.97176221e-01 -1.68863592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters 0.027076747855163272 Centerline is valid? [True, True] Translation: X:234.55, Y:-171.52, Z:-16.89 [[ 7.09237158e-01 7.02906892e-01 5.38939235e-02 2.34554565e+02] [-7.00957494e-01 7.11281555e-01 -5.23176912e-02 -1.71524266e+02] [-7.51082194e-02 -6.71698985e-04 9.97175162e-01 -1.68883857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49864 meters 0.027263145415397573 Centerline is valid? [True, True] Translation: X:234.58, Y:-171.55, Z:-16.89 [[ 7.06749792e-01 7.05448240e-01 5.33620845e-02 2.34577947e+02] [-7.03540661e-01 7.08760875e-01 -5.18513298e-02 -1.71547066e+02] [-7.43993870e-02 -8.96479677e-04 9.97228122e-01 -1.68908306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters 0.027874658068555755 Centerline is valid? [True, True] Translation: X:234.60, Y:-171.57, Z:-16.89 [[ 7.02147974e-01 7.10116456e-01 5.21808509e-02 2.34601503e+02] [-7.08301516e-01 7.04083000e-01 -5.07552033e-02 -1.71569026e+02] [-7.27817552e-02 -1.32211262e-03 9.97347015e-01 -1.68913091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55864 meters 0.027987350489680308 Centerline is valid? [True, True] Translation: X:234.63, Y:-171.59, Z:-16.89 [[ 6.99801317e-01 7.12454614e-01 5.18318327e-02 2.34625735e+02] [-7.10666906e-01 7.01716544e-01 -5.04622797e-02 -1.71590213e+02] [-7.23233385e-02 -1.52159838e-03 9.97380078e-01 -1.68936984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters 0.02839512700867922 Centerline is valid? [True, True] Translation: X:234.65, Y:-171.61, Z:-16.90 [[ 6.97685677e-01 7.14474316e-01 5.25466295e-02 2.34649820e+02] [-7.12639090e-01 6.99659552e-01 -5.12058452e-02 -1.71611394e+02] [-7.33500125e-02 -1.72119751e-03 9.97304774e-01 -1.68950345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61864 meters 0.02873612563545261 Centerline is valid? [True, True] Translation: X:234.68, Y:-171.63, Z:-16.90 [[ 6.95586219e-01 7.16504776e-01 5.27325066e-02 2.34675441e+02] [-7.14658822e-01 6.97579575e-01 -5.14344700e-02 -1.71631020e+02] [-7.36381629e-02 -1.90864254e-03 9.97283199e-01 -1.68970992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64864 meters 0.028949595335800556 Centerline is valid? [True, True] Translation: X:234.70, Y:-171.65, Z:-16.90 [[ 6.94934010e-01 7.17187915e-01 5.20405268e-02 2.34700668e+02] [-7.15388580e-01 6.96877179e-01 -5.08072550e-02 -1.71652783e+02] [-7.27042048e-02 -1.92150911e-03 9.97351696e-01 -1.68986739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67864000000003 meters 0.02874025270727463 Centerline is valid? [True, True] Translation: X:234.73, Y:-171.67, Z:-16.90 [[ 6.95544087e-01 7.16636772e-01 5.14797123e-02 2.34726930e+02] [-7.14870908e-01 6.97444240e-01 -5.03102151e-02 -1.71672178e+02] [-7.19583789e-02 -1.80837603e-03 9.97405996e-01 -1.69006944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70864 meters 0.028829761373604892 Centerline is valid? [True, True] Translation: X:234.75, Y:-171.69, Z:-16.90 [[ 6.95825599e-01 7.16344105e-01 5.17480371e-02 2.34752594e+02] [-7.14555477e-01 6.97744973e-01 -5.06203810e-02 -1.71693393e+02] [-7.23685443e-02 -1.75388639e-03 9.97376417e-01 -1.69028762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73864 meters 0.028825885657922507 Centerline is valid? [True, True] Translation: X:234.78, Y:-171.71, Z:-16.90 [[ 6.95652384e-01 7.16506535e-01 5.18280463e-02 2.34778435e+02] [-7.14708936e-01 6.97578218e-01 -5.07520069e-02 -1.71714080e+02] [-7.25182609e-02 -1.73621326e-03 9.97365574e-01 -1.69046591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76864 meters 0.029042109527095072 Centerline is valid? [True, True] Translation: X:234.80, Y:-171.73, Z:-16.91 [[ 6.95203542e-01 7.16931327e-01 5.19760217e-02 2.34804558e+02] [-7.15120705e-01 6.97141604e-01 -5.09505799e-02 -1.71734120e+02] [-7.27627140e-02 -1.74810566e-03 9.97347749e-01 -1.69080668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79864 meters 0.028853304272764085 Centerline is valid? [True, True] Translation: X:234.83, Y:-171.76, Z:-16.91 [[ 6.94790915e-01 7.17418578e-01 5.07559682e-02 2.34828901e+02] [-7.15689802e-01 6.96640236e-01 -4.98044978e-02 -1.71755572e+02] [-7.10893216e-02 -1.72181628e-03 9.97468468e-01 -1.69086511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82864 meters 0.028690635856215597 Centerline is valid? [True, True] Translation: X:234.85, Y:-171.78, Z:-16.91 [[ 6.94889992e-01 7.17406894e-01 4.95504478e-02 2.34853399e+02] [-7.15756284e-01 6.96652445e-01 -4.86653244e-02 -1.71776040e+02] [-6.94322798e-02 -1.64899747e-03 9.97585304e-01 -1.69096553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85864 meters 0.028885391353231843 Centerline is valid? [True, True] Translation: X:234.88, Y:-171.80, Z:-16.91 [[ 6.94535095e-01 7.17736013e-01 4.97596045e-02 2.34877179e+02] [-7.16069313e-01 6.96313336e-01 -4.89129556e-02 -1.71798165e+02] [-6.97548660e-02 -1.65956156e-03 9.97562782e-01 -1.69115442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88864 meters 0.028776528990884422 Centerline is valid? [True, True] Translation: X:234.90, Y:-171.82, Z:-16.91 [[ 6.94251239e-01 7.17964415e-01 5.04213810e-02 2.34902755e+02] [-7.16250957e-01 6.96077784e-01 -4.96012632e-02 -1.71819758e+02] [-7.07091450e-02 -1.67862392e-03 9.97495563e-01 -1.69117737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91864 meters 0.028998364237461657 Centerline is valid? [True, True] Translation: X:234.93, Y:-171.84, Z:-16.91 [[ 6.93272983e-01 7.18896132e-01 5.06055600e-02 2.34929902e+02] [-7.17168949e-01 6.95115320e-01 -4.98336295e-02 -1.71838601e+02] [-7.10019035e-02 -1.74442732e-03 9.97474655e-01 -1.69122704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94864 meters 0.028893134533236806 Centerline is valid? [True, True] Translation: X:234.95, Y:-171.86, Z:-16.91 [[ 6.93410928e-01 7.18698210e-01 5.15186233e-02 2.34954998e+02] [-7.16903939e-01 6.95320014e-01 -5.07821001e-02 -1.71859930e+02] [-7.23189343e-02 -1.72104086e-03 9.97380073e-01 -1.69142342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97864 meters 0.028945885378984418 Centerline is valid? [True, True] Translation: X:234.98, Y:-171.88, Z:-16.92 [[ 6.93336215e-01 7.18736902e-01 5.19822869e-02 2.34979094e+02] [-7.16906250e-01 6.95280064e-01 -5.12938739e-02 -1.71882330e+02] [-7.30090478e-02 -1.70252601e-03 9.97329825e-01 -1.69172731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00864 meters 0.028831974881186724 Centerline is valid? [True, True] Translation: X:235.00, Y:-171.90, Z:-16.92 [[ 6.94345232e-01 7.17738771e-01 5.23044477e-02 2.35003513e+02] [-7.15878583e-01 6.96310700e-01 -5.16649144e-02 -1.71903895e+02] [-7.35020588e-02 -1.57034698e-03 9.97293829e-01 -1.69183901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03864 meters 0.028558466422877935 Centerline is valid? [True, True] Translation: X:235.03, Y:-171.92, Z:-16.92 [[ 6.95153392e-01 7.16925251e-01 5.27251997e-02 2.35028724e+02] [-7.15029023e-01 6.97148511e-01 -5.21291608e-02 -1.71924535e+02] [-7.41300062e-02 -1.46228508e-03 9.97247514e-01 -1.69194351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06864 meters 0.028379573421976192 Centerline is valid? [True, True] Translation: X:235.06, Y:-171.94, Z:-16.92 [[ 6.96689513e-01 7.15509011e-01 5.16776268e-02 2.35055580e+02] [-7.13680174e-01 6.98602381e-01 -5.11402240e-02 -1.71942711e+02] [-7.26934042e-02 -1.25243993e-03 9.97353548e-01 -1.69197546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09864 meters 0.028411348899060603 Centerline is valid? [True, True] Translation: X:235.08, Y:-171.97, Z:-16.92 [[ 6.96939573e-01 7.15231653e-01 5.21432000e-02 2.35079647e+02] [-7.13365193e-01 6.98886431e-01 -5.16513058e-02 -1.71965231e+02] [-7.33848238e-02 -1.19930495e-03 9.97302978e-01 -1.69225509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12864 meters 0.028416871265450144 Centerline is valid? [True, True] Translation: X:235.11, Y:-171.99, Z:-16.92 [[ 6.97512028e-01 7.14720688e-01 5.14908576e-02 2.35105020e+02] [-7.12895510e-01 6.99409136e-01 -5.10573404e-02 -1.71985397e+02] [-7.25049137e-02 -1.09449215e-03 9.97367455e-01 -1.69237284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15864 meters 0.02843509623070101 Centerline is valid? [True, True] Translation: X:235.13, Y:-172.01, Z:-16.93 [[ 6.97024457e-01 7.15204769e-01 5.13716302e-02 2.35130680e+02] [-7.13385808e-01 6.98914094e-01 -5.09880166e-02 -1.72006764e+02] [-7.23712290e-02 -1.10789732e-03 9.97377149e-01 -1.69251757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18864 meters 0.028506885255127287 Centerline is valid? [True, True] Translation: X:235.15, Y:-172.03, Z:-16.93 [[ 6.96618323e-01 7.15537770e-01 5.22361179e-02 2.35154850e+02] [-7.13653958e-01 6.98573143e-01 -5.18998303e-02 -1.72028395e+02] [-7.36270378e-02 -1.12413953e-03 9.97285213e-01 -1.69280447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21864 meters 0.028506885255127287 Centerline is valid? [True, True] Translation: X:235.18, Y:-172.05, Z:-16.93 [[ 6.96240819e-01 7.15906920e-01 5.22111436e-02 2.35178128e+02] [-7.14022261e-01 6.98194823e-01 -5.19249454e-02 -1.72051090e+02] [-7.36269779e-02 -1.12765226e-03 9.97285213e-01 -1.69298034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24864 meters 0.028628705495664392 Centerline is valid? [True, True] Translation: X:235.20, Y:-172.07, Z:-16.93 [[ 6.95804211e-01 7.16410706e-01 5.11096903e-02 2.35202082e+02] [-7.14602479e-01 6.97677895e-01 -5.08807622e-02 -1.72073068e+02] [-7.21096239e-02 -1.12006273e-03 9.97396084e-01 -1.69298242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27864 meters 0.028590281007857696 Centerline is valid? [True, True] Translation: X:235.23, Y:-172.10, Z:-16.93 [[ 6.95172419e-01 7.16974970e-01 5.17899579e-02 2.35226831e+02] [-7.15116127e-01 6.97097947e-01 -5.16079125e-02 -1.72095212e+02] [-7.31042548e-02 -1.15943671e-03 9.97323630e-01 -1.69309270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30864 meters 0.02846292457161155 Centerline is valid? [True, True] Translation: X:235.25, Y:-172.11, Z:-16.93 [[ 6.94577112e-01 7.17653548e-01 5.03589102e-02 2.35253709e+02] [-7.15894316e-01 6.96399336e-01 -5.02323897e-02 -1.72114510e+02] [-7.11193644e-02 -1.16138943e-03 9.97467136e-01 -1.69321524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33864 meters 0.028542671016441784 Centerline is valid? [True, True] Translation: X:235.28, Y:-172.14, Z:-16.93 [[ 6.94051162e-01 7.18208159e-01 4.96993408e-02 2.35278626e+02] [-7.16492872e-01 6.95827330e-01 -4.96214861e-02 -1.72136598e+02] [-7.02207157e-02 -1.16937333e-03 9.97530793e-01 -1.69335485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36864 meters 0.028498613998454145 Centerline is valid? [True, True] Translation: X:235.30, Y:-172.16, Z:-16.94 [[ 6.93278415e-01 7.18989919e-01 4.91786103e-02 2.35302818e+02] [-7.17308784e-01 6.95019466e-01 -4.91533258e-02 -1.72158427e+02] [-6.95208373e-02 -1.19930933e-03 9.97579779e-01 -1.69351621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39864 meters 0.0286621060347975 Centerline is valid? [True, True] Translation: X:235.28, Y:-172.33, Z:-15.31 [[ 7.66849110e-01 -6.41283958e-01 -2.64069591e-02 2.35279242e+02] [-6.40688854e-01 -7.67290171e-01 2.79926174e-02 -1.72333282e+02] [-3.82130167e-02 -4.54746942e-03 -9.99259269e-01 -1.53108568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864000000003 meters 0.02867075448244716 Centerline is valid? [True, True] Translation: X:235.33, Y:-172.19, Z:-16.94 [[ 7.40538237e-01 6.69855338e-01 5.38232842e-02 2.35331808e+02] [-6.68229821e-01 7.42490288e-01 -4.66591677e-02 -1.72187471e+02] [-7.12181583e-02 -1.41342585e-03 9.97459762e-01 -1.69360432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45864 meters 0.02870537070435657 Centerline is valid? [True, True] Translation: X:235.36, Y:-172.21, Z:-16.94 [[ 7.39341297e-01 6.71209488e-01 5.34066516e-02 2.35358284e+02] [-6.69609430e-01 7.41266199e-01 -4.63425688e-02 -1.72207949e+02] [-7.06941175e-02 -1.49862260e-03 9.97496915e-01 -1.69372142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters 0.028839191619155245 Centerline is valid? [True, True] Translation: X:235.38, Y:-172.23, Z:-16.94 [[ 7.38201133e-01 6.72504072e-01 5.28900783e-02 2.35384619e+02] [-6.70934721e-01 7.40091756e-01 -4.59433614e-02 -1.72227712e+02] [-7.00406086e-02 -1.57034850e-03 9.97542905e-01 -1.69376667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51864 meters 0.028944251608537835 Centerline is valid? [True, True] Translation: X:235.42, Y:-172.24, Z:-16.94 [[ 7.36674481e-01 6.74259661e-01 5.18133034e-02 2.35415695e+02] [-6.72754666e-01 7.38492473e-01 -4.50558112e-02 -1.72242282e+02] [-6.86430505e-02 -1.66617529e-03 9.97639893e-01 -1.69384694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters 0.02893936794887048 Centerline is valid? [True, True] Translation: X:235.44, Y:-172.26, Z:-16.94 [[ 7.36535150e-01 6.74483964e-01 5.08660523e-02 2.35443217e+02] [-6.73031015e-01 7.38287715e-01 -4.42775670e-02 -1.72259923e+02] [-6.74182904e-02 -1.62244637e-03 9.97723480e-01 -1.69399162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57864 meters 0.02894428238064501 Centerline is valid? [True, True] Translation: X:235.47, Y:-172.28, Z:-16.94 [[ 7.37490364e-01 6.73477024e-01 5.03652815e-02 2.35471379e+02] [-6.72047505e-01 7.39206665e-01 -4.38823114e-02 -1.72276014e+02] [-6.67840802e-02 -1.48507999e-03 9.97766346e-01 -1.69409956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters 0.028623755406693683 Centerline is valid? [True, True] Translation: X:235.50, Y:-172.29, Z:-16.94 [[ 7.38202100e-01 6.72605662e-01 5.15682310e-02 2.35499260e+02] [-6.71101809e-01 7.39999759e-01 -4.49746486e-02 -1.72294717e+02] [-6.84106818e-02 -1.40715309e-03 9.97656253e-01 -1.69428416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63864 meters 0.028409825770555393 Centerline is valid? [True, True] Translation: X:235.53, Y:-172.31, Z:-16.94 [[ 7.39067831e-01 6.71699321e-01 5.09780721e-02 2.35527343e+02] [-6.70224442e-01 7.40822786e-01 -4.45061550e-02 -1.72311922e+02] [-6.76604715e-02 -1.27368244e-03 9.97707592e-01 -1.69438178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters 0.0279556077278687 Centerline is valid? [True, True] Translation: X:235.56, Y:-172.33, Z:-16.94 [[ 7.40880694e-01 6.69668472e-01 5.13803001e-02 2.35557550e+02] [-6.68162439e-01 7.42659412e-01 -4.48993575e-02 -1.72326661e+02] [-6.82257476e-02 -1.06531955e-03 9.97669340e-01 -1.69447099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69864 meters 0.027824945880827626 Centerline is valid? [True, True] Translation: X:235.58, Y:-172.35, Z:-16.95 [[ 7.42518966e-01 6.67838433e-01 5.15501013e-02 2.35583874e+02] [-6.66315507e-01 7.44305761e-01 -4.50841343e-02 -1.72346090e+02] [-6.84779549e-02 -8.72807082e-04 9.97652248e-01 -1.69469616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters 0.027484263355956835 Centerline is valid? [True, True] Translation: X:235.61, Y:-172.36, Z:-16.95 [[ 7.45651801e-01 6.64253295e-01 5.26398219e-02 2.35613553e+02] [-6.62654721e-01 7.47507371e-01 -4.60592010e-02 -1.72361415e+02] [-6.99436309e-02 -5.37900365e-04 9.97550800e-01 -1.69483839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75864 meters 0.027044336797619285 Centerline is valid? [True, True] Translation: X:235.64, Y:-172.38, Z:-16.95 [[ 7.47399153e-01 6.62255992e-01 5.30236423e-02 2.35640554e+02] [-6.60625786e-01 7.49277585e-01 -4.64399781e-02 -1.72380369e+02] [-7.04845804e-02 -3.19585069e-04 9.97512818e-01 -1.69503698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters 0.027002072114217762 Centerline is valid? [True, True] Translation: X:235.67, Y:-172.40, Z:-16.95 [[ 7.49144377e-01 6.60230026e-01 5.36564499e-02 2.35666789e+02] [-6.58551801e-01 7.51063449e-01 -4.70448776e-02 -1.72400740e+02] [-7.13598390e-02 -9.21462128e-05 9.97450633e-01 -1.69520902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81864 meters 0.02676902205732311 Centerline is valid? [True, True] Translation: X:235.69, Y:-172.42, Z:-16.95 [[ 7.51975907e-01 6.57093041e-01 5.25449473e-02 2.35693014e+02] [-6.55472630e-01 7.53809444e-01 -4.61189018e-02 -1.72421188e+02] [-6.99132870e-02 2.38528192e-04 9.97553044e-01 -1.69534815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters 0.02662142994892748 Centerline is valid? [True, True] Translation: X:235.72, Y:-172.44, Z:-16.95 [[ 7.53448728e-01 6.55437798e-01 5.21182025e-02 2.35719546e+02] [-6.53836353e-01 7.55249040e-01 -4.57920512e-02 -1.72441433e+02] [-6.93760636e-02 4.25187320e-04 9.97590488e-01 -1.69546680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87864 meters 0.02663633460405917 Centerline is valid? [True, True] Translation: X:235.75, Y:-172.46, Z:-16.96 [[ 7.54836646e-01 6.53869291e-01 5.17357639e-02 2.35745700e+02] [-6.52284347e-01 7.56607289e-01 -4.55031983e-02 -1.72461367e+02] [-6.88968001e-02 6.01052596e-04 9.97623611e-01 -1.69568012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters 0.026588470999150696 Centerline is valid? [True, True] Translation: X:235.77, Y:-172.48, Z:-16.96 [[ 7.55313027e-01 6.53347055e-01 5.13795441e-02 2.35770556e+02] [-6.51779475e-01 7.57058230e-01 -4.52366141e-02 -1.72482494e+02] [-6.84525153e-02 6.79671603e-04 9.97654144e-01 -1.69585300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93864 meters 0.026503441092133397 Centerline is valid? [True, True] Translation: X:235.80, Y:-172.50, Z:-16.96 [[ 7.55871909e-01 6.52713755e-01 5.12094848e-02 2.35795080e+02] [-6.51152339e-01 7.57604229e-01 -4.51271877e-02 -1.72503877e+02] [-6.82516584e-02 7.65197705e-04 9.97667843e-01 -1.69604025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters 0.026477224128870467 Centerline is valid? [True, True] Translation: X:235.82, Y:-172.52, Z:-16.96 [[ 7.56801799e-01 6.51630066e-01 5.12766482e-02 2.35819645e+02] [-6.50060936e-01 7.58536412e-01 -4.52027806e-02 -1.72524944e+02] [-6.83506957e-02 8.76599752e-04 9.97660971e-01 -1.69623355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99864 meters 0.0266064643859592 Centerline is valid? [True, True] Translation: X:235.84, Y:-172.55, Z:-16.96 [[ 7.57476683e-01 6.50747518e-01 5.25046894e-02 2.35843299e+02] [-6.49098788e-01 7.59293540e-01 -4.63042558e-02 -1.72546381e+02] [-6.99988511e-02 9.93663821e-04 9.97546577e-01 -1.69643450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters 0.02696463143825593 Centerline is valid? [True, True] Translation: X:235.86, Y:-172.57, Z:-16.97 [[ 7.59665275e-01 6.48123335e-01 5.33367777e-02 2.35863590e+02] [-6.46412411e-01 7.61534297e-01 -4.70798256e-02 -1.72571213e+02] [-7.11313191e-02 1.28735367e-03 9.97466129e-01 -1.69662885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05864 meters 0.027210367174928078 Centerline is valid? [True, True] Translation: X:235.89, Y:-172.59, Z:-16.97 [[ 7.60292131e-01 6.47369523e-01 5.35590880e-02 2.35885850e+02] [-6.45639571e-01 7.62175018e-01 -4.73158195e-02 -1.72594428e+02] [-7.14522184e-02 1.39397866e-03 9.97443050e-01 -1.69686315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters 0.02724160757765096 Centerline is valid? [True, True] Translation: X:235.91, Y:-172.62, Z:-16.97 [[ 7.61076851e-01 6.46513324e-01 5.27498620e-02 2.35909359e+02] [-6.44830313e-01 7.62901251e-01 -4.66427661e-02 -1.72617804e+02] [-7.03981055e-02 1.48401955e-03 9.97517872e-01 -1.69699381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11864 meters 0.027204862367161877 Centerline is valid? [True, True] Translation: X:235.93, Y:-172.64, Z:-16.97 [[ 7.61422803e-01 6.46315648e-01 5.01138496e-02 2.35929502e+02] [-6.44793622e-01 7.63068775e-01 -4.43534630e-02 -1.72643043e+02] [-6.69066510e-02 1.45864746e-03 9.97758173e-01 -1.69719214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14864 meters 0.02695919210989499 Centerline is valid? [True, True] Translation: X:235.95, Y:-172.67, Z:-16.97 [[ 7.60523408e-01 6.47343366e-01 5.05045795e-02 2.35950819e+02] [-6.45796998e-01 7.62197204e-01 -4.47399059e-02 -1.72668259e+02] [-6.74565305e-02 1.41003988e-03 9.97721218e-01 -1.69727985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17864000000003 meters 0.026491594969584392 Centerline is valid? [True, True] Translation: X:235.97, Y:-172.70, Z:-16.97 [[ 7.56795590e-01 6.51601364e-01 5.17310123e-02 2.35968406e+02] [-6.49985614e-01 7.58560790e-01 -4.58718802e-02 -1.72697193e+02] [-6.91312972e-02 1.09122279e-03 9.97606973e-01 -1.69741515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20864 meters 0.0260242325115172 Centerline is valid? [True, True] Translation: X:235.99, Y:-172.72, Z:-16.97 [[ 7.54158319e-01 6.54713009e-01 5.09519956e-02 2.35990042e+02] [-6.53149979e-01 7.55877104e-01 -4.52206619e-02 -1.72720769e+02] [-6.81200025e-02 8.24243486e-04 9.97676794e-01 -1.69746268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23864 meters 0.025634060395139067 Centerline is valid? [True, True] Translation: X:236.01, Y:-172.74, Z:-16.98 [[ 7.51282977e-01 6.58028050e-01 5.07244992e-02 2.36012068e+02] [-6.56483741e-01 7.52993214e-01 -4.50590408e-02 -1.72744511e+02] [-6.78453165e-02 5.52281321e-04 9.97695699e-01 -1.69771865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26864 meters 0.02580063359054354 Centerline is valid? [True, True] Translation: X:236.03, Y:-172.77, Z:-16.98 [[ 7.46535263e-01 6.63336729e-01 5.16670608e-02 2.36031293e+02] [-6.61744016e-01 7.48321036e-01 -4.59400011e-02 -1.72772733e+02] [-6.91372386e-02 1.05462500e-04 9.97607153e-01 -1.69808262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29864 meters 0.025830173983695304 Centerline is valid? [True, True] Translation: X:236.05, Y:-172.80, Z:-16.98 [[ 7.43818995e-01 6.66334485e-01 5.22652552e-02 2.36053532e+02] [-6.64708541e-01 7.45652959e-01 -4.65211799e-02 -1.72797258e+02] [-6.99704086e-02 -1.37824277e-04 9.97549058e-01 -1.69826521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32864 meters 0.02589219740415052 Centerline is valid? [True, True] Translation: X:236.08, Y:-172.82, Z:-16.98 [[ 7.41882569e-01 6.68464690e-01 5.25852808e-02 2.36077852e+02] [-6.66820579e-01 7.43743817e-01 -4.68556298e-02 -1.72820196e+02] [-7.04313116e-02 -3.03572340e-04 9.97516585e-01 -1.69838423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35864 meters 0.026057496274943963 Centerline is valid? [True, True] Translation: X:236.10, Y:-172.84, Z:-16.98 [[ 7.38120671e-01 6.72649946e-01 5.21529053e-02 2.36102738e+02] [-6.71039845e-01 7.39960548e-01 -4.65178775e-02 -1.72840771e+02] [-6.98813402e-02 -6.60870542e-04 9.97555092e-01 -1.69844330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38864 meters 0.025995245545286916 Centerline is valid? [True, True] Translation: X:236.13, Y:-172.86, Z:-16.99 [[ 7.36652861e-01 6.74253810e-01 5.21954185e-02 2.36127916e+02] [-6.72641972e-01 7.38499282e-01 -4.66002916e-02 -1.72862151e+02] [-6.99667033e-02 -7.80591138e-04 9.97549022e-01 -1.69861608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41864 meters 0.026312389378445055 Centerline is valid? [True, True] Translation: X:236.15, Y:-172.88, Z:-16.99 [[ 7.33836060e-01 6.77301114e-01 5.24198259e-02 2.36152314e+02] [-6.75679693e-01 7.35705186e-01 -4.68490416e-02 -1.72882779e+02] [-7.02964458e-02 -1.03949573e-03 9.97525603e-01 -1.69885866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44864 meters 0.02643207243110985 Centerline is valid? [True, True] Translation: X:236.18, Y:-172.90, Z:-16.99 [[ 7.32420002e-01 6.78825184e-01 5.25100946e-02 2.36177480e+02] [-6.77199009e-01 7.34299008e-01 -4.69730722e-02 -1.72903049e+02] [-7.04446148e-02 -1.15576634e-03 9.97515023e-01 -1.69899572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47864 meters 0.026348821633834157 Centerline is valid? [True, True] Translation: X:236.20, Y:-172.92, Z:-16.99 [[ 7.31302074e-01 6.79971154e-01 5.32588592e-02 2.36203059e+02] [-6.78298051e-01 7.33237794e-01 -4.76874225e-02 -1.72922847e+02] [-7.14774802e-02 -1.25146943e-03 9.97441429e-01 -1.69925922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50864 meters 0.02665295320015782 Centerline is valid? [True, True] Translation: X:236.23, Y:-172.94, Z:-16.99 [[ 7.29462953e-01 6.81882216e-01 5.40411349e-02 2.36230024e+02] [-6.80161459e-01 7.31460600e-01 -4.84332557e-02 -1.72940482e+02] [-7.25547367e-02 -1.42643146e-03 9.97363412e-01 -1.69940316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53864 meters 0.026833004274615574 Centerline is valid? [True, True] Translation: X:236.26, Y:-172.96, Z:-17.00 [[ 7.28542927e-01 6.82844194e-01 5.43047894e-02 2.36256318e+02] [-6.81105939e-01 7.30562500e-01 -4.87148167e-02 -1.72959613e+02] [-7.29376725e-02 -1.49647948e-03 9.97335378e-01 -1.69958605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56864 meters 0.026867942273673548 Centerline is valid? [True, True] Translation: X:236.28, Y:-172.98, Z:-17.00 [[ 7.27833875e-01 6.83712556e-01 5.28676747e-02 2.36284958e+02] [-6.82064405e-01 7.29749862e-01 -4.74687938e-02 -1.72975971e+02] [-7.10351887e-02 -1.50976293e-03 9.97472668e-01 -1.69972556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59864 meters 0.02696626845582289 Centerline is valid? [True, True] Translation: X:236.31, Y:-173.00, Z:-17.00 [[ 7.27125725e-01 6.84445411e-01 5.31287031e-02 2.36312138e+02] [-6.82779585e-01 7.29062452e-01 -4.77491244e-02 -1.72995566e+02] [-7.14158116e-02 -1.55557713e-03 9.97445418e-01 -1.69997945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62864 meters 0.02691762078300062 Centerline is valid? [True, True] Translation: X:236.34, Y:-173.01, Z:-17.00 [[ 7.26903167e-01 6.84633075e-01 5.37525595e-02 2.36339155e+02] [-6.82924617e-01 7.28886229e-01 -4.83614877e-02 -1.73014604e+02] [-7.22893745e-02 -1.55482753e-03 9.97382489e-01 -1.70024575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65864 meters 0.02686409462898482 Centerline is valid? [True, True] Translation: X:236.37, Y:-173.03, Z:-17.01 [[ 7.28141835e-01 6.83199600e-01 5.52066630e-02 2.36368358e+02] [-6.81389217e-01 7.30230316e-01 -4.97234300e-02 -1.73031667e+02] [-7.42846065e-02 -1.41151532e-03 9.97236083e-01 -1.70055756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68864 meters 0.02668767583694244 Centerline is valid? [True, True] Translation: X:236.39, Y:-173.05, Z:-17.01 [[ 7.29212660e-01 6.82017600e-01 5.56856303e-02 2.36394964e+02] [-6.80168926e-01 7.31334656e-01 -5.01981409e-02 -1.73050907e+02] [-7.49608469e-02 -1.27051550e-03 9.97185668e-01 -1.70074441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71864 meters 0.026403398719936032 Centerline is valid? [True, True] Translation: X:236.42, Y:-173.07, Z:-17.01 [[ 7.32772588e-01 6.78152492e-01 5.61563229e-02 2.36424044e+02] [-6.76259070e-01 7.34920713e-01 -5.06479681e-02 -1.73066404e+02] [-7.56174906e-02 -8.62780061e-04 9.97136526e-01 -1.70094011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74864 meters 0.026050265719227302 Centerline is valid? [True, True] Translation: X:236.45, Y:-173.09, Z:-17.01 [[ 7.34183627e-01 6.76623843e-01 5.61656247e-02 2.36450077e+02] [-6.74721770e-01 7.36328545e-01 -5.07031231e-02 -1.73085619e+02] [-7.56632947e-02 -6.70766883e-04 9.97133199e-01 -1.70116953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77864 meters 0.02617453342354386 Centerline is valid? [True, True] Translation: X:236.48, Y:-173.11, Z:-17.01 [[ 7.35702541e-01 6.75010107e-01 5.57057090e-02 2.36475554e+02] [-6.73131008e-01 7.37808334e-01 -5.03339678e-02 -1.73105249e+02] [-7.50760734e-02 -4.66412020e-04 9.97177700e-01 -1.70147424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80864 meters 0.02619077836939516 Centerline is valid? [True, True] Translation: X:236.50, Y:-173.13, Z:-17.02 [[ 7.39189122e-01 6.71072268e-01 5.71091324e-02 2.36500918e+02] [-6.69081641e-01 7.41391941e-01 -5.16502389e-02 -1.73125271e+02] [-7.70012935e-02 -3.13773736e-05 9.97030992e-01 -1.70181380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83864 meters 0.026141105983895716 Centerline is valid? [True, True] Translation: X:236.53, Y:-173.15, Z:-17.02 [[ 7.40497558e-01 6.69587616e-01 5.75829111e-02 2.36526446e+02] [-6.67555386e-01 7.42733060e-01 -5.21287657e-02 -1.73147008e+02] [-7.76735077e-02 1.61441291e-04 9.96978836e-01 -1.70200187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86864 meters 0.02631838904559817 Centerline is valid? [True, True] Translation: X:236.55, Y:-173.17, Z:-17.02 [[ 7.43337797e-01 6.66529079e-01 5.64615483e-02 2.36552682e+02] [-6.64562468e-01 7.45478856e-01 -5.11664085e-02 -1.73167849e+02] [-7.61947895e-02 5.11699511e-04 9.97092820e-01 -1.70218569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89864 meters 0.026393445234073283 Centerline is valid? [True, True] Translation: X:236.58, Y:-173.19, Z:-17.02 [[ 7.44470879e-01 6.65311672e-01 5.58881941e-02 2.36577367e+02] [-6.63377462e-01 7.46565424e-01 -5.06992249e-02 -1.73190305e+02] [-7.54549794e-02 6.69128208e-04 9.97148985e-01 -1.70236075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864000000003 meters 0.02659455692176637 Centerline is valid? [True, True] Translation: X:236.60, Y:-173.21, Z:-17.03 [[ 7.45741325e-01 6.63900851e-01 5.57273365e-02 2.36599814e+02] [-6.61969921e-01 7.47820125e-01 -5.06051805e-02 -1.73214120e+02] [-7.52708462e-02 8.48553872e-04 9.97162765e-01 -1.70266911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95864 meters 0.026658588656841956 Centerline is valid? [True, True] Translation: X:236.62, Y:-173.24, Z:-17.03 [[ 7.45548843e-01 6.64166290e-01 5.51367661e-02 2.36623627e+02] [-6.62273058e-01 7.47584387e-01 -5.01196658e-02 -1.73236783e+02] [-7.45071780e-02 8.51064137e-04 9.97220114e-01 -1.70280331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters 0.026576120905087704 Centerline is valid? [True, True] Translation: X:236.65, Y:-173.26, Z:-17.03 [[ 7.44457618e-01 6.65357586e-01 5.55170113e-02 2.36647796e+02] [-6.63437537e-01 7.46524401e-01 -5.05168620e-02 -1.73259179e+02] [-7.50565810e-02 7.75593561e-04 9.97178975e-01 -1.70298401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01864 meters 0.026453976694604437 Centerline is valid? [True, True] Translation: X:236.67, Y:-173.28, Z:-17.03 [[ 7.42673250e-01 6.67333223e-01 5.57029098e-02 2.36670409e+02] [-6.65402651e-01 7.44759021e-01 -5.07278344e-02 -1.73282327e+02] [-7.53376138e-02 6.09341764e-04 9.97157898e-01 -1.70325949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters 0.026346006957381478 Centerline is valid? [True, True] Translation: X:236.69, Y:-173.31, Z:-17.03 [[ 7.41150816e-01 6.69032059e-01 5.56018963e-02 2.36693906e+02] [-6.67111257e-01 7.43233406e-01 -5.06623614e-02 -1.73305352e+02] [-7.52199307e-02 4.55799547e-04 9.97166864e-01 -1.70342918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07864 meters 0.026262944729443172 Centerline is valid? [True, True] Translation: X:236.72, Y:-173.33, Z:-17.04 [[ 7.40385673e-01 6.69948771e-01 5.47512474e-02 2.36717163e+02] [-6.68085201e-01 7.42407226e-01 -4.99367076e-02 -1.73327004e+02] [-7.41027575e-02 3.93924755e-04 9.97250533e-01 -1.70358781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters 0.026071978733447486 Centerline is valid? [True, True] Translation: X:236.74, Y:-173.35, Z:-17.04 [[ 7.37868998e-01 6.72707512e-01 5.48994089e-02 2.36741751e+02] [-6.70837917e-01 7.39908495e-01 -5.01189406e-02 -1.73349548e+02] [-7.43359268e-02 1.52607321e-04 9.97233246e-01 -1.70375277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13864 meters 0.026071978733447486 Centerline is valid? [True, True] Translation: X:236.77, Y:-173.37, Z:-17.04 [[ 7.37518911e-01 6.73093428e-01 5.48734185e-02 2.36766007e+02] [-6.71222784e-01 7.39557444e-01 -5.01473845e-02 -1.73371249e+02] [-7.43359201e-02 1.52355614e-04 9.97233246e-01 -1.70392816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters 0.02634017142564313 Centerline is valid? [True, True] Translation: X:236.79, Y:-173.39, Z:-17.04 [[ 7.36410338e-01 6.74252648e-01 5.55263897e-02 2.36789925e+02] [-6.72336392e-01 7.38500752e-01 -5.07977921e-02 -1.73394017e+02] [-7.52568264e-02 7.56067902e-05 9.97164181e-01 -1.70420214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19864 meters 0.026424861554416985 Centerline is valid? [True, True] Translation: X:236.81, Y:-173.42, Z:-17.04 [[ 7.36091865e-01 6.74464684e-01 5.71502986e-02 2.36812035e+02] [-6.72430991e-01 7.38307105e-01 -5.23371853e-02 -1.73417632e+02] [-7.74940546e-02 9.53444445e-05 9.96992810e-01 -1.70426616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters 0.02615513658437556 Centerline is valid? [True, True] Translation: X:236.84, Y:-173.44, Z:-17.04 [[ 7.36500064e-01 6.74106696e-01 5.61054285e-02 2.36835530e+02] [-6.72142229e-01 7.38633966e-01 -5.14265281e-02 -1.73439576e+02] [-7.61083421e-02 1.64813404e-04 9.97099540e-01 -1.70438052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25864 meters 0.026357266543678676 Centerline is valid? [True, True] Translation: X:236.86, Y:-173.46, Z:-17.05 [[ 7.36023118e-01 6.74627623e-01 5.61029393e-02 2.36859425e+02] [-6.72661108e-01 7.38158214e-01 -5.14731505e-02 -1.73462487e+02] [-7.61380546e-02 1.47163423e-04 9.97097275e-01 -1.70460896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters 0.026443543136751083 Centerline is valid? [True, True] Translation: X:236.88, Y:-173.49, Z:-17.05 [[ 7.35458593e-01 6.75168701e-01 5.69902099e-02 2.36881756e+02] [-6.73136909e-01 7.37663343e-01 -5.23401689e-02 -1.73485296e+02] [-7.73780326e-02 1.31813207e-04 9.97001817e-01 -1.70483030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31864 meters 0.026468215400090526 Centerline is valid? [True, True] Translation: X:236.91, Y:-173.51, Z:-17.05 [[ 7.35097793e-01 6.75527104e-01 5.73965732e-02 2.36905437e+02] [-6.73463355e-01 7.37335144e-01 -5.27635836e-02 -1.73508213e+02] [-7.79637414e-02 1.31905124e-04 9.96956186e-01 -1.70503036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters 0.02658341902926807 Centerline is valid? [True, True] Translation: X:236.93, Y:-173.53, Z:-17.05 [[ 7.35159448e-01 6.75578810e-01 5.59808717e-02 2.36928350e+02] [-6.73612042e-01 7.37287763e-01 -5.15128339e-02 -1.73530795e+02] [-7.60749907e-02 1.60757284e-04 9.97102086e-01 -1.70524751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37864 meters 0.026464642134323427 Centerline is valid? [True, True] Translation: X:236.95, Y:-173.55, Z:-17.05 [[ 7.35013362e-01 6.75742617e-01 5.59220336e-02 2.36952196e+02] [-6.73776745e-01 7.37137629e-01 -5.15074177e-02 -1.73553433e+02] [-7.60279925e-02 1.79674517e-04 9.97105667e-01 -1.70542085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters 0.026594552354971688 Centerline is valid? [True, True] Translation: X:236.98, Y:-173.58, Z:-17.06 [[ 7.35080935e-01 6.75725129e-01 5.52410087e-02 2.36975847e+02] [-6.73802905e-01 7.37153649e-01 -5.09327244e-02 -1.73576884e+02] [-7.51376330e-02 2.18122521e-04 9.97173149e-01 -1.70562825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43864 meters 0.026485854642636048 Centerline is valid? [True, True] Translation: X:237.00, Y:-173.60, Z:-17.06 [[ 7.34367445e-01 6.76472434e-01 5.55832968e-02 2.36998738e+02] [-6.74524344e-01 7.36467931e-01 -5.13020047e-02 -1.73600701e+02] [-7.56397076e-02 1.82235252e-04 9.97135197e-01 -1.70579730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters 0.026781104119031802 Centerline is valid? [True, True] Translation: X:237.02, Y:-173.62, Z:-17.06 [[ 7.32972595e-01 6.77866320e-01 5.69949744e-02 2.37021243e+02] [-6.75817897e-01 7.35185178e-01 -5.26585597e-02 -1.73623289e+02] [-7.75973244e-02 7.90574003e-05 9.96984779e-01 -1.70595487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49864 meters 0.026761554429057866 Centerline is valid? [True, True] Translation: X:237.04, Y:-173.65, Z:-17.06 [[ 7.32558972e-01 6.78235631e-01 5.79118441e-02 2.37043954e+02] [-6.76117916e-01 7.34844489e-01 -5.35550338e-02 -1.73645906e+02] [-7.88791316e-02 7.69851331e-05 9.96884184e-01 -1.70616405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters 0.02676520621337803 Centerline is valid? [True, True] Translation: X:237.07, Y:-173.67, Z:-17.06 [[ 7.32662918e-01 6.78135078e-01 5.77742471e-02 2.37067500e+02] [-6.76023107e-01 7.34937276e-01 -5.34785891e-02 -1.73668632e+02] [-7.87261550e-02 1.25053207e-04 9.96896272e-01 -1.70631189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55864 meters 0.026773445871517244 Centerline is valid? [True, True] Translation: X:237.09, Y:-173.69, Z:-17.06 [[ 7.32887529e-01 6.77931605e-01 5.73115076e-02 2.37091603e+02] [-6.75848455e-01 7.35124959e-01 -5.31051846e-02 -1.73690684e+02] [-7.81328027e-02 1.86233612e-04 9.96942942e-01 -1.70648380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters 0.026516599343319937 Centerline is valid? [True, True] Translation: X:237.12, Y:-173.71, Z:-17.07 [[ 7.33841906e-01 6.76956890e-01 5.66164790e-02 2.37116026e+02] [-6.74916958e-01 7.36022596e-01 -5.25151232e-02 -1.73713518e+02] [-7.72214824e-02 3.26376348e-04 9.97013910e-01 -1.70667117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61864 meters 0.026411387649723398 Centerline is valid? [True, True] Translation: X:237.14, Y:-173.74, Z:-17.07 [[ 7.35582607e-01 6.75177110e-01 5.52638985e-02 2.37137946e+02] [-6.73225442e-01 7.37655467e-01 -5.13022068e-02 -1.73737877e+02] [-7.54037925e-02 5.31948512e-04 9.97152940e-01 -1.70685828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64864 meters 0.026674237256387245 Centerline is valid? [True, True] Translation: X:237.16, Y:-173.76, Z:-17.07 [[ 7.36045140e-01 6.74665857e-01 5.53492002e-02 2.37161888e+02] [-6.72704647e-01 7.38123035e-01 -5.14085820e-02 -1.73760786e+02] [-7.55381347e-02 6.05372725e-04 9.97142730e-01 -1.70706034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67864000000003 meters 0.02675723074165187 Centerline is valid? [True, True] Translation: X:237.19, Y:-173.78, Z:-17.07 [[ 7.36213238e-01 6.74439382e-01 5.58711808e-02 2.37186083e+02] [-6.72436297e-01 7.38329917e-01 -5.19457329e-02 -1.73782466e+02] [-7.62856123e-02 6.73326257e-04 9.97085780e-01 -1.70718794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70864 meters 0.026904169717928104 Centerline is valid? [True, True] Translation: X:237.21, Y:-173.80, Z:-17.07 [[ 7.38208637e-01 6.72141701e-01 5.72148806e-02 2.37209598e+02] [-6.70030244e-01 7.40421903e-01 -5.32435703e-02 -1.73804087e+02] [-7.81503747e-02 9.69163016e-04 9.96941111e-01 -1.70732776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73864 meters 0.02693468346587304 Centerline is valid? [True, True] Translation: X:237.23, Y:-173.83, Z:-17.08 [[ 7.39164235e-01 6.71068433e-01 5.74751492e-02 2.37231897e+02] [-6.68930678e-01 7.41394562e-01 -5.35336426e-02 -1.73827303e+02] [-7.85365007e-02 1.12326347e-03 9.96910606e-01 -1.70752288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76864 meters 0.027465422036081783 Centerline is valid? [True, True] Translation: X:237.25, Y:-173.85, Z:-17.08 [[ 7.41810194e-01 6.68211576e-01 5.66650423e-02 2.37253411e+02] [-6.66121810e-01 7.43969902e-01 -5.28253664e-02 -1.73850857e+02] [-7.74556073e-02 1.44057472e-03 9.96994761e-01 -1.70763376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79864 meters 0.027655845226303172 Centerline is valid? [True, True] Translation: X:237.28, Y:-173.87, Z:-17.08 [[ 7.43277742e-01 6.66619611e-01 5.61826710e-02 2.37276238e+02] [-6.64557270e-01 7.45396303e-01 -5.24212424e-02 -1.73873089e+02] [-7.68233834e-02 1.62694019e-03 9.97043390e-01 -1.70786779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82864 meters 0.02776263450045641 Centerline is valid? [True, True] Translation: X:237.30, Y:-173.90, Z:-17.08 [[ 7.43794981e-01 6.65993037e-01 5.67653182e-02 2.37298675e+02] [-6.63882189e-01 7.45955919e-01 -5.30113692e-02 -1.73896672e+02] [-7.76496279e-02 1.74410660e-03 9.96979184e-01 -1.70807353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85864 meters 0.02810084113379319 Centerline is valid? [True, True] Translation: X:237.32, Y:-173.92, Z:-17.08 [[ 7.45624505e-01 6.63964907e-01 5.65216719e-02 2.37318325e+02] [-6.61862781e-01 7.47761109e-01 -5.28297666e-02 -1.73922863e+02] [-7.73418191e-02 1.98157766e-03 9.97002666e-01 -1.70822134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88864 meters 0.02825977419408071 Centerline is valid? [True, True] Translation: X:237.34, Y:-173.95, Z:-17.08 [[ 7.46508201e-01 6.62952266e-01 5.67432650e-02 2.37339694e+02] [-6.60827155e-01 7.48658641e-01 -5.30821081e-02 -1.73946363e+02] [-7.76722396e-02 2.12873868e-03 9.96976676e-01 -1.70843574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91864 meters 0.028668681184617264 Centerline is valid? [True, True] Translation: X:237.36, Y:-173.97, Z:-17.09 [[ 7.48345412e-01 6.61043991e-01 5.47721280e-02 2.37358122e+02] [-6.59055987e-01 7.50343694e-01 -5.12791113e-02 -1.73973606e+02] [-7.49956692e-02 2.27658876e-03 9.97181261e-01 -1.70862839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94864 meters 0.028769880450579936 Centerline is valid? [True, True] Translation: X:237.38, Y:-174.00, Z:-17.09 [[ 7.49288303e-01 6.59975208e-01 5.47700975e-02 2.37378185e+02] [-6.57981185e-01 7.51283491e-01 -5.13213021e-02 -1.73999453e+02] [-7.50186571e-02 2.41675773e-03 9.97179202e-01 -1.70889634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97864 meters 0.028932755025800814 Centerline is valid? [True, True] Translation: X:237.40, Y:-174.03, Z:-17.09 [[ 7.50406925e-01 6.58712888e-01 5.46514250e-02 2.37397430e+02] [-6.56721305e-01 7.52390022e-01 -5.12482480e-02 -1.74025294e+02] [-7.48770683e-02 2.56628507e-03 9.97189470e-01 -1.70905034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00864 meters 0.0290339486057903 Centerline is valid? [True, True] Translation: X:237.41, Y:-174.06, Z:-17.09 [[ 7.49753683e-01 6.59411479e-01 5.51898197e-02 2.37412406e+02] [-6.57379875e-01 7.51777908e-01 -5.17849170e-02 -1.74057362e+02] [-7.56380559e-02 2.54525546e-03 9.97132091e-01 -1.70918521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03864 meters 0.02888418364818717 Centerline is valid? [True, True] Translation: X:237.43, Y:-174.08, Z:-17.09 [[ 7.48728580e-01 6.60546328e-01 5.55343253e-02 2.37431907e+02] [-6.58488582e-01 7.50781181e-01 -5.21575010e-02 -1.74084165e+02] [-7.61465722e-02 2.48309254e-03 9.97093543e-01 -1.70936610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06864 meters 0.0281960065152382 Centerline is valid? [True, True] Translation: X:237.45, Y:-174.11, Z:-17.09 [[ 7.47164796e-01 6.62428231e-01 5.41627753e-02 2.37450580e+02] [-6.60473156e-01 7.49121965e-01 -5.09066865e-02 -1.74111227e+02] [-7.42965510e-02 2.26262487e-03 9.97233625e-01 -1.70946450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09864 meters 0.027399671664740506 Centerline is valid? [True, True] Translation: X:237.46, Y:-174.14, Z:-17.10 [[ 7.43770158e-01 6.66290735e-01 5.35033454e-02 2.37464902e+02] [-6.64390828e-01 7.45689705e-01 -5.03159234e-02 -1.74142412e+02] [-7.34219274e-02 1.87635040e-03 9.97299203e-01 -1.70967887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12864 meters 0.026566547595492845 Centerline is valid? [True, True] Translation: X:237.48, Y:-174.17, Z:-17.10 [[ 7.38702441e-01 6.71973200e-01 5.26376486e-02 2.37479158e+02] [-6.70146114e-01 7.40574291e-01 -4.95369025e-02 -1.74173698e+02] [-7.22695602e-02 1.31811512e-03 9.97384266e-01 -1.70980822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15864 meters 0.026353642178184963 Centerline is valid? [True, True] Translation: X:237.50, Y:-174.20, Z:-17.10 [[ 7.35634492e-01 6.75279016e-01 5.32930120e-02 2.37498966e+02] [-6.73413137e-01 7.37561662e-01 -5.01751095e-02 -1.74199197e+02] [-7.31890811e-02 1.02232687e-03 9.97317559e-01 -1.70996708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18864 meters 0.026188782238995567 Centerline is valid? [True, True] Translation: X:237.52, Y:-174.23, Z:-17.10 [[ 7.32390199e-01 6.78751387e-01 5.38623407e-02 2.37519433e+02] [-6.76851871e-01 7.34367788e-01 -5.07493437e-02 -1.74225007e+02] [-7.40009554e-02 7.11495882e-04 9.97257917e-01 -1.71016301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21864 meters 0.025953251829033127 Centerline is valid? [True, True] Translation: X:237.54, Y:-174.25, Z:-17.10 [[ 7.29140409e-01 6.82219384e-01 5.41384930e-02 2.37540132e+02] [-6.80307946e-01 7.31147432e-01 -5.10346137e-02 -1.74249551e+02] [-7.44000228e-02 3.80552166e-04 9.97228405e-01 -1.71015638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24864 meters 0.02607980938383194 Centerline is valid? [True, True] Translation: X:237.56, Y:-174.27, Z:-17.10 [[ 7.23439349e-01 6.88189082e-01 5.50572029e-02 2.37562116e+02] [-6.86225412e-01 7.25531356e-01 -5.19512817e-02 -1.74274879e+02] [-7.56980319e-02 -1.98050350e-04 9.97130768e-01 -1.71024615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27864 meters 0.02615588799567813 Centerline is valid? [True, True] Translation: X:237.58, Y:-174.30, Z:-17.10 [[ 7.20256647e-01 6.91459050e-01 5.58099001e-02 2.37584847e+02] [-6.89446784e-01 7.22415479e-01 -5.27163038e-02 -1.74297590e+02] [-7.67691010e-02 -5.08687901e-04 9.97048768e-01 -1.71046220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30864 meters 0.026513788635692006 Centerline is valid? [True, True] Translation: X:237.61, Y:-174.32, Z:-17.11 [[ 7.15119150e-01 6.96869846e-01 5.45620749e-02 2.37606240e+02] [-6.94958706e-01 7.17196877e-01 -5.15852366e-02 -1.74321508e+02] [-7.50799456e-02 -1.02879840e-03 9.97176987e-01 -1.71066293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33864 meters 0.026577244481858258 Centerline is valid? [True, True] Translation: X:237.63, Y:-174.34, Z:-17.11 [[ 7.12607702e-01 6.99475728e-01 5.40737370e-02 2.37629957e+02] [-6.97602589e-01 7.14655250e-01 -5.11712988e-02 -1.74343946e+02] [-7.44371615e-02 -1.25691730e-03 9.97224914e-01 -1.71070704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36864 meters 0.027056307660933508 Centerline is valid? [True, True] Translation: X:237.65, Y:-174.36, Z:-17.11 [[ 7.10362158e-01 7.01659307e-01 5.53156601e-02 2.37654000e+02] [-6.99701793e-01 7.12511063e-01 -5.23964224e-02 -1.74364779e+02] [-7.61774572e-02 -1.48403084e-03 9.97093172e-01 -1.71094198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39864 meters 0.027584674280643137 Centerline is valid? [True, True] Translation: X:237.68, Y:-174.38, Z:-17.11 [[ 7.05740682e-01 7.06315959e-01 5.52073888e-02 2.37681566e+02] [-7.04377291e-01 7.07894024e-01 -5.23324316e-02 -1.74382361e+02] [-7.60442122e-02 -1.95370502e-03 9.97102533e-01 -1.71095033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864000000003 meters 0.028088798361142392 Centerline is valid? [True, True] Translation: X:237.71, Y:-174.40, Z:-17.11 [[ 7.02558648e-01 7.09535031e-01 5.45104273e-02 2.37706385e+02] [-7.07653027e-01 7.04666551e-01 -5.16937573e-02 -1.74402209e+02] [-7.50902065e-02 -2.25657273e-03 9.97174192e-01 -1.71114448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45864 meters 0.02890796253923863 Centerline is valid? [True, True] Translation: X:237.73, Y:-174.42, Z:-17.11 [[ 6.98207731e-01 7.13879599e-01 5.36831570e-02 2.37732677e+02] [-7.12063915e-01 7.00263444e-01 -5.09518475e-02 -1.74420581e+02] [-7.39658369e-02 -2.65086506e-03 9.97257253e-01 -1.71124685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters 0.02921464805497127 Centerline is valid? [True, True] Translation: X:237.76, Y:-174.44, Z:-17.11 [[ 6.96475793e-01 7.15590539e-01 5.34008505e-02 2.37758357e+02] [-7.13795753e-01 6.98514432e-01 -5.07268254e-02 -1.74439971e+02] [-7.36009011e-02 -2.78729439e-03 9.97283881e-01 -1.71139327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51864 meters 0.029388547579527694 Centerline is valid? [True, True] Translation: X:237.78, Y:-174.46, Z:-17.11 [[ 6.95243626e-01 7.16758784e-01 5.37879755e-02 2.37784579e+02] [-7.14937922e-01 6.97315162e-01 -5.11403273e-02 -1.74459315e+02] [-7.41624496e-02 -2.90007689e-03 9.97241957e-01 -1.71149712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters 0.02939333641840897 Centerline is valid? [True, True] Translation: X:237.81, Y:-174.48, Z:-17.12 [[ 6.95018479e-01 7.16922248e-01 5.45142502e-02 2.37814380e+02] [-7.15048650e-01 6.97147004e-01 -5.18794985e-02 -1.74476493e+02] [-7.51980129e-02 -2.92313088e-03 9.97164337e-01 -1.71167544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57864 meters 0.02865958210344498 Centerline is valid? [True, True] Translation: X:237.84, Y:-174.49, Z:-17.12 [[ 6.98062127e-01 7.13997683e-01 5.40053279e-02 2.37840695e+02] [-7.12147186e-01 7.00143402e-01 -5.14354172e-02 -1.74494844e+02] [-7.45362427e-02 -2.55462561e-03 9.97215033e-01 -1.71184661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters 0.028142537529918552 Centerline is valid? [True, True] Translation: X:237.87, Y:-174.51, Z:-17.12 [[ 6.99630745e-01 7.12514212e-01 5.32946283e-02 2.37865655e+02] [-7.10706442e-01 7.01653739e-01 -5.07777953e-02 -1.74514741e+02] [-7.35742760e-02 -2.35112891e-03 9.97286969e-01 -1.71192200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63864 meters 0.027669069200992255 Centerline is valid? [True, True] Translation: X:237.89, Y:-174.53, Z:-17.12 [[ 7.01541789e-01 7.10613992e-01 5.35431815e-02 2.37891244e+02] [-7.08780344e-01 7.03578867e-01 -5.10607688e-02 -1.74533965e+02] [-7.39563477e-02 -2.12909153e-03 9.97259207e-01 -1.71215911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters 0.02730110184730048 Centerline is valid? [True, True] Translation: X:237.92, Y:-174.55, Z:-17.12 [[ 7.04261904e-01 7.07855497e-01 5.43669551e-02 2.37918270e+02] [-7.05953081e-01 7.06354893e-01 -5.18942558e-02 -1.74552061e+02] [-7.51359990e-02 -1.83337199e-03 9.97171610e-01 -1.71233723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69864 meters 0.026943110303956165 Centerline is valid? [True, True] Translation: X:237.94, Y:-174.57, Z:-17.12 [[ 7.05495471e-01 7.06680275e-01 5.36575177e-02 2.37943035e+02] [-7.04820383e-01 7.07531100e-01 -5.12637327e-02 -1.74572844e+02] [-7.41914312e-02 -1.65258092e-03 9.97242649e-01 -1.71249917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters 0.026623730137117104 Centerline is valid? [True, True] Translation: X:237.97, Y:-174.59, Z:-17.13 [[ 7.08619859e-01 7.03504068e-01 5.42210514e-02 2.37967878e+02] [-7.01591911e-01 7.10690045e-01 -5.18502743e-02 -1.74593938e+02] [-7.50112403e-02 -1.29891697e-03 9.97181842e-01 -1.71265629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75864 meters 0.026242359012552147 Centerline is valid? [True, True] Translation: X:237.99, Y:-174.61, Z:-17.13 [[ 7.10201226e-01 7.01880433e-01 5.45717506e-02 2.37992036e+02] [-6.99934922e-01 7.12293934e-01 -5.22346330e-02 -1.74614859e+02] [-7.55335937e-02 -1.09957360e-03 9.97142651e-01 -1.71295956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters 0.026133997254377744 Centerline is valid? [True, True] Translation: X:238.02, Y:-174.64, Z:-17.13 [[ 7.12123474e-01 6.99976701e-01 5.39701460e-02 2.38015763e+02] [-6.98064846e-01 7.14165170e-01 -5.17066763e-02 -1.74636008e+02] [-7.47370672e-02 -8.53123715e-04 9.97202910e-01 -1.71318716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81864 meters 0.025880951169480824 Centerline is valid? [True, True] Translation: X:238.04, Y:-174.66, Z:-17.13 [[ 7.16198732e-01 6.95765592e-01 5.44941936e-02 2.38038102e+02] [-6.93800416e-01 7.18268819e-01 -5.22578852e-02 -1.74658686e+02] [-7.55007185e-02 -3.81063104e-04 9.97145675e-01 -1.71346926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters 0.02571886307554557 Centerline is valid? [True, True] Translation: X:238.06, Y:-174.68, Z:-17.14 [[ 7.17992817e-01 6.93880367e-01 5.49213150e-02 2.38061537e+02] [-6.91874760e-01 7.20090283e-01 -5.27190842e-02 -1.74681818e+02] [-7.61290427e-02 -1.46747763e-04 9.97097963e-01 -1.71370051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87864 meters 0.025654390563330277 Centerline is valid? [True, True] Translation: X:238.08, Y:-174.71, Z:-17.14 [[ 7.20980126e-01 6.90874920e-01 5.36610045e-02 2.38083437e+02] [-6.88948826e-01 7.22974278e-01 -5.15529767e-02 -1.74706111e+02] [-7.44121846e-02 1.98985571e-04 9.97227550e-01 -1.71384614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters 0.025711288273891547 Centerline is valid? [True, True] Translation: X:238.11, Y:-174.73, Z:-17.14 [[ 7.21332353e-01 6.90547468e-01 5.31397410e-02 2.38106303e+02] [-6.88655787e-01 7.23287033e-01 -5.10791050e-02 -1.74729895e+02] [-7.37078322e-02 2.50020846e-04 9.97279847e-01 -1.71402768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93864 meters 0.02566421505685543 Centerline is valid? [True, True] Translation: X:238.13, Y:-174.75, Z:-17.14 [[ 7.21300300e-01 6.90590830e-01 5.30111499e-02 2.38128813e+02] [-6.88704447e-01 7.23245618e-01 -5.10094112e-02 -1.74754193e+02] [-7.35667135e-02 2.84088907e-04 9.97290258e-01 -1.71417223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters 0.025581705517008772 Centerline is valid? [True, True] Translation: X:238.15, Y:-174.78, Z:-17.14 [[ 7.20671820e-01 6.91277551e-01 5.26067991e-02 2.38149093e+02] [-6.89417804e-01 7.22589292e-01 -5.06735354e-02 -1.74781348e+02] [-7.30425872e-02 2.50925095e-04 9.97328791e-01 -1.71425702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99864 meters 0.025475804625233904 Centerline is valid? [True, True] Translation: X:238.17, Y:-174.81, Z:-17.14 [[ 7.19934360e-01 6.92137598e-01 5.13815415e-02 2.38170540e+02] [-6.90362219e-01 7.21765549e-01 -4.95429091e-02 -1.74805908e+02] [-7.13759366e-02 1.95767506e-04 9.97449466e-01 -1.71431239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters 0.025475804625233904 Centerline is valid? [True, True] Translation: X:238.19, Y:-174.83, Z:-17.14 [[ 7.19567911e-01 6.92520320e-01 5.13578423e-02 2.38194150e+02] [-6.90744161e-01 7.21398343e-01 -4.95674671e-02 -1.74828230e+02] [-7.13759406e-02 1.92029073e-04 9.97449467e-01 -1.71448777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05864 meters 0.025572056324176414 Centerline is valid? [True, True] Translation: X:238.21, Y:-174.85, Z:-17.15 [[ 7.17779503e-01 6.94336911e-01 5.18540212e-02 2.38214101e+02] [-6.92527615e-01 7.19650090e-01 -5.00924162e-02 -1.74854565e+02] [-7.20977645e-02 4.49680217e-05 9.97397569e-01 -1.71467116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters 0.02554344945253299 Centerline is valid? [True, True] Translation: X:238.24, Y:-174.88, Z:-17.15 [[ 7.16365785e-01 6.95805532e-01 5.17177441e-02 2.38235993e+02] [-6.94007322e-01 7.18230225e-01 -4.99918055e-02 -1.74879221e+02] [-7.19298218e-02 -8.00741721e-05 9.97409692e-01 -1.71492030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11864 meters 0.025774638990027028 Centerline is valid? [True, True] Translation: X:238.25, Y:-174.91, Z:-17.15 [[ 7.13072573e-01 6.99130581e-01 5.23825941e-02 2.38253831e+02] [-6.97290799e-01 7.14993906e-01 -5.06878359e-02 -1.74906327e+02] [-7.28906517e-02 -3.81795284e-04 9.97339865e-01 -1.71514128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14864 meters 0.02579905328704898 Centerline is valid? [True, True] Translation: X:238.28, Y:-174.93, Z:-17.15 [[ 7.11275237e-01 7.00955518e-01 5.24299454e-02 2.38275716e+02] [-6.99113748e-01 7.13204793e-01 -5.07827733e-02 -1.74931250e+02] [-7.29897535e-02 -5.33966549e-04 9.97332548e-01 -1.71523287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17864000000003 meters 0.02581304458540362 Centerline is valid? [True, True] Translation: X:238.30, Y:-174.95, Z:-17.15 [[ 7.09843143e-01 7.02447429e-01 5.18683061e-02 2.38298965e+02] [-7.00645061e-01 7.11735342e-01 -5.02921581e-02 -1.74954478e+02] [-7.22441037e-02 -6.41728898e-04 9.97386774e-01 -1.71538981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20864 meters 0.02637224951255269 Centerline is valid? [True, True] Translation: X:238.32, Y:-174.98, Z:-17.16 [[ 7.03412193e-01 7.08939325e-01 5.11499762e-02 2.38320837e+02] [-7.07199928e-01 7.05268366e-01 -4.96466862e-02 -1.74977537e+02] [-7.12709483e-02 -1.25117501e-03 9.97456208e-01 -1.71565761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23864 meters 0.0266902158799293 Centerline is valid? [True, True] Translation: X:238.34, Y:-175.00, Z:-17.16 [[ 6.99809676e-01 7.12503592e-01 5.10396675e-02 2.38343640e+02] [-7.10777826e-01 7.01666689e-01 -4.95856764e-02 -1.75000574e+02] [-7.11428071e-02 -1.57732779e-03 9.97464893e-01 -1.71579691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26864 meters 0.02801165059348621 Centerline is valid? [True, True] Translation: X:238.37, Y:-175.02, Z:-17.16 [[ 6.92286711e-01 7.19791956e-01 5.13677950e-02 2.38366470e+02] [-7.18060503e-01 6.94186014e-01 -4.99488971e-02 -1.75022209e+02] [-7.16116191e-02 -2.30622704e-03 9.97429926e-01 -1.71591035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29864 meters 0.028474637283654212 Centerline is valid? [True, True] Translation: X:238.39, Y:-175.04, Z:-17.16 [[ 6.88839663e-01 7.23115823e-01 5.10237684e-02 2.38391123e+02] [-7.21414296e-01 6.90721860e-01 -4.96459968e-02 -1.75043060e+02] [-7.11430380e-02 -2.61114425e-03 9.97462706e-01 -1.71602803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32864 meters 0.02916485811750626 Centerline is valid? [True, True] Translation: X:238.42, Y:-175.06, Z:-17.16 [[ 6.85554864e-01 7.26284533e-01 5.02524182e-02 2.38415816e+02] [-7.24641229e-01 6.87388154e-01 -4.89143600e-02 -1.75063014e+02] [-7.00686601e-02 -2.88149661e-03 9.97538009e-01 -1.71610292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35864 meters 0.030167422480592086 Centerline is valid? [True, True] Translation: X:238.44, Y:-175.08, Z:-17.16 [[ 6.81237143e-01 7.30365410e-01 4.98229139e-02 2.38443167e+02] [-7.28758185e-01 6.83048929e-01 -4.85352313e-02 -1.75079440e+02] [-6.94799420e-02 -3.24485397e-03 9.97578071e-01 -1.71637523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38864 meters 0.030605854473379924 Centerline is valid? [True, True] Translation: X:238.47, Y:-175.10, Z:-17.17 [[ 6.79831840e-01 7.31624298e-01 5.05426218e-02 2.38470218e+02] [-7.29970958e-01 6.81699608e-01 -4.92752006e-02 -1.75098159e+02] [-7.05058195e-02 -3.39579577e-03 9.97505588e-01 -1.71650720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41864 meters 0.030553794732674 Centerline is valid? [True, True] Translation: X:238.50, Y:-175.11, Z:-17.17 [[ 6.79132250e-01 7.32103756e-01 5.29478739e-02 2.38502373e+02] [-7.30287098e-01 6.81183738e-01 -5.16669141e-02 -1.75111814e+02] [-7.38927725e-02 -3.57848151e-03 9.97259772e-01 -1.71661082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44864 meters 0.030307588631196238 Centerline is valid? [True, True] Translation: X:238.53, Y:-175.13, Z:-17.17 [[ 6.79753915e-01 7.31449409e-01 5.40034962e-02 2.38529423e+02] [-7.29553917e-01 6.81886493e-01 -5.27436459e-02 -1.75130093e+02] [-7.54035633e-02 -3.54576237e-03 9.97146795e-01 -1.71680826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47864 meters 0.03000491294397248 Centerline is valid? [True, True] Translation: X:238.56, Y:-175.15, Z:-17.17 [[ 6.80921986e-01 7.30297707e-01 5.48681053e-02 2.38556760e+02] [-7.28333577e-01 6.83120357e-01 -5.36356096e-02 -1.75148553e+02] [-7.66514824e-02 -3.44061758e-03 9.97052011e-01 -1.71707760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50864 meters 0.028967655359140372 Centerline is valid? [True, True] Translation: X:238.59, Y:-175.16, Z:-17.17 [[ 6.84994806e-01 7.26538195e-01 5.40774184e-02 2.38589096e+02] [-7.24615927e-01 6.87119746e-01 -5.28981356e-02 -1.75161284e+02] [-7.55901779e-02 -2.95041054e-03 9.97134605e-01 -1.71725324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53864 meters 0.028846005343732536 Centerline is valid? [True, True] Translation: X:238.62, Y:-175.18, Z:-17.17 [[ 6.86565904e-01 7.25071677e-01 5.38360684e-02 2.38615977e+02] [-7.23160499e-01 6.88667869e-01 -5.26826138e-02 -1.75180090e+02] [-7.52738417e-02 -2.76203172e-03 9.97159075e-01 -1.71734913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56864 meters 0.027400126618579795 Centerline is valid? [True, True] Translation: X:238.65, Y:-175.19, Z:-17.18 [[ 6.93312402e-01 7.18550734e-01 5.47974137e-02 2.38646515e+02] [-7.16547071e-01 6.95471495e-01 -5.36627907e-02 -1.75194449e+02] [-7.66694769e-02 -2.05984796e-03 9.97054436e-01 -1.71751971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59864 meters 0.02694632740123976 Centerline is valid? [True, True] Translation: X:238.67, Y:-175.21, Z:-17.18 [[ 6.96618980e-01 7.15311323e-01 5.52422628e-02 2.38673951e+02] [-7.13262630e-01 6.98803857e-01 -5.41256903e-02 -1.75212893e+02] [-7.73202254e-02 -1.69725840e-03 9.97004866e-01 -1.71770001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62864 meters 0.026572806359225945 Centerline is valid? [True, True] Translation: X:238.70, Y:-175.23, Z:-17.18 [[ 6.99523879e-01 7.12501010e-01 5.48511962e-02 2.38701066e+02] [-7.10468789e-01 7.01669803e-01 -5.37920762e-02 -1.75231527e+02] [-7.68143367e-02 -1.34122110e-03 9.97044512e-01 -1.71793320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65864 meters 0.02595148663493324 Centerline is valid? [True, True] Translation: X:238.73, Y:-175.25, Z:-17.18 [[ 7.05189670e-01 7.06964987e-01 5.39262130e-02 2.38728088e+02] [-7.04980883e-01 7.07248212e-01 -5.29331840e-02 -1.75250318e+02] [-7.55611254e-02 -6.89014739e-04 9.97140934e-01 -1.71822465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68864 meters 0.025848899259397207 Centerline is valid? [True, True] Translation: X:238.75, Y:-175.27, Z:-17.18 [[ 7.08151332e-01 7.03968425e-01 5.43152671e-02 2.38753267e+02] [-7.01942759e-01 7.10231191e-01 -5.33668211e-02 -1.75271599e+02] [-7.61449538e-02 -3.34423047e-04 9.97096703e-01 -1.71847139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71864 meters 0.025851208574396583 Centerline is valid? [True, True] Translation: X:238.78, Y:-175.29, Z:-17.19 [[ 7.13693531e-01 6.98255003e-01 5.55112032e-02 2.38780212e+02] [-6.96117313e-01 7.15849039e-01 -5.45970713e-02 -1.75289362e+02] [-7.78603197e-02 3.23266975e-04 9.96964225e-01 -1.71860773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74864 meters 0.025962081155233255 Centerline is valid? [True, True] Translation: X:238.80, Y:-175.31, Z:-17.19 [[ 7.16331883e-01 6.95471582e-01 5.64615910e-02 2.38803797e+02] [-6.93247427e-01 7.18553287e-01 -5.55803719e-02 -1.75310857e+02] [-7.92252310e-02 6.72139749e-04 9.96856515e-01 -1.71878432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77864 meters 0.026266360902580378 Centerline is valid? [True, True] Translation: X:238.82, Y:-175.34, Z:-17.19 [[ 7.20791830e-01 6.90968799e-01 5.49659696e-02 2.38824504e+02] [-6.88844352e-01 7.22883634e-01 -5.41545113e-02 -1.75335046e+02] [-7.71530774e-02 1.17113157e-03 9.97018571e-01 -1.71890362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80864 meters 0.026490521429041153 Centerline is valid? [True, True] Translation: X:238.85, Y:-175.36, Z:-17.19 [[ 7.22709490e-01 6.89000800e-01 5.44875177e-02 2.38846591e+02] [-6.86904195e-01 7.24759223e-01 -5.37279727e-02 -1.75357915e+02] [-7.65089472e-02 1.40201125e-03 9.97067909e-01 -1.71899909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83864 meters 0.02678900968793116 Centerline is valid? [True, True] Translation: X:238.87, Y:-175.38, Z:-17.19 [[ 7.24434346e-01 6.87254178e-01 5.36336993e-02 2.38868864e+02] [-6.85214598e-01 7.26415274e-01 -5.29320822e-02 -1.75381720e+02] [-7.53381330e-02 1.59522472e-03 9.97156769e-01 -1.71917697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86864 meters 0.027251417463990915 Centerline is valid? [True, True] Translation: X:238.89, Y:-175.41, Z:-17.20 [[ 7.26202860e-01 6.85258545e-01 5.52280087e-02 2.38887379e+02] [-6.83086156e-01 7.28297430e-01 -5.45541639e-02 -1.75408514e+02] [-7.76061238e-02 1.89190172e-03 9.96982302e-01 -1.71951544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89864 meters 0.027272977760567977 Centerline is valid? [True, True] Translation: X:238.91, Y:-175.43, Z:-17.20 [[ 7.26001493e-01 6.85513085e-01 5.47141919e-02 2.38908668e+02] [-6.83377944e-01 7.28057872e-01 -5.40954770e-02 -1.75434257e+02] [-7.69182555e-02 1.88292504e-03 9.97035625e-01 -1.71956530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864000000003 meters 0.026926381080766577 Centerline is valid? [True, True] Translation: X:238.93, Y:-175.46, Z:-17.20 [[ 7.24953377e-01 6.86650353e-01 5.43497259e-02 2.38929720e+02] [-6.84542876e-01 7.26985623e-01 -5.37861980e-02 -1.75458958e+02] [-7.64437812e-02 1.78776824e-03 9.97072290e-01 -1.71971507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95864 meters 0.026297276818798482 Centerline is valid? [True, True] Translation: X:238.95, Y:-175.49, Z:-17.20 [[ 7.22279336e-01 6.89568031e-01 5.29952038e-02 2.38947871e+02] [-6.87569506e-01 7.24219423e-01 -5.24823922e-02 -1.75486669e+02] [-7.45703358e-02 1.46906126e-03 9.97214674e-01 -1.71994826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters 0.026104734283845604 Centerline is valid? [True, True] Translation: X:238.97, Y:-175.51, Z:-17.20 [[ 7.20559815e-01 6.91461220e-01 5.17197718e-02 2.38967690e+02] [-6.89561008e-01 7.22412482e-01 -5.12427669e-02 -1.75512419e+02] [-7.27953948e-02 1.25954061e-03 9.97346100e-01 -1.72011204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01864 meters 0.025848794020955065 Centerline is valid? [True, True] Translation: X:238.99, Y:-175.54, Z:-17.20 [[ 7.17406281e-01 6.94673108e-01 5.25119176e-02 2.38985305e+02] [-6.92719229e-01 7.19324897e-01 -5.20745783e-02 -1.75540234e+02] [-7.39479389e-02 9.82614496e-04 9.97261619e-01 -1.72022535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters 0.02580956167372476 Centerline is valid? [True, True] Translation: X:239.01, Y:-175.57, Z:-17.20 [[ 7.16146843e-01 6.95913923e-01 5.32682929e-02 2.39007131e+02] [-6.93902948e-01 7.18124639e-01 -5.28744039e-02 -1.75565232e+02] [-7.50493074e-02 9.02811993e-04 9.97179415e-01 -1.72041987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07864 meters 0.02582470272966747 Centerline is valid? [True, True] Translation: X:239.03, Y:-175.59, Z:-17.21 [[ 7.14467103e-01 6.97583958e-01 5.39757290e-02 2.39025815e+02] [-6.95519639e-01 7.16502629e-01 -5.36322228e-02 -1.75593655e+02] [-7.60867300e-02 7.77279332e-04 9.97100900e-01 -1.72073667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters 0.025753304493323616 Centerline is valid? [True, True] Translation: X:239.05, Y:-175.62, Z:-17.21 [[ 7.13506360e-01 6.98572490e-01 5.38994499e-02 2.39046346e+02] [-6.96512622e-01 7.15538938e-01 -5.36115365e-02 -1.75619475e+02] [-7.60186997e-02 7.10525071e-04 9.97106139e-01 -1.72090576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13864 meters 0.025619323859889003 Centerline is valid? [True, True] Translation: X:239.07, Y:-175.64, Z:-17.21 [[ 7.12215369e-01 6.99934426e-01 5.33016712e-02 2.39067214e+02] [-6.97919905e-01 7.14206864e-01 -5.30694081e-02 -1.75643877e+02] [-7.52135251e-02 5.96550756e-04 9.97167273e-01 -1.72099415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters 0.025356478036547225 Centerline is valid? [True, True] Translation: X:239.09, Y:-175.67, Z:-17.21 [[ 7.09530689e-01 7.02751190e-01 5.20285049e-02 2.39087744e+02] [-7.00836017e-01 7.11435633e-01 -5.18480275e-02 -1.75668838e+02] [-7.34511953e-02 3.24316499e-04 9.97298760e-01 -1.72113854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19864 meters 0.025349409854762736 Centerline is valid? [True, True] Translation: X:239.11, Y:-175.69, Z:-17.21 [[ 7.07106393e-01 7.05154688e-01 5.25110994e-02 2.39109858e+02] [-7.03206616e-01 7.09053492e-01 -5.23793910e-02 -1.75693935e+02] [-7.41687514e-02 1.11649696e-04 9.97245699e-01 -1.72134236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters 0.025283474911855043 Centerline is valid? [True, True] Translation: X:239.13, Y:-175.72, Z:-17.21 [[ 7.04619236e-01 7.07565621e-01 5.35034887e-02 2.39130530e+02] [-7.05545812e-01 7.06647635e-01 -5.34249603e-02 -1.75718703e+02] [-7.56097789e-02 -1.04907643e-04 9.97137478e-01 -1.72149984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25864 meters 0.02543312726267088 Centerline is valid? [True, True] Translation: X:239.15, Y:-175.74, Z:-17.21 [[ 7.00627077e-01 7.11439314e-01 5.45509079e-02 2.39151571e+02] [-7.09347216e-01 7.02747364e-01 -5.45221980e-02 -1.75743914e+02] [-7.71247418e-02 -4.95806427e-04 9.97021328e-01 -1.72147005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters 0.02546208097429394 Centerline is valid? [True, True] Translation: X:239.19, Y:-175.88, Z:-15.60 [[ 7.61993541e-01 -6.47236018e-01 -2.12457054e-02 2.39190004e+02] [-6.46820738e-01 -7.62278034e-01 2.35612371e-02 -1.75883107e+02] [-3.14448158e-02 -4.21134758e-03 -9.99496617e-01 -1.55997802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31864 meters 0.02551901553514984 Centerline is valid? [True, True] Translation: X:239.19, Y:-175.80, Z:-17.22 [[ 7.48128355e-01 6.61066924e-01 5.73976207e-02 2.39191180e+02] [-6.59207748e-01 7.50326551e-01 -4.95500883e-02 -1.75798630e+02] [-7.58228833e-02 -7.67130250e-04 9.97121007e-01 -1.72174937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters 0.025640688545791813 Centerline is valid? [True, True] Translation: X:239.21, Y:-175.82, Z:-17.22 [[ 7.46721389e-01 6.62679520e-01 5.71228632e-02 2.39213858e+02] [-6.60838816e-01 7.48902576e-01 -4.93659005e-02 -1.75823476e+02] [-7.54932306e-02 -8.86431506e-04 9.97145920e-01 -1.72198675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37864 meters 0.02566095990345376 Centerline is valid? [True, True] Translation: X:239.24, Y:-175.85, Z:-17.22 [[ 7.45920201e-01 6.63552460e-01 5.74559528e-02 2.39238134e+02] [-6.61688690e-01 7.48129166e-01 -4.97074394e-02 -1.75845634e+02] [-7.59679678e-02 -9.40170933e-04 9.97109815e-01 -1.72215308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters 0.025725446235044122 Centerline is valid? [True, True] Translation: X:239.26, Y:-175.87, Z:-17.22 [[ 7.44964173e-01 6.64569711e-01 5.80988918e-02 2.39262092e+02] [-6.62662976e-01 7.47225580e-01 -5.03161306e-02 -1.75867338e+02] [-7.68515545e-02 -1.01626992e-03 9.97042028e-01 -1.72225843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43864 meters 0.02575329347493717 Centerline is valid? [True, True] Translation: X:239.29, Y:-175.89, Z:-17.22 [[ 7.44086284e-01 6.65555353e-01 5.80661232e-02 2.39286432e+02] [-6.63649954e-01 7.46347711e-01 -5.03372033e-02 -1.75889299e+02] [-7.68397132e-02 -1.08035746e-03 9.97042873e-01 -1.72238356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters 0.02574513812002545 Centerline is valid? [True, True] Translation: X:239.31, Y:-175.91, Z:-17.23 [[ 7.43694977e-01 6.65993288e-01 5.80579097e-02 2.39311364e+02] [-6.64085567e-01 7.45956945e-01 -5.03844859e-02 -1.75911110e+02] [-7.68644303e-02 -1.08473079e-03 9.97040963e-01 -1.72264507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49864 meters 0.025671542933505924 Centerline is valid? [True, True] Translation: X:239.34, Y:-175.93, Z:-17.23 [[ 7.43513475e-01 6.66237793e-01 5.75753015e-02 2.39337863e+02] [-6.64358311e-01 7.45738613e-01 -5.00195533e-02 -1.75931410e+02] [-7.62610423e-02 -1.06041813e-03 9.97087323e-01 -1.72290343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters 0.02564789498030025 Centerline is valid? [True, True] Translation: X:239.36, Y:-175.95, Z:-17.23 [[ 7.42616419e-01 6.67253847e-01 5.73860387e-02 2.39363179e+02] [-6.65385641e-01 7.44829543e-01 -4.99089257e-02 -1.75952298e+02] [-7.60447397e-02 -1.12065845e-03 9.97103777e-01 -1.72307694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55864 meters 0.025758626741655858 Centerline is valid? [True, True] Translation: X:239.39, Y:-175.97, Z:-17.23 [[ 7.42103883e-01 6.67838398e-01 5.72162684e-02 2.39388059e+02] [-6.65978907e-01 7.44305436e-01 -4.98148023e-02 -1.75973730e+02] [-7.58546173e-02 -1.13706964e-03 9.97118240e-01 -1.72323369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters 0.025627732808398744 Centerline is valid? [True, True] Translation: X:239.41, Y:-175.99, Z:-17.23 [[ 7.42262463e-01 6.67655886e-01 5.72892053e-02 2.39413720e+02] [-6.65786986e-01 7.44469242e-01 -4.99323238e-02 -1.75994948e+02] [-7.59876611e-02 -1.07951772e-03 9.97108174e-01 -1.72343637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61864 meters 0.025706650802209484 Centerline is valid? [True, True] Translation: X:239.44, Y:-176.01, Z:-17.24 [[ 7.42427293e-01 6.67535476e-01 5.65517677e-02 2.39438923e+02] [-6.65710261e-01 7.44577301e-01 -4.93405710e-02 -1.76014487e+02] [-7.50437441e-02 -1.01530545e-03 9.97179726e-01 -1.72366793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64864 meters 0.02547252068623284 Centerline is valid? [True, True] Translation: X:239.47, Y:-176.03, Z:-17.24 [[ 7.42430670e-01 6.67507810e-01 5.68333054e-02 2.39466213e+02] [-6.65660584e-01 7.44602150e-01 -4.96349220e-02 -1.76033609e+02] [-7.54498995e-02 -9.81202843e-04 9.97149111e-01 -1.72398670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67864000000003 meters 0.02557630582290735 Centerline is valid? [True, True] Translation: X:239.49, Y:-176.05, Z:-17.24 [[ 7.41944650e-01 6.68032412e-01 5.70160773e-02 2.39491844e+02] [-6.66170730e-01 7.44131508e-01 -4.98483369e-02 -1.76054251e+02] [-7.57277643e-02 -9.97734949e-04 9.97128031e-01 -1.72415750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70864 meters 0.025476638385838562 Centerline is valid? [True, True] Translation: X:239.52, Y:-176.07, Z:-17.24 [[ 7.42274405e-01 6.67753876e-01 5.59773947e-02 2.39517127e+02] [-6.65954958e-01 7.44381573e-01 -4.89904909e-02 -1.76073994e+02] [-7.43821313e-02 -9.14036011e-04 9.97229393e-01 -1.72434727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73864 meters 0.02532841893381585 Centerline is valid? [True, True] Translation: X:239.54, Y:-176.09, Z:-17.24 [[ 7.43105158e-01 6.66835148e-01 5.59071565e-02 2.39544256e+02] [-6.65034739e-01 7.45204849e-01 -4.89747800e-02 -1.76091627e+02] [-7.43203887e-02 -7.86789611e-04 9.97234105e-01 -1.72445325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76864 meters 0.02522286260215614 Centerline is valid? [True, True] Translation: X:239.57, Y:-176.11, Z:-17.25 [[ 7.43684736e-01 6.66158280e-01 5.62686445e-02 2.39570833e+02] [-6.64328914e-01 7.45810079e-01 -4.93398384e-02 -1.76111637e+02] [-7.48338641e-02 -6.87602878e-04 9.97195778e-01 -1.72468716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79864 meters 0.02543820724509406 Centerline is valid? [True, True] Translation: X:239.60, Y:-176.13, Z:-17.25 [[ 7.43995457e-01 6.65779405e-01 5.66440111e-02 2.39596760e+02] [-6.63920336e-01 7.46148382e-01 -4.97230291e-02 -1.76131319e+02] [-7.53694060e-02 -6.13403122e-04 9.97155493e-01 -1.72493718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82864 meters 0.025366716501815843 Centerline is valid? [True, True] Translation: X:239.62, Y:-176.15, Z:-17.25 [[ 7.43892120e-01 6.65905453e-01 5.65193832e-02 2.39622013e+02] [-6.64050889e-01 7.46035914e-01 -4.96672145e-02 -1.76152250e+02] [-7.52391587e-02 -5.84697160e-04 9.97165346e-01 -1.72515829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85864 meters 0.025228641162412507 Centerline is valid? [True, True] Translation: X:239.65, Y:-176.17, Z:-17.25 [[ 7.43990883e-01 6.65784828e-01 5.66403377e-02 2.39647306e+02] [-6.63917918e-01 7.46143604e-01 -4.98269069e-02 -1.76173213e+02] [-7.54358243e-02 -5.33770559e-04 9.97150516e-01 -1.72532395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88864 meters 0.025013990604086676 Centerline is valid? [True, True] Translation: X:239.67, Y:-176.19, Z:-17.26 [[ 7.46128103e-01 6.63409686e-01 5.63954168e-02 2.39672264e+02] [-6.61548258e-01 7.48256323e-01 -4.96626373e-02 -1.76192987e+02] [-7.51449018e-02 -2.53600356e-04 9.97172593e-01 -1.72552753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91864 meters 0.025137254409311468 Centerline is valid? [True, True] Translation: X:239.70, Y:-176.21, Z:-17.26 [[ 7.47314505e-01 6.62059464e-01 5.65534923e-02 2.39697235e+02] [-6.60180007e-01 7.49451306e-01 -4.98507584e-02 -1.76214820e+02] [-7.53882551e-02 -8.12901308e-05 9.97154253e-01 -1.72566359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94864 meters 0.025201996899015366 Centerline is valid? [True, True] Translation: X:239.72, Y:-176.24, Z:-17.26 [[ 7.50674683e-01 6.58277366e-01 5.61999075e-02 2.39721348e+02] [-6.56406763e-01 7.52775395e-01 -4.95919928e-02 -1.76236876e+02] [-7.49511940e-02 3.37454124e-04 9.97187146e-01 -1.72588035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97864 meters 0.025201996899015366 Centerline is valid? [True, True] Translation: X:239.75, Y:-176.26, Z:-17.26 [[ 7.50328529e-01 6.58674136e-01 5.61736763e-02 2.39745931e+02] [-6.56802420e-01 7.52428249e-01 -4.96216921e-02 -1.76258140e+02] [-7.49511860e-02 3.37564652e-04 9.97187147e-01 -1.72605526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00864 meters 0.02524106989533645 Centerline is valid? [True, True] Translation: X:239.77, Y:-176.28, Z:-17.26 [[ 7.51392977e-01 6.57547869e-01 5.51307098e-02 2.39770280e+02] [-6.55738309e-01 7.53412616e-01 -4.87514156e-02 -1.76280320e+02] [-7.35925617e-02 4.80152861e-04 9.97288275e-01 -1.72614777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03864 meters 0.025341145091965996 Centerline is valid? [True, True] Translation: X:239.79, Y:-176.30, Z:-17.26 [[ 7.51394559e-01 6.57490587e-01 5.57883926e-02 2.39793812e+02] [-6.55633440e-01 7.53462571e-01 -4.93856961e-02 -1.76302902e+02] [-7.45050961e-02 5.31407608e-04 9.97220491e-01 -1.72636888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06864 meters 0.025304459697024544 Centerline is valid? [True, True] Translation: X:239.82, Y:-176.33, Z:-17.26 [[ 7.51517724e-01 6.57285113e-01 5.65454711e-02 2.39816801e+02] [-6.55372676e-01 7.53641773e-01 -5.01072144e-02 -1.76325714e+02] [-7.55497552e-02 5.98102980e-04 9.97141854e-01 -1.72649291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09864 meters 0.025471783493298872 Centerline is valid? [True, True] Translation: X:239.84, Y:-176.35, Z:-17.27 [[ 7.51669414e-01 6.57074560e-01 5.69746737e-02 2.39838616e+02] [-6.55128641e-01 7.53825302e-01 -5.05359048e-02 -1.76350643e+02] [-7.61548080e-02 6.60553367e-04 9.97095787e-01 -1.72664479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12864 meters 0.025327023821116897 Centerline is valid? [True, True] Translation: X:239.86, Y:-176.37, Z:-17.27 [[ 7.50567409e-01 6.58334314e-01 5.69604730e-02 2.39861974e+02] [-6.56388933e-01 7.52725450e-01 -5.05763240e-02 -1.76373706e+02] [-7.61717272e-02 5.72716382e-04 9.97094549e-01 -1.72679631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15864 meters 0.02536995046025349 Centerline is valid? [True, True] Translation: X:239.88, Y:-176.40, Z:-17.27 [[ 7.49759284e-01 6.59309472e-01 5.63208315e-02 2.39883589e+02] [-6.57406545e-01 7.51871507e-01 -5.00586827e-02 -1.76397944e+02] [-7.53501921e-02 5.06278857e-04 9.97157005e-01 -1.72696035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18864 meters 0.025247474342681098 Centerline is valid? [True, True] Translation: X:239.91, Y:-176.42, Z:-17.27 [[ 7.48844329e-01 6.60331674e-01 5.65177023e-02 2.39906534e+02] [-6.58414651e-01 7.50973958e-01 -5.02818303e-02 -1.76421639e+02] [-7.56460078e-02 4.41180318e-04 9.97134638e-01 -1.72713579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21864 meters 0.025224623702446745 Centerline is valid? [True, True] Translation: X:239.93, Y:-176.45, Z:-17.27 [[ 7.48167114e-01 6.61065793e-01 5.69033177e-02 2.39929999e+02] [-6.59120504e-01 7.50327828e-01 -5.06785144e-02 -1.76445145e+02] [-7.61979750e-02 4.09854378e-04 9.97092624e-01 -1.72737255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24864 meters 0.025354140082383562 Centerline is valid? [True, True] Translation: X:239.95, Y:-176.47, Z:-17.28 [[ 7.47554567e-01 6.61746516e-01 5.70413763e-02 2.39952821e+02] [-6.59789607e-01 7.49727553e-01 -5.08554000e-02 -1.76468465e+02] [-7.64188752e-02 3.81879260e-04 9.97075729e-01 -1.72757327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27864 meters 0.025226098934342765 Centerline is valid? [True, True] Translation: X:239.98, Y:-176.49, Z:-17.28 [[ 7.47202849e-01 6.62233510e-01 5.59882267e-02 2.39976208e+02] [-6.60345892e-01 7.49297435e-01 -4.99665506e-02 -1.76490734e+02] [-7.50413588e-02 3.63553385e-04 9.97180356e-01 -1.72776278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30864 meters 0.0251411417849233 Centerline is valid? [True, True] Translation: X:240.00, Y:-176.52, Z:-17.28 [[ 7.46617275e-01 6.62894049e-01 5.59832459e-02 2.39998000e+02] [-6.61005002e-01 7.48713142e-01 -5.00101868e-02 -1.76515262e+02] [-7.50668471e-02 3.33263836e-04 9.97178448e-01 -1.72791908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33864 meters 0.025278502085359467 Centerline is valid? [True, True] Translation: X:240.02, Y:-176.54, Z:-17.28 [[ 7.46275016e-01 6.63254663e-01 5.62747955e-02 2.40021449e+02] [-6.61342813e-01 7.48393705e-01 -5.03244136e-02 -1.76538418e+02] [-7.54936047e-02 3.38921023e-04 9.97146228e-01 -1.72813972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36864 meters 0.025197039427071497 Centerline is valid? [True, True] Translation: X:240.05, Y:-176.56, Z:-17.28 [[ 7.45449764e-01 6.64218966e-01 5.58373934e-02 2.40045926e+02] [-6.62335457e-01 7.47538018e-01 -4.99865409e-02 -1.76560945e+02] [-7.49425829e-02 2.79369665e-04 9.97187811e-01 -1.72831238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39864 meters 0.025241747042161287 Centerline is valid? [True, True] Translation: X:240.07, Y:-176.58, Z:-17.29 [[ 7.44664742e-01 6.65110093e-01 5.57044539e-02 2.40070182e+02] [-6.63234065e-01 7.46745279e-01 -4.99205649e-02 -1.76583405e+02] [-7.47997095e-02 2.28993175e-04 9.97198551e-01 -1.72860149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864000000003 meters 0.025181000185114377 Centerline is valid? [True, True] Translation: X:240.09, Y:-176.61, Z:-17.29 [[ 7.43729008e-01 6.66164099e-01 5.56107508e-02 2.40093667e+02] [-6.64293330e-01 7.45805180e-01 -4.98899221e-02 -1.76606784e+02] [-7.47096611e-02 1.62731453e-04 9.97205315e-01 -1.72883068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45864 meters 0.02495068104417219 Centerline is valid? [True, True] Translation: X:240.12, Y:-176.63, Z:-17.29 [[ 7.43691447e-01 6.66363325e-01 5.36931166e-02 2.40115623e+02] [-6.64616512e-01 7.45627178e-01 -4.82182991e-02 -1.76630938e+02] [-7.21659532e-02 1.74204772e-04 9.97392623e-01 -1.72882688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters 0.025011013188486773 Centerline is valid? [True, True] Translation: X:240.14, Y:-176.65, Z:-17.29 [[ 7.43231131e-01 6.66820998e-01 5.43805310e-02 2.40140155e+02] [-6.65026807e-01 7.45217907e-01 -4.88837066e-02 -1.76653397e+02] [-7.31220275e-02 1.67381618e-04 9.97322987e-01 -1.72908400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51864 meters 0.025058578662929796 Centerline is valid? [True, True] Translation: X:240.16, Y:-176.68, Z:-17.29 [[ 7.41524635e-01 6.68694880e-01 5.46660127e-02 2.40163032e+02] [-6.66882945e-01 7.43536924e-01 -4.91933044e-02 -1.76676923e+02] [-7.35415098e-02 2.22155521e-05 9.97292157e-01 -1.72926983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters 0.025081828988425557 Centerline is valid? [True, True] Translation: X:240.19, Y:-176.70, Z:-17.29 [[ 7.40558696e-01 6.69651886e-01 5.60283011e-02 2.40185369e+02] [-6.67747570e-01 7.42675131e-01 -5.04661512e-02 -1.76699425e+02] [-7.54055792e-02 -3.96147838e-05 9.97152946e-01 -1.72947040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57864 meters 0.025202368518204045 Centerline is valid? [True, True] Translation: X:240.21, Y:-176.72, Z:-17.30 [[ 7.39298685e-01 6.71027920e-01 5.62048418e-02 2.40208408e+02] [-6.69112929e-01 7.41432065e-01 -5.06594723e-02 -1.76722762e+02] [-7.56659922e-02 -1.54905068e-04 9.97133208e-01 -1.72961098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters 0.025337005293485232 Centerline is valid? [True, True] Translation: X:240.23, Y:-176.75, Z:-17.30 [[ 7.38525855e-01 6.71862694e-01 5.63922190e-02 2.40231531e+02] [-6.69933101e-01 7.40675692e-01 -5.08837880e-02 -1.76746681e+02] [-7.59552648e-02 -2.00021135e-04 9.97111206e-01 -1.72982245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63864 meters 0.025156619504313464 Centerline is valid? [True, True] Translation: X:240.26, Y:-176.77, Z:-17.30 [[ 7.38167158e-01 6.72251469e-01 5.64553803e-02 2.40255331e+02] [-6.70314487e-01 7.40322851e-01 -5.09957447e-02 -1.76769800e+02] [-7.60771724e-02 -1.99475283e-04 9.97101913e-01 -1.73001129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters 0.025241908906486064 Centerline is valid? [True, True] Translation: X:240.28, Y:-176.79, Z:-17.30 [[ 7.37911049e-01 6.72601038e-01 5.56338683e-02 2.40277866e+02] [-6.70717208e-01 7.40005274e-01 -5.03052792e-02 -1.76793027e+02] [-7.50047390e-02 -1.93771450e-04 9.97183159e-01 -1.73013046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69864 meters 0.025148788562478697 Centerline is valid? [True, True] Translation: X:240.30, Y:-176.82, Z:-17.30 [[ 7.37989601e-01 6.72484561e-01 5.59987883e-02 2.40300326e+02] [-6.70571777e-01 7.40111136e-01 -5.06852888e-02 -1.76817921e+02] [-7.55304010e-02 -1.45990970e-04 9.97143489e-01 -1.73033641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters 0.025191879311498692 Centerline is valid? [True, True] Translation: X:240.32, Y:-176.84, Z:-17.30 [[ 7.37745536e-01 6.72836564e-01 5.49771005e-02 2.40324079e+02] [-6.70990166e-01 7.39791145e-01 -4.98122309e-02 -1.76840307e+02] [-7.41870624e-02 -1.40342816e-04 9.97244333e-01 -1.73038970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75864 meters 0.025298796741604183 Centerline is valid? [True, True] Translation: X:240.35, Y:-176.86, Z:-17.31 [[ 7.36628193e-01 6.73999760e-01 5.57066326e-02 2.40346743e+02] [-6.72103497e-01 7.38731530e-01 -5.05234177e-02 -1.76864361e+02] [-7.52050173e-02 -2.23648716e-04 9.97168068e-01 -1.73070271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters 0.02535282279480989 Centerline is valid? [True, True] Translation: X:240.37, Y:-176.89, Z:-17.31 [[ 7.35962237e-01 6.74670734e-01 5.63825012e-02 2.40369046e+02] [-6.72726670e-01 7.38118778e-01 -5.11810100e-02 -1.76887092e+02] [-7.61473125e-02 -2.62721705e-04 9.97096544e-01 -1.73080395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81864 meters 0.02551752665904371 Centerline is valid? [True, True] Translation: X:240.39, Y:-176.91, Z:-17.31 [[ 7.35221746e-01 6.75410955e-01 5.71753987e-02 2.40391509e+02] [-6.73411852e-01 7.37441480e-01 -5.19282264e-02 -1.76909674e+02] [-7.72364036e-02 -3.23829923e-04 9.97012755e-01 -1.73097722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters 0.025374120810763037 Centerline is valid? [True, True] Translation: X:240.42, Y:-176.93, Z:-17.31 [[ 7.33811619e-01 6.76919998e-01 5.74440953e-02 2.40415149e+02] [-6.74902580e-01 7.36056463e-01 -5.22244252e-02 -1.76932889e+02] [-7.76338554e-02 -4.46278092e-04 9.96981838e-01 -1.73108673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87864 meters 0.025591747191946682 Centerline is valid? [True, True] Translation: X:240.44, Y:-176.96, Z:-17.31 [[ 7.31839471e-01 6.79083651e-01 5.70647334e-02 2.40438520e+02] [-6.77095031e-01 7.34060623e-01 -5.19357385e-02 -1.76956251e+02] [-7.71576847e-02 -6.29624088e-04 9.97018704e-01 -1.73127533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters 0.025691142624731135 Centerline is valid? [True, True] Translation: X:240.46, Y:-176.98, Z:-17.31 [[ 7.31011804e-01 6.80075127e-01 5.58530595e-02 2.40461379e+02] [-6.78169083e-01 7.33142114e-01 -5.08855216e-02 -1.76979529e+02] [-7.55542077e-02 -6.79901208e-04 9.97141464e-01 -1.73141727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93864 meters 0.02576408886281888 Centerline is valid? [True, True] Translation: X:240.48, Y:-177.00, Z:-17.32 [[ 7.30209369e-01 6.80959039e-01 5.55793531e-02 2.40482799e+02] [-6.79070473e-01 7.32321140e-01 -5.06856981e-02 -1.77004727e+02] [-7.52168195e-02 -7.31125987e-04 9.97166935e-01 -1.73163524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters 0.025630165045050217 Centerline is valid? [True, True] Translation: X:240.51, Y:-177.03, Z:-17.32 [[ 7.29354746e-01 6.81849350e-01 5.58848705e-02 2.40505579e+02] [-6.79938352e-01 7.31492204e-01 -5.10195304e-02 -1.77028028e+02] [-7.56669807e-02 -7.86930177e-04 9.97132834e-01 -1.73182498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99864 meters 0.025576717021570664 Centerline is valid? [True, True] Translation: X:240.53, Y:-177.05, Z:-17.32 [[ 7.28888297e-01 6.82353270e-01 5.58199490e-02 2.40528537e+02] [-6.80443993e-01 7.31022147e-01 -5.10156229e-02 -1.77052283e+02] [-7.56162960e-02 -7.97658494e-04 9.97136670e-01 -1.73197306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters 0.02576445564346133 Centerline is valid? [True, True] Translation: X:240.55, Y:-177.08, Z:-17.32 [[ 7.27683155e-01 6.83594062e-01 5.63594166e-02 2.40551520e+02] [-6.81647214e-01 7.29861875e-01 -5.15627806e-02 -1.77075313e+02] [-7.63826000e-02 -8.95872396e-04 9.97078179e-01 -1.73230688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05864 meters 0.025950651981870586 Centerline is valid? [True, True] Translation: X:240.57, Y:-177.10, Z:-17.33 [[ 7.26335083e-01 6.85107205e-01 5.53666462e-02 2.40574597e+02] [-6.83229143e-01 7.28441567e-01 -5.07032571e-02 -1.77098192e+02] [-7.50685333e-02 -1.00055179e-03 9.97177875e-01 -1.73253438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters 0.0262596057968156 Centerline is valid? [True, True] Translation: X:240.60, Y:-177.12, Z:-17.33 [[ 7.22812960e-01 6.88774086e-01 5.59614414e-02 2.40595698e+02] [-6.86862284e-01 7.24974770e-01 -5.13009333e-02 -1.77122825e+02] [-7.59053866e-02 -1.35682396e-03 9.97114101e-01 -1.73273796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11864 meters 0.02672156022654115 Centerline is valid? [True, True] Translation: X:240.62, Y:-177.15, Z:-17.33 [[ 7.20497676e-01 6.91124471e-01 5.68336643e-02 2.40618071e+02] [-6.89156037e-01 7.22733993e-01 -5.21491221e-02 -1.77145521e+02] [-7.71171555e-02 -1.59394161e-03 9.97020764e-01 -1.73289601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14864 meters 0.0270806708242723 Centerline is valid? [True, True] Translation: X:240.64, Y:-177.17, Z:-17.33 [[ 7.17071540e-01 6.94585341e-01 5.79621450e-02 2.40641170e+02] [-6.92545813e-01 7.19407607e-01 -5.32258618e-02 -1.77167820e+02] [-7.86683114e-02 -1.97469009e-03 9.96898890e-01 -1.73291385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17864000000003 meters 0.027281171670578967 Centerline is valid? [True, True] Translation: X:240.66, Y:-177.19, Z:-17.33 [[ 7.15364291e-01 6.96355836e-01 5.78141876e-02 2.40664931e+02] [-6.94330088e-01 7.17693501e-01 -5.31203040e-02 -1.77189894e+02] [-7.84835005e-02 -2.14176132e-03 9.96913112e-01 -1.73316013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20864 meters 0.027435925308357256 Centerline is valid? [True, True] Translation: X:240.69, Y:-177.21, Z:-17.33 [[ 7.15082179e-01 6.96709747e-01 5.70351252e-02 2.40688552e+02] [-6.94735797e-01 7.17350016e-01 -5.24511898e-02 -1.77211350e+02] [-7.74574031e-02 -2.11743204e-03 9.96993414e-01 -1.73333823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23864 meters 0.027461440868103412 Centerline is valid? [True, True] Translation: X:240.71, Y:-177.23, Z:-17.34 [[ 7.13407738e-01 6.98435311e-01 5.68991697e-02 2.40712307e+02] [-6.96472601e-01 7.15669606e-01 -5.23730032e-02 -1.77232520e+02] [-7.73001612e-02 -2.26540699e-03 9.97005292e-01 -1.73350873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26864 meters 0.027722826047381594 Centerline is valid? [True, True] Translation: X:240.74, Y:-177.25, Z:-17.34 [[ 7.11782011e-01 7.00076036e-01 5.70956484e-02 2.40737847e+02] [-6.98101320e-01 7.14064210e-01 -5.26008715e-02 -1.77252763e+02] [-7.75945687e-02 -2.41819341e-03 9.96982064e-01 -1.73358131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29864 meters 0.02795006477559879 Centerline is valid? [True, True] Translation: X:240.76, Y:-177.27, Z:-17.34 [[ 7.10186063e-01 7.01670386e-01 5.73970847e-02 2.40762197e+02] [-6.99676197e-01 7.12497056e-01 -5.29260305e-02 -1.77273175e+02] [-7.80318821e-02 -2.57204470e-03 9.96947546e-01 -1.73372974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32864 meters 0.02894458273789384 Centerline is valid? [True, True] Translation: X:240.79, Y:-177.29, Z:-17.34 [[ 7.05978062e-01 7.05856050e-01 5.79845872e-02 2.40787187e+02] [-7.03831846e-01 7.08348787e-01 -5.35044637e-02 -1.77293546e+02] [-7.88397615e-02 -3.03842153e-03 9.96882671e-01 -1.73387073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35864 meters 0.029275281921151503 Centerline is valid? [True, True] Translation: X:240.81, Y:-177.31, Z:-17.34 [[ 7.04352957e-01 7.07618200e-01 5.62440613e-02 2.40812867e+02] [-7.05717600e-01 7.06588100e-01 -5.19223062e-02 -1.77314382e+02] [-7.64825533e-02 -3.12079407e-03 9.97066036e-01 -1.73397103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38864 meters 0.02953077071322175 Centerline is valid? [True, True] Translation: X:240.84, Y:-177.33, Z:-17.34 [[ 7.02725902e-01 7.09255697e-01 5.59702004e-02 2.40838549e+02] [-7.07374961e-01 7.04943834e-01 -5.17190049e-02 -1.77334311e+02] [-7.61378465e-02 -3.24763397e-03 9.97092012e-01 -1.73413281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41864 meters 0.029850639021652626 Centerline is valid? [True, True] Translation: X:240.87, Y:-177.35, Z:-17.34 [[ 7.01055062e-01 7.10895280e-01 5.61221957e-02 2.40865416e+02] [-7.09006136e-01 7.03289639e-01 -5.19035902e-02 -1.77352019e+02] [-7.63681760e-02 -3.40370652e-03 9.97073877e-01 -1.73427713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44864 meters 0.030169740539451047 Centerline is valid? [True, True] Translation: X:240.89, Y:-177.37, Z:-17.34 [[ 7.00163057e-01 7.11668279e-01 5.74452278e-02 2.40890244e+02] [-7.09687995e-01 7.02506750e-01 -5.31715695e-02 -1.77372989e+02] [-7.81961797e-02 -3.53941991e-03 9.96931708e-01 -1.73449859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47864 meters 0.03021564265510741 Centerline is valid? [True, True] Translation: X:240.92, Y:-177.39, Z:-17.34 [[ 6.99463051e-01 7.12413609e-01 5.67299712e-02 2.40916175e+02] [-7.10481203e-01 7.01750873e-01 -5.25563798e-02 -1.77393424e+02] [-7.72521870e-02 -3.54433237e-03 9.97005285e-01 -1.73448767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50864 meters 0.03004423117222191 Centerline is valid? [True, True] Translation: X:240.95, Y:-177.41, Z:-17.35 [[ 6.98693521e-01 7.13148665e-01 5.69767147e-02 2.40945073e+02] [-7.11197931e-01 7.01003549e-01 -5.28349064e-02 -1.77409273e+02] [-7.76200222e-02 -3.60631484e-03 9.96976493e-01 -1.73465982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53864 meters 0.029861964541438364 Centerline is valid? [True, True] Translation: X:240.97, Y:-177.43, Z:-17.35 [[ 6.98109735e-01 7.13834447e-01 5.55263896e-02 2.40971694e+02] [-7.11980736e-01 7.00305452e-01 -5.15335464e-02 -1.77427392e+02] [-7.56718539e-02 -3.55764924e-03 9.97126428e-01 -1.73481414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56864 meters 0.029642864080736138 Centerline is valid? [True, True] Translation: X:241.00, Y:-177.44, Z:-17.35 [[ 6.96910461e-01 7.15120226e-01 5.40265735e-02 2.41000108e+02] [-7.13366504e-01 6.98992355e-01 -5.01788680e-02 -1.77443318e+02] [-7.36480853e-02 -3.57056976e-03 9.97277900e-01 -1.73496593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59864 meters 0.030417914624880107 Centerline is valid? [True, True] Translation: X:241.03, Y:-177.46, Z:-17.35 [[ 6.95844273e-01 7.16148581e-01 5.41475433e-02 2.41025532e+02] [-7.14387887e-01 6.97938223e-01 -5.03208081e-02 -1.77462918e+02] [-7.38288155e-02 -3.66690292e-03 9.97264188e-01 -1.73512584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62864 meters 0.030634516934966216 Centerline is valid? [True, True] Translation: X:241.05, Y:-177.48, Z:-17.35 [[ 6.94965817e-01 7.17010627e-01 5.40210543e-02 2.41052017e+02] [-7.15257574e-01 6.97052312e-01 -5.02461663e-02 -1.77480950e+02] [-7.36825360e-02 -3.71960024e-03 9.97274811e-01 -1.73525333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65864 meters 0.03074658093338673 Centerline is valid? [True, True] Translation: X:241.08, Y:-177.50, Z:-17.35 [[ 6.93818223e-01 7.18116388e-01 5.40844317e-02 2.41082793e+02] [-7.16359507e-01 6.95912578e-01 -5.03462060e-02 -1.77495111e+02] [-7.37924719e-02 -3.81278170e-03 9.97266330e-01 -1.73536959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68864 meters 0.030737017676791895 Centerline is valid? [True, True] Translation: X:241.11, Y:-177.51, Z:-17.36 [[ 6.93512992e-01 7.18388809e-01 5.43805958e-02 2.41110441e+02] [-7.16610066e-01 6.95631254e-01 -5.06672765e-02 -1.77513667e+02] [-7.42276464e-02 -3.83126784e-03 9.97233963e-01 -1.73563976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71864 meters 0.029958542367825386 Centerline is valid? [True, True] Translation: X:241.14, Y:-177.53, Z:-17.36 [[ 6.94371535e-01 7.17635838e-01 5.33570539e-02 2.41137384e+02] [-7.15918412e-01 6.96408979e-01 -4.97530140e-02 -1.77531411e+02] [-7.28628773e-02 -3.65222055e-03 9.97335281e-01 -1.73573840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74864 meters 0.029571375535619008 Centerline is valid? [True, True] Translation: X:241.17, Y:-177.55, Z:-17.36 [[ 6.97235768e-01 7.14805195e-01 5.39982953e-02 2.41165857e+02] [-7.13036739e-01 6.99315423e-01 -5.03641598e-02 -1.77546697e+02] [-7.37624038e-02 -3.38707473e-03 9.97270092e-01 -1.73596959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77864 meters 0.029142998902703214 Centerline is valid? [True, True] Translation: X:241.19, Y:-177.56, Z:-17.36 [[ 6.98812817e-01 7.13215254e-01 5.46319440e-02 2.41193277e+02] [-7.11398867e-01 7.00937567e-01 -5.09723457e-02 -1.77564750e+02] [-7.46478363e-02 -3.24497461e-03 9.97204678e-01 -1.73613490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80864 meters 0.027977501582384864 Centerline is valid? [True, True] Translation: X:241.22, Y:-177.58, Z:-17.36 [[ 7.03207113e-01 7.08906945e-01 5.43203393e-02 2.41223192e+02] [-7.07095803e-01 7.05296678e-01 -5.07160881e-02 -1.77579529e+02] [-7.42649419e-02 -2.74577002e-03 9.97234766e-01 -1.73639559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83864 meters 0.027977501582384864 Centerline is valid? [True, True] Translation: X:241.25, Y:-177.60, Z:-17.37 [[ 7.02845600e-01 7.09266184e-01 5.43096919e-02 2.41247159e+02] [-7.07455231e-01 7.04935329e-01 -5.07274866e-02 -1.77601515e+02] [-7.42641114e-02 -2.76808484e-03 9.97234766e-01 -1.73657071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86864 meters 0.02740295373763486 Centerline is valid? [True, True] Translation: X:241.27, Y:-177.62, Z:-17.37 [[ 7.04754754e-01 7.07356557e-01 5.44741982e-02 2.41273357e+02] [-7.05525135e-01 7.06852359e-01 -5.09315909e-02 -1.77620918e+02] [-7.45320103e-02 -2.53863523e-03 9.97215390e-01 -1.73679984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89864 meters 0.02715261629196559 Centerline is valid? [True, True] Translation: X:241.30, Y:-177.64, Z:-17.37 [[ 7.06802524e-01 7.05381705e-01 5.35429066e-02 2.41299073e+02] [-7.03604085e-01 7.08824044e-01 -5.00975661e-02 -1.77641252e+02] [-7.32904062e-02 -2.26392170e-03 9.97308072e-01 -1.73694685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864000000003 meters 0.026386157585067353 Centerline is valid? [True, True] Translation: X:241.33, Y:-177.66, Z:-17.37 [[ 7.10427033e-01 7.01749281e-01 5.33045644e-02 2.41327218e+02] [-6.99975482e-01 7.12421558e-01 -4.98983815e-02 -1.77657898e+02] [-7.29914741e-02 -1.86272905e-03 9.97330825e-01 -1.73702421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95864 meters 0.026136909301714795 Centerline is valid? [True, True] Translation: X:241.35, Y:-177.68, Z:-17.37 [[ 7.11918639e-01 7.00249941e-01 5.31212985e-02 2.41353429e+02] [-6.98480846e-01 7.13895812e-01 -4.97722562e-02 -1.77677069e+02] [-7.27760919e-02 -1.67041263e-03 9.97346906e-01 -1.73716925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters 0.026056618394671698 Centerline is valid? [True, True] Translation: X:241.38, Y:-177.70, Z:-17.37 [[ 7.12746894e-01 6.99326609e-01 5.41678804e-02 2.41379242e+02] [-6.97480666e-01 7.14800548e-01 -5.08025243e-02 -1.77697588e+02] [-7.42467876e-02 -1.57170793e-03 9.97238660e-01 -1.73746043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01864 meters 0.025876891467066895 Centerline is valid? [True, True] Translation: X:241.40, Y:-177.72, Z:-17.38 [[ 7.14897637e-01 6.97112891e-01 5.43597833e-02 2.41404495e+02] [-6.95243475e-01 7.16960184e-01 -5.10353268e-02 -1.77717484e+02] [-7.45511845e-02 -1.30825013e-03 9.97216330e-01 -1.73767878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters 0.025721456484746063 Centerline is valid? [True, True] Translation: X:241.43, Y:-177.74, Z:-17.38 [[ 7.16171985e-01 6.95757423e-01 5.49481134e-02 2.41429362e+02] [-6.93839600e-01 7.18275920e-01 -5.16363388e-02 -1.77737845e+02] [-7.53942728e-02 -1.14467775e-03 9.97153144e-01 -1.73784413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07864 meters 0.025419231022516968 Centerline is valid? [True, True] Translation: X:241.46, Y:-177.76, Z:-17.38 [[ 7.19355697e-01 6.92514472e-01 5.43239160e-02 2.41455648e+02] [-6.90627225e-01 7.21403582e-01 -5.10970538e-02 -1.77757455e+02] [-7.45749168e-02 -7.60618632e-04 9.97215124e-01 -1.73789210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters 0.0251734346368874 Centerline is valid? [True, True] Translation: X:241.48, Y:-177.78, Z:-17.38 [[ 7.21233971e-01 6.90498467e-01 5.50765485e-02 2.41479681e+02] [-6.88548725e-01 7.23333667e-01 -5.18561453e-02 -1.77779308e+02] [-7.56453107e-02 -5.22473631e-04 9.97134652e-01 -1.73818988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13864 meters 0.025244064939569644 Centerline is valid? [True, True] Translation: X:241.50, Y:-177.80, Z:-17.38 [[ 7.22716430e-01 6.88971267e-01 5.47681984e-02 2.41502601e+02] [-6.87034921e-01 7.24788583e-01 -5.16190562e-02 -1.77801801e+02] [-7.52594115e-02 -3.21724892e-04 9.97163937e-01 -1.73831247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters 0.025304584595080868 Centerline is valid? [True, True] Translation: X:241.53, Y:-177.82, Z:-17.39 [[ 7.23685231e-01 6.87875555e-01 5.57396377e-02 2.41525617e+02] [-6.85862759e-01 7.25828623e-01 -5.25840785e-02 -1.77824620e+02] [-7.66287267e-02 -1.75420687e-04 9.97059681e-01 -1.73852762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19864 meters 0.025417369217382413 Centerline is valid? [True, True] Translation: X:241.55, Y:-177.85, Z:-17.39 [[ 7.24592796e-01 6.86962141e-01 5.52113905e-02 2.41548187e+02] [-6.84981081e-01 7.26693206e-01 -5.21335090e-02 -1.77847347e+02] [-7.59354893e-02 -4.31929175e-05 9.97112732e-01 -1.73869039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters 0.025014719594838107 Centerline is valid? [True, True] Translation: X:241.57, Y:-177.87, Z:-17.39 [[ 7.24569087e-01 6.87042795e-01 5.45145418e-02 2.41571180e+02] [-6.85108185e-01 7.26616953e-01 -5.15225954e-02 -1.77870436e+02] [-7.50094182e-02 -1.66788243e-05 9.97182825e-01 -1.73889570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25864 meters 0.025011786899804923 Centerline is valid? [True, True] Translation: X:241.59, Y:-177.90, Z:-17.39 [[ 7.23730939e-01 6.88095199e-01 5.23309070e-02 2.41591149e+02] [-6.86312212e-01 7.25620416e-01 -4.95031254e-02 -1.77896437e+02] [-7.20352374e-02 -8.83970588e-05 9.97402084e-01 -1.73902380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters 0.025043382028545776 Centerline is valid? [True, True] Translation: X:241.61, Y:-177.92, Z:-17.39 [[ 7.22393262e-01 6.89506334e-01 5.22397334e-02 2.41613462e+02] [-6.87729811e-01 7.24279626e-01 -4.94644361e-02 -1.77921052e+02] [-7.19422166e-02 -1.94046564e-04 9.97408783e-01 -1.73912192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31864 meters 0.02505424929984579 Centerline is valid? [True, True] Translation: X:241.64, Y:-177.95, Z:-17.39 [[ 7.21222783e-01 6.90654758e-01 5.32325364e-02 2.41635375e+02] [-6.88809203e-01 7.23184575e-01 -5.04574306e-02 -1.77945387e+02] [-7.33456137e-02 -2.76012413e-04 9.97306545e-01 -1.73927559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters 0.02506547144082937 Centerline is valid? [True, True] Translation: X:241.66, Y:-177.97, Z:-17.39 [[ 7.20461105e-01 6.91438268e-01 5.33752551e-02 2.41655626e+02] [-6.89581308e-01 7.22435477e-01 -5.06418923e-02 -1.77971779e+02] [-7.35759202e-02 -3.21064566e-04 9.97289567e-01 -1.73944543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37864 meters 0.025127594888347718 Centerline is valid? [True, True] Translation: X:241.68, Y:-178.00, Z:-17.40 [[ 7.19971094e-01 6.91940257e-01 5.34818104e-02 2.41677813e+02] [-6.90073246e-01 7.21954686e-01 -5.07971047e-02 -1.77995931e+02] [-7.37600053e-02 -3.33919460e-04 9.97275965e-01 -1.73963990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters 0.02494555444508608 Centerline is valid? [True, True] Translation: X:241.70, Y:-178.02, Z:-17.40 [[ 7.19274278e-01 6.92716830e-01 5.28006330e-02 2.41698756e+02] [-6.90895342e-01 7.21209579e-01 -5.02032795e-02 -1.78021494e+02] [-7.28569789e-02 -3.69783811e-04 9.97342330e-01 -1.73977792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43864 meters 0.0249800187934261 Centerline is valid? [True, True] Translation: X:241.72, Y:-178.05, Z:-17.40 [[ 7.18846783e-01 6.93166141e-01 5.27257421e-02 2.41721103e+02] [-6.91347110e-01 7.20777746e-01 -5.01858012e-02 -1.78045923e+02] [-7.27906397e-02 -3.75887695e-04 9.97347172e-01 -1.74003607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters 0.024947898999751028 Centerline is valid? [True, True] Translation: X:241.74, Y:-178.07, Z:-17.40 [[ 7.17892815e-01 6.94124630e-01 5.31121941e-02 2.41743404e+02] [-6.92277397e-01 7.19854713e-01 -5.06082883e-02 -1.78071000e+02] [-7.33615226e-02 -4.37044919e-04 9.97305317e-01 -1.74019838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49864 meters 0.024928273821814107 Centerline is valid? [True, True] Translation: X:241.76, Y:-178.10, Z:-17.40 [[ 7.16575534e-01 6.95463171e-01 5.33898985e-02 2.41764522e+02] [-6.93596217e-01 7.18561541e-01 -5.09273860e-02 -1.78096792e+02] [-7.37820491e-02 -5.37712758e-04 9.97274245e-01 -1.74032474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters 0.024977537688228777 Centerline is valid? [True, True] Translation: X:241.79, Y:-178.12, Z:-17.41 [[ 7.15714869e-01 6.96350238e-01 5.33720139e-02 2.41786557e+02] [-6.94483050e-01 7.17701886e-01 -5.09636717e-02 -1.78120735e+02] [-7.37937600e-02 -5.90501390e-04 9.97273349e-01 -1.74053065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55864 meters 0.024963357694198586 Centerline is valid? [True, True] Translation: X:241.81, Y:-178.14, Z:-17.41 [[ 7.15139662e-01 6.96903716e-01 5.38560528e-02 2.41808336e+02] [-6.95000061e-01 7.17164439e-01 -5.14789489e-02 -1.78144997e+02] [-7.44995167e-02 -6.15321930e-04 9.97220860e-01 -1.74077198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters 0.025017332366606776 Centerline is valid? [True, True] Translation: X:241.83, Y:-178.17, Z:-17.41 [[ 7.15366755e-01 6.96592124e-01 5.48618139e-02 2.41829293e+02] [-6.94611344e-01 7.17467147e-01 -5.24973664e-02 -1.78171230e+02] [-7.59308011e-02 -5.52767631e-04 9.97112936e-01 -1.74094177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61864 meters 0.024846682507407705 Centerline is valid? [True, True] Translation: X:241.85, Y:-178.19, Z:-17.41 [[ 7.14794987e-01 6.97172902e-01 5.49369774e-02 2.41852500e+02] [-6.95184085e-01 7.16902793e-01 -5.26257789e-02 -1.78194160e+02] [-7.60737395e-02 -5.74669361e-04 9.97102029e-01 -1.74109863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64864 meters 0.025024221720349092 Centerline is valid? [True, True] Translation: X:241.87, Y:-178.22, Z:-17.41 [[ 7.12761552e-01 6.99317029e-01 5.40986351e-02 2.41874387e+02] [-6.97390556e-01 7.14811253e-01 -5.18775884e-02 -1.78218635e+02] [-7.49491942e-02 -7.51526792e-04 9.97187070e-01 -1.74133982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67864000000003 meters 0.025055618790453146 Centerline is valid? [True, True] Translation: X:241.90, Y:-178.24, Z:-17.42 [[ 7.11681435e-01 7.00453382e-01 5.36152407e-02 2.41896413e+02] [-6.98560352e-01 7.13697681e-01 -5.14689675e-02 -1.78242708e+02] [-7.43166853e-02 -8.23972732e-04 9.97234351e-01 -1.74152218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70864 meters 0.02521277145813431 Centerline is valid? [True, True] Translation: X:241.92, Y:-178.27, Z:-17.42 [[ 7.09899626e-01 7.02338601e-01 5.25643427e-02 2.41917997e+02] [-7.00520375e-01 7.11842372e-01 -5.05137797e-02 -1.78267386e+02] [-7.28953037e-02 -9.62679684e-04 9.97339134e-01 -1.74165097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73864 meters 0.025590875196613672 Centerline is valid? [True, True] Translation: X:241.94, Y:-178.29, Z:-17.42 [[ 7.05920182e-01 7.06314401e-01 5.28834848e-02 2.41938045e+02] [-7.04481178e-01 7.07897001e-01 -5.08734318e-02 -1.78292447e+02] [-7.33686978e-02 -1.34283746e-03 9.97303981e-01 -1.74180831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76864 meters 0.025712283676947518 Centerline is valid? [True, True] Translation: X:241.96, Y:-178.32, Z:-17.42 [[ 7.03803582e-01 7.08366263e-01 5.36447166e-02 2.41960485e+02] [-7.06482114e-01 7.05843362e-01 -5.16543358e-02 -1.78315337e+02] [-7.44549559e-02 -1.54452622e-03 9.97223182e-01 -1.74193952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79864 meters 0.02620763587866403 Centerline is valid? [True, True] Translation: X:241.98, Y:-178.34, Z:-17.42 [[ 7.00324113e-01 7.11795068e-01 5.37951369e-02 2.41981653e+02] [-7.09906775e-01 7.02384686e-01 -5.18471239e-02 -1.78340022e+02] [-7.46894075e-02 -1.87974110e-03 9.97205074e-01 -1.74225750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82864 meters 0.02658677341602871 Centerline is valid? [True, True] Translation: X:242.00, Y:-178.36, Z:-17.43 [[ 6.98691174e-01 7.13342372e-01 5.45280014e-02 2.42003642e+02] [-7.11403192e-01 7.00812745e-01 -5.26022331e-02 -1.78363842e+02] [-7.57373201e-02 -2.03867824e-03 9.97125720e-01 -1.74255585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85864 meters 0.026461763562857205 Centerline is valid? [True, True] Translation: X:242.03, Y:-178.39, Z:-17.43 [[ 6.97493359e-01 7.14577001e-01 5.36909931e-02 2.42027133e+02] [-7.12696989e-01 6.99553628e-01 -5.18432709e-02 -1.78387111e+02] [-7.46057380e-02 -2.10507188e-03 9.97210887e-01 -1.74264764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88864 meters 0.027207417904598952 Centerline is valid? [True, True] Translation: X:242.05, Y:-178.41, Z:-17.43 [[ 6.94187158e-01 7.17802046e-01 5.35202092e-02 2.42050847e+02] [-7.15939663e-01 6.96243082e-01 -5.17297793e-02 -1.78409355e+02] [-7.43948168e-02 -2.40709204e-03 9.97225961e-01 -1.74277731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91864 meters 0.027528082657982643 Centerline is valid? [True, True] Translation: X:242.07, Y:-178.43, Z:-17.43 [[ 6.92632682e-01 7.19358245e-01 5.27606162e-02 2.42074763e+02] [-7.17549564e-01 6.94634751e-01 -5.10410340e-02 -1.78430632e+02] [-7.33661462e-02 -2.50566886e-03 9.97301925e-01 -1.74297288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94864 meters 0.028005467223201935 Centerline is valid? [True, True] Translation: X:242.10, Y:-178.45, Z:-17.43 [[ 6.89652372e-01 7.22124084e-01 5.40038194e-02 2.42099945e+02] [-7.20233976e-01 6.91757745e-01 -5.22899748e-02 -1.78449880e+02] [-7.51174105e-02 -2.83348039e-03 9.97170670e-01 -1.74320200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97864 meters 0.028337159623989198 Centerline is valid? [True, True] Translation: X:242.13, Y:-178.47, Z:-17.43 [[ 6.88748419e-01 7.22990709e-01 5.39448804e-02 2.42125067e+02] [-7.21104078e-01 6.90851690e-01 -5.22766833e-02 -1.78470012e+02] [-7.50634681e-02 -2.89439028e-03 9.97174558e-01 -1.74329143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00864 meters 0.028112371927995292 Centerline is valid? [True, True] Translation: X:242.15, Y:-178.49, Z:-17.43 [[ 6.87431514e-01 7.24185835e-01 5.47063949e-02 2.42151089e+02] [-7.22245643e-01 6.89598191e-01 -5.30619070e-02 -1.78489530e+02] [-7.61521124e-02 -3.03502831e-03 9.97091593e-01 -1.74349282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03864 meters 0.028887009770374106 Centerline is valid? [True, True] Translation: X:242.18, Y:-178.51, Z:-17.44 [[ 6.85969975e-01 7.25538746e-01 5.51246043e-02 2.42178504e+02] [-7.23569420e-01 6.88173987e-01 -5.35150228e-02 -1.78507635e+02] [-7.67625412e-02 -3.17677906e-03 9.97044342e-01 -1.74365682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06864 meters 0.028608241480478577 Centerline is valid? [True, True] Translation: X:242.20, Y:-178.53, Z:-17.44 [[ 6.86245398e-01 7.25248290e-01 5.55172998e-02 2.42203970e+02] [-7.23246113e-01 6.88480280e-01 -5.39440727e-02 -1.78527671e+02] [-7.73454127e-02 -3.13379967e-03 9.96999432e-01 -1.74390629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09864 meters 0.02810920758780758 Centerline is valid? [True, True] Translation: X:242.23, Y:-178.55, Z:-17.44 [[ 6.87150040e-01 7.24364965e-01 5.58589351e-02 2.42231880e+02] [-7.22331398e-01 6.89410093e-01 -5.43237914e-02 -1.78545719e+02] [-7.78599649e-02 -3.02006733e-03 9.96959731e-01 -1.74405095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12864 meters 0.02777135951695737 Centerline is valid? [True, True] Translation: X:242.26, Y:-178.57, Z:-17.44 [[ 6.88613585e-01 7.23005218e-01 5.54507456e-02 2.42258329e+02] [-7.20993725e-01 6.90836826e-01 -5.39678408e-02 -1.78565463e+02] [-7.73264476e-02 -2.81665135e-03 9.97001849e-01 -1.74417695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15864 meters 0.027755263514749322 Centerline is valid? [True, True] Translation: X:242.28, Y:-178.59, Z:-17.44 [[ 6.89051348e-01 7.22604067e-01 5.52413121e-02 2.42284118e+02] [-7.20603932e-01 6.91256728e-01 -5.37969186e-02 -1.78585102e+02] [-7.70598008e-02 -2.73826742e-03 9.97022712e-01 -1.74440820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18864 meters 0.02714575658652681 Centerline is valid? [True, True] Translation: X:242.31, Y:-178.60, Z:-17.45 [[ 6.91422237e-01 7.20429888e-01 5.40006158e-02 2.42312194e+02] [-7.18508568e-01 6.93523600e-01 -5.26351101e-02 -1.78602752e+02] [-7.53706079e-02 -2.40681950e-03 9.97152686e-01 -1.74453960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21864 meters 0.02687801442146089 Centerline is valid? [True, True] Translation: X:242.34, Y:-178.62, Z:-17.45 [[ 6.92480672e-01 7.19454842e-01 5.34345405e-02 2.42337055e+02] [-7.17567269e-01 6.94535597e-01 -5.21298265e-02 -1.78622768e+02] [-7.46172465e-02 -2.24398001e-03 9.97209723e-01 -1.74462122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24864 meters 0.026816668118143906 Centerline is valid? [True, True] Translation: X:242.36, Y:-178.64, Z:-17.45 [[ 6.93200420e-01 7.18707068e-01 5.41602076e-02 2.42361708e+02] [-7.16761856e-01 6.95309634e-01 -5.28862394e-02 -1.78643140e+02] [-7.56678282e-02 -2.15920756e-03 9.97130742e-01 -1.74489973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27864 meters 0.026640684255355672 Centerline is valid? [True, True] Translation: X:242.39, Y:-178.66, Z:-17.45 [[ 6.94655879e-01 7.17337450e-01 5.36674287e-02 2.42387578e+02] [-7.15419877e-01 6.96723150e-01 -5.24523749e-02 -1.78662227e+02] [-7.50173929e-02 -1.95839465e-03 9.97180302e-01 -1.74509320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30864 meters 0.026615236398502374 Centerline is valid? [True, True] Translation: X:242.41, Y:-178.68, Z:-17.45 [[ 6.95749932e-01 7.16233123e-01 5.42415566e-02 2.42412614e+02] [-7.14267188e-01 6.97858713e-01 -5.30622398e-02 -1.78682797e+02] [-7.58578766e-02 -1.82491440e-03 9.97116970e-01 -1.74533912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33864 meters 0.02619221988158948 Centerline is valid? [True, True] Translation: X:242.44, Y:-178.70, Z:-17.45 [[ 6.97212585e-01 7.14835272e-01 5.38993940e-02 2.42437802e+02] [-7.12886276e-01 6.99290985e-01 -5.27757035e-02 -1.78703557e+02] [-7.54172947e-02 -1.62825363e-03 9.97150731e-01 -1.74537012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36864 meters 0.025816271829006684 Centerline is valid? [True, True] Translation: X:242.46, Y:-178.72, Z:-17.46 [[ 7.02961519e-01 7.09130144e-01 5.45851832e-02 2.42462441e+02] [-7.07110037e-01 7.05076915e-01 -5.34970910e-02 -1.78724656e+02] [-7.64231524e-02 -9.91334585e-04 9.97074982e-01 -1.74556515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39864 meters 0.025619667359850915 Centerline is valid? [True, True] Translation: X:242.49, Y:-178.75, Z:-17.46 [[ 7.06060105e-01 7.06014566e-01 5.49778154e-02 2.42485878e+02] [-7.03951871e-01 7.08197038e-01 -5.39325407e-02 -1.78746215e+02] [-7.70122853e-02 -6.22120637e-04 9.97029950e-01 -1.74579942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864000000003 meters 0.025552111250220375 Centerline is valid? [True, True] Translation: X:242.51, Y:-178.77, Z:-17.46 [[ 7.11890963e-01 7.00155745e-01 5.47100580e-02 2.42511056e+02] [-6.98092625e-01 7.13990148e-01 -5.37099272e-02 -1.78767025e+02] [-7.66677564e-02 4.29238010e-05 9.97056695e-01 -1.74608484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45864 meters 0.025686851635707136 Centerline is valid? [True, True] Translation: X:242.53, Y:-178.79, Z:-17.46 [[ 7.14288438e-01 6.97783645e-01 5.37588327e-02 2.42534372e+02] [-6.95783029e-01 7.16308515e-01 -5.28023518e-02 -1.78789107e+02] [-7.53525271e-02 3.11625914e-04 9.97156908e-01 -1.74621345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters 0.025836561322569826 Centerline is valid? [True, True] Translation: X:242.56, Y:-178.81, Z:-17.46 [[ 7.15719672e-01 6.96356527e-01 5.32253552e-02 2.42557688e+02] [-6.94387833e-01 7.17695858e-01 -5.23277408e-02 -1.78813098e+02] [-7.46383808e-02 4.92954431e-04 9.97210544e-01 -1.74642699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51864 meters 0.025709033017156605 Centerline is valid? [True, True] Translation: X:242.58, Y:-178.84, Z:-17.46 [[ 7.16510895e-01 6.95609146e-01 5.23455197e-02 2.42578848e+02] [-6.93699191e-01 7.18420181e-01 -5.15157721e-02 -1.78838791e+02] [-7.34409200e-02 5.99567355e-04 9.97299389e-01 -1.74638368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters 0.025677252887458958 Centerline is valid? [True, True] Translation: X:242.60, Y:-178.86, Z:-17.47 [[ 7.15910017e-01 6.96203646e-01 5.26624341e-02 2.42602435e+02] [-6.94268068e-01 7.17844096e-01 -5.18816274e-02 -1.78862362e+02] [-7.39235955e-02 5.80730395e-04 9.97263739e-01 -1.74654816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57864 meters 0.025567480595724928 Centerline is valid? [True, True] Translation: X:242.63, Y:-178.89, Z:-17.47 [[ 7.13420007e-01 6.98662560e-01 5.38750512e-02 2.42625543e+02] [-6.96639392e-01 7.15451247e-01 -5.31325722e-02 -1.78886315e+02] [-7.56667115e-02 3.74357154e-04 9.97133095e-01 -1.74682400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters 0.025883861868591356 Centerline is valid? [True, True] Translation: X:242.65, Y:-178.91, Z:-17.47 [[ 7.11507029e-01 7.00567013e-01 5.44390213e-02 2.42647736e+02] [-6.98502414e-01 7.13586585e-01 -5.37453670e-02 -1.78910849e+02] [-7.64991866e-02 2.14418615e-04 9.97069621e-01 -1.74713694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63864 meters 0.025888903098239033 Centerline is valid? [True, True] Translation: X:242.67, Y:-178.93, Z:-17.47 [[ 7.08944681e-01 7.03085645e-01 5.53896699e-02 2.42669782e+02] [-7.00951482e-01 7.11105179e-01 -5.47397925e-02 -1.78934328e+02] [-7.78746434e-02 -1.79865113e-05 9.96963159e-01 -1.74729227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters 0.025944109957220535 Centerline is valid? [True, True] Translation: X:242.69, Y:-178.96, Z:-17.47 [[ 7.05178831e-01 7.06902794e-01 5.48749108e-02 2.42694872e+02] [-7.04816399e-01 7.07310594e-01 -5.42730795e-02 -1.78956349e+02] [-7.71793973e-02 -4.04510257e-04 9.97017140e-01 -1.74738449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69864 meters 0.026089034009895092 Centerline is valid? [True, True] Translation: X:242.72, Y:-178.98, Z:-17.48 [[ 7.04029188e-01 7.08053773e-01 5.47974147e-02 2.42718916e+02] [-7.05974041e-01 7.06158339e-01 -5.42314794e-02 -1.78978714e+02] [-7.70944550e-02 -5.05007843e-04 9.97023666e-01 -1.74769394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters 0.026106465443953702 Centerline is valid? [True, True] Translation: X:242.74, Y:-179.00, Z:-17.48 [[ 7.03318849e-01 7.08787687e-01 5.44298675e-02 2.42742815e+02] [-7.06733603e-01 7.05421662e-01 -5.39248849e-02 -1.79001401e+02] [-7.66173021e-02 -5.41028409e-04 9.97060428e-01 -1.74782203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75864 meters 0.02608468833146772 Centerline is valid? [True, True] Translation: X:242.77, Y:-179.02, Z:-17.48 [[ 7.03441575e-01 7.08663363e-01 5.44627159e-02 2.42768044e+02] [-7.06602018e-01 7.05546597e-01 -5.40146979e-02 -1.79022757e+02] [-7.67042213e-02 -4.87280850e-04 9.97053772e-01 -1.74803680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters 0.02608468833146772 Centerline is valid? [True, True] Translation: X:242.79, Y:-179.05, Z:-17.48 [[ 7.03067856e-01 7.09036340e-01 5.44339893e-02 2.42791352e+02] [-7.06973871e-01 7.05171775e-01 -5.40436366e-02 -1.79045422e+02] [-7.67042151e-02 -4.87064430e-04 9.97053773e-01 -1.74821171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81864 meters 0.025938213176267138 Centerline is valid? [True, True] Translation: X:242.82, Y:-179.07, Z:-17.48 [[ 7.04062427e-01 7.08107909e-01 5.36589955e-02 2.42816317e+02] [-7.06097058e-01 7.06104151e-01 -5.33279678e-02 -1.79066295e+02] [-7.56507952e-02 -3.42240438e-04 9.97134314e-01 -1.74837620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters 0.026116139705415858 Centerline is valid? [True, True] Translation: X:242.84, Y:-179.09, Z:-17.49 [[ 7.06232001e-01 7.06019955e-01 5.26515239e-02 2.42842203e+02] [-7.04074637e-01 7.08191934e-01 -5.23745190e-02 -1.79086217e+02] [-7.42648401e-02 -8.20411917e-05 9.97238551e-01 -1.74853548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87864 meters 0.026105610259100846 Centerline is valid? [True, True] Translation: X:242.87, Y:-179.11, Z:-17.49 [[ 7.07455693e-01 7.04792789e-01 5.26646716e-02 2.42866863e+02] [-7.02839328e-01 7.09413221e-01 -5.24381699e-02 -1.79107804e+02] [-7.43190583e-02 8.28794641e-05 9.97234511e-01 -1.74874300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters 0.026213062298151877 Centerline is valid? [True, True] Translation: X:242.89, Y:-179.13, Z:-17.49 [[ 7.08979077e-01 7.03198539e-01 5.34834744e-02 2.42891352e+02] [-7.01175077e-01 7.10993480e-01 -5.33083766e-02 -1.79129211e+02] [-7.55127742e-02 2.93244376e-04 9.97144791e-01 -1.74889030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93864 meters 0.02640399102752031 Centerline is valid? [True, True] Translation: X:242.92, Y:-179.15, Z:-17.49 [[ 7.12078081e-01 7.00059737e-01 5.34899111e-02 2.42915642e+02] [-6.98023212e-01 7.14083977e-01 -5.33635581e-02 -1.79150454e+02] [-7.55539670e-02 6.61820520e-04 9.97141495e-01 -1.74905997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters 0.026676714170959657 Centerline is valid? [True, True] Translation: X:242.94, Y:-179.17, Z:-17.49 [[ 7.13504262e-01 6.98631880e-01 5.31522636e-02 2.42939980e+02] [-6.96613287e-01 7.15480806e-01 -5.30767896e-02 -1.79173227e+02] [-7.51105617e-02 8.43942577e-04 9.97174855e-01 -1.74927964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99864 meters 0.026466523131423045 Centerline is valid? [True, True] Translation: X:242.96, Y:-179.20, Z:-17.49 [[ 7.14452518e-01 6.97730045e-01 5.22530840e-02 2.42963857e+02] [-6.95772874e-01 7.16360147e-01 -5.22326239e-02 -1.79196106e+02] [-7.38762980e-02 9.61451164e-04 9.97266949e-01 -1.74934234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters 0.026741851725346686 Centerline is valid? [True, True] Translation: X:242.94, Y:-179.38, Z:-15.87 [[ 7.44415959e-01 -6.67300412e-01 -2.35593105e-02 2.42944101e+02] [-6.66820946e-01 -7.44781469e-01 2.55027267e-02 -1.79376656e+02] [-3.45645179e-02 -3.27479497e-03 -9.99397103e-01 -1.58731562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05864 meters 0.02700397326645939 Centerline is valid? [True, True] Translation: X:242.99, Y:-179.24, Z:-17.50 [[ 7.64425416e-01 6.42303669e-01 5.56756720e-02 2.42987863e+02] [-6.40489920e-01 7.66449279e-01 -4.82510654e-02 -1.79241417e+02] [-7.36644150e-02 1.22463405e-03 9.97282334e-01 -1.74974298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters 0.026803785761923344 Centerline is valid? [True, True] Translation: X:243.01, Y:-179.26, Z:-17.50 [[ 7.64257457e-01 6.42577014e-01 5.48208045e-02 2.43010305e+02] [-6.40816388e-01 7.66220148e-01 -4.75504141e-02 -1.79264285e+02] [-7.25596080e-02 1.21068863e-03 9.97363343e-01 -1.74987278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11864 meters 0.026484281401518615 Centerline is valid? [True, True] Translation: X:243.03, Y:-179.29, Z:-17.50 [[ 7.61491543e-01 6.45718770e-01 5.63728690e-02 2.43032568e+02] [-6.43861957e-01 7.63574700e-01 -4.89434102e-02 -1.79289532e+02] [-7.46485752e-02 9.73647183e-04 9.97209427e-01 -1.74999979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14864 meters 0.026429379056071255 Centerline is valid? [True, True] Translation: X:243.06, Y:-179.31, Z:-17.50 [[ 7.60048283e-01 6.47388254e-01 5.67014633e-02 2.43056713e+02] [-6.45510461e-01 7.62159904e-01 -4.92800695e-02 -1.79312184e+02] [-7.51189200e-02 8.53844520e-04 9.97174217e-01 -1.75019648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17864000000003 meters 0.026015514949912447 Centerline is valid? [True, True] Translation: X:243.08, Y:-179.34, Z:-17.50 [[ 7.56688443e-01 6.51437640e-01 5.52413097e-02 2.43078308e+02] [-6.49663242e-01 7.58702036e-01 -4.80509373e-02 -1.79336687e+02] [-7.32138833e-02 4.71340538e-04 9.97316151e-01 -1.75034202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20864 meters 0.02605886661716689 Centerline is valid? [True, True] Translation: X:243.10, Y:-179.36, Z:-17.51 [[ 7.54945126e-01 6.53489901e-01 5.48525825e-02 2.43101088e+02] [-6.51744116e-01 7.56935180e-01 -4.77361550e-02 -1.79359358e+02] [-7.27149446e-02 2.88329662e-04 9.97352723e-01 -1.75072622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23864 meters 0.02598936916045248 Centerline is valid? [True, True] Translation: X:243.12, Y:-179.38, Z:-17.51 [[ 7.53364233e-01 6.55257902e-01 5.54924758e-02 2.43124160e+02] [-6.53472757e-01 7.55405228e-01 -4.83352546e-02 -1.79382317e+02] [-7.35913639e-02 1.51230830e-04 9.97288468e-01 -1.75089932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26864 meters 0.025849218405720208 Centerline is valid? [True, True] Translation: X:243.15, Y:-179.41, Z:-17.51 [[ 7.53313367e-01 6.55339109e-01 5.52233964e-02 2.43147501e+02] [-6.53568757e-01 7.55334775e-01 -4.81378888e-02 -1.79406059e+02] [-7.32587929e-02 1.70628516e-04 9.97312950e-01 -1.75102240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29864 meters 0.025962636177111986 Centerline is valid? [True, True] Translation: X:243.17, Y:-179.43, Z:-17.51 [[ 7.53653537e-01 6.54881800e-01 5.60015617e-02 2.43171264e+02] [-6.53056108e-01 7.55731277e-01 -4.88667374e-02 -1.79427858e+02] [-7.43240687e-02 2.56427523e-04 9.97234108e-01 -1.75121258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32864 meters 0.025986395661224848 Centerline is valid? [True, True] Translation: X:243.19, Y:-179.45, Z:-17.51 [[ 7.53605860e-01 6.54937824e-01 5.59879819e-02 2.43194796e+02] [-6.53109660e-01 7.55682714e-01 -4.89020164e-02 -1.79450458e+02] [-7.43369303e-02 2.86554331e-04 9.97233142e-01 -1.75136730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35864 meters 0.02602058392759395 Centerline is valid? [True, True] Translation: X:243.22, Y:-179.47, Z:-17.51 [[ 7.53409468e-01 6.55181902e-01 5.57749815e-02 2.43219593e+02] [-6.53364478e-01 7.55471101e-01 -4.87675573e-02 -1.79472081e+02] [-7.40880076e-02 3.00547725e-04 9.97251662e-01 -1.75148313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38864 meters 0.02610794184011157 Centerline is valid? [True, True] Translation: X:243.24, Y:-179.49, Z:-17.52 [[ 7.52880979e-01 6.55721013e-01 5.65701744e-02 2.43244920e+02] [-6.53848826e-01 7.55003224e-01 -4.95161037e-02 -1.79493887e+02] [-7.51794137e-02 2.91390545e-04 9.97169981e-01 -1.75174559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41864 meters 0.02615610344774528 Centerline is valid? [True, True] Translation: X:243.27, Y:-179.52, Z:-17.52 [[ 7.53046398e-01 6.55523496e-01 5.66574661e-02 2.43269664e+02] [-6.53640968e-01 7.55174697e-01 -4.96453595e-02 -1.79515560e+02] [-7.53299844e-02 3.51618199e-04 9.97158598e-01 -1.75192417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44864 meters 0.02621920126471028 Centerline is valid? [True, True] Translation: X:243.30, Y:-179.54, Z:-17.52 [[ 7.53834356e-01 6.54591234e-01 5.69568286e-02 2.43295285e+02] [-6.52682019e-01 7.55982856e-01 -4.99610122e-02 -1.79537141e+02] [-7.57624265e-02 4.87629547e-04 9.97125778e-01 -1.75196675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47864 meters 0.026236613824548432 Centerline is valid? [True, True] Translation: X:243.32, Y:-179.56, Z:-17.52 [[ 7.53698368e-01 6.54805090e-01 5.62944515e-02 2.43320681e+02] [-6.52936759e-01 7.55797621e-01 -4.94322164e-02 -1.79558914e+02] [-7.49156794e-02 5.00264121e-04 9.97189747e-01 -1.75210577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50864 meters 0.026208477473312 Centerline is valid? [True, True] Translation: X:243.34, Y:-179.58, Z:-17.52 [[ 7.54211858e-01 6.54350211e-01 5.46834001e-02 2.43342977e+02] [-6.52582721e-01 7.56191431e-01 -4.80656973e-02 -1.79581622e+02] [-7.28029178e-02 5.66276911e-04 9.97346186e-01 -1.75231442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53864 meters 0.026179547341085036 Centerline is valid? [True, True] Translation: X:243.36, Y:-179.60, Z:-17.52 [[ 7.54653626e-01 6.53726617e-01 5.60304922e-02 2.43364801e+02] [-6.51865741e-01 7.56730502e-01 -4.92950537e-02 -1.79604767e+02] [-7.46254712e-02 6.76332717e-04 9.97211403e-01 -1.75245901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56864 meters 0.026376646047972525 Centerline is valid? [True, True] Translation: X:243.39, Y:-179.63, Z:-17.53 [[ 7.55643542e-01 6.52661353e-01 5.50998687e-02 2.43388151e+02] [-6.50855838e-01 7.57649336e-01 -4.85197030e-02 -1.79627731e+02] [-7.34133139e-02 8.01529037e-04 9.97301280e-01 -1.75261592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59864 meters 0.026680577417779287 Centerline is valid? [True, True] Translation: X:243.41, Y:-179.65, Z:-17.53 [[ 7.57160754e-01 6.50728729e-01 5.70939028e-02 2.43410175e+02] [-6.48780561e-01 7.59309548e-01 -5.03268785e-02 -1.79650670e+02] [-7.61010912e-02 1.06412302e-03 9.97099539e-01 -1.75289360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62864 meters 0.026745010941470068 Centerline is valid? [True, True] Translation: X:243.43, Y:-179.67, Z:-17.53 [[ 7.57216862e-01 6.50711054e-01 5.65486395e-02 2.43433410e+02] [-6.48796528e-01 7.59324658e-01 -4.98911708e-02 -1.79673832e+02] [-7.54035127e-02 1.08987480e-03 9.97152507e-01 -1.75300263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65864 meters 0.02666300704201017 Centerline is valid? [True, True] Translation: X:243.45, Y:-179.70, Z:-17.53 [[ 7.56227187e-01 6.51873907e-01 5.63990374e-02 2.43453096e+02] [-6.49968978e-01 7.58326705e-01 -4.98090001e-02 -1.79700515e+02] [-7.52380836e-02 1.00929535e-03 9.97165088e-01 -1.75309177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68864 meters 0.026423911989600528 Centerline is valid? [True, True] Translation: X:243.48, Y:-179.72, Z:-17.53 [[ 7.54775876e-01 6.53534566e-01 5.66210938e-02 2.43475053e+02] [-6.51615651e-01 7.56896156e-01 -5.00525008e-02 -1.79724795e+02] [-7.55673276e-02 8.83229277e-04 9.97140311e-01 -1.75321717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71864 meters 0.02610678867540514 Centerline is valid? [True, True] Translation: X:243.50, Y:-179.75, Z:-17.53 [[ 7.51548162e-01 6.57310102e-01 5.58461354e-02 2.43495214e+02] [-6.55450540e-01 7.53620030e-01 -4.94109314e-02 -1.79750443e+02] [-7.45650706e-02 5.30315053e-04 9.97216009e-01 -1.75338318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74864 meters 0.026124171335479437 Centerline is valid? [True, True] Translation: X:243.52, Y:-179.77, Z:-17.54 [[ 7.49371318e-01 6.59717164e-01 5.67088341e-02 2.43518642e+02] [-6.57803903e-01 7.51513913e-01 -5.02082107e-02 -1.79774265e+02] [-7.57406961e-02 3.21300633e-04 9.97127496e-01 -1.75369866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77864 meters 0.02585423183280861 Centerline is valid? [True, True] Translation: X:243.54, Y:-179.80, Z:-17.54 [[ 7.47234770e-01 6.62148350e-01 5.65664326e-02 2.43541628e+02] [-6.60247544e-01 7.49372771e-01 -5.01361292e-02 -1.79797455e+02] [-7.55868995e-02 1.15610725e-04 9.97139212e-01 -1.75386655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80864 meters 0.025914637000873725 Centerline is valid? [True, True] Translation: X:243.56, Y:-179.82, Z:-17.54 [[ 7.44414282e-01 6.65275589e-01 5.70593327e-02 2.43564874e+02] [-6.63346392e-01 7.46597860e-01 -5.06280467e-02 -1.79821481e+02] [-7.62819792e-02 -1.61861451e-04 9.97086272e-01 -1.75398811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83864 meters 0.02615819170379729 Centerline is valid? [True, True] Translation: X:243.59, Y:-179.85, Z:-17.54 [[ 7.39734798e-01 6.70280374e-01 5.93013428e-02 2.43586363e+02] [-6.68207850e-01 7.42107662e-01 -5.26733932e-02 -1.79846088e+02] [-7.93139226e-02 -6.61280957e-04 9.96849469e-01 -1.75408799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86864 meters 0.026229180655155292 Centerline is valid? [True, True] Translation: X:243.61, Y:-179.87, Z:-17.54 [[ 7.36145202e-01 6.74182608e-01 5.97331894e-02 2.43609705e+02] [-6.72088458e-01 7.38563949e-01 -5.31074161e-02 -1.79868725e+02] [-7.99208765e-02 -1.05121767e-03 9.96800656e-01 -1.75424886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89864 meters 0.026372736360937635 Centerline is valid? [True, True] Translation: X:243.63, Y:-179.89, Z:-17.54 [[ 7.34494531e-01 6.76001780e-01 5.94926672e-02 2.43634796e+02] [-6.73926272e-01 7.36899003e-01 -5.29456244e-02 -1.79890403e+02] [-7.96314235e-02 -1.20539986e-03 9.96823647e-01 -1.75438113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864000000003 meters 0.026400733951117722 Centerline is valid? [True, True] Translation: X:243.66, Y:-179.91, Z:-17.54 [[ 7.33370526e-01 6.77274525e-01 5.88803012e-02 2.43660078e+02] [-6.75241262e-01 7.35729269e-01 -5.24564609e-02 -1.79911401e+02] [-7.88473856e-02 -1.28838658e-03 9.96885866e-01 -1.75446891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95864 meters 0.02642430682590669 Centerline is valid? [True, True] Translation: X:243.69, Y:-179.93, Z:-17.55 [[ 7.32510999e-01 6.78251373e-01 5.83327609e-02 2.43685598e+02] [-6.76254549e-01 7.34828742e-01 -5.20240839e-02 -1.79932589e+02] [-7.81499957e-02 -1.33958125e-03 9.96940712e-01 -1.75454273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters 0.026332417503447617 Centerline is valid? [True, True] Translation: X:243.71, Y:-179.95, Z:-17.55 [[ 7.32652406e-01 6.78060229e-01 5.87773607e-02 2.43711906e+02] [-6.76027696e-01 7.35005217e-01 -5.24774710e-02 -1.79952713e+02] [-7.87845527e-02 -1.28737838e-03 9.96890835e-01 -1.75491525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01864 meters 0.02646692812925612 Centerline is valid? [True, True] Translation: X:243.74, Y:-179.97, Z:-17.55 [[ 7.32736826e-01 6.77992341e-01 5.85075130e-02 2.43736873e+02] [-6.75973831e-01 7.35067933e-01 -5.22925826e-02 -1.79973563e+02] [-7.84609672e-02 -1.23284670e-03 9.96916424e-01 -1.75511765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters 0.0262706486349175 Centerline is valid? [True, True] Translation: X:243.76, Y:-179.99, Z:-17.55 [[ 7.33901335e-01 6.76756142e-01 5.82233255e-02 2.43761802e+02] [-6.74749158e-01 7.36206500e-01 -5.20918800e-02 -1.79994300e+02] [-7.81178904e-02 -1.05583961e-03 9.96943569e-01 -1.75524595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07864 meters 0.026088453631056076 Centerline is valid? [True, True] Translation: X:243.79, Y:-180.02, Z:-17.55 [[ 7.34084474e-01 6.76598776e-01 5.77415020e-02 2.43786565e+02] [-6.74620706e-01 7.36351211e-01 -5.17087713e-02 -1.80015092e+02] [-7.75041163e-02 -9.95006695e-04 9.96991536e-01 -1.75536200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters 0.025894755926975873 Centerline is valid? [True, True] Translation: X:243.81, Y:-180.04, Z:-17.56 [[ 7.33907683e-01 6.76709029e-01 5.86890447e-02 2.43811592e+02] [-6.74661790e-01 7.36249902e-01 -5.26075176e-02 -1.80035158e+02] [-7.88097855e-02 -9.86194591e-04 9.96889184e-01 -1.75560675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13864 meters 0.026048530639117533 Centerline is valid? [True, True] Translation: X:243.84, Y:-180.06, Z:-17.56 [[ 7.34728162e-01 6.75814845e-01 5.87266831e-02 2.43838138e+02] [-6.73757991e-01 7.37070939e-01 -5.26934658e-02 -1.80055051e+02] [-7.88967579e-02 -8.52198701e-04 9.96882428e-01 -1.75580043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters 0.025921723862729062 Centerline is valid? [True, True] Translation: X:243.86, Y:-180.08, Z:-17.56 [[ 7.34376035e-01 6.76161074e-01 5.91442383e-02 2.43862623e+02] [-6.74071341e-01 7.36753333e-01 -5.31258296e-02 -1.80076825e+02] [-7.94963327e-02 -8.53099952e-04 9.96834793e-01 -1.75602260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19864 meters 0.025988943767760387 Centerline is valid? [True, True] Translation: X:243.89, Y:-180.10, Z:-17.56 [[ 7.34762025e-01 6.75860821e-01 5.77660496e-02 2.43886191e+02] [-6.73862442e-01 7.37028880e-01 -5.19407296e-02 -1.80097911e+02] [-7.76799510e-02 -7.62295632e-04 9.96978056e-01 -1.75630992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters 0.026000464328636022 Centerline is valid? [True, True] Translation: X:243.91, Y:-180.12, Z:-17.56 [[ 7.34869613e-01 6.75748367e-01 5.77130468e-02 2.43910801e+02] [-6.73750094e-01 7.37132028e-01 -5.19344149e-02 -1.80119271e+02] [-7.76367314e-02 -7.19147326e-04 9.96981455e-01 -1.75644995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25864 meters 0.026032264317515694 Centerline is valid? [True, True] Translation: X:243.94, Y:-180.14, Z:-17.57 [[ 7.34524552e-01 6.76128382e-01 5.76549537e-02 2.43935553e+02] [-6.74132627e-01 7.36783465e-01 -5.19165380e-02 -1.80141095e+02] [-7.75814614e-02 -7.33113609e-04 9.96985747e-01 -1.75654613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters 0.025978673864621115 Centerline is valid? [True, True] Translation: X:243.96, Y:-180.16, Z:-17.57 [[ 7.34405891e-01 6.76365024e-01 5.63767942e-02 2.43958998e+02] [-6.74453616e-01 7.36566264e-01 -5.08178957e-02 -1.80162548e+02] [-7.58966919e-02 -7.02570739e-04 9.97115439e-01 -1.75654772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31864 meters 0.02579280734921706 Centerline is valid? [True, True] Translation: X:243.98, Y:-180.18, Z:-17.57 [[ 7.34085906e-01 6.76793775e-01 5.53901534e-02 2.43983867e+02] [-6.74946509e-01 7.36172328e-01 -4.99751235e-02 -1.80183498e+02] [-7.45995506e-02 -6.99356857e-04 9.97213326e-01 -1.75666339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters 0.02580868246186139 Centerline is valid? [True, True] Translation: X:244.01, Y:-180.20, Z:-17.57 [[ 7.33607769e-01 6.77295470e-01 5.55921627e-02 2.44009019e+02] [-6.75432382e-01 7.35710768e-01 -5.02072057e-02 -1.80204418e+02] [-7.49048657e-02 -7.16350741e-04 9.97190427e-01 -1.75697260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37864 meters 0.026004744237596737 Centerline is valid? [True, True] Translation: X:244.03, Y:-180.23, Z:-17.57 [[ 7.33307048e-01 6.77618149e-01 5.56274874e-02 2.44034188e+02] [-6.75749485e-01 7.35413585e-01 -5.02940676e-02 -1.80225771e+02] [-7.49893830e-02 -7.09251702e-04 9.97184080e-01 -1.75725279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters 0.02594604166196653 Centerline is valid? [True, True] Translation: X:244.06, Y:-180.25, Z:-17.57 [[ 7.33421146e-01 6.77471319e-01 5.59109501e-02 2.44058494e+02] [-6.75578930e-01 7.35548898e-01 -5.06056217e-02 -1.80248222e+02] [-7.54090949e-02 -6.57026714e-04 9.97152464e-01 -1.75736122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43864 meters 0.025902390939581157 Centerline is valid? [True, True] Translation: X:244.08, Y:-180.27, Z:-17.57 [[ 7.33524056e-01 6.77382317e-01 5.56386183e-02 2.44082836e+02] [-6.75503993e-01 7.35630907e-01 -5.04135247e-02 -1.80270860e+02] [-7.50787174e-02 -6.04575673e-04 9.97177427e-01 -1.75743396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters 0.025827858357298943 Centerline is valid? [True, True] Translation: X:244.11, Y:-180.29, Z:-17.58 [[ 7.34086775e-01 6.76832196e-01 5.49070696e-02 2.44107205e+02] [-6.74997640e-01 7.36137165e-01 -4.98022080e-02 -1.80291187e+02] [-7.41268723e-02 -5.03000157e-04 9.97248692e-01 -1.75753480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49864 meters 0.025894925423341687 Centerline is valid? [True, True] Translation: X:244.13, Y:-180.31, Z:-17.58 [[ 7.33791054e-01 6.77173586e-01 5.46500127e-02 2.44132275e+02] [-6.75353530e-01 7.35823135e-01 -4.96177766e-02 -1.80312411e+02] [-7.38125914e-02 -4.98998470e-04 9.97272005e-01 -1.75770366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters 0.025820673693228872 Centerline is valid? [True, True] Translation: X:244.16, Y:-180.33, Z:-17.58 [[ 7.33877561e-01 6.77108428e-01 5.42945896e-02 2.44157908e+02] [-6.75307929e-01 7.35883125e-01 -4.93480182e-02 -1.80333770e+02] [-7.33684313e-02 -4.50163644e-04 9.97304803e-01 -1.75792527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55864 meters 0.025906152677526915 Centerline is valid? [True, True] Translation: X:244.18, Y:-180.36, Z:-17.58 [[ 7.33053194e-01 6.77933916e-01 5.51236718e-02 2.44181649e+02] [-6.76076317e-01 7.35122679e-01 -5.01543746e-02 -1.80355199e+02] [-7.45240129e-02 -5.01984482e-04 9.97219093e-01 -1.75809077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58864 meters 0.025994414406753107 Centerline is valid? [True, True] Translation: X:244.21, Y:-180.38, Z:-17.58 [[ 7.31718084e-01 6.79285266e-01 5.62154213e-02 2.44205973e+02] [-6.77353501e-01 7.33874068e-01 -5.11965462e-02 -1.80375793e+02] [-7.60320994e-02 -6.16273782e-04 9.97105180e-01 -1.75814381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61864 meters 0.025978331065352214 Centerline is valid? [True, True] Translation: X:244.23, Y:-180.40, Z:-17.58 [[ 7.30835712e-01 6.80231425e-01 5.62527308e-02 2.44231279e+02] [-6.78296033e-01 7.32997100e-01 -5.12810244e-02 -1.80397179e+02] [-7.61160529e-02 -6.78000094e-04 9.97098735e-01 -1.75840449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64864 meters 0.025978331065352214 Centerline is valid? [True, True] Translation: X:244.26, Y:-180.42, Z:-17.59 [[ 7.30472545e-01 6.80623676e-01 5.62252007e-02 2.44255498e+02] [-6.78687122e-01 7.32632891e-01 -5.13111959e-02 -1.80418834e+02] [-7.61160461e-02 -6.77899802e-04 9.97098735e-01 -1.75857896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67864000000003 meters 0.025854176090030594 Centerline is valid? [True, True] Translation: X:244.28, Y:-180.44, Z:-17.59 [[ 7.29528262e-01 6.81687664e-01 5.55917698e-02 2.44280419e+02] [-6.79793552e-01 7.31642933e-01 -5.07872526e-02 -1.80440244e+02] [-7.52943691e-02 -7.40190551e-04 9.97161075e-01 -1.75867480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70864 meters 0.02614338499347334 Centerline is valid? [True, True] Translation: X:244.30, Y:-180.46, Z:-17.59 [[ 7.28286071e-01 6.82969181e-01 5.61470987e-02 2.44304399e+02] [-6.81036695e-01 7.30446705e-01 -5.13481391e-02 -1.80461117e+02] [-7.60816598e-02 -8.42100107e-04 9.97101235e-01 -1.75885595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73864 meters 0.0261217648587039 Centerline is valid? [True, True] Translation: X:244.33, Y:-180.48, Z:-17.59 [[ 7.26976631e-01 6.84325919e-01 5.65951747e-02 2.44329121e+02] [-6.82362748e-01 7.29175646e-01 -5.18069361e-02 -1.80481771e+02] [-7.67206522e-02 -9.56006988e-04 9.97052169e-01 -1.75894460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76864 meters 0.02643091883347207 Centerline is valid? [True, True] Translation: X:244.35, Y:-180.50, Z:-17.59 [[ 7.26361992e-01 6.84874576e-01 5.78365910e-02 2.44354432e+02] [-6.82821982e-01 7.28660288e-01 -5.29936339e-02 -1.80501853e+02] [-7.84372197e-02 -9.99534243e-04 9.96918554e-01 -1.75910180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79864 meters 0.02642052868920273 Centerline is valid? [True, True] Translation: X:244.38, Y:-180.52, Z:-17.59 [[ 7.25230554e-01 6.86152555e-01 5.68798330e-02 2.44380517e+02] [-6.84167400e-01 7.27456872e-01 -5.21676815e-02 -1.80522062e+02] [-7.71726133e-02 -1.08173094e-03 9.97017160e-01 -1.75931842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82864 meters 0.026625648022107228 Centerline is valid? [True, True] Translation: X:244.41, Y:-180.54, Z:-17.60 [[ 7.24125807e-01 6.87299468e-01 5.71074076e-02 2.44405250e+02] [-6.85297536e-01 7.26373236e-01 -5.24329027e-02 -1.80543705e+02] [-7.75183986e-02 -1.16754774e-03 9.96990238e-01 -1.75956495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85864 meters 0.02648982486040055 Centerline is valid? [True, True] Translation: X:244.43, Y:-180.56, Z:-17.60 [[ 7.24387689e-01 6.87043450e-01 5.68662824e-02 2.44430727e+02] [-6.85053468e-01 7.26615507e-01 -5.22651883e-02 -1.80563878e+02] [-7.72283779e-02 -1.09618505e-03 9.97012826e-01 -1.75973652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88864 meters 0.0263747254460321 Centerline is valid? [True, True] Translation: X:244.46, Y:-180.59, Z:-17.60 [[ 7.23887311e-01 6.87562455e-01 5.69651758e-02 2.44456409e+02] [-6.85563135e-01 7.26124386e-01 -5.24076706e-02 -1.80585387e+02] [-7.73973500e-02 -1.11597679e-03 9.96999702e-01 -1.75990956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91864 meters 0.02637280733898403 Centerline is valid? [True, True] Translation: X:244.48, Y:-180.61, Z:-17.60 [[ 7.23249006e-01 6.88230502e-01 5.70057073e-02 2.44481459e+02] [-6.86226003e-01 7.25491185e-01 -5.25015520e-02 -1.80607189e+02] [-7.74903076e-02 -1.14710334e-03 9.96992446e-01 -1.76015211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94864 meters 0.026408100237441834 Centerline is valid? [True, True] Translation: X:244.51, Y:-180.63, Z:-17.60 [[ 7.23891504e-01 6.87690254e-01 5.53462362e-02 2.44507238e+02] [-6.85796102e-01 7.26003486e-01 -5.10161262e-02 -1.80627410e+02] [-7.52648533e-02 -1.02609272e-03 9.97163050e-01 -1.76024330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97864 meters 0.026352081526078392 Centerline is valid? [True, True] Translation: X:244.53, Y:-180.65, Z:-17.60 [[ 7.23649494e-01 6.87929930e-01 5.55321610e-02 2.44533173e+02] [-6.86021588e-01 7.25776372e-01 -5.12156071e-02 -1.80647938e+02] [-7.55366793e-02 -1.03411306e-03 9.97142488e-01 -1.76043756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00864 meters 0.026550959736218047 Centerline is valid? [True, True] Translation: X:244.56, Y:-180.67, Z:-17.61 [[ 7.23195292e-01 6.88280515e-01 5.70833020e-02 2.44558459e+02] [-6.86260697e-01 7.25443870e-01 -5.27014962e-02 -1.80668207e+02] [-7.76841444e-02 -1.06055269e-03 9.96977457e-01 -1.76057678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03864 meters 0.02642075179750737 Centerline is valid? [True, True] Translation: X:244.58, Y:-180.69, Z:-17.61 [[ 7.21981390e-01 6.89467924e-01 5.81107063e-02 2.44584490e+02] [-6.87374444e-01 7.24315267e-01 -5.37007258e-02 -1.80687583e+02] [-7.91153997e-02 -1.17288977e-03 9.96864774e-01 -1.76074181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06864 meters 0.026403726921104806 Centerline is valid? [True, True] Translation: X:244.61, Y:-180.71, Z:-17.61 [[ 7.22212372e-01 6.89270049e-01 5.75854977e-02 2.44610292e+02] [-6.87209788e-01 7.24503678e-01 -5.32646986e-02 -1.80707635e+02] [-7.84346663e-02 -1.10489331e-03 9.96918644e-01 -1.76091544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09864 meters 0.02628213008389493 Centerline is valid? [True, True] Translation: X:244.64, Y:-180.72, Z:-17.61 [[ 7.22289325e-01 6.89364835e-01 5.54459745e-02 2.44639107e+02] [-6.87452443e-01 7.24413577e-01 -5.13235614e-02 -1.80724529e+02] [-7.55464751e-02 -1.04601008e-03 9.97141733e-01 -1.76111606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12864 meters 0.026312046357090637 Centerline is valid? [True, True] Translation: X:244.67, Y:-180.74, Z:-17.61 [[ 7.22837692e-01 6.88829932e-01 5.49453958e-02 2.44665988e+02] [-6.86948498e-01 7.24922340e-01 -5.08857807e-02 -1.80743111e+02] [-7.48827937e-02 -9.62496820e-04 9.97191878e-01 -1.76132082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15864 meters 0.026464435483372968 Centerline is valid? [True, True] Translation: X:244.69, Y:-180.76, Z:-17.62 [[ 7.22517959e-01 6.89117103e-01 5.55465263e-02 2.44692409e+02] [-6.87191232e-01 7.24649352e-01 -5.14929798e-02 -1.80762604e+02] [-7.57364474e-02 -9.66483127e-04 9.97127402e-01 -1.76162353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18864 meters 0.02630886246750255 Centerline is valid? [True, True] Translation: X:244.72, Y:-180.78, Z:-17.62 [[ 7.22901598e-01 6.88665696e-01 5.61501466e-02 2.44720306e+02] [-6.86692019e-01 7.25078457e-01 -5.21085531e-02 -1.80780952e+02] [-7.65986346e-02 -8.88501281e-04 9.97061613e-01 -1.76163688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21864 meters 0.026503585779783113 Centerline is valid? [True, True] Translation: X:244.75, Y:-180.80, Z:-17.62 [[ 7.23080090e-01 6.88516489e-01 5.56796892e-02 2.44746179e+02] [-6.86571331e-01 7.25220216e-01 -5.17247243e-02 -1.80800572e+02] [-7.59933617e-02 -8.26959956e-04 9.97107981e-01 -1.76179941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24864 meters 0.026273746492037058 Centerline is valid? [True, True] Translation: X:244.78, Y:-180.82, Z:-17.62 [[ 7.24025611e-01 6.87534843e-01 5.55225628e-02 2.44775229e+02] [-6.85594122e-01 7.26151064e-01 -5.16268459e-02 -1.80816943e+02] [-7.58130234e-02 -6.86784070e-04 9.97121815e-01 -1.76198033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27864 meters 0.026349098794142645 Centerline is valid? [True, True] Translation: X:244.80, Y:-180.84, Z:-17.62 [[ 7.24853558e-01 6.86634044e-01 5.58659945e-02 2.44801584e+02] [-6.84662658e-01 7.27003011e-01 -5.19968022e-02 -1.80836955e+02] [-7.63175207e-02 -5.59293171e-04 9.97083408e-01 -1.76221441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30864 meters 0.026213127189820346 Centerline is valid? [True, True] Translation: X:244.83, Y:-180.86, Z:-17.62 [[ 7.25888661e-01 6.85582376e-01 5.53394683e-02 2.44826271e+02] [-6.83640990e-01 7.27994945e-01 -5.15592528e-02 -1.80857515e+02] [-7.56349682e-02 -4.06051867e-04 9.97135491e-01 -1.76235214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33864 meters 0.026198266398145702 Centerline is valid? [True, True] Translation: X:244.85, Y:-180.88, Z:-17.63 [[ 7.28326471e-01 6.82996478e-01 5.52843798e-02 2.44851116e+02] [-6.81047703e-01 7.30421660e-01 -5.15579805e-02 -1.80879517e+02] [-7.55948276e-02 -1.00257907e-04 9.97138612e-01 -1.76250740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36864 meters 0.026181224184435626 Centerline is valid? [True, True] Translation: X:244.88, Y:-180.90, Z:-17.63 [[ 7.29038164e-01 6.82193369e-01 5.58172297e-02 2.44876341e+02] [-6.80200155e-01 7.31171804e-01 -5.21108636e-02 -1.80901572e+02] [-7.63616701e-02 2.39200110e-05 9.97080185e-01 -1.76266774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39864 meters 0.02621816181768969 Centerline is valid? [True, True] Translation: X:244.90, Y:-180.92, Z:-17.63 [[ 7.30518347e-01 6.80660777e-01 5.51711177e-02 2.44902584e+02] [-6.78705015e-01 7.32598702e-01 -5.15620517e-02 -1.80922038e+02] [-7.55145554e-02 2.22110516e-04 9.97144675e-01 -1.76292080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864000000003 meters 0.02612351070251725 Centerline is valid? [True, True] Translation: X:244.93, Y:-180.94, Z:-17.63 [[ 7.30342874e-01 6.80920727e-01 5.42793715e-02 2.44926139e+02] [-6.79024680e-01 7.32357092e-01 -5.07796630e-02 -1.80944555e+02] [-7.43288077e-02 2.29532146e-04 9.97233762e-01 -1.76310131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45864 meters 0.026098419398716353 Centerline is valid? [True, True] Translation: X:244.95, Y:-180.97, Z:-17.63 [[ 7.29820768e-01 6.81548695e-01 5.34137011e-02 2.44948580e+02] [-6.79711077e-01 7.31772737e-01 -5.00151424e-02 -1.80967893e+02] [-7.31744453e-02 1.96205384e-04 9.97319138e-01 -1.76329710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters 0.026173275803456558 Centerline is valid? [True, True] Translation: X:244.97, Y:-180.99, Z:-17.63 [[ 7.29082314e-01 6.82292593e-01 5.39981170e-02 2.44970176e+02] [-6.80412904e-01 7.31079197e-01 -5.06111428e-02 -1.80992726e+02] [-7.40085079e-02 1.58673427e-04 9.97257597e-01 -1.76334415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51864 meters 0.026168606575476955 Centerline is valid? [True, True] Translation: X:244.99, Y:-181.02, Z:-17.63 [[ 7.27696869e-01 6.83696438e-01 5.49221962e-02 2.44993259e+02] [-6.81751752e-01 7.29766523e-01 -5.15302814e-02 -1.81015636e+02] [-7.53114500e-02 5.51208986e-05 9.97160059e-01 -1.76349227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters 0.026035647237203637 Centerline is valid? [True, True] Translation: X:245.02, Y:-181.04, Z:-17.64 [[ 7.24011052e-01 6.87623593e-01 5.46057750e-02 2.45016671e+02] [-6.85708684e-01 7.26067280e-01 -5.12826008e-02 -1.81038582e+02] [-7.49105928e-02 -3.14484384e-04 9.97190205e-01 -1.76362660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57864 meters 0.026010005577312163 Centerline is valid? [True, True] Translation: X:245.04, Y:-181.06, Z:-17.64 [[ 7.21984317e-01 6.89803596e-01 5.39411221e-02 2.45040420e+02] [-6.87937198e-01 7.23996377e-01 -5.07115144e-02 -1.81061099e+02] [-7.40341620e-02 -4.95186293e-04 9.97255583e-01 -1.76388607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters 0.02602298293581079 Centerline is valid? [True, True] Translation: X:245.06, Y:-181.08, Z:-17.64 [[ 7.20076092e-01 6.91749035e-01 5.45315870e-02 2.45063594e+02] [-6.89843063e-01 7.22137681e-01 -5.13197558e-02 -1.81082709e+02] [-7.48797053e-02 -6.64107834e-04 9.97192353e-01 -1.76417021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63864 meters 0.02619888001177904 Centerline is valid? [True, True] Translation: X:245.09, Y:-181.10, Z:-17.64 [[ 7.17720449e-01 6.94185322e-01 5.46268703e-02 2.45088580e+02] [-6.92276078e-01 7.19795774e-01 -5.14575138e-02 -1.81102602e+02] [-7.50412412e-02 -8.84765592e-04 9.97180039e-01 -1.76421750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters 0.026202767181364137 Centerline is valid? [True, True] Translation: X:245.11, Y:-181.12, Z:-17.64 [[ 7.17299438e-01 6.94621847e-01 5.46077500e-02 2.45113488e+02] [-6.92711449e-01 7.19374513e-01 -5.14893975e-02 -1.81123795e+02] [-7.50490840e-02 -8.94097738e-04 9.97179440e-01 -1.76437464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69864 meters 0.0262098661731878 Centerline is valid? [True, True] Translation: X:245.14, Y:-181.14, Z:-17.65 [[ 7.17571671e-01 6.94373265e-01 5.41910187e-02 2.45137813e+02] [-6.92487349e-01 7.19614543e-01 -5.11486078e-02 -1.81144856e+02] [-7.45128709e-02 -8.23802920e-04 9.97219712e-01 -1.76458796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters 0.026283066867066676 Centerline is valid? [True, True] Translation: X:245.16, Y:-181.17, Z:-17.65 [[ 7.18326766e-01 6.93610435e-01 5.39557424e-02 2.45162330e+02] [-6.91735221e-01 7.20349959e-01 -5.09737143e-02 -1.81165804e+02] [-7.42229170e-02 -7.07304084e-04 9.97241424e-01 -1.76471251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75864 meters 0.026311071096646297 Centerline is valid? [True, True] Translation: X:245.19, Y:-181.19, Z:-17.65 [[ 7.19121395e-01 6.92751020e-01 5.44099611e-02 2.45188228e+02] [-6.90837822e-01 7.21176593e-01 -5.14531371e-02 -1.81186709e+02] [-7.48834036e-02 -5.87407334e-04 9.97192123e-01 -1.76490629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters 0.026053459050479445 Centerline is valid? [True, True] Translation: X:245.21, Y:-181.21, Z:-17.65 [[ 7.20818379e-01 6.91030001e-01 5.38368052e-02 2.45214453e+02] [-6.89148887e-01 7.22825981e-01 -5.09550069e-02 -1.81205511e+02] [-7.41260801e-02 -3.72268850e-04 9.97248808e-01 -1.76496639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81864 meters 0.026058860119404944 Centerline is valid? [True, True] Translation: X:245.24, Y:-181.23, Z:-17.65 [[ 7.21279093e-01 6.90636640e-01 5.27020094e-02 2.45239245e+02] [-6.88831282e-01 7.23201865e-01 -4.99051885e-02 -1.81226663e+02] [-7.25805432e-02 -3.07223592e-04 9.97362507e-01 -1.76516974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters 0.025976139414779418 Centerline is valid? [True, True] Translation: X:245.26, Y:-181.25, Z:-17.65 [[ 7.20859009e-01 6.91132185e-01 5.19479708e-02 2.45263039e+02] [-6.89376198e-01 7.22728303e-01 -4.92367504e-02 -1.81248037e+02] [-7.15733717e-02 -3.18939443e-04 9.97435287e-01 -1.76536444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87864 meters 0.02579238563287652 Centerline is valid? [True, True] Translation: X:245.29, Y:-181.27, Z:-17.65 [[ 7.20379545e-01 6.91652518e-01 5.16730734e-02 2.45289249e+02] [-6.89913090e-01 7.22230353e-01 -4.90228998e-02 -1.81269060e+02] [-7.12266741e-02 -3.34835532e-04 9.97460099e-01 -1.76545569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters 0.02580281046437067 Centerline is valid? [True, True] Translation: X:245.31, Y:-181.29, Z:-17.66 [[ 7.19919273e-01 6.92157332e-01 5.13270717e-02 2.45314453e+02] [-6.90438786e-01 7.21746569e-01 -4.87460095e-02 -1.81290732e+02] [-7.07850457e-02 -3.45009374e-04 9.97491533e-01 -1.76561843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93864 meters 0.025978351349822366 Centerline is valid? [True, True] Translation: X:245.34, Y:-181.31, Z:-17.66 [[ 7.20654396e-01 6.91317997e-01 5.23131848e-02 2.45339863e+02] [-6.89526617e-01 7.22550604e-01 -4.97359897e-02 -1.81312343e+02] [-7.21823080e-02 -2.28873734e-04 9.97391429e-01 -1.76582902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters 0.025771699765266966 Centerline is valid? [True, True] Translation: X:245.36, Y:-181.33, Z:-17.66 [[ 7.21277152e-01 6.90637050e-01 5.27231890e-02 2.45364511e+02] [-6.88811704e-01 7.23201528e-01 -5.01795387e-02 -1.81334393e+02] [-7.27853394e-02 -1.22994910e-04 9.97347622e-01 -1.76596706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99864 meters 0.025905667731048434 Centerline is valid? [True, True] Translation: X:245.39, Y:-181.36, Z:-17.66 [[ 7.21641567e-01 6.90162616e-01 5.39352578e-02 2.45388245e+02] [-6.88246956e-01 7.23654311e-01 -5.13864364e-02 -1.81356603e+02] [-7.44954792e-02 -3.81884242e-05 9.97221351e-01 -1.76612406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters 0.026164985905116348 Centerline is valid? [True, True] Translation: X:245.41, Y:-181.38, Z:-17.66 [[ 7.24259041e-01 6.87366606e-01 5.45526399e-02 2.45411681e+02] [-6.85395167e-01 7.26310585e-01 -5.20230673e-02 -1.81378895e+02] [-7.53810790e-02 2.88061066e-04 9.97154757e-01 -1.76642997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05864 meters 0.026094443543187778 Centerline is valid? [True, True] Translation: X:245.44, Y:-181.40, Z:-17.67 [[ 7.25534009e-01 6.86059588e-01 5.40614857e-02 2.45435588e+02] [-6.84116218e-01 7.27545211e-01 -5.16039334e-02 -1.81401213e+02] [-7.47355483e-02 4.56069515e-04 9.97203284e-01 -1.76655064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08864 meters 0.026119861912968056 Centerline is valid? [True, True] Translation: X:245.46, Y:-181.42, Z:-17.67 [[ 7.28112421e-01 6.83431288e-01 5.26685525e-02 2.45459884e+02] [-6.81576267e-01 7.30014465e-01 -5.03256685e-02 -1.81423379e+02] [-7.28429416e-02 7.45108942e-04 9.97343146e-01 -1.76666219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11864 meters 0.026122617756469214 Centerline is valid? [True, True] Translation: X:245.48, Y:-181.45, Z:-17.67 [[ 7.28537248e-01 6.83000557e-01 5.23805024e-02 2.45483551e+02] [-6.81160938e-01 7.30417390e-01 -5.01020197e-02 -1.81447023e+02] [-7.24793372e-02 8.21635422e-04 9.97369576e-01 -1.76681760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14864 meters 0.026346890292452945 Centerline is valid? [True, True] Translation: X:245.51, Y:-181.47, Z:-17.67 [[ 7.29313346e-01 6.82140855e-01 5.27816030e-02 2.45505674e+02] [-6.80266965e-01 7.31220178e-01 -5.05361981e-02 -1.81471061e+02] [-7.30677786e-02 9.51142864e-04 9.97326524e-01 -1.76695857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17864000000003 meters 0.026587063037704563 Centerline is valid? [True, True] Translation: X:245.53, Y:-181.50, Z:-17.67 [[ 7.32966090e-01 6.78313493e-01 5.14928769e-02 2.45525725e+02] [-6.76517538e-01 7.34771413e-01 -4.93456362e-02 -1.81496333e+02] [-7.13073047e-02 1.33284369e-03 9.97453504e-01 -1.76711550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20864 meters 0.026799388038648713 Centerline is valid? [True, True] Translation: X:245.55, Y:-181.52, Z:-17.67 [[ 7.33544639e-01 6.77706761e-01 5.12426414e-02 2.45548101e+02] [-6.75923557e-01 7.35330901e-01 -4.91508952e-02 -1.81520629e+02] [-7.09901917e-02 1.41826723e-03 9.97476005e-01 -1.76736502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23864 meters 0.02686473788493456 Centerline is valid? [True, True] Translation: X:245.57, Y:-181.54, Z:-17.67 [[ 7.35059140e-01 6.76098888e-01 5.07774953e-02 2.45569940e+02] [-6.74341227e-01 7.36809179e-01 -4.87456967e-02 -1.81544649e+02] [-7.03702360e-02 1.58961144e-03 9.97519676e-01 -1.76738633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26864 meters 0.0276714437440637 Centerline is valid? [True, True] Translation: X:245.59, Y:-181.57, Z:-17.68 [[ 7.37082152e-01 6.73875370e-01 5.10086904e-02 2.45589082e+02] [-6.72094788e-01 7.38842777e-01 -4.89892497e-02 -1.81570413e+02] [-7.07000512e-02 1.82642665e-03 9.97495948e-01 -1.76756028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29864 meters 0.027795667225893946 Centerline is valid? [True, True] Translation: X:245.61, Y:-181.60, Z:-17.68 [[ 7.37301935e-01 6.73601604e-01 5.14464244e-02 2.45609801e+02] [-6.71786635e-01 7.39092193e-01 -4.94514654e-02 -1.81595227e+02] [-7.13342370e-02 1.89964084e-03 9.97450659e-01 -1.76782535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32864 meters 0.027559701125107552 Centerline is valid? [True, True] Translation: X:245.63, Y:-181.62, Z:-17.68 [[ 7.37076636e-01 6.73938275e-01 5.02517064e-02 2.45626910e+02] [-6.72204611e-01 7.38785329e-01 -4.83445735e-02 -1.81623697e+02] [-6.97064820e-02 1.85422677e-03 9.97565822e-01 -1.76799192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35864 meters 0.027430622197731923 Centerline is valid? [True, True] Translation: X:245.65, Y:-181.65, Z:-17.68 [[ 7.35784464e-01 6.75284221e-01 5.11120707e-02 2.45647869e+02] [-6.73490634e-01 7.37555433e-01 -4.92173684e-02 -1.81649623e+02] [-7.09336978e-02 1.78987411e-03 9.97479427e-01 -1.76832427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38864 meters 0.027308116531304036 Centerline is valid? [True, True] Translation: X:245.67, Y:-181.68, Z:-17.68 [[ 7.34604713e-01 6.76620072e-01 5.04102533e-02 2.45668509e+02] [-6.74875296e-01 7.36330415e-01 -4.85886382e-02 -1.81675092e+02] [-6.99946506e-02 1.67280800e-03 9.97545964e-01 -1.76848654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41864 meters 0.02655670308046053 Centerline is valid? [True, True] Translation: X:245.69, Y:-181.70, Z:-17.69 [[ 7.30619168e-01 6.80935346e-01 5.02263432e-02 2.45686938e+02] [-6.79210874e-01 7.32342413e-01 -4.84476947e-02 -1.81702835e+02] [-6.97726291e-02 1.28253593e-03 9.97562096e-01 -1.76855076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44864 meters 0.02614934609669725 Centerline is valid? [True, True] Translation: X:245.71, Y:-181.73, Z:-17.69 [[ 7.28054222e-01 6.83637144e-01 5.07671642e-02 2.45708124e+02] [-6.81880705e-01 7.29821320e-01 -4.89851483e-02 -1.81727777e+02] [-7.05390257e-02 1.04669431e-03 9.97508471e-01 -1.76874917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47864 meters 0.02597863203108228 Centerline is valid? [True, True] Translation: X:245.73, Y:-181.75, Z:-17.69 [[ 7.22704355e-01 6.89205908e-01 5.19002157e-02 2.45726753e+02] [-6.87382577e-01 7.24565340e-01 -5.01025109e-02 -1.81754120e+02] [-7.21360439e-02 5.33998740e-04 9.97394659e-01 -1.76896638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50864 meters 0.026059734581048394 Centerline is valid? [True, True] Translation: X:245.75, Y:-181.78, Z:-17.69 [[ 7.20183074e-01 6.91746573e-01 5.31320886e-02 2.45748994e+02] [-6.89838740e-01 7.22140273e-01 -5.13413854e-02 -1.81778091e+02] [-7.38840484e-02 3.22623644e-04 9.97266786e-01 -1.76909636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53864 meters 0.025898295281730543 Centerline is valid? [True, True] Translation: X:245.77, Y:-181.80, Z:-17.69 [[ 7.17673660e-01 6.94291231e-01 5.38906719e-02 2.45771920e+02] [-6.92331408e-01 7.19694155e-01 -5.21300746e-02 -1.81801517e+02] [-7.49782552e-02 1.02176672e-04 9.97185164e-01 -1.76928881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56864 meters 0.025797978286044156 Centerline is valid? [True, True] Translation: X:245.80, Y:-181.82, Z:-17.69 [[ 7.12795941e-01 6.99395628e-01 5.26089572e-02 2.45795148e+02] [-6.97538064e-01 7.14734641e-01 -5.09415667e-02 -1.81824539e+02] [-7.32297531e-02 -3.85808215e-04 9.97315023e-01 -1.76925751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59864 meters 0.025797978286044156 Centerline is valid? [True, True] Translation: X:245.82, Y:-181.85, Z:-17.69 [[ 7.12423203e-01 6.99777160e-01 5.25842845e-02 2.45818710e+02] [-6.97918754e-01 7.14361096e-01 -5.09670256e-02 -1.81846913e+02] [-7.32297275e-02 -3.89466750e-04 9.97315023e-01 -1.76943197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62864 meters 0.026046122564231503 Centerline is valid? [True, True] Translation: X:245.84, Y:-181.87, Z:-17.70 [[ 7.09902939e-01 7.02325551e-01 5.26938061e-02 2.45842560e+02] [-7.00462487e-01 7.11855632e-01 -5.11259597e-02 -1.81868617e+02] [-7.34174505e-02 -6.15565431e-04 9.97301108e-01 -1.76976411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65864 meters 0.026188828745393206 Centerline is valid? [True, True] Translation: X:245.87, Y:-181.89, Z:-17.70 [[ 7.06199181e-01 7.06085918e-01 5.22053069e-02 2.45867255e+02] [-7.04264075e-01 7.08125518e-01 -5.06987493e-02 -1.81888808e+02] [-7.27655829e-02 -9.62906954e-04 9.97348606e-01 -1.76982676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68864 meters 0.026332015954809936 Centerline is valid? [True, True] Translation: X:245.89, Y:-181.91, Z:-17.70 [[ 7.03926338e-01 7.08322973e-01 5.25954097e-02 2.45891645e+02] [-7.06476463e-01 7.05887527e-01 -5.11254045e-02 -1.81910214e+02] [-7.33397421e-02 -1.16890024e-03 9.97306330e-01 -1.76998201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71864 meters 0.026338006642640188 Centerline is valid? [True, True] Translation: X:245.92, Y:-181.93, Z:-17.70 [[ 7.02132425e-01 7.10084709e-01 5.28182210e-02 2.45916338e+02] [-7.08223920e-01 7.04115013e-01 -5.13899454e-02 -1.81930709e+02] [-7.36813168e-02 -1.32458060e-03 9.97280958e-01 -1.77007452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74864 meters 0.02662762013029629 Centerline is valid? [True, True] Translation: X:245.94, Y:-181.95, Z:-17.70 [[ 6.99741378e-01 7.12349783e-01 5.40350943e-02 2.45942834e+02] [-7.10405174e-01 7.01822869e-01 -5.26227058e-02 -1.81948816e+02] [-7.54088380e-02 -1.56452592e-03 9.97151473e-01 -1.77025151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77864 meters 0.026920108584579838 Centerline is valid? [True, True] Translation: X:245.97, Y:-181.97, Z:-17.71 [[ 6.98852319e-01 7.13260640e-01 5.35228530e-02 2.45967943e+02] [-7.11351842e-01 7.00897038e-01 -5.21718300e-02 -1.81969658e+02] [-7.47261219e-02 -1.61317571e-03 9.97202790e-01 -1.77050022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80864 meters 0.02744576591811248 Centerline is valid? [True, True] Translation: X:245.99, Y:-181.99, Z:-17.71 [[ 6.98265371e-01 7.13778530e-01 5.42741390e-02 2.45994530e+02] [-7.11813057e-01 7.00369529e-01 -5.29593709e-02 -1.81989034e+02] [-7.58132150e-02 -1.65334605e-03 9.97120666e-01 -1.77074749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83864 meters 0.027442153165765006 Centerline is valid? [True, True] Translation: X:246.02, Y:-182.01, Z:-17.71 [[ 6.98456423e-01 7.13629460e-01 5.37737826e-02 2.46020591e+02] [-7.11696019e-01 7.00521572e-01 -5.25195577e-02 -1.82008669e+02] [-7.51491983e-02 -1.58796465e-03 9.97171037e-01 -1.77081635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86864 meters 0.02751629930264874 Centerline is valid? [True, True] Translation: X:246.05, Y:-182.03, Z:-17.71 [[ 6.98419153e-01 7.13601982e-01 5.46159188e-02 2.46046909e+02] [-7.11603339e-01 7.00549596e-01 -5.33943076e-02 -1.82028541e+02] [-7.63634435e-02 -1.57326309e-03 9.97078808e-01 -1.77109202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89864 meters 0.02770617177706789 Centerline is valid? [True, True] Translation: X:246.07, Y:-182.05, Z:-17.71 [[ 6.99873195e-01 7.12152353e-01 5.49230110e-02 2.46074578e+02] [-7.10122399e-01 7.02023583e-01 -5.37500529e-02 -1.82046050e+02] [-7.68354756e-02 -1.38383908e-03 9.97042825e-01 -1.77120439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864000000003 meters 0.02787613455589104 Centerline is valid? [True, True] Translation: X:246.10, Y:-182.07, Z:-17.71 [[ 7.00541745e-01 7.11431772e-01 5.57323764e-02 2.46099742e+02] [-7.09334977e-01 7.02753997e-01 -5.45958769e-02 -1.82067697e+02] [-7.80073917e-02 -1.28623314e-03 9.96951951e-01 -1.77148583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95864 meters 0.027816376884580826 Centerline is valid? [True, True] Translation: X:246.13, Y:-182.09, Z:-17.72 [[ 7.03105059e-01 7.09018522e-01 5.41849773e-02 2.46126472e+02] [-7.07025438e-01 7.05189216e-01 -5.31337825e-02 -1.82086318e+02] [-7.58834976e-02 -9.51526012e-04 9.97116237e-01 -1.77172305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters 0.027779468731147266 Centerline is valid? [True, True] Translation: X:246.15, Y:-182.11, Z:-17.72 [[ 7.04658754e-01 7.07518687e-01 5.36036230e-02 2.46151907e+02] [-7.05560194e-01 7.06694241e-01 -5.26123791e-02 -1.82106956e+02] [-7.51056131e-02 -7.46809190e-04 9.97175305e-01 -1.77190508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01864 meters 0.02782229011442585 Centerline is valid? [True, True] Translation: X:246.18, Y:-182.13, Z:-17.72 [[ 7.07400685e-01 7.04791899e-01 5.34102103e-02 2.46176932e+02] [-7.02836082e-01 7.09413985e-01 -5.24713213e-02 -1.82127122e+02] [-7.48713124e-02 -4.20374373e-04 9.97193116e-01 -1.77213411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters 0.027850679727374775 Centerline is valid? [True, True] Translation: X:246.20, Y:-182.15, Z:-17.72 [[ 7.08016796e-01 7.04211927e-01 5.28940367e-02 2.46200659e+02] [-7.02288585e-01 7.09989760e-01 -5.20123512e-02 -1.82148623e+02] [-7.41819425e-02 -3.21259967e-04 9.97244672e-01 -1.77219031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07864 meters 0.02800753028207312 Centerline is valid? [True, True] Translation: X:246.23, Y:-182.17, Z:-17.72 [[ 7.08392769e-01 7.03826293e-01 5.29927748e-02 2.46225325e+02] [-7.01890915e-01 7.10372078e-01 -5.21598983e-02 -1.82170700e+02] [-7.43560954e-02 -2.45452425e-04 9.97231724e-01 -1.77241893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters 0.02805317001242184 Centerline is valid? [True, True] Translation: X:246.25, Y:-182.19, Z:-17.73 [[ 7.08926218e-01 7.03289058e-01 5.29916802e-02 2.46250951e+02] [-7.01348132e-01 7.10903987e-01 -5.22141588e-02 -1.82192145e+02] [-7.43936433e-02 -1.49629790e-04 9.97228942e-01 -1.77255967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13864 meters 0.02821193818005339 Centerline is valid? [True, True] Translation: X:246.27, Y:-182.22, Z:-17.73 [[ 7.08834260e-01 7.03384491e-01 5.29551776e-02 2.46274120e+02] [-7.01442392e-01 7.10809569e-01 -5.22333875e-02 -1.82215086e+02] [-7.43812016e-02 -1.20191947e-04 9.97229874e-01 -1.77280938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters 0.02824724139029711 Centerline is valid? [True, True] Translation: X:246.30, Y:-182.24, Z:-17.73 [[ 7.10228395e-01 7.01975292e-01 5.29746762e-02 2.46296888e+02] [-7.00023700e-01 7.12201295e-01 -5.23080760e-02 -1.82239527e+02] [-7.44476100e-02 6.71520511e-05 9.97224924e-01 -1.77304594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19864 meters 0.028269023602417183 Centerline is valid? [True, True] Translation: X:246.32, Y:-182.26, Z:-17.73 [[ 7.10823017e-01 7.01390653e-01 5.27426912e-02 2.46320015e+02] [-6.99450437e-01 7.12777051e-01 -5.21340758e-02 -1.82262873e+02] [-7.41601334e-02 1.67202619e-04 9.97246332e-01 -1.77321608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters 0.028320172481301004 Centerline is valid? [True, True] Translation: X:246.34, Y:-182.29, Z:-17.73 [[ 7.11577593e-01 7.00631719e-01 5.26547567e-02 2.46343514e+02] [-6.98691828e-01 7.13523029e-01 -5.21019775e-02 -1.82286451e+02] [-7.40746795e-02 2.85151517e-04 9.97252656e-01 -1.77330420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25864 meters 0.02847969171779177 Centerline is valid? [True, True] Translation: X:246.37, Y:-182.31, Z:-17.73 [[ 7.12627505e-01 6.99563240e-01 5.26622448e-02 2.46366258e+02] [-6.97615794e-01 7.14570559e-01 -5.21643560e-02 -1.82310825e+02] [-7.41231556e-02 4.35741101e-04 9.97249000e-01 -1.77340068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters 0.028629571076423325 Centerline is valid? [True, True] Translation: X:246.39, Y:-182.33, Z:-17.74 [[ 7.12236896e-01 6.99962900e-01 5.26359462e-02 2.46389343e+02] [-6.98014409e-01 7.14179075e-01 -5.21932350e-02 -1.82333916e+02] [-7.41248195e-02 4.33298856e-04 9.97248877e-01 -1.77355019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31864 meters 0.02844568438256274 Centerline is valid? [True, True] Translation: X:246.41, Y:-182.36, Z:-17.74 [[ 7.11036275e-01 7.01219219e-01 5.21442457e-02 2.46411681e+02] [-6.99306568e-01 7.12945646e-01 -5.17574211e-02 -1.82357628e+02] [-7.34693113e-02 3.36590444e-04 9.97297422e-01 -1.77359229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters 0.028395998942409066 Centerline is valid? [True, True] Translation: X:246.43, Y:-182.38, Z:-17.74 [[ 7.09453452e-01 7.02763107e-01 5.29132860e-02 2.46433458e+02] [-7.00794130e-01 7.11423903e-01 -5.25701199e-02 -1.82381770e+02] [-7.45881172e-02 2.14732710e-04 9.97214404e-01 -1.77387109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37864 meters 0.028513506433700066 Centerline is valid? [True, True] Translation: X:246.46, Y:-182.41, Z:-17.74 [[ 7.08156448e-01 7.04104012e-01 5.24593737e-02 2.46455554e+02] [-7.02168543e-01 7.10096844e-01 -5.21709605e-02 -1.82406074e+02] [-7.39850183e-02 1.09880071e-04 9.97259347e-01 -1.77400711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters 0.028618890251687092 Centerline is valid? [True, True] Translation: X:246.48, Y:-182.43, Z:-17.74 [[ 7.06819360e-01 7.05507044e-01 5.16352998e-02 2.46477586e+02] [-7.03631958e-01 7.08702908e-01 -5.14028887e-02 -1.82429121e+02] [-7.28591872e-02 3.09813426e-07 9.97342238e-01 -1.77408349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43864 meters 0.028586943900351748 Centerline is valid? [True, True] Translation: X:246.50, Y:-182.45, Z:-17.74 [[ 7.03829209e-01 7.08415321e-01 5.26514838e-02 2.46499232e+02] [-7.06470030e-01 7.05795764e-01 -5.24636674e-02 -1.82453072e+02] [-7.43272600e-02 -2.71233847e-04 9.97233867e-01 -1.77432273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters 0.028574558922810998 Centerline is valid? [True, True] Translation: X:246.52, Y:-182.48, Z:-17.74 [[ 7.02398524e-01 7.09794634e-01 5.31779305e-02 2.46521435e+02] [-7.07810266e-01 7.04408567e-01 -5.30395799e-02 -1.82478175e+02] [-7.51061990e-02 -3.84962522e-04 9.97175466e-01 -1.77443465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49864 meters 0.028725669516531382 Centerline is valid? [True, True] Translation: X:246.54, Y:-182.50, Z:-17.75 [[ 7.01386177e-01 7.10806763e-01 5.30205356e-02 2.46544679e+02] [-7.08832823e-01 7.03387192e-01 -5.29385257e-02 -1.82501889e+02] [-7.49230277e-02 -4.52345801e-04 9.97189217e-01 -1.77457473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters 0.028636410361212367 Centerline is valid? [True, True] Translation: X:246.57, Y:-182.52, Z:-17.75 [[ 7.00604506e-01 7.11628138e-01 5.23327773e-02 2.46569096e+02] [-7.09703366e-01 7.02556154e-01 -5.23066199e-02 -1.82524568e+02] [-7.39895772e-02 -4.94494596e-04 9.97258892e-01 -1.77470512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55864 meters 0.02870991208943623 Centerline is valid? [True, True] Translation: X:246.56, Y:-182.68, Z:-16.15 [[ 7.60281207e-01 -6.49195877e-01 -2.27420338e-02 2.46558780e+02] [-6.48735718e-01 -7.60610301e-01 2.47777873e-02 -1.82684564e+02] [-3.33834625e-02 -4.08451637e-03 -9.99434271e-01 -1.61460071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58864 meters 0.028800288391801418 Centerline is valid? [True, True] Translation: X:246.59, Y:-182.56, Z:-17.75 [[ 7.45524350e-01 6.64229574e-01 5.47039013e-02 2.46594381e+02] [-6.62535795e-01 7.47528108e-01 -4.74135885e-02 -1.82563329e+02] [-7.23862115e-02 -8.95308011e-04 9.97376275e-01 -1.77504957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61864 meters 0.028757533375121564 Centerline is valid? [True, True] Translation: X:246.62, Y:-182.58, Z:-17.75 [[ 7.43399822e-01 6.66691244e-01 5.36608759e-02 2.46619529e+02] [-6.65064411e-01 7.45333232e-01 -4.65585955e-02 -1.82584462e+02] [-7.10354420e-02 -1.07628718e-03 9.97473211e-01 -1.77515221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64864 meters 0.028951462488902287 Centerline is valid? [True, True] Translation: X:246.64, Y:-182.60, Z:-17.75 [[ 7.39559467e-01 6.71035674e-01 5.25634805e-02 2.46644856e+02] [-6.69482411e-01 7.41423690e-01 -4.56531866e-02 -1.82604161e+02] [-6.96067265e-02 -1.42707926e-03 9.97573490e-01 -1.77523119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67864000000003 meters 0.029274699942364295 Centerline is valid? [True, True] Translation: X:246.67, Y:-182.62, Z:-17.75 [[ 7.38067267e-01 6.72686058e-01 5.24421302e-02 2.46669847e+02] [-6.71141151e-01 7.39926397e-01 -4.55903755e-02 -1.82624199e+02] [-6.94713264e-02 -1.54730778e-03 9.97582749e-01 -1.77546692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70864 meters 0.02950969471196468 Centerline is valid? [True, True] Translation: X:246.70, Y:-182.64, Z:-17.76 [[ 7.35551774e-01 6.75463057e-01 5.20888322e-02 2.46695906e+02] [-6.73942925e-01 7.37391714e-01 -4.53254230e-02 -1.82642976e+02] [-6.90255221e-02 -1.76570466e-03 9.97613332e-01 -1.77563183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73864 meters 0.029593294321693015 Centerline is valid? [True, True] Translation: X:246.72, Y:-182.66, Z:-17.76 [[ 7.34705792e-01 6.76365987e-01 5.23110952e-02 2.46721574e+02] [-6.74832153e-01 7.36563449e-01 -4.55615129e-02 -1.82662755e+02] [-6.93466983e-02 -1.82690153e-03 9.97590947e-01 -1.77580857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76864 meters 0.02964547260937021 Centerline is valid? [True, True] Translation: X:246.75, Y:-182.68, Z:-17.76 [[ 7.34456482e-01 6.76635747e-01 5.23234384e-02 2.46747199e+02] [-6.75098804e-01 7.36315661e-01 -4.56163611e-02 -1.82682994e+02] [-6.93922277e-02 -1.82025861e-03 9.97587793e-01 -1.77598511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79864 meters 0.029718067780726897 Centerline is valid? [True, True] Translation: X:246.77, Y:-182.70, Z:-17.76 [[ 7.35066270e-01 6.75926230e-01 5.29274121e-02 2.46772851e+02] [-6.74348315e-01 7.36967239e-01 -4.61913197e-02 -1.82702090e+02] [-7.02276933e-02 -1.73783012e-03 9.97529474e-01 -1.77609581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82864 meters 0.029672413420685738 Centerline is valid? [True, True] Translation: X:246.80, Y:-182.72, Z:-17.76 [[ 7.34981120e-01 6.75921715e-01 5.41533885e-02 2.46799281e+02] [-6.74266401e-01 7.36971367e-01 -4.73077685e-02 -1.82721726e+02] [-7.18858447e-02 -1.74349367e-03 9.97411342e-01 -1.77622227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85864 meters 0.029836790669882953 Centerline is valid? [True, True] Translation: X:246.83, Y:-182.74, Z:-17.76 [[ 7.33525758e-01 6.77436443e-01 5.49529659e-02 2.46828193e+02] [-6.75732397e-01 7.35578901e-01 -4.80562929e-02 -1.82737896e+02] [-7.29773265e-02 -1.88297074e-03 9.97331823e-01 -1.77636145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88864 meters 0.030051540765296994 Centerline is valid? [True, True] Translation: X:246.86, Y:-182.76, Z:-17.77 [[ 7.32519544e-01 6.78574076e-01 5.43354499e-02 2.46855055e+02] [-6.76907985e-01 7.34529414e-01 -4.75617569e-02 -1.82757209e+02] [-7.21851614e-02 -1.94018344e-03 9.97389361e-01 -1.77656107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91864 meters 0.030053613276759837 Centerline is valid? [True, True] Translation: X:246.88, Y:-182.78, Z:-17.77 [[ 7.31872983e-01 6.79365147e-01 5.31501046e-02 2.46881998e+02] [-6.77769658e-01 7.33797820e-01 -4.65730651e-02 -1.82776833e+02] [-7.06415482e-02 -1.93796008e-03 9.97499883e-01 -1.77681268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94864 meters 0.03001608545904889 Centerline is valid? [True, True] Translation: X:246.91, Y:-182.79, Z:-17.77 [[ 7.32197660e-01 6.79126102e-01 5.17138793e-02 2.46909055e+02] [-6.77612003e-01 7.34019341e-01 -4.53605680e-02 -1.82794827e+02] [-6.87645333e-02 -1.82904356e-03 9.97631241e-01 -1.77706315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97864 meters 0.02987813725448587 Centerline is valid? [True, True] Translation: X:246.93, Y:-182.81, Z:-17.77 [[ 7.32744763e-01 6.78503339e-01 5.21376313e-02 2.46934995e+02] [-6.76959734e-01 7.34595225e-01 -4.57752512e-02 -1.82813543e+02] [-6.93587157e-02 -1.75350145e-03 9.97590243e-01 -1.77717463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00864 meters 0.029339553766325042 Centerline is valid? [True, True] Translation: X:246.96, Y:-182.83, Z:-17.77 [[ 7.34712571e-01 6.76176032e-01 5.46206182e-02 2.46963976e+02] [-6.74471903e-01 7.36738421e-01 -4.80015819e-02 -1.82828841e+02] [-7.26986272e-02 -1.57270665e-03 9.97352714e-01 -1.77731324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03864 meters 0.02913231706768241 Centerline is valid? [True, True] Translation: X:246.99, Y:-182.85, Z:-17.78 [[ 7.36126118e-01 6.74563141e-01 5.55239342e-02 2.46990850e+02] [-6.72794093e-01 7.38215823e-01 -4.88416492e-02 -1.82847445e+02] [-7.39354231e-02 -1.40256135e-03 9.97262045e-01 -1.77751854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06864 meters 0.028881347194295425 Centerline is valid? [True, True] Translation: X:247.02, Y:-182.87, Z:-17.78 [[ 7.37388580e-01 6.73115490e-01 5.63348914e-02 2.47016826e+02] [-6.71286563e-01 7.39536339e-01 -4.96019450e-02 -1.82866101e+02] [-7.50495368e-02 -1.24094788e-03 9.97179035e-01 -1.77764439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09864 meters 0.028418369211164186 Centerline is valid? [True, True] Translation: X:247.05, Y:-182.88, Z:-17.78 [[ 7.41516740e-01 6.68620965e-01 5.56680279e-02 2.47045362e+02] [-6.66819048e-01 7.43603023e-01 -4.90601853e-02 -1.82881893e+02] [-7.41975823e-02 -7.41552673e-04 9.97243285e-01 -1.77797039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12864 meters 0.028280163603989193 Centerline is valid? [True, True] Translation: X:247.07, Y:-182.90, Z:-17.78 [[ 7.43261552e-01 6.66681986e-01 5.56542355e-02 2.47072223e+02] [-6.64872126e-01 7.45342113e-01 -4.90937011e-02 -1.82900032e+02] [-7.42113316e-02 -5.13489384e-04 9.97242405e-01 -1.77824676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15864 meters 0.028089850365845794 Centerline is valid? [True, True] Translation: X:247.10, Y:-182.92, Z:-17.78 [[ 7.46537607e-01 6.63041272e-01 5.52980312e-02 2.47100237e+02] [-6.61241193e-01 7.48582833e-01 -4.88244494e-02 -1.82916493e+02] [-7.37677819e-02 -1.16048457e-04 9.97275439e-01 -1.77841241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18864 meters 0.0278677358905731 Centerline is valid? [True, True] Translation: X:247.13, Y:-182.94, Z:-17.78 [[ 7.47372412e-01 6.62146794e-01 5.47366502e-02 2.47125832e+02] [-6.60377359e-01 7.49374154e-01 -4.83747937e-02 -1.82937039e+02] [-7.30494455e-02 7.14180071e-06 9.97328320e-01 -1.77849003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21864 meters 0.027942652472537795 Centerline is valid? [True, True] Translation: X:247.15, Y:-182.96, Z:-17.79 [[ 7.48750264e-01 6.60563580e-01 5.50345237e-02 2.47151717e+02] [-6.58766739e-01 7.50770082e-01 -4.86895087e-02 -1.82958195e+02] [-7.34807901e-02 2.01368781e-04 9.97296612e-01 -1.77868198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24864 meters 0.02782055227022311 Centerline is valid? [True, True] Translation: X:247.18, Y:-182.98, Z:-17.79 [[ 7.51502181e-01 6.57542594e-01 5.36862048e-02 2.47178744e+02] [-6.55821579e-01 7.53417191e-01 -4.75456853e-02 -1.82977982e+02] [-7.17114229e-02 5.22114605e-04 9.97425285e-01 -1.77873677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27864 meters 0.02811211077066681 Centerline is valid? [True, True] Translation: X:247.20, Y:-183.00, Z:-17.79 [[ 7.52990214e-01 6.55840243e-01 5.36592439e-02 2.47204470e+02] [-6.54113192e-01 7.54899369e-01 -4.75696783e-02 -1.82997437e+02] [-7.17054388e-02 7.20282870e-04 9.97425592e-01 -1.77905157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30864 meters 0.02840748788883107 Centerline is valid? [True, True] Translation: X:247.23, Y:-183.02, Z:-17.79 [[ 7.55451593e-01 6.52964202e-01 5.41353925e-02 2.47228983e+02] [-6.51195806e-01 7.57388064e-01 -4.80348217e-02 -1.83017428e+02] [-7.23665192e-02 1.03524204e-03 9.97377569e-01 -1.77936038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33864 meters 0.02855402684127505 Centerline is valid? [True, True] Translation: X:247.25, Y:-183.04, Z:-17.79 [[ 7.56868349e-01 6.51331837e-01 5.40105650e-02 2.47252828e+02] [-6.49564561e-01 7.58792035e-01 -4.79638328e-02 -1.83038413e+02] [-7.22231579e-02 1.21895798e-03 9.97387753e-01 -1.77938580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36864 meters 0.02859174444845256 Centerline is valid? [True, True] Translation: X:247.28, Y:-183.06, Z:-17.80 [[ 7.57585606e-01 6.50551499e-01 5.33553758e-02 2.47277715e+02] [-6.48822046e-01 7.59461016e-01 -4.74227656e-02 -1.83060389e+02] [-7.13722791e-02 1.30866055e-03 9.97448889e-01 -1.77951830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39864 meters 0.02876745372709976 Centerline is valid? [True, True] Translation: X:247.30, Y:-183.08, Z:-17.80 [[ 7.57926604e-01 6.50111130e-01 5.38774630e-02 2.47300950e+02] [-6.48343099e-01 7.59837851e-01 -4.79339707e-02 -1.83082726e+02] [-7.21005436e-02 1.39935034e-03 9.97396387e-01 -1.77976968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864000000003 meters 0.02858186944574647 Centerline is valid? [True, True] Translation: X:247.32, Y:-183.11, Z:-17.80 [[ 7.57331625e-01 6.50837174e-01 5.34769315e-02 2.47324371e+02] [-6.49094178e-01 7.59216138e-01 -4.76193593e-02 -1.83105360e+02] [-7.15929987e-02 1.35208186e-03 9.97433013e-01 -1.77994742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45864 meters 0.02858186944574647 Centerline is valid? [True, True] Translation: X:247.35, Y:-183.13, Z:-17.80 [[ 7.57004889e-01 6.51218953e-01 5.34553342e-02 2.47348888e+02] [-6.49475197e-01 7.58888699e-01 -4.76435940e-02 -1.83126766e+02] [-7.15930604e-02 1.34851989e-03 9.97433013e-01 -1.78012150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters 0.028511409697737758 Centerline is valid? [True, True] Translation: X:247.37, Y:-183.15, Z:-17.80 [[ 7.56108400e-01 6.52247505e-01 5.36029853e-02 2.47370667e+02] [-6.50493172e-01 7.58004963e-01 -4.78237362e-02 -1.83151709e+02] [-7.18242415e-02 1.29155270e-03 9.97416468e-01 -1.78035991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51864 meters 0.028418128466161298 Centerline is valid? [True, True] Translation: X:247.39, Y:-183.18, Z:-17.81 [[ 7.55735525e-01 6.52682428e-01 5.35673876e-02 2.47394137e+02] [-6.50928031e-01 7.57630513e-01 -4.78404046e-02 -1.83175017e+02] [-7.18088788e-02 1.28617919e-03 9.97417581e-01 -1.78050521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters 0.0286711415686333 Centerline is valid? [True, True] Translation: X:247.42, Y:-183.20, Z:-17.81 [[ 7.55459726e-01 6.52958728e-01 5.40879069e-02 2.47417319e+02] [-6.51167156e-01 7.57392359e-01 -4.83544162e-02 -1.83198266e+02] [-7.25392055e-02 1.30954554e-03 9.97364702e-01 -1.78078922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57864 meters 0.028473601610301418 Centerline is valid? [True, True] Translation: X:247.44, Y:-183.22, Z:-17.81 [[ 7.54514257e-01 6.54026235e-01 5.43867704e-02 2.47440670e+02] [-6.52213949e-01 7.56470832e-01 -4.86707839e-02 -1.83222085e+02] [-7.29739750e-02 1.25098996e-03 9.97333061e-01 -1.78091146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters 0.02841231376826693 Centerline is valid? [True, True] Translation: X:247.46, Y:-183.25, Z:-17.81 [[ 7.53298755e-01 6.55423172e-01 5.44192226e-02 2.47461166e+02] [-6.53608866e-01 7.55260973e-01 -4.87474302e-02 -1.83247818e+02] [-7.30509103e-02 1.15249207e-03 9.97327547e-01 -1.78116225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63864 meters 0.02830303340382386 Centerline is valid? [True, True] Translation: X:247.48, Y:-183.27, Z:-17.81 [[ 7.52417229e-01 6.56420750e-01 5.45903993e-02 2.47484449e+02] [-6.54594304e-01 7.54394197e-01 -4.89458218e-02 -1.83271673e+02] [-7.33117335e-02 1.09311517e-03 9.97308475e-01 -1.78142510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters 0.028190587692454232 Centerline is valid? [True, True] Translation: X:247.51, Y:-183.30, Z:-17.82 [[ 7.50504045e-01 6.58548545e-01 5.52945923e-02 2.47506538e+02] [-6.56676545e-01 7.52537665e-01 -4.96283876e-02 -1.83296702e+02] [-7.42939658e-02 9.35643787e-04 9.97235946e-01 -1.78168947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69864 meters 0.02810681867068087 Centerline is valid? [True, True] Translation: X:247.53, Y:-183.32, Z:-17.82 [[ 7.48932779e-01 6.60347870e-01 5.51396709e-02 2.47529285e+02] [-6.58487593e-01 7.50959429e-01 -4.95381308e-02 -1.83320198e+02] [-7.41200549e-02 7.91940780e-04 9.97249011e-01 -1.78190236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters 0.027855775097861683 Centerline is valid? [True, True] Translation: X:247.55, Y:-183.34, Z:-17.82 [[ 7.47993376e-01 6.61404232e-01 5.52299863e-02 2.47551961e+02] [-6.59537994e-01 7.50029286e-01 -4.96558646e-02 -1.83342729e+02] [-7.42667062e-02 7.15983368e-04 9.97238158e-01 -1.78194130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75864 meters 0.027781715672587956 Centerline is valid? [True, True] Translation: X:247.58, Y:-183.37, Z:-17.82 [[ 7.44360845e-01 6.65416506e-01 5.61053060e-02 2.47575459e+02] [-6.63499829e-01 7.46472207e-01 -5.04699929e-02 -1.83365629e+02] [-7.54646180e-02 3.42025628e-04 9.97148422e-01 -1.78207627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters 0.02773176048480136 Centerline is valid? [True, True] Translation: X:247.60, Y:-183.39, Z:-17.82 [[ 7.41896322e-01 6.68165418e-01 5.60787039e-02 2.47599742e+02] [-6.66254369e-01 7.44012744e-01 -5.04990238e-02 -1.83387878e+02] [-7.54649718e-02 1.02358531e-04 9.97148448e-01 -1.78219996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81864 meters 0.02765586629510084 Centerline is valid? [True, True] Translation: X:247.62, Y:-183.41, Z:-17.82 [[ 7.37548907e-01 6.73027304e-01 5.52798219e-02 2.47624330e+02] [-6.71180095e-01 7.39617554e-01 -4.98312462e-02 -1.83409764e+02] [-7.44237159e-02 -3.49734946e-04 9.97226648e-01 -1.78238199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters 0.02790021612895009 Centerline is valid? [True, True] Translation: X:247.65, Y:-183.43, Z:-17.83 [[ 7.35003569e-01 6.75715509e-01 5.63764589e-02 2.47649018e+02] [-6.73798072e-01 7.37162259e-01 -5.08720155e-02 -1.83429780e+02] [-7.59336077e-02 -5.95236400e-04 9.97112698e-01 -1.78270879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87864 meters 0.027791078086511486 Centerline is valid? [True, True] Translation: X:247.67, Y:-183.45, Z:-17.83 [[ 7.33414095e-01 6.77483636e-01 5.58541769e-02 2.47674852e+02] [-6.75603100e-01 7.35537479e-01 -5.04486777e-02 -1.83450056e+02] [-7.52609940e-02 -7.35483762e-04 9.97163598e-01 -1.78284053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters 0.02811464550087773 Centerline is valid? [True, True] Translation: X:247.70, Y:-183.47, Z:-17.83 [[ 7.30622396e-01 6.80461512e-01 5.62409551e-02 2.47702560e+02] [-6.78559649e-01 7.32783125e-01 -5.08497273e-02 -1.83466737e+02] [-7.58137052e-02 -1.01089315e-03 9.97121487e-01 -1.78305023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93864 meters 0.02803918076485298 Centerline is valid? [True, True] Translation: X:247.73, Y:-183.49, Z:-17.83 [[ 7.29235455e-01 6.81956936e-01 5.61283198e-02 2.47729627e+02] [-6.80063425e-01 7.31391458e-01 -5.07963975e-02 -1.83486105e+02] [-7.56927292e-02 -1.12828332e-03 9.97130552e-01 -1.78322145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters 0.02823897591995711 Centerline is valid? [True, True] Translation: X:247.76, Y:-183.50, Z:-17.83 [[ 7.28503055e-01 6.82693226e-01 5.66856069e-02 2.47758227e+02] [-6.80760060e-01 7.30704161e-01 -5.13533874e-02 -1.83502042e+02] [-7.64790186e-02 -1.17819752e-03 9.97070495e-01 -1.78348769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99864 meters 0.028284301236487955 Centerline is valid? [True, True] Translation: X:247.78, Y:-183.52, Z:-17.84 [[ 7.28545639e-01 6.82679834e-01 5.62982789e-02 2.47783956e+02] [-6.80769432e-01 7.30716742e-01 -5.10492225e-02 -1.83521703e+02] [-7.59883697e-02 -1.13445889e-03 9.97108059e-01 -1.78358432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters 0.02817641821774128 Centerline is valid? [True, True] Translation: X:247.81, Y:-183.54, Z:-17.84 [[ 7.30030780e-01 6.81100873e-01 5.61841666e-02 2.47810000e+02] [-6.79190658e-01 7.32188990e-01 -5.09836663e-02 -1.83541487e+02] [-7.58624478e-02 -9.40115355e-04 9.97117849e-01 -1.78387053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05864 meters 0.028056095019855357 Centerline is valid? [True, True] Translation: X:247.84, Y:-183.56, Z:-17.84 [[ 7.33453746e-01 6.77505777e-01 5.50592787e-02 2.47838538e+02] [-6.75659390e-01 7.35517255e-01 -4.99875578e-02 -1.83558025e+02] [-7.43639088e-02 -5.37757096e-04 9.97231026e-01 -1.78389105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08864 meters 0.02810429066933661 Centerline is valid? [True, True] Translation: X:247.86, Y:-183.58, Z:-17.84 [[ 7.35313315e-01 6.75478757e-01 5.51613850e-02 2.47864798e+02] [-6.73616202e-01 7.37379387e-01 -5.01283470e-02 -1.83578243e+02] [-7.45355018e-02 -2.97561733e-04 9.97218316e-01 -1.78409261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11864 meters 0.027970123904028598 Centerline is valid? [True, True] Translation: X:247.89, Y:-183.60, Z:-17.84 [[ 7.38677149e-01 6.71880795e-01 5.41504042e-02 2.47889406e+02] [-6.70072650e-01 7.40659292e-01 -4.92590800e-02 -1.83598670e+02] [-7.32032299e-02 1.01851929e-04 9.97317039e-01 -1.78421714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14864 meters 0.027979474894411178 Centerline is valid? [True, True] Translation: X:247.92, Y:-183.62, Z:-17.84 [[ 7.40053075e-01 6.70337416e-01 5.44903280e-02 2.47915097e+02] [-6.68498754e-01 7.42056375e-01 -4.96160480e-02 -1.83620227e+02] [-7.36943887e-02 2.91792519e-04 9.97280829e-01 -1.78441755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17864000000003 meters 0.02809466126578049 Centerline is valid? [True, True] Translation: X:247.94, Y:-183.64, Z:-17.85 [[ 7.41061526e-01 6.69221289e-01 5.45039508e-02 2.47939450e+02] [-6.67375238e-01 7.43063035e-01 -4.96751242e-02 -1.83641745e+02] [-7.37435217e-02 4.37736213e-04 9.97277144e-01 -1.78462294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20864 meters 0.02814914380037521 Centerline is valid? [True, True] Translation: X:247.96, Y:-183.67, Z:-17.85 [[ 7.43245162e-01 6.66889344e-01 5.33407162e-02 2.47962370e+02] [-6.65112739e-01 7.45156452e-01 -4.86508576e-02 -1.83665184e+02] [-7.21919174e-02 6.81924639e-04 9.97390526e-01 -1.78479823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23864 meters 0.02829338775682228 Centerline is valid? [True, True] Translation: X:247.99, Y:-183.69, Z:-17.85 [[ 7.43757599e-01 6.66300689e-01 5.35539536e-02 2.47985070e+02] [-6.64504640e-01 7.45682763e-01 -4.88958003e-02 -1.83688862e+02] [-7.25135655e-02 7.79772337e-04 9.97367121e-01 -1.78494029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26864 meters 0.02832213698733812 Centerline is valid? [True, True] Translation: X:248.01, Y:-183.71, Z:-17.85 [[ 7.44471466e-01 6.65539456e-01 5.30986720e-02 2.48006983e+02] [-6.63768341e-01 7.46362145e-01 -4.85297680e-02 -1.83714383e+02] [-7.19293141e-02 8.83810091e-04 9.97409341e-01 -1.78499943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29864 meters 0.028392085078422995 Centerline is valid? [True, True] Translation: X:248.03, Y:-183.74, Z:-17.85 [[ 7.44846980e-01 6.65121475e-01 5.30697634e-02 2.48030177e+02] [-6.63347634e-01 7.46734558e-01 -4.85532346e-02 -1.83738313e+02] [-7.19228253e-02 9.61028234e-04 9.97409737e-01 -1.78520705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32864 meters 0.02847183013722491 Centerline is valid? [True, True] Translation: X:248.05, Y:-183.76, Z:-17.85 [[ 7.45466851e-01 6.64495437e-01 5.22014107e-02 2.48052182e+02] [-6.62774287e-01 7.47291597e-01 -4.78070520e-02 -1.83762518e+02] [-7.07772435e-02 1.04081980e-03 9.97491603e-01 -1.78537290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35864 meters 0.02834901995025342 Centerline is valid? [True, True] Translation: X:248.07, Y:-183.79, Z:-17.86 [[ 7.45133446e-01 6.64911230e-01 5.16643325e-02 2.48072261e+02] [-6.63222989e-01 7.46921684e-01 -4.73631228e-02 -1.83789768e+02] [-7.00814825e-02 1.02687391e-03 9.97540742e-01 -1.78551388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38864 meters 0.028481540504558235 Centerline is valid? [True, True] Translation: X:248.09, Y:-183.81, Z:-17.86 [[ 7.45415351e-01 6.64649478e-01 5.09610224e-02 2.48094459e+02] [-6.63003062e-01 7.47154550e-01 -4.67655600e-02 -1.83814099e+02] [-6.91584647e-02 1.07245244e-03 9.97605111e-01 -1.78557727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41864 meters 0.028504615538624548 Centerline is valid? [True, True] Translation: X:248.11, Y:-183.84, Z:-17.86 [[ 7.45470044e-01 6.64561449e-01 5.13078429e-02 2.48112748e+02] [-6.62888963e-01 7.47232773e-01 -4.71317842e-02 -1.83842562e+02] [-6.96608686e-02 1.12393045e-03 9.97570098e-01 -1.78579855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44864 meters 0.02840673025967853 Centerline is valid? [True, True] Translation: X:248.13, Y:-183.87, Z:-17.86 [[ 7.45527027e-01 6.64510901e-01 5.11342822e-02 2.48134063e+02] [-6.62846281e-01 7.47277670e-01 -4.70201158e-02 -1.83868312e+02] [-6.94568867e-02 1.16059832e-03 9.97584279e-01 -1.78601889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47864 meters 0.02862864870133723 Centerline is valid? [True, True] Translation: X:248.15, Y:-183.90, Z:-17.86 [[ 7.46027404e-01 6.63839754e-01 5.25346980e-02 2.48152493e+02] [-6.62077427e-01 7.47873725e-01 -4.83567210e-02 -1.83895872e+02] [-7.13904341e-02 1.29340131e-03 9.97447609e-01 -1.78629080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50864 meters 0.0285132747778842 Centerline is valid? [True, True] Translation: X:248.17, Y:-183.92, Z:-17.86 [[ 7.45283869e-01 6.64646348e-01 5.28884471e-02 2.48174505e+02] [-6.62858947e-01 7.47157045e-01 -4.87274744e-02 -1.83921156e+02] [-7.19025137e-02 1.25822023e-03 9.97410871e-01 -1.78647007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53864 meters 0.02838998979558594 Centerline is valid? [True, True] Translation: X:248.20, Y:-183.95, Z:-17.87 [[ 7.44259978e-01 6.65768243e-01 5.31952323e-02 2.48196299e+02] [-6.63959234e-01 7.46157638e-01 -4.90603212e-02 -1.83946909e+02] [-7.23548327e-02 1.19416789e-03 9.97378239e-01 -1.78664142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56864 meters 0.028020876389081222 Centerline is valid? [True, True] Translation: X:248.22, Y:-183.97, Z:-17.87 [[ 7.42057109e-01 6.68246365e-01 5.28965301e-02 2.48215384e+02] [-6.66460442e-01 7.43939398e-01 -4.88328909e-02 -1.83973307e+02] [-7.19842147e-02 9.83348993e-04 9.97405287e-01 -1.78671900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59864 meters 0.02800069684672045 Centerline is valid? [True, True] Translation: X:248.24, Y:-184.00, Z:-17.87 [[ 7.40759411e-01 6.69718730e-01 5.24625416e-02 2.48238314e+02] [-6.67962601e-01 7.42614350e-01 -4.84756656e-02 -1.83996550e+02] [-7.14244975e-02 8.65789726e-04 9.97445633e-01 -1.78687125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62864 meters 0.027655683280549168 Centerline is valid? [True, True] Translation: X:248.26, Y:-184.02, Z:-17.87 [[ 7.37476898e-01 6.73325699e-01 5.25388284e-02 2.48260464e+02] [-6.71570401e-01 7.39345792e-01 -4.85900876e-02 -1.84020507e+02] [-7.15613164e-02 5.50544999e-04 9.97436051e-01 -1.78712188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65864 meters 0.027604870827880792 Centerline is valid? [True, True] Translation: X:248.28, Y:-184.04, Z:-17.87 [[ 7.35672750e-01 6.75281413e-01 5.27315580e-02 2.48283794e+02] [-6.73514901e-01 7.37560070e-01 -4.88141524e-02 -1.84043348e+02] [-7.18559814e-02 3.95751645e-04 9.97414939e-01 -1.78734695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68864 meters 0.027603702463803056 Centerline is valid? [True, True] Translation: X:248.31, Y:-184.07, Z:-17.88 [[ 7.30869479e-01 6.80393669e-01 5.37983366e-02 2.48306643e+02] [-6.78564711e-01 7.32846813e-01 -4.98546131e-02 -1.84066924e+02] [-7.33467027e-02 -6.84376125e-05 9.97306501e-01 -1.78758083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71864 meters 0.027620047303579236 Centerline is valid? [True, True] Translation: X:248.33, Y:-184.09, Z:-17.88 [[ 7.27941301e-01 6.83513599e-01 5.39501864e-02 2.48331729e+02] [-6.81678914e-01 7.29937697e-01 -5.00481445e-02 -1.84088824e+02] [-7.35888622e-02 -3.44593056e-04 9.97288605e-01 -1.78767282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74864 meters 0.02764789784343589 Centerline is valid? [True, True] Translation: X:248.36, Y:-184.11, Z:-17.88 [[ 7.25054686e-01 6.86596037e-01 5.36804029e-02 2.48356750e+02] [-6.84784282e-01 7.27038860e-01 -4.98496182e-02 -1.84109657e+02] [-7.32542892e-02 -6.15796828e-04 9.97313105e-01 -1.78785298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77864 meters 0.027800756447260655 Centerline is valid? [True, True] Translation: X:248.38, Y:-184.13, Z:-17.88 [[ 7.23025778e-01 6.88706613e-01 5.40085719e-02 2.48382994e+02] [-6.86874835e-01 7.25039698e-01 -5.02035618e-02 -1.84129336e+02] [-7.37338837e-02 -7.98659568e-04 9.97277633e-01 -1.78799168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80864 meters 0.027820629537542798 Centerline is valid? [True, True] Translation: X:248.41, Y:-184.15, Z:-17.88 [[ 7.23684715e-01 6.88071182e-01 5.32774089e-02 2.48407386e+02] [-6.86283695e-01 7.25642868e-01 -4.95693263e-02 -1.84150137e+02] [-7.27675967e-02 -6.90853330e-04 9.97348685e-01 -1.78824007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83864 meters 0.027727498260331315 Centerline is valid? [True, True] Translation: X:248.43, Y:-184.17, Z:-17.89 [[ 7.26196576e-01 6.85451584e-01 5.28645441e-02 2.48432101e+02] [-6.83681479e-01 7.28118104e-01 -4.92306978e-02 -1.84170261e+02] [-7.22368914e-02 -3.91345567e-04 9.97387426e-01 -1.78850441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86864 meters 0.027705875983436812 Centerline is valid? [True, True] Translation: X:248.46, Y:-184.19, Z:-17.89 [[ 7.27532549e-01 6.84158500e-01 5.12204747e-02 2.48456942e+02] [-6.82490653e-01 7.29333324e-01 -4.77431845e-02 -1.84190852e+02] [-7.00207046e-02 -2.22774436e-04 9.97545513e-01 -1.78861546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89864 meters 0.027623415918160695 Centerline is valid? [True, True] Translation: X:248.48, Y:-184.21, Z:-17.89 [[ 7.28519446e-01 6.83156419e-01 5.05640530e-02 2.48482418e+02] [-6.81525567e-01 7.30272071e-01 -4.71763002e-02 -1.84212569e+02] [-6.91543081e-02 -9.18428169e-05 9.97605971e-01 -1.78876859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864000000003 meters 0.027845396554244107 Centerline is valid? [True, True] Translation: X:248.51, Y:-184.23, Z:-17.89 [[ 7.31159191e-01 6.80312308e-01 5.08074926e-02 2.48507577e+02] [-6.78655275e-01 7.32922313e-01 -4.74541942e-02 -1.84233873e+02] [-6.95216173e-02 2.15797392e-04 9.97580422e-01 -1.78904057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95864 meters 0.02790414818801742 Centerline is valid? [True, True] Translation: X:248.53, Y:-184.26, Z:-17.89 [[ 7.32170229e-01 6.79171602e-01 5.15042784e-02 2.48531489e+02] [-6.77462396e-01 7.33979428e-01 -4.81549740e-02 -1.84255642e+02] [-7.05085716e-02 3.65426531e-04 9.97511107e-01 -1.78917992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters 0.02800938852683625 Centerline is valid? [True, True] Translation: X:248.56, Y:-184.28, Z:-17.89 [[ 7.33211981e-01 6.78010689e-01 5.19778484e-02 2.48556050e+02] [-6.76263729e-01 7.35051863e-01 -4.86428561e-02 -1.84277077e+02] [-7.11867907e-02 5.14791292e-04 9.97462869e-01 -1.78940623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01864 meters 0.028122042306450344 Centerline is valid? [True, True] Translation: X:248.58, Y:-184.30, Z:-17.89 [[ 7.34581422e-01 6.76581077e-01 5.12657907e-02 2.48580056e+02] [-6.74875060e-01 7.36367834e-01 -4.80215208e-02 -1.84299238e+02] [-7.02409315e-02 6.77713468e-04 9.97529825e-01 -1.78949768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters 0.02814092657334147 Centerline is valid? [True, True] Translation: X:248.60, Y:-184.32, Z:-17.90 [[ 7.34873763e-01 6.76251511e-01 5.14241703e-02 2.48603473e+02] [-6.74530563e-01 7.36670437e-01 -4.82201833e-02 -1.84322506e+02] [-7.04916379e-02 7.48573036e-04 9.97512089e-01 -1.78965062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07864 meters 0.02822775586497152 Centerline is valid? [True, True] Translation: X:248.63, Y:-184.35, Z:-17.90 [[ 7.34629793e-01 6.76528201e-01 5.12704750e-02 2.48626392e+02] [-6.74814694e-01 7.36416337e-01 -4.81259554e-02 -1.84345594e+02] [-7.03149814e-02 7.56690765e-04 9.97524552e-01 -1.78985099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters 0.028071897886167364 Centerline is valid? [True, True] Translation: X:248.65, Y:-184.37, Z:-17.90 [[ 7.33490142e-01 6.77780243e-01 5.10505076e-02 2.48648238e+02] [-6.76081075e-01 7.35264235e-01 -4.79675410e-02 -1.84369797e+02] [-7.00470640e-02 6.69436404e-04 9.97543463e-01 -1.79002819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13864 meters 0.028054585308189398 Centerline is valid? [True, True] Translation: X:248.67, Y:-184.39, Z:-17.90 [[ 7.32808065e-01 6.78546790e-01 5.06615549e-02 2.48671212e+02] [-6.76872192e-01 7.34556917e-01 -4.76463104e-02 -1.84393401e+02] [-6.95440465e-02 6.24202828e-04 9.97578687e-01 -1.79020768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters 0.027872563224687247 Centerline is valid? [True, True] Translation: X:248.69, Y:-184.42, Z:-17.90 [[ 7.30991699e-01 6.80501057e-01 5.06897172e-02 2.48692977e+02] [-6.78825804e-01 7.32746945e-01 -4.77225585e-02 -1.84418223e+02] [-6.96179869e-02 4.75306040e-04 9.97573611e-01 -1.79026786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19864 meters 0.027932468379186507 Centerline is valid? [True, True] Translation: X:248.72, Y:-184.44, Z:-17.90 [[ 7.29331931e-01 6.82209380e-01 5.16265060e-02 2.48716512e+02] [-6.80472481e-01 7.31156780e-01 -4.86514635e-02 -1.84440612e+02] [-7.09375546e-02 3.52649192e-04 9.97480696e-01 -1.79046396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters 0.02780885466159759 Centerline is valid? [True, True] Translation: X:248.74, Y:-184.46, Z:-17.91 [[ 7.25327085e-01 6.86408635e-01 5.23813444e-02 2.48739663e+02] [-6.84628644e-01 7.27216051e-01 -4.94007518e-02 -1.84463656e+02] [-7.20016570e-02 -3.00654695e-05 9.97404512e-01 -1.79058274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25864 meters 0.027814607633353822 Centerline is valid? [True, True] Translation: X:248.76, Y:-184.49, Z:-17.91 [[ 7.23382169e-01 6.88427875e-01 5.27759278e-02 2.48763086e+02] [-6.86622441e-01 7.25304779e-01 -4.98257113e-02 -1.84486967e+02] [-7.25800412e-02 -1.94105250e-04 9.97362572e-01 -1.79078560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters 0.027768944667793543 Centerline is valid? [True, True] Translation: X:248.79, Y:-184.51, Z:-17.91 [[ 7.21824276e-01 6.90037768e-01 5.30810091e-02 2.48786415e+02] [-6.88211795e-01 7.23773291e-01 -5.01672053e-02 -1.84509996e+02] [-7.30358831e-02 -3.19069899e-04 9.97329263e-01 -1.79101647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31864 meters 0.027862523423020584 Centerline is valid? [True, True] Translation: X:248.81, Y:-184.53, Z:-17.91 [[ 7.21216160e-01 6.90801599e-01 5.13848425e-02 2.48810974e+02] [-6.89089075e-01 7.23044279e-01 -4.86129228e-02 -1.84531445e+02] [-7.07354012e-02 -3.48308080e-04 9.97495053e-01 -1.79094866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters 0.02770675738240278 Centerline is valid? [True, True] Translation: X:248.84, Y:-184.55, Z:-17.91 [[ 7.20758760e-01 6.91253862e-01 5.17195176e-02 2.48836533e+02] [-6.89516721e-01 7.22611907e-01 -4.89767640e-02 -1.84553093e+02] [-7.12285165e-02 -3.61040523e-04 9.97459958e-01 -1.79117963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37864 meters 0.02787019926755667 Centerline is valid? [True, True] Translation: X:248.86, Y:-184.57, Z:-17.91 [[ 7.21032175e-01 6.90941617e-01 5.20796035e-02 2.48863018e+02] [-6.89175547e-01 7.22910503e-01 -4.93707471e-02 -1.84573274e+02] [-7.17611962e-02 -2.94092037e-04 9.97421799e-01 -1.79135101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters 0.02787019926755667 Centerline is valid? [True, True] Translation: X:248.89, Y:-184.60, Z:-17.92 [[ 7.20665825e-01 6.91325713e-01 5.20531207e-02 2.48886832e+02] [-6.89558627e-01 7.22543198e-01 -4.93986568e-02 -1.84595409e+02] [-7.17611899e-02 -2.93754632e-04 9.97421799e-01 -1.79152500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43864 meters 0.027915782902506223 Centerline is valid? [True, True] Translation: X:248.91, Y:-184.62, Z:-17.92 [[ 7.21185696e-01 6.90746974e-01 5.25338900e-02 2.48912356e+02] [-6.88941632e-01 7.23096521e-01 -4.99084095e-02 -1.84616459e+02] [-7.24611560e-02 -1.99552867e-04 9.97371215e-01 -1.79168241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters 0.027925794613843206 Centerline is valid? [True, True] Translation: X:248.94, Y:-184.64, Z:-17.92 [[ 7.21080458e-01 6.90800325e-01 5.32717928e-02 2.48937929e+02] [-6.88939967e-01 7.23045560e-01 -5.06639918e-02 -1.84638068e+02] [-7.35166353e-02 -1.68252787e-04 9.97293977e-01 -1.79191525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49864 meters 0.028002563158924607 Centerline is valid? [True, True] Translation: X:248.96, Y:-184.66, Z:-17.92 [[ 7.21902761e-01 6.89880318e-01 5.40513671e-02 2.48963417e+02] [-6.87958315e-01 7.23923439e-01 -5.14607701e-02 -1.84658751e+02] [-7.46308240e-02 -3.54154618e-05 9.97211231e-01 -1.79213117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters 0.02808083991128911 Centerline is valid? [True, True] Translation: X:248.99, Y:-184.68, Z:-17.92 [[ 7.21803031e-01 6.89944201e-01 5.45654124e-02 2.48987885e+02] [-6.87981389e-01 7.23862556e-01 -5.20058573e-02 -1.84680365e+02] [-7.53789985e-02 -2.00271053e-06 9.97154956e-01 -1.79229917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55864 meters 0.02798816430228683 Centerline is valid? [True, True] Translation: X:249.01, Y:-184.70, Z:-17.92 [[ 7.21253337e-01 6.90629054e-01 5.31519878e-02 2.49013623e+02] [-6.88764858e-01 7.23209173e-01 -5.07095844e-02 -1.84699445e+02] [-7.34615174e-02 -3.47643799e-05 9.97298052e-01 -1.79242438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58864 meters 0.02779397280216964 Centerline is valid? [True, True] Translation: X:249.04, Y:-184.72, Z:-17.93 [[ 7.20736284e-01 6.91231651e-01 5.23260357e-02 2.49037774e+02] [-6.89423309e-01 7.22633241e-01 -4.99669836e-02 -1.84721265e+02] [-7.23512933e-02 -6.17706449e-05 9.97379209e-01 -1.79259788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61864 meters 0.02769613562101802 Centerline is valid? [True, True] Translation: X:249.06, Y:-184.74, Z:-17.93 [[ 7.20539732e-01 6.91489259e-01 5.16246055e-02 2.49061161e+02] [-6.89726438e-01 7.22386740e-01 -4.93440945e-02 -1.84744023e+02] [-7.14138419e-02 -5.24746260e-05 9.97446771e-01 -1.79283595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64864 meters 0.027832476869317092 Centerline is valid? [True, True] Translation: X:249.09, Y:-184.77, Z:-17.93 [[ 7.20350086e-01 6.91669519e-01 5.18558494e-02 2.49085685e+02] [-6.89887497e-01 7.22214148e-01 -4.96182061e-02 -1.84766846e+02] [-7.17704289e-02 -3.22230833e-05 9.97421177e-01 -1.79283799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67864000000003 meters 0.027741863518081472 Centerline is valid? [True, True] Translation: X:249.11, Y:-184.79, Z:-17.93 [[ 7.20321729e-01 6.91653712e-01 5.24571297e-02 2.49110334e+02] [-6.89826107e-01 7.22229287e-01 -5.02473761e-02 -1.84788353e+02] [-7.26398596e-02 7.97925828e-06 9.97358236e-01 -1.79308694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70864 meters 0.02774363815647966 Centerline is valid? [True, True] Translation: X:249.13, Y:-184.81, Z:-17.93 [[ 7.21783410e-01 6.90062132e-01 5.33194354e-02 2.49133246e+02] [-6.88165586e-01 7.23750102e-01 -5.11264821e-02 -1.84811019e+02] [-7.38703961e-02 2.09646113e-04 9.97267828e-01 -1.79318862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73864 meters 0.02784906633493454 Centerline is valid? [True, True] Translation: X:249.16, Y:-184.83, Z:-17.93 [[ 7.22446312e-01 6.89407477e-01 5.28077356e-02 2.49156050e+02] [-6.87541939e-01 7.24373685e-01 -5.06837958e-02 -1.84834513e+02] [-7.31943219e-02 3.08788387e-04 9.97317650e-01 -1.79334608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76864 meters 0.02796835302033695 Centerline is valid? [True, True] Translation: X:249.18, Y:-184.86, Z:-17.93 [[ 7.22348870e-01 6.89469559e-01 5.33276418e-02 2.49179475e+02] [-6.87563231e-01 7.24314578e-01 -5.12366684e-02 -1.84857150e+02] [-7.39521116e-02 3.44623816e-04 9.97261734e-01 -1.79348526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79864 meters 0.027697578128600926 Centerline is valid? [True, True] Translation: X:249.20, Y:-184.88, Z:-17.94 [[ 7.21910500e-01 6.89882737e-01 5.39169710e-02 2.49204705e+02] [-6.87931048e-01 7.23921052e-01 -5.18573329e-02 -1.84878800e+02] [-7.48071091e-02 3.45194653e-04 9.97197963e-01 -1.79356504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82864 meters 0.02767097951328365 Centerline is valid? [True, True] Translation: X:249.23, Y:-184.90, Z:-17.94 [[ 7.21405837e-01 6.90457990e-01 5.33046203e-02 2.49227053e+02] [-6.88548198e-01 7.23372422e-01 -5.13197636e-02 -1.84901498e+02] [-7.39932332e-02 3.19576703e-04 9.97258692e-01 -1.79391509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85864 meters 0.027757682566233198 Centerline is valid? [True, True] Translation: X:249.25, Y:-184.92, Z:-17.94 [[ 7.20745542e-01 6.91214803e-01 5.24209919e-02 2.49250310e+02] [-6.89366545e-01 7.22649308e-01 -5.05147877e-02 -1.84924407e+02] [-7.27985625e-02 2.71029920e-04 9.97346628e-01 -1.79406737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88864 meters 0.027570053870147406 Centerline is valid? [True, True] Translation: X:249.28, Y:-184.95, Z:-17.94 [[ 7.19858129e-01 6.92139182e-01 5.24178168e-02 2.49275013e+02] [-6.90290094e-01 7.21764025e-01 -5.05596520e-02 -1.84947065e+02] [-7.28276107e-02 2.12276820e-04 9.97344521e-01 -1.79409946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91864 meters 0.02760537803638371 Centerline is valid? [True, True] Translation: X:249.30, Y:-184.97, Z:-17.94 [[ 7.16735543e-01 6.95260783e-01 5.38758224e-02 2.49299652e+02] [-6.93311997e-01 7.18757566e-01 -5.20195813e-02 -1.84967478e+02] [-7.48908298e-02 -6.84710820e-05 9.97191736e-01 -1.79427989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94864 meters 0.027601729193171987 Centerline is valid? [True, True] Translation: X:249.32, Y:-184.99, Z:-17.94 [[ 7.14962233e-01 6.97023560e-01 5.46549467e-02 2.49322817e+02] [-6.95019314e-01 7.17048191e-01 -5.28208772e-02 -1.84989506e+02] [-7.60076265e-02 -2.21311226e-04 9.97107212e-01 -1.79445709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97864 meters 0.027718753512879057 Centerline is valid? [True, True] Translation: X:249.35, Y:-185.01, Z:-17.95 [[ 7.12850778e-01 6.99215899e-01 5.42300143e-02 2.49348336e+02] [-6.97245260e-01 7.14910452e-01 -5.24603945e-02 -1.85010320e+02] [-7.54507459e-02 -4.15187378e-04 9.97149443e-01 -1.79470764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00864 meters 0.027558182901965694 Centerline is valid? [True, True] Translation: X:249.37, Y:-185.03, Z:-17.95 [[ 7.12621685e-01 6.99482331e-01 5.38033622e-02 2.49374485e+02] [-6.97539275e-01 7.14649780e-01 -5.21023288e-02 -1.85030651e+02] [-7.48952194e-02 -4.00708880e-04 9.97191328e-01 -1.79482217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03864 meters 0.02759614778079274 Centerline is valid? [True, True] Translation: X:249.40, Y:-185.05, Z:-17.95 [[ 7.12430763e-01 6.99722097e-01 5.32108446e-02 2.49400098e+02] [-6.97818318e-01 7.14415034e-01 -5.15825095e-02 -1.85051517e+02] [-7.41080491e-02 -3.82535414e-04 9.97250145e-01 -1.79508594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06864 meters 0.027540206520061165 Centerline is valid? [True, True] Translation: X:249.42, Y:-185.07, Z:-17.95 [[ 7.14000287e-01 6.98165408e-01 5.26179957e-02 2.49423505e+02] [-6.96295851e-01 7.15936471e-01 -5.10593537e-02 -1.85073590e+02] [-7.33190166e-02 -1.81298841e-04 9.97308522e-01 -1.79523574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09864 meters 0.027450256663112287 Centerline is valid? [True, True] Translation: X:249.45, Y:-185.10, Z:-17.95 [[ 7.15420846e-01 6.96730634e-01 5.23396285e-02 2.49447907e+02] [-6.94873443e-01 7.17332854e-01 -5.08377292e-02 -1.85096284e+02] [-7.29651384e-02 9.53387760e-07 9.97334492e-01 -1.79529634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12864 meters 0.02721148254010002 Centerline is valid? [True, True] Translation: X:249.47, Y:-185.12, Z:-17.95 [[ 7.17699405e-01 6.94403070e-01 5.20763011e-02 2.49474843e+02] [-6.92554528e-01 7.19586201e-01 -5.06352082e-02 -1.85116155e+02] [-7.26346318e-02 2.75180634e-04 9.97358579e-01 -1.79534311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15864 meters 0.02748586959990706 Centerline is valid? [True, True] Translation: X:249.50, Y:-185.14, Z:-17.96 [[ 7.17874393e-01 6.94175903e-01 5.26893991e-02 2.49498977e+02] [-6.92278907e-01 7.19805321e-01 -5.12856231e-02 -1.85138093e+02] [-7.35273536e-02 3.40875927e-04 9.97293143e-01 -1.79558390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18864 meters 0.02735618531659289 Centerline is valid? [True, True] Translation: X:249.52, Y:-185.16, Z:-17.96 [[ 7.17517687e-01 6.94504269e-01 5.32183158e-02 2.49522563e+02] [-6.92565760e-01 7.19488497e-01 -5.18552832e-02 -1.85161251e+02] [-7.43036816e-02 3.49899556e-04 9.97235599e-01 -1.79580759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21864 meters 0.02720690292384992 Centerline is valid? [True, True] Translation: X:249.55, Y:-185.18, Z:-17.96 [[ 7.16807984e-01 6.95244070e-01 5.31224662e-02 2.49545871e+02] [-6.93310532e-01 7.18773668e-01 -5.18162159e-02 -1.85184275e+02] [-7.42079467e-02 3.11911956e-04 9.97242740e-01 -1.79605210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24864 meters 0.0270291662851746 Centerline is valid? [True, True] Translation: X:249.57, Y:-185.21, Z:-17.96 [[ 7.16395605e-01 6.95698174e-01 5.27388661e-02 2.49569830e+02] [-6.93789764e-01 7.18334156e-01 -5.14956616e-02 -1.85206621e+02] [-7.37095666e-02 3.01580110e-04 9.97279704e-01 -1.79613286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27864 meters 0.027028997524429377 Centerline is valid? [True, True] Translation: X:249.59, Y:-185.23, Z:-17.96 [[ 7.17683849e-01 6.94550677e-01 5.02916484e-02 2.49591748e+02] [-6.92809635e-01 7.19443654e-01 -4.91491486e-02 -1.85230956e+02] [-7.03185817e-02 4.31011597e-04 9.97524492e-01 -1.79622605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30864 meters 0.02716909895174794 Centerline is valid? [True, True] Translation: X:249.61, Y:-185.26, Z:-17.96 [[ 7.18949259e-01 6.93315496e-01 4.92502424e-02 2.49614051e+02] [-6.91640956e-01 7.20633962e-01 -4.81609815e-02 -1.85255109e+02] [-6.88821521e-02 5.61817229e-04 9.97624646e-01 -1.79629720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33864 meters 0.02714403233310758 Centerline is valid? [True, True] Translation: X:249.64, Y:-185.28, Z:-17.96 [[ 7.19961480e-01 6.92241288e-01 4.95728399e-02 2.49636385e+02] [-6.90538743e-01 7.21665783e-01 -4.85256796e-02 -1.85278338e+02] [-6.93665013e-02 7.04653517e-04 9.97590994e-01 -1.79646459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36864 meters 0.027331261580384215 Centerline is valid? [True, True] Translation: X:249.66, Y:-185.30, Z:-17.97 [[ 7.20661936e-01 6.91486970e-01 4.99213780e-02 2.49658878e+02] [-6.89755448e-01 7.22388473e-01 -4.89113108e-02 -1.85300828e+02] [-6.98841621e-02 8.14977553e-04 9.97554780e-01 -1.79659535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39864 meters 0.02757247611459415 Centerline is valid? [True, True] Translation: X:249.68, Y:-185.32, Z:-17.97 [[ 7.21991849e-01 6.90046918e-01 5.06262885e-02 2.49679713e+02] [-6.88259392e-01 7.23763947e-01 -4.96463314e-02 -1.85324662e+02] [-7.08997804e-02 1.00022809e-03 9.97482943e-01 -1.79689421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864000000003 meters 0.027536578163250204 Centerline is valid? [True, True] Translation: X:249.70, Y:-185.35, Z:-17.97 [[ 7.22097293e-01 6.89872105e-01 5.14973558e-02 2.49700612e+02] [-6.88018858e-01 7.23930480e-01 -5.05441475e-02 -1.85349770e+02] [-7.21495030e-02 1.06664019e-03 9.97393258e-01 -1.79705238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45864 meters 0.027450560754035968 Centerline is valid? [True, True] Translation: X:249.72, Y:-185.37, Z:-17.97 [[ 7.21194566e-01 6.90785994e-01 5.18951645e-02 2.49723120e+02] [-6.88902844e-01 7.23058556e-01 -5.09823112e-02 -1.85373476e+02] [-7.27411092e-02 1.01743938e-03 9.97350338e-01 -1.79720212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters 0.027260781549664197 Centerline is valid? [True, True] Translation: X:249.75, Y:-185.40, Z:-17.97 [[ 7.20515261e-01 6.91512279e-01 5.16577812e-02 2.49745486e+02] [-6.89644443e-01 7.22364044e-01 -5.08008835e-02 -1.85397251e+02] [-7.24451585e-02 9.77310073e-04 9.97371919e-01 -1.79734707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51864 meters 0.027307621784108876 Centerline is valid? [True, True] Translation: X:249.77, Y:-185.42, Z:-17.98 [[ 7.19281100e-01 6.92742403e-01 5.23704275e-02 2.49765738e+02] [-6.90821932e-01 7.21184544e-01 -5.15549405e-02 -1.85423961e+02] [-7.34830362e-02 9.03854427e-04 9.97296058e-01 -1.79760615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters 0.027033521585243775 Centerline is valid? [True, True] Translation: X:249.79, Y:-185.45, Z:-17.98 [[ 7.18345622e-01 6.93758091e-01 5.17617590e-02 2.49787462e+02] [-6.91881039e-01 7.20207629e-01 -5.10058831e-02 -1.85447847e+02] [-7.26649578e-02 8.26873183e-04 9.97356065e-01 -1.79773552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57864 meters 0.0270143158118642 Centerline is valid? [True, True] Translation: X:249.81, Y:-185.47, Z:-17.98 [[ 7.17329791e-01 6.94866836e-01 5.09710825e-02 2.49809523e+02] [-6.93046364e-01 7.19138053e-01 -5.02712433e-02 -1.85470962e+02] [-7.15870648e-02 7.35737094e-04 9.97434083e-01 -1.79793650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters 0.0267406889029814 Centerline is valid? [True, True] Translation: X:249.83, Y:-185.50, Z:-17.98 [[ 7.15091413e-01 6.97249492e-01 4.98740082e-02 2.49830768e+02] [-6.95509344e-01 7.16828346e-01 -4.92328711e-02 -1.85495079e+02] [-7.00786971e-02 5.18164599e-04 9.97541331e-01 -1.79816814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63864 meters 0.026490992630962728 Centerline is valid? [True, True] Translation: X:249.85, Y:-185.52, Z:-17.98 [[ 7.13328929e-01 6.99063095e-01 4.97255264e-02 2.49853743e+02] [-6.97334475e-01 7.15059893e-01 -4.91322610e-02 -1.85519242e+02] [-6.99032801e-02 3.72139245e-04 9.97553704e-01 -1.79819588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters 0.026595917142463746 Centerline is valid? [True, True] Translation: X:249.88, Y:-185.54, Z:-17.98 [[ 7.10038328e-01 7.02328212e-01 5.08001541e-02 2.49877152e+02] [-7.00528444e-01 7.11853267e-01 -5.02476380e-02 -1.85542255e+02] [-7.14525894e-02 9.07959650e-05 9.97443993e-01 -1.79836755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69864 meters 0.02636177777243355 Centerline is valid? [True, True] Translation: X:249.90, Y:-185.56, Z:-17.99 [[ 7.07817430e-01 7.04540121e-01 5.11634909e-02 2.49900802e+02] [-7.02716361e-01 7.09664152e-01 -5.06607069e-02 -1.85564678e+02] [-7.20013959e-02 -9.48907775e-05 9.97404527e-01 -1.79854811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters 0.02646868280027317 Centerline is valid? [True, True] Translation: X:249.92, Y:-185.59, Z:-17.99 [[ 7.06171141e-01 7.06232457e-01 5.05770409e-02 2.49924742e+02] [-7.04450888e-01 7.07979989e-01 -5.01326350e-02 -1.85586985e+02] [-7.12128269e-02 -2.26821357e-04 9.97461118e-01 -1.79867171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75864 meters 0.026364426085611195 Centerline is valid? [True, True] Translation: X:249.95, Y:-185.61, Z:-17.99 [[ 7.04570539e-01 7.07857542e-01 5.01802413e-02 2.49948436e+02] [-7.06104225e-01 7.06355136e-01 -4.97920210e-02 -1.85609273e+02] [-7.06907287e-02 -3.50489311e-04 9.97498220e-01 -1.79886164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters 0.026427498215563186 Centerline is valid? [True, True] Translation: X:249.97, Y:-185.63, Z:-17.99 [[ 7.03676288e-01 7.08747165e-01 5.01710757e-02 2.49972416e+02] [-7.06992978e-01 7.05462468e-01 -4.98360889e-02 -1.85631743e+02] [-7.07149976e-02 -4.02124196e-04 9.97496480e-01 -1.79898594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81864 meters 0.02630309927593117 Centerline is valid? [True, True] Translation: X:250.00, Y:-185.65, Z:-17.99 [[ 7.04257620e-01 7.08124726e-01 5.07993881e-02 2.49997781e+02] [-7.06320758e-01 7.06087303e-01 -5.05144299e-02 -1.85652829e+02] [-7.16393197e-02 -3.05490127e-04 9.97430556e-01 -1.79920285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters 0.02635097852024251 Centerline is valid? [True, True] Translation: X:250.02, Y:-185.68, Z:-17.99 [[ 7.03877974e-01 7.08497406e-01 5.08647588e-02 2.50021742e+02] [-7.06685891e-01 7.05713350e-01 -5.06331841e-02 -1.85675506e+02] [-7.17694189e-02 -3.05824307e-04 9.97421203e-01 -1.79941587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87864 meters 0.026359275552586672 Centerline is valid? [True, True] Translation: X:250.05, Y:-185.70, Z:-18.00 [[ 7.03909606e-01 7.08405322e-01 5.17026792e-02 2.50045974e+02] [-7.06529252e-01 7.05805803e-01 -5.15226590e-02 -1.85698193e+02] [-7.29909768e-02 -2.62160743e-04 9.97332567e-01 -1.79969209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters 0.026399739933220735 Centerline is valid? [True, True] Translation: X:250.07, Y:-185.72, Z:-18.00 [[ 7.04229333e-01 7.08167444e-01 5.05956257e-02 2.50070749e+02] [-7.06366685e-01 7.06044497e-01 -5.04705278e-02 -1.85719118e+02] [-7.14643478e-02 -1.96238278e-04 9.97443135e-01 -1.79978227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93864 meters 0.026446510741769604 Centerline is valid? [True, True] Translation: X:250.10, Y:-185.74, Z:-18.00 [[ 7.03487863e-01 7.08876565e-01 5.09788419e-02 2.50095249e+02] [-7.07046709e-01 7.05332518e-01 -5.09017700e-02 -1.85740940e+02] [-7.20401068e-02 -2.35644978e-04 9.97401708e-01 -1.79998175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters 0.02655494401750492 Centerline is valid? [True, True] Translation: X:250.12, Y:-185.76, Z:-18.00 [[ 7.03184050e-01 7.09164307e-01 5.11681316e-02 2.50120819e+02] [-7.07317624e-01 7.05043214e-01 -5.11453419e-02 -1.85761899e+02] [-7.23461949e-02 -2.27532636e-04 9.97379555e-01 -1.80027146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99864 meters 0.026478007031145872 Centerline is valid? [True, True] Translation: X:250.09, Y:-185.94, Z:-16.41 [[ 7.56932459e-01 -6.53089342e-01 -2.29687533e-02 2.50085980e+02] [-6.52623934e-01 -7.57270815e-01 2.49582349e-02 -1.85942395e+02] [-3.36935237e-02 -3.90173996e-03 -9.99424596e-01 -1.64060118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters 0.02656932263038809 Centerline is valid? [True, True] Translation: X:250.14, Y:-185.80, Z:-18.01 [[ 7.51149380e-01 6.57805219e-01 5.53796276e-02 2.50143841e+02] [-6.56050142e-01 7.53188041e-01 -4.80206737e-02 -1.85795618e+02] [-7.32995230e-02 -2.61113297e-04 9.97309938e-01 -1.80052055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05864 meters 0.02668260126479944 Centerline is valid? [True, True] Translation: X:250.17, Y:-185.82, Z:-18.01 [[ 7.50634780e-01 6.58297851e-01 5.64921761e-02 2.50169472e+02] [-6.56468985e-01 7.52757506e-01 -4.90368162e-02 -1.85815584e+02] [-7.48057403e-02 -2.76621699e-04 9.97198087e-01 -1.80081242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08864 meters 0.026671802207348584 Centerline is valid? [True, True] Translation: X:250.20, Y:-185.83, Z:-18.01 [[ 7.50611113e-01 6.58320910e-01 5.65379193e-02 2.50196329e+02] [-6.56485534e-01 7.52737351e-01 -4.91245694e-02 -1.85834756e+02] [-7.48979349e-02 -2.42878457e-04 9.97191175e-01 -1.80103532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11864 meters 0.02671792509594115 Centerline is valid? [True, True] Translation: X:250.22, Y:-185.85, Z:-18.01 [[ 7.50675510e-01 6.58380322e-01 5.49693586e-02 2.50222894e+02] [-6.56642137e-01 7.52685399e-01 -4.78099834e-02 -1.85852669e+02] [-7.28517858e-02 -2.05413450e-04 9.97342757e-01 -1.80118136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14864 meters 0.026592751905094025 Centerline is valid? [True, True] Translation: X:250.25, Y:-185.87, Z:-18.01 [[ 7.50155446e-01 6.59021753e-01 5.43795513e-02 2.50249366e+02] [-6.57319138e-01 7.52123843e-01 -4.73421140e-02 -1.85872335e+02] [-7.20996401e-02 -2.30775096e-04 9.97397408e-01 -1.80126908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17864000000003 meters 0.026672751837341708 Centerline is valid? [True, True] Translation: X:250.28, Y:-185.89, Z:-18.01 [[ 7.49960512e-01 6.59238355e-01 5.44428333e-02 2.50276364e+02] [-6.57528676e-01 7.51934004e-01 -4.74478039e-02 -1.85891917e+02] [-7.22168298e-02 -2.13744783e-04 9.97388933e-01 -1.80148354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20864 meters 0.026764624480920953 Centerline is valid? [True, True] Translation: X:250.30, Y:-185.91, Z:-18.02 [[ 7.49573683e-01 6.59628468e-01 5.50415991e-02 2.50303314e+02] [-6.57878177e-01 7.51591802e-01 -4.80215208e-02 -1.85911813e+02] [-7.30451769e-02 -2.14998638e-04 9.97328610e-01 -1.80167737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23864 meters 0.026795908026527194 Centerline is valid? [True, True] Translation: X:250.33, Y:-185.93, Z:-18.02 [[ 7.50230894e-01 6.58810073e-01 5.58828628e-02 2.50331288e+02] [-6.56999614e-01 7.52309297e-01 -4.88080758e-02 -1.85930519e+02] [-7.41964492e-02 -9.76929573e-05 9.97243640e-01 -1.80175922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26864 meters 0.026795908026527194 Centerline is valid? [True, True] Translation: X:250.36, Y:-185.95, Z:-18.02 [[ 7.49886168e-01 6.59204606e-01 5.58571635e-02 2.50356003e+02] [-6.57393051e-01 7.51963615e-01 -4.88374734e-02 -1.85951671e+02] [-7.41964420e-02 -9.75653190e-05 9.97243641e-01 -1.80193279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29864 meters 0.026955232717829992 Centerline is valid? [True, True] Translation: X:250.38, Y:-185.97, Z:-18.02 [[ 7.50591512e-01 6.58358014e-01 5.63658338e-02 2.50381749e+02] [-6.56506936e-01 7.52704939e-01 -4.93347599e-02 -1.85971735e+02] [-7.49067760e-02 2.56912287e-05 9.97190541e-01 -1.80205863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32864 meters 0.026933483171318242 Centerline is valid? [True, True] Translation: X:250.41, Y:-185.99, Z:-18.02 [[ 7.52284720e-01 6.56476373e-01 5.57357252e-02 2.50408159e+02] [-6.54657540e-01 7.54346544e-01 -4.88343766e-02 -1.85991762e+02] [-7.41026661e-02 2.49542582e-04 9.97250587e-01 -1.80219979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35864 meters 0.027153610589720226 Centerline is valid? [True, True] Translation: X:250.43, Y:-186.01, Z:-18.02 [[ 7.53563785e-01 6.54911078e-01 5.68603747e-02 2.50433446e+02] [-6.53009660e-01 7.55705814e-01 -4.98708972e-02 -1.86011868e+02] [-7.56307187e-02 4.50528083e-04 9.97135794e-01 -1.80247409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38864 meters 0.0271847148582492 Centerline is valid? [True, True] Translation: X:250.46, Y:-186.03, Z:-18.03 [[ 7.54520663e-01 6.53804653e-01 5.69038170e-02 2.50458806e+02] [-6.51893646e-01 7.56663148e-01 -4.99555320e-02 -1.86032328e+02] [-7.57181806e-02 5.97244392e-04 9.97129079e-01 -1.80260265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41864 meters 0.027679503845261008 Centerline is valid? [True, True] Translation: X:250.48, Y:-186.05, Z:-18.03 [[ 7.56363559e-01 6.51669679e-01 5.69279910e-02 2.50483903e+02] [-6.49747394e-01 7.58502413e-01 -5.00241209e-02 -1.86052643e+02] [-7.57792214e-02 8.47608258e-04 9.97124261e-01 -1.80279127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44864 meters 0.027580692327919314 Centerline is valid? [True, True] Translation: X:250.51, Y:-186.07, Z:-18.03 [[ 7.56912312e-01 6.51158849e-01 5.54608475e-02 2.50508244e+02] [-6.49329954e-01 7.58940925e-01 -4.87778865e-02 -1.86074024e+02] [-7.38536593e-02 9.08193265e-04 9.97268676e-01 -1.80287573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47864 meters 0.02784498140629108 Centerline is valid? [True, True] Translation: X:250.53, Y:-186.10, Z:-18.03 [[ 7.58161284e-01 6.49656251e-01 5.60198463e-02 2.50532026e+02] [-6.47782814e-01 7.60227300e-01 -4.93140741e-02 -1.86096174e+02] [-7.46250130e-02 1.09932806e-03 9.97211060e-01 -1.80305545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50864 meters 0.027868725632545242 Centerline is valid? [True, True] Translation: X:250.56, Y:-186.12, Z:-18.03 [[ 7.58601280e-01 6.49090962e-01 5.66129067e-02 2.50556312e+02] [-6.47172633e-01 7.60709853e-01 -4.98808927e-02 -1.86117155e+02] [-7.54432325e-02 1.20138518e-03 9.97149375e-01 -1.80324428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53864 meters 0.027940621522992842 Centerline is valid? [True, True] Translation: X:250.58, Y:-186.14, Z:-18.03 [[ 7.58923159e-01 6.48685568e-01 5.69444719e-02 2.50581490e+02] [-6.46740141e-01 7.61055443e-01 -5.02175478e-02 -1.86137635e+02] [-7.59132988e-02 1.28298423e-03 9.97113597e-01 -1.80337543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56864 meters 0.02783284663645583 Centerline is valid? [True, True] Translation: X:250.61, Y:-186.16, Z:-18.04 [[ 7.58406251e-01 6.49298142e-01 5.68496465e-02 2.50606401e+02] [-6.47357399e-01 7.60532937e-01 -5.01801669e-02 -1.86158787e+02] [-7.58179177e-02 1.25491294e-03 9.97120890e-01 -1.80355463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59864 meters 0.028019206187479672 Centerline is valid? [True, True] Translation: X:250.63, Y:-186.18, Z:-18.04 [[ 7.58059885e-01 6.49648251e-01 5.74661724e-02 2.50631241e+02] [-6.47662135e-01 7.60233865e-01 -5.07762564e-02 -1.86180769e+02] [-7.66744365e-02 1.27277921e-03 9.97055370e-01 -1.80382661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62864 meters 0.02781393759618656 Centerline is valid? [True, True] Translation: X:250.66, Y:-186.20, Z:-18.04 [[ 7.57705649e-01 6.50138244e-01 5.65898689e-02 2.50656240e+02] [-6.48210039e-01 7.59814927e-01 -5.00502062e-02 -1.86201220e+02] [-7.55373803e-02 1.24120284e-03 9.97142198e-01 -1.80384950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65864 meters 0.027737529294750398 Centerline is valid? [True, True] Translation: X:250.68, Y:-186.22, Z:-18.04 [[ 7.56966571e-01 6.50935163e-01 5.73151264e-02 2.50681656e+02] [-6.48955789e-01 7.59132362e-01 -5.07389572e-02 -1.86221900e+02] [-7.65375387e-02 1.21271141e-03 9.97065963e-01 -1.80401633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68864 meters 0.027667545732585435 Centerline is valid? [True, True] Translation: X:250.71, Y:-186.24, Z:-18.04 [[ 7.56691711e-01 6.51287475e-01 5.69410078e-02 2.50706651e+02] [-6.49330993e-01 7.58830129e-01 -5.04588671e-02 -1.86243986e+02] [-7.60717805e-02 1.20824535e-03 9.97101612e-01 -1.80422290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71864 meters 0.027551940691360192 Centerline is valid? [True, True] Translation: X:250.73, Y:-186.27, Z:-18.04 [[ 7.55756424e-01 6.52359229e-01 5.70934657e-02 2.50731042e+02] [-6.50391325e-01 7.57909052e-01 -5.06457763e-02 -1.86266452e+02] [-7.63108940e-02 1.14277600e-03 9.97083418e-01 -1.80440251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74864 meters 0.02744593815352275 Centerline is valid? [True, True] Translation: X:250.76, Y:-186.29, Z:-18.05 [[ 7.54811756e-01 6.53398000e-01 5.77084618e-02 2.50756017e+02] [-6.51386360e-01 7.57013783e-01 -5.12439473e-02 -1.86287850e+02] [-7.71687937e-02 1.08902891e-03 9.97017448e-01 -1.80450906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77864 meters 0.0273751113779428 Centerline is valid? [True, True] Translation: X:250.78, Y:-186.31, Z:-18.05 [[ 7.53676566e-01 6.54675376e-01 5.80670769e-02 2.50782453e+02] [-6.52638298e-01 7.55909481e-01 -5.16150088e-02 -1.86307841e+02] [-7.76845293e-02 1.00422435e-03 9.96977485e-01 -1.80472583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80864 meters 0.027420967970070813 Centerline is valid? [True, True] Translation: X:250.81, Y:-186.33, Z:-18.05 [[ 7.53285318e-01 6.55126977e-01 5.80506100e-02 2.50806938e+02] [-6.53088302e-01 7.55518133e-01 -5.16528914e-02 -1.86329861e+02] [-7.76974911e-02 9.97190468e-04 9.96976482e-01 -1.80491496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83864 meters 0.02722801229791732 Centerline is valid? [True, True] Translation: X:250.83, Y:-186.35, Z:-18.05 [[ 7.52298889e-01 6.56055170e-01 6.03158053e-02 2.50829050e+02] [-6.53852623e-01 7.54712302e-01 -5.37223340e-02 -1.86352732e+02] [-8.07658952e-02 9.77604739e-04 9.96732619e-01 -1.80519746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86864 meters 0.027284669303522663 Centerline is valid? [True, True] Translation: X:250.85, Y:-186.37, Z:-18.05 [[ 7.51458693e-01 6.57006029e-01 6.04393190e-02 2.50853754e+02] [-6.54793392e-01 7.53884766e-01 -5.38829637e-02 -1.86374352e+02] [-8.09657138e-02 9.15554770e-04 9.96716467e-01 -1.80532699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89864 meters 0.027238490186127545 Centerline is valid? [True, True] Translation: X:250.88, Y:-186.40, Z:-18.06 [[ 7.50491662e-01 6.58149291e-01 6.00148097e-02 2.50877378e+02] [-6.55967130e-01 7.52886996e-01 -5.35564639e-02 -1.86395845e+02] [-8.04325185e-02 8.25937076e-04 9.96759714e-01 -1.80552003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864000000003 meters 0.02698192808947819 Centerline is valid? [True, True] Translation: X:250.90, Y:-186.42, Z:-18.06 [[ 7.48855568e-01 6.59899078e-01 6.12253607e-02 2.50899846e+02] [-6.57629613e-01 7.51353933e-01 -5.46860049e-02 -1.86419531e+02] [-8.20891598e-02 6.88308994e-04 9.96624752e-01 -1.80585106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95864 meters 0.026898735135577882 Centerline is valid? [True, True] Translation: X:250.92, Y:-186.44, Z:-18.06 [[ 7.47342630e-01 6.61594205e-01 6.14174408e-02 2.50923766e+02] [-6.59311879e-01 7.49861863e-01 -5.49093146e-02 -1.86442115e+02] [-8.23822810e-02 5.42823266e-04 9.96600655e-01 -1.80596954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters 0.02659249508748878 Centerline is valid? [True, True] Translation: X:250.95, Y:-186.46, Z:-18.06 [[ 7.44451844e-01 6.64861415e-01 6.12433740e-02 2.50948895e+02] [-6.62599493e-01 7.46966702e-01 -5.47965147e-02 -1.86462023e+02] [-8.21788494e-02 2.13537836e-04 9.96617575e-01 -1.80600482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01864 meters 0.02652012133384315 Centerline is valid? [True, True] Translation: X:250.97, Y:-186.48, Z:-18.06 [[ 7.42286394e-01 6.67220926e-01 6.18639339e-02 2.50973884e+02] [-6.64918307e-01 7.44859877e-01 -5.53841986e-02 -1.86483463e+02] [-8.30334584e-02 -2.35251566e-05 9.96546760e-01 -1.80628377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters 0.02655708297875672 Centerline is valid? [True, True] Translation: X:251.00, Y:-186.50, Z:-18.07 [[ 7.39719453e-01 6.70059221e-01 6.19336058e-02 2.50998804e+02] [-6.67756438e-01 7.42307585e-01 -5.55048566e-02 -1.86504464e+02] [-8.31653264e-02 -2.98541817e-04 9.96535719e-01 -1.80654288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07864 meters 0.02662229117783581 Centerline is valid? [True, True] Translation: X:251.02, Y:-186.52, Z:-18.07 [[ 7.35785307e-01 6.74246976e-01 6.33324354e-02 2.51024905e+02] [-6.71849317e-01 7.38505558e-01 -5.68158119e-02 -1.86523501e+02] [-8.50792449e-02 -7.45613868e-04 9.96373909e-01 -1.80668493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters 0.026672135363301534 Centerline is valid? [True, True] Translation: X:251.05, Y:-186.54, Z:-18.07 [[ 7.34678174e-01 6.75399242e-01 6.39049659e-02 2.51051071e+02] [-6.72957781e-01 7.37451791e-01 -5.73818842e-02 -1.86541916e+02] [-8.58825127e-02 -8.48126115e-04 9.96304911e-01 -1.80697734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13864 meters 0.026722015044569766 Centerline is valid? [True, True] Translation: X:251.08, Y:-186.56, Z:-18.07 [[ 7.33330924e-01 6.76787829e-01 6.46837677e-02 2.51076997e+02] [-6.74287142e-01 7.36177469e-01 -5.81341873e-02 -1.86561394e+02] [-8.69632428e-02 -9.83835507e-04 9.96211035e-01 -1.80711097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters 0.02683819996399701 Centerline is valid? [True, True] Translation: X:251.11, Y:-186.58, Z:-18.07 [[ 7.33716462e-01 6.76337456e-01 6.50215188e-02 2.51105357e+02] [-6.73803836e-01 7.36591370e-01 -5.84939694e-02 -1.86579280e+02] [-8.74559521e-02 -8.93760485e-04 9.96167987e-01 -1.80734742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19864 meters 0.02677652712049971 Centerline is valid? [True, True] Translation: X:251.13, Y:-186.60, Z:-18.08 [[ 7.34029924e-01 6.75929830e-01 6.57186030e-02 2.51131684e+02] [-6.73334612e-01 7.36965540e-01 -5.91801767e-02 -1.86598590e+02] [-8.84339925e-02 -8.10589379e-04 9.96081709e-01 -1.80750945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters 0.026789944501436274 Centerline is valid? [True, True] Translation: X:251.16, Y:-186.62, Z:-18.08 [[ 7.36227444e-01 6.73503772e-01 6.60440798e-02 2.51160474e+02] [-6.70867821e-01 7.39183631e-01 -5.95308860e-02 -1.86615756e+02] [-8.89129790e-02 -4.78575867e-04 9.96039283e-01 -1.80775682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25864 meters 0.026716153144156703 Centerline is valid? [True, True] Translation: X:251.19, Y:-186.64, Z:-18.08 [[ 7.37451211e-01 6.72247923e-01 6.51800685e-02 2.51186557e+02] [-6.69671786e-01 7.40326040e-01 -5.87967083e-02 -1.86635587e+02] [-8.77804671e-02 -2.89549179e-04 9.96139802e-01 -1.80798682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters 0.026627894242489694 Centerline is valid? [True, True] Translation: X:251.21, Y:-186.65, Z:-18.08 [[ 7.39856455e-01 6.69651496e-01 6.46475011e-02 2.51214884e+02] [-6.67104646e-01 7.42675482e-01 -5.83482593e-02 -1.86652502e+02] [-8.70851132e-02 4.26879825e-05 9.96200874e-01 -1.80816292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31864 meters 0.026819433019494326 Centerline is valid? [True, True] Translation: X:251.24, Y:-186.67, Z:-18.08 [[ 7.40488083e-01 6.69008403e-01 6.40714930e-02 2.51240653e+02] [-6.66499904e-01 7.43254824e-01 -5.78804365e-02 -1.86671571e+02] [-8.63439446e-02 1.56129533e-04 9.96265376e-01 -1.80831381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters 0.026913609519936366 Centerline is valid? [True, True] Translation: X:251.27, Y:-186.69, Z:-18.09 [[ 7.40638063e-01 6.68806932e-01 6.44402575e-02 2.51266194e+02] [-6.66263786e-01 7.43436102e-01 -5.82694627e-02 -1.86691852e+02] [-8.68782344e-02 2.22372072e-04 9.96218913e-01 -1.80857228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37864 meters 0.027336844425936816 Centerline is valid? [True, True] Translation: X:251.29, Y:-186.71, Z:-18.09 [[ 7.42633834e-01 6.66477873e-01 6.55914140e-02 2.51293140e+02] [-6.63828550e-01 7.45524610e-01 -5.93692859e-02 -1.86709937e+02] [-8.84683288e-02 5.48187168e-04 9.96078839e-01 -1.80887368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters 0.027504931805190688 Centerline is valid? [True, True] Translation: X:251.32, Y:-186.73, Z:-18.09 [[ 7.43554863e-01 6.65398543e-01 6.61131190e-02 2.51318683e+02] [-6.62697767e-01 7.46487949e-01 -5.98950055e-02 -1.86729357e+02] [-8.92066959e-02 7.22206232e-04 9.96012873e-01 -1.80916023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43864 meters 0.02759208313493093 Centerline is valid? [True, True] Translation: X:251.34, Y:-186.75, Z:-18.09 [[ 7.44257714e-01 6.64671858e-01 6.55116583e-02 2.51344668e+02] [-6.62012389e-01 7.47134934e-01 -5.94052708e-02 -1.86750013e+02] [-8.84310602e-02 8.43301549e-04 9.96081943e-01 -1.80943413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters 0.027698617096737207 Centerline is valid? [True, True] Translation: X:251.37, Y:-186.77, Z:-18.10 [[ 7.46549968e-01 6.62282810e-01 6.35973650e-02 2.51370305e+02] [-6.59764491e-01 7.49253104e-01 -5.77113761e-02 -1.86770173e+02] [-8.58717754e-02 1.12514279e-03 9.96305562e-01 -1.80977715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49864 meters 0.027529018303472257 Centerline is valid? [True, True] Translation: X:251.39, Y:-186.79, Z:-18.10 [[ 7.46719078e-01 6.62096385e-01 6.35530925e-02 2.51394956e+02] [-6.59579112e-01 7.49417792e-01 -5.76920081e-02 -1.86792037e+02] [-8.58254883e-02 1.16143079e-03 9.96309508e-01 -1.80987946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters 0.0277246162069002 Centerline is valid? [True, True] Translation: X:251.42, Y:-186.81, Z:-18.10 [[ 7.46539547e-01 6.62269556e-01 6.38571818e-02 2.51419664e+02] [-6.59725386e-01 7.49264741e-01 -5.80065788e-02 -1.86813686e+02] [-8.62619260e-02 1.17600122e-03 9.96271799e-01 -1.81021773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55864 meters 0.027919149699347896 Centerline is valid? [True, True] Translation: X:251.44, Y:-186.84, Z:-18.10 [[ 7.45622618e-01 6.63248269e-01 6.44099788e-02 2.51443380e+02] [-6.60658197e-01 7.48398614e-01 -5.85684275e-02 -1.86836131e+02] [-8.70497470e-02 1.11696378e-03 9.96203340e-01 -1.81043991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58864 meters 0.027566991839599767 Centerline is valid? [True, True] Translation: X:251.47, Y:-186.86, Z:-18.11 [[ 7.43533906e-01 6.65517894e-01 6.51403419e-02 2.51466542e+02] [-6.62871998e-01 7.46381345e-01 -5.92925189e-02 -1.86859744e+02] [-8.80797683e-02 9.06289564e-04 9.96113012e-01 -1.81069773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61864 meters 0.027635245216226585 Centerline is valid? [True, True] Translation: X:251.49, Y:-186.88, Z:-18.11 [[ 7.42531731e-01 6.66637437e-01 6.51241665e-02 2.51490707e+02] [-6.63991855e-01 7.45381687e-01 -5.93376558e-02 -1.86882071e+02] [-8.80990638e-02 8.18176082e-04 9.96111382e-01 -1.81088888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64864 meters 0.027671933799686365 Centerline is valid? [True, True] Translation: X:251.51, Y:-186.90, Z:-18.11 [[ 7.41718734e-01 6.67495725e-01 6.55955635e-02 2.51514775e+02] [-6.64809563e-01 7.44613235e-01 -5.98278794e-02 -1.86904384e+02] [-8.87781785e-02 7.66901037e-04 9.96051127e-01 -1.81114979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67864000000003 meters 0.027809098186705586 Centerline is valid? [True, True] Translation: X:251.54, Y:-186.93, Z:-18.11 [[ 7.41505124e-01 6.67554723e-01 6.73857764e-02 2.51537597e+02] [-6.64714408e-01 7.44560280e-01 -6.15202817e-02 -1.86926944e+02] [-9.12409271e-02 8.25307683e-04 9.95828505e-01 -1.81144810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70864 meters 0.028012941461977987 Centerline is valid? [True, True] Translation: X:251.56, Y:-186.95, Z:-18.12 [[ 7.41322351e-01 6.67773601e-01 6.72278985e-02 2.51561992e+02] [-6.64942256e-01 7.44363966e-01 -6.14335640e-02 -1.86949525e+02] [-9.10657374e-02 8.39403552e-04 9.95844529e-01 -1.81172847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73864 meters 0.02800440898606185 Centerline is valid? [True, True] Translation: X:251.59, Y:-186.97, Z:-18.12 [[ 7.41039833e-01 6.68148413e-01 6.66157888e-02 2.51585205e+02] [-6.65364737e-01 7.44027560e-01 -6.09324024e-02 -1.86971909e+02] [-9.02758708e-02 8.29540568e-04 9.95916452e-01 -1.81192830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76864 meters 0.02784046180638258 Centerline is valid? [True, True] Translation: X:251.61, Y:-186.99, Z:-18.12 [[ 7.40471955e-01 6.68864875e-01 6.57347902e-02 2.51608618e+02] [-6.66152610e-01 7.43383604e-01 -6.01790448e-02 -1.86994368e+02] [-8.91178146e-02 7.71492921e-04 9.96020793e-01 -1.81205787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79864 meters 0.027856605240538186 Centerline is valid? [True, True] Translation: X:251.63, Y:-187.02, Z:-18.12 [[ 7.38933576e-01 6.70497843e-01 6.64064292e-02 2.51632759e+02] [-6.67731148e-01 7.41911217e-01 -6.08511248e-02 -1.87017212e+02] [-9.00682226e-02 6.23297963e-04 9.95935403e-01 -1.81233843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82864 meters 0.028004240324800575 Centerline is valid? [True, True] Translation: X:251.66, Y:-187.04, Z:-18.13 [[ 7.37874692e-01 6.71620735e-01 6.68320891e-02 2.51656910e+02] [-6.68817292e-01 7.40894933e-01 -6.13035770e-02 -1.87039175e+02] [-9.06883096e-02 5.35901092e-04 9.95879181e-01 -1.81269802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85864 meters 0.02802189249437488 Centerline is valid? [True, True] Translation: X:251.68, Y:-187.06, Z:-18.13 [[ 7.37326483e-01 6.72277183e-01 6.62800638e-02 2.51680900e+02] [-6.69517329e-01 7.40299361e-01 -6.08555767e-02 -1.87060943e+02] [-8.99789046e-02 4.94777035e-04 9.95943549e-01 -1.81293679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88864 meters 0.028034906539286454 Centerline is valid? [True, True] Translation: X:251.71, Y:-187.08, Z:-18.13 [[ 7.36705033e-01 6.72978912e-01 6.60687405e-02 2.51705153e+02] [-6.70234334e-01 7.39661531e-01 -6.07186715e-02 -1.87083865e+02] [-8.97308912e-02 4.50212612e-04 9.95965945e-01 -1.81318890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91864 meters 0.02799441766124764 Centerline is valid? [True, True] Translation: X:251.73, Y:-187.11, Z:-18.13 [[ 7.36737434e-01 6.73013003e-01 6.53563376e-02 2.51729274e+02] [-6.70323606e-01 7.39630497e-01 -6.01081620e-02 -1.87105897e+02] [-8.87931151e-02 4.74037181e-04 9.96049978e-01 -1.81330705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94864 meters 0.028144995581892564 Centerline is valid? [True, True] Translation: X:251.75, Y:-187.13, Z:-18.14 [[ 7.36128617e-01 6.73584838e-01 6.63183724e-02 2.51753571e+02] [-6.70814746e-01 7.39109786e-01 -6.10270461e-02 -1.87127344e+02] [-9.01234510e-02 4.36412930e-04 9.95930506e-01 -1.81355958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97864 meters 0.027979436633162963 Centerline is valid? [True, True] Translation: X:251.78, Y:-187.15, Z:-18.14 [[ 7.35281458e-01 6.74532444e-01 6.60844799e-02 2.51779048e+02] [-6.71780521e-01 7.38245116e-01 -6.08693742e-02 -1.87149156e+02] [-8.98449123e-02 3.61855930e-04 9.95955702e-01 -1.81371695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00864 meters 0.028012364498380425 Centerline is valid? [True, True] Translation: X:251.80, Y:-187.17, Z:-18.14 [[ 7.32758641e-01 6.77322891e-01 6.55627565e-02 2.51803715e+02] [-6.74620217e-01 7.35685869e-01 -6.04472142e-02 -1.87170230e+02] [-8.91758753e-02 6.32575213e-05 9.96015893e-01 -1.81403791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03864 meters 0.027918858035144576 Centerline is valid? [True, True] Translation: X:251.83, Y:-187.19, Z:-18.14 [[ 7.30252409e-01 6.80025483e-01 6.55496867e-02 2.51827873e+02] [-6.77329588e-01 7.33188443e-01 -6.04924495e-02 -1.87192378e+02] [-8.91966799e-02 -2.23985381e-04 9.96014007e-01 -1.81423819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06864 meters 0.027930237714065206 Centerline is valid? [True, True] Translation: X:251.85, Y:-187.21, Z:-18.14 [[ 7.29000977e-01 6.81348561e-01 6.57397492e-02 2.51852648e+02] [-6.78636729e-01 7.31959031e-01 -6.07302893e-02 -1.87214783e+02] [-8.94972983e-02 -3.40968090e-04 9.95987007e-01 -1.81438945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09864 meters 0.02802187799208687 Centerline is valid? [True, True] Translation: X:251.88, Y:-187.24, Z:-18.15 [[ 7.28716174e-01 6.81619801e-01 6.60846732e-02 2.51877293e+02] [-6.78874807e-01 7.31706456e-01 -6.11118511e-02 -1.87236309e+02] [-9.00096298e-02 -3.30025418e-04 9.95940840e-01 -1.81458659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12864 meters 0.027897508310815302 Centerline is valid? [True, True] Translation: X:251.90, Y:-187.26, Z:-18.15 [[ 7.28579626e-01 6.81802994e-01 6.56993651e-02 2.51901223e+02] [-6.79085429e-01 7.31535770e-01 -6.08144495e-02 -1.87257645e+02] [-8.95249094e-02 -3.07312627e-04 9.95984536e-01 -1.81478682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15864 meters 0.02822503490377446 Centerline is valid? [True, True] Translation: X:251.93, Y:-187.28, Z:-18.15 [[ 7.27827517e-01 6.82403184e-01 6.77716824e-02 2.51925465e+02] [-6.79508403e-01 7.30975903e-01 -6.27898003e-02 -1.87278363e+02] [-9.23874264e-02 -3.51283269e-04 9.95723074e-01 -1.81517837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18864 meters 0.02815932845726127 Centerline is valid? [True, True] Translation: X:251.95, Y:-187.30, Z:-18.15 [[ 7.27658285e-01 6.82746037e-01 6.61155726e-02 2.51949350e+02] [-6.79988734e-01 7.30655681e-01 -6.12992422e-02 -1.87300756e+02] [-9.01595334e-02 -3.52943117e-04 9.95927273e-01 -1.81526918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21864 meters 0.02815932845726127 Centerline is valid? [True, True] Translation: X:251.97, Y:-187.32, Z:-18.15 [[ 7.27310860e-01 6.83118227e-01 6.60938865e-02 2.51973453e+02] [-6.80360333e-01 7.30307711e-01 -6.13226183e-02 -1.87322657e+02] [-9.01594733e-02 -3.67052423e-04 9.95927274e-01 -1.81544302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24864 meters 0.02811642744969999 Centerline is valid? [True, True] Translation: X:252.00, Y:-187.35, Z:-18.16 [[ 7.27033909e-01 6.83411789e-01 6.61061412e-02 2.51996807e+02] [-6.80648388e-01 7.30033012e-01 -6.13968467e-02 -1.87346030e+02] [-9.02189942e-02 -3.57448996e-04 9.95921887e-01 -1.81564151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27864 meters 0.02828857276640058 Centerline is valid? [True, True] Translation: X:252.02, Y:-187.37, Z:-18.16 [[ 7.27384752e-01 6.82913844e-01 6.73803027e-02 2.52020333e+02] [-6.80034837e-01 7.30498882e-01 -6.26418754e-02 -1.87367466e+02] [-9.20002397e-02 -2.56208186e-04 9.95758952e-01 -1.81589300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30864 meters 0.028274969277328987 Centerline is valid? [True, True] Translation: X:252.04, Y:-187.39, Z:-18.16 [[ 7.27907351e-01 6.82450154e-01 6.64279734e-02 2.52044547e+02] [-6.79646511e-01 7.30932118e-01 -6.17969204e-02 -1.87389432e+02] [-9.07276571e-02 -1.65107727e-04 9.95875728e-01 -1.81602506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33864 meters 0.028353503666418926 Centerline is valid? [True, True] Translation: X:252.07, Y:-187.41, Z:-18.16 [[ 7.28787849e-01 6.81556140e-01 6.59507394e-02 2.52069431e+02] [-6.78785982e-01 7.31765828e-01 -6.13869945e-02 -1.87410366e+02] [-9.00991804e-02 -2.83417700e-05 9.95932797e-01 -1.81637110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36864 meters 0.028326373305066977 Centerline is valid? [True, True] Translation: X:252.09, Y:-187.43, Z:-18.17 [[ 7.29532776e-01 6.80799462e-01 6.55287803e-02 2.52092081e+02] [-6.78056762e-01 7.32469850e-01 -6.10487195e-02 -1.87432660e+02] [-8.95597913e-02 1.04809187e-04 9.95981442e-01 -1.81655092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39864 meters 0.028368959337711098 Centerline is valid? [True, True] Translation: X:252.12, Y:-187.46, Z:-18.17 [[ 7.29849547e-01 6.80429690e-01 6.58412896e-02 2.52116089e+02] [-6.77653964e-01 7.32813345e-01 -6.13979301e-02 -1.87455601e+02] [-9.00263503e-02 1.93640576e-04 9.95939365e-01 -1.81674732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864000000003 meters 0.0283287870693136 Centerline is valid? [True, True] Translation: X:252.14, Y:-187.48, Z:-18.17 [[ 7.30810292e-01 6.79407207e-01 6.57431703e-02 2.52141000e+02] [-6.76630012e-01 7.33761347e-01 -6.13686597e-02 -1.87477698e+02] [-8.99341068e-02 3.65045968e-04 9.95947651e-01 -1.81685389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45864 meters 0.028557654549892012 Centerline is valid? [True, True] Translation: X:252.17, Y:-187.50, Z:-18.17 [[ 7.31782417e-01 6.78373751e-01 6.56014435e-02 2.52166772e+02] [-6.75598793e-01 7.34716793e-01 -6.12984897e-02 -1.87498795e+02] [-8.97817686e-02 5.36900896e-04 9.95961317e-01 -1.81707471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters 0.02895314642797457 Centerline is valid? [True, True] Translation: X:252.19, Y:-187.52, Z:-18.17 [[ 7.33804152e-01 6.76143750e-01 6.60385908e-02 2.52190853e+02] [-6.73317156e-01 7.36769225e-01 -6.17666407e-02 -1.87519853e+02] [-9.04183294e-02 8.59701299e-04 9.95903503e-01 -1.81747621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51864 meters 0.029115796758111847 Centerline is valid? [True, True] Translation: X:252.21, Y:-187.54, Z:-18.18 [[ 7.34496606e-01 6.75413912e-01 6.58086867e-02 2.52214716e+02] [-6.72598894e-01 7.37438181e-01 -6.16089038e-02 -1.87542961e+02] [-9.01413489e-02 9.88680805e-04 9.95928491e-01 -1.81775688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters 0.02895813283964402 Centerline is valid? [True, True] Translation: X:252.24, Y:-187.57, Z:-18.18 [[ 7.35036407e-01 6.74885874e-01 6.51961441e-02 2.52238085e+02] [-6.72115586e-01 7.37921318e-01 -6.10963802e-02 -1.87567079e+02] [-8.93427086e-02 1.08871922e-03 9.96000349e-01 -1.81787346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57864 meters 0.02888448071127126 Centerline is valid? [True, True] Translation: X:252.26, Y:-187.59, Z:-18.18 [[ 7.34249204e-01 6.75735532e-01 6.52655984e-02 2.52262040e+02] [-6.72957145e-01 7.37143423e-01 -6.12229880e-02 -1.87589414e+02] [-8.94806550e-02 1.03197942e-03 9.95988026e-01 -1.81807140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters 0.028820412849553414 Centerline is valid? [True, True] Translation: X:252.28, Y:-187.61, Z:-18.18 [[ 7.31316445e-01 6.78857322e-01 6.57950926e-02 2.52284825e+02] [-6.76040462e-01 7.34269871e-01 -6.17822838e-02 -1.87613602e+02] [-9.02527099e-02 7.02255303e-04 9.95918649e-01 -1.81848126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63864 meters 0.028833889440913862 Centerline is valid? [True, True] Translation: X:252.31, Y:-187.64, Z:-18.19 [[ 7.29912072e-01 6.80426782e-01 6.51748566e-02 2.52306734e+02] [-6.77663910e-01 7.32815868e-01 -6.12578866e-02 -1.87636700e+02] [-8.94426757e-02 5.46222721e-04 9.95991822e-01 -1.81864915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters 0.028533596449859408 Centerline is valid? [True, True] Translation: X:252.33, Y:-187.66, Z:-18.19 [[ 7.28488674e-01 6.81973368e-01 6.49351848e-02 2.52329475e+02] [-6.79232151e-01 7.31376900e-01 -6.10861280e-02 -1.87659670e+02] [-8.91512066e-02 3.94487114e-04 9.96018025e-01 -1.81875330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69864 meters 0.028438631185826443 Centerline is valid? [True, True] Translation: X:252.35, Y:-187.68, Z:-18.19 [[ 7.27131525e-01 6.83360099e-01 6.55646365e-02 2.52352244e+02] [-6.80566035e-01 7.30081437e-01 -6.17330400e-02 -1.87682944e+02] [-9.00534203e-02 2.66974832e-04 9.95936901e-01 -1.81905600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters 0.028378718691222233 Centerline is valid? [True, True] Translation: X:252.37, Y:-187.71, Z:-18.19 [[ 7.26240336e-01 6.84352996e-01 6.50841807e-02 2.52374701e+02] [-6.81598895e-01 7.29150837e-01 -6.13351739e-02 -1.87705483e+02] [-8.94310949e-02 1.82771635e-04 9.95992995e-01 -1.81927710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75864 meters 0.028403812896877302 Centerline is valid? [True, True] Translation: X:252.40, Y:-187.73, Z:-18.20 [[ 7.24941981e-01 6.85854117e-01 6.37436536e-02 2.52395233e+02] [-6.83213611e-01 7.27739052e-01 -6.01251434e-02 -1.87730012e+02] [-8.76258232e-02 3.67087801e-05 9.96153459e-01 -1.81963205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters 0.028323235465426873 Centerline is valid? [True, True] Translation: X:252.42, Y:-187.75, Z:-18.20 [[ 7.23954499e-01 6.86924502e-01 6.34398355e-02 2.52419288e+02] [-6.84308292e-01 7.26728784e-01 -5.98952027e-02 -1.87753165e+02] [-8.72470368e-02 -5.10040195e-05 9.96186705e-01 -1.81976662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81864 meters 0.028428880600992714 Centerline is valid? [True, True] Translation: X:252.44, Y:-187.78, Z:-18.20 [[ 7.23256946e-01 6.87627784e-01 6.37763363e-02 2.52442600e+02] [-6.84981045e-01 7.26063373e-01 -6.02739282e-02 -1.87775875e+02] [-8.77516896e-02 -9.20442404e-05 9.96142376e-01 -1.81995567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters 0.02856314128178999 Centerline is valid? [True, True] Translation: X:252.46, Y:-187.80, Z:-18.20 [[ 7.22071448e-01 6.88806496e-01 6.44859306e-02 2.52463789e+02] [-6.86100068e-01 7.24945220e-01 -6.10010166e-02 -1.87799632e+02] [-8.87666636e-02 -1.96709022e-04 9.96052429e-01 -1.82014657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87864 meters 0.028312607439598497 Centerline is valid? [True, True] Translation: X:252.49, Y:-187.82, Z:-18.20 [[ 7.21336444e-01 6.89612576e-01 6.40954776e-02 2.52487259e+02] [-6.86937157e-01 7.24178452e-01 -6.06869972e-02 -1.87823459e+02] [-8.82670802e-02 -2.53822363e-04 9.96096812e-01 -1.82031751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters 0.02837105601135435 Centerline is valid? [True, True] Translation: X:252.51, Y:-187.85, Z:-18.21 [[ 7.19750392e-01 6.91309352e-01 6.36455259e-02 2.52509401e+02] [-6.88673699e-01 7.22558788e-01 -6.03103155e-02 -1.87846426e+02] [-8.76807192e-02 -4.22626513e-04 9.96148540e-01 -1.82060472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93864 meters 0.028381635668083733 Centerline is valid? [True, True] Translation: X:252.53, Y:-187.87, Z:-18.21 [[ 7.18720195e-01 6.92318245e-01 6.43174092e-02 2.52532337e+02] [-6.89627126e-01 7.21592111e-01 -6.09856736e-02 -1.87868283e+02] [-8.86324296e-02 -5.23394829e-04 9.96064264e-01 -1.82085547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters 0.028326140035314102 Centerline is valid? [True, True] Translation: X:252.56, Y:-187.89, Z:-18.21 [[ 7.16265622e-01 6.94870614e-01 6.41746787e-02 2.52556019e+02] [-6.92196693e-01 7.19134338e-01 -6.09060116e-02 -1.87890742e+02] [-8.84720127e-02 -7.96618089e-04 9.96078345e-01 -1.82102980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99864 meters 0.028506222676250543 Centerline is valid? [True, True] Translation: X:252.58, Y:-187.91, Z:-18.21 [[ 7.11690191e-01 6.99496298e-01 6.48228408e-02 2.52579811e+02] [-6.96781590e-01 7.14634964e-01 -6.15815166e-02 -1.87912505e+02] [-8.94007114e-02 -1.34040072e-03 9.95994837e-01 -1.82112250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters 0.028632801946142244 Centerline is valid? [True, True] Translation: X:252.60, Y:-187.93, Z:-18.21 [[ 7.09353136e-01 7.01860480e-01 6.48844711e-02 2.52603839e+02] [-6.99145427e-01 7.12312647e-01 -6.16957434e-02 -1.87933400e+02] [-8.95198334e-02 -1.59961219e-03 9.95983755e-01 -1.82126421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05864 meters 0.029033669471316893 Centerline is valid? [True, True] Translation: X:252.63, Y:-187.95, Z:-18.22 [[ 7.06176455e-01 7.05113776e-01 6.42602383e-02 2.52631196e+02] [-7.02459298e-01 7.09091497e-01 -6.11570431e-02 -1.87951604e+02] [-8.86890622e-02 -1.95253801e-03 9.96057447e-01 -1.82161519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08864 meters 0.02900149682481997 Centerline is valid? [True, True] Translation: X:252.66, Y:-187.97, Z:-18.22 [[ 7.05064479e-01 7.06320866e-01 6.32053308e-02 2.52656876e+02] [-7.03753119e-01 7.07888909e-01 -6.02066522e-02 -1.87971909e+02] [-8.72675674e-02 -2.03137683e-03 9.96182837e-01 -1.82177711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11864 meters 0.02897838826350819 Centerline is valid? [True, True] Translation: X:252.68, Y:-187.99, Z:-18.22 [[ 7.04712413e-01 7.06577483e-01 6.42547699e-02 2.52682537e+02] [-7.03919685e-01 7.07632691e-01 -6.12621598e-02 -1.87991978e+02] [-8.87552384e-02 -2.05799289e-03 9.96051340e-01 -1.82197278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14864 meters 0.029021180515276683 Centerline is valid? [True, True] Translation: X:252.71, Y:-188.01, Z:-18.22 [[ 7.05735054e-01 7.05483432e-01 6.50473792e-02 2.52711410e+02] [-7.02749467e-01 7.08723862e-01 -6.20779754e-02 -1.88009056e+02] [-8.98956129e-02 -1.90140772e-03 9.95949378e-01 -1.82221843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17864000000003 meters 0.02879207870824714 Centerline is valid? [True, True] Translation: X:252.74, Y:-188.03, Z:-18.23 [[ 7.07445604e-01 7.03744017e-01 6.53075500e-02 2.52738300e+02] [-7.00975075e-01 7.10451730e-01 -6.23881741e-02 -1.88026929e+02] [-9.03031661e-02 -1.64272520e-03 9.95912968e-01 -1.82252379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20864 meters 0.02874217239030841 Centerline is valid? [True, True] Translation: X:252.77, Y:-188.04, Z:-18.23 [[ 7.12552194e-01 6.98494405e-01 6.61433096e-02 2.52767370e+02] [-6.95625956e-01 7.15614890e-01 -6.32444285e-02 -1.88043496e+02] [-9.15090167e-02 -9.46046738e-04 9.95803798e-01 -1.82286454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23864 meters 0.0288964699620029 Centerline is valid? [True, True] Translation: X:252.79, Y:-188.06, Z:-18.23 [[ 7.15112764e-01 6.95819763e-01 6.66977660e-02 2.52793680e+02] [-6.92885599e-01 7.18216220e-01 -6.38357890e-02 -1.88064234e+02] [-9.23216210e-02 -5.64134021e-04 9.95729080e-01 -1.82318302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26864 meters 0.0288232159912178 Centerline is valid? [True, True] Translation: X:252.82, Y:-188.08, Z:-18.23 [[ 7.17828155e-01 6.93075747e-01 6.60965154e-02 2.52818893e+02] [-6.90177090e-01 7.20864746e-01 -6.33214228e-02 -1.88084334e+02] [-9.15331902e-02 -1.64400536e-04 9.95802013e-01 -1.82336131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29864 meters 0.029034297689232495 Centerline is valid? [True, True] Translation: X:252.85, Y:-188.10, Z:-18.24 [[ 7.22577253e-01 6.88257361e-01 6.46832253e-02 2.52845408e+02] [-6.85457266e-01 7.25466455e-01 -6.20222544e-02 -1.88103469e+02] [-8.96127833e-02 4.78283462e-04 9.95976566e-01 -1.82360172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32864 meters 0.02924494467377583 Centerline is valid? [True, True] Translation: X:252.87, Y:-188.12, Z:-18.24 [[ 7.24138657e-01 6.86608872e-01 6.47414947e-02 2.52869819e+02] [-6.83792164e-01 7.27026638e-01 -6.21332682e-02 -1.88124211e+02] [-8.97300445e-02 7.23374634e-04 9.95965861e-01 -1.82382238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35864 meters 0.0298152590848709 Centerline is valid? [True, True] Translation: X:252.89, Y:-188.14, Z:-18.24 [[ 7.26649126e-01 6.83956962e-01 6.46832452e-02 2.52894505e+02] [-6.81129909e-01 7.29521545e-01 -6.21318133e-02 -1.88144541e+02] [-8.96833073e-02 1.09033489e-03 9.95969736e-01 -1.82416130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38864 meters 0.029756388169582846 Centerline is valid? [True, True] Translation: X:252.92, Y:-188.17, Z:-18.24 [[ 7.26489447e-01 6.84150689e-01 6.44276201e-02 2.52918194e+02] [-6.81341632e-01 7.29339849e-01 -6.19432340e-02 -1.88167463e+02] [-8.93681370e-02 1.10388597e-03 9.95998051e-01 -1.82432948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41864 meters 0.029798329865817114 Centerline is valid? [True, True] Translation: X:252.94, Y:-188.19, Z:-18.24 [[ 7.26473532e-01 6.84197699e-01 6.41070611e-02 2.52942292e+02] [-6.81411311e-01 7.29295698e-01 -6.16961135e-02 -1.88190662e+02] [-8.89653428e-02 1.13731690e-03 9.96034073e-01 -1.82449292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44864 meters 0.029701437351086296 Centerline is valid? [True, True] Translation: X:252.96, Y:-188.21, Z:-18.25 [[ 7.25244944e-01 6.85554587e-01 6.35191313e-02 2.52963415e+02] [-6.82819288e-01 7.28020536e-01 -6.11875781e-02 -1.88214765e+02] [-8.81906568e-02 1.00389363e-03 9.96103107e-01 -1.82484736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47864 meters 0.02949552959965298 Centerline is valid? [True, True] Translation: X:252.99, Y:-188.24, Z:-18.25 [[ 7.24386984e-01 6.86462518e-01 6.35036061e-02 2.52986302e+02] [-6.83727064e-01 7.27164588e-01 -6.12287787e-02 -1.88238508e+02] [-8.82088352e-02 9.34196210e-04 9.96101565e-01 -1.82503899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50864 meters 0.029629766168848617 Centerline is valid? [True, True] Translation: X:253.01, Y:-188.26, Z:-18.25 [[ 7.23070380e-01 6.87819434e-01 6.38251684e-02 2.53009823e+02] [-6.85055925e-01 7.25881366e-01 -6.16004970e-02 -1.88261337e+02] [-8.86995194e-02 8.17684927e-04 9.96058094e-01 -1.82523680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53864 meters 0.029562773371481884 Centerline is valid? [True, True] Translation: X:253.03, Y:-188.28, Z:-18.25 [[ 7.22052886e-01 6.88873611e-01 6.39748188e-02 2.53033354e+02] [-6.86095693e-01 7.24881099e-01 -6.18068975e-02 -1.88284438e+02] [-8.89512776e-02 7.35001147e-04 9.96035707e-01 -1.82547962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56864 meters 0.029599474155306515 Centerline is valid? [True, True] Translation: X:253.06, Y:-188.31, Z:-18.26 [[ 7.21171608e-01 6.89840649e-01 6.34932400e-02 2.53055274e+02] [-6.87103060e-01 7.23960947e-01 -6.13997732e-02 -1.88307579e+02] [-8.83226856e-02 6.53373673e-04 9.96091701e-01 -1.82569189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59864 meters 0.02976750801453249 Centerline is valid? [True, True] Translation: X:253.08, Y:-188.33, Z:-18.26 [[ 7.20979935e-01 6.89919875e-01 6.47958290e-02 2.53077890e+02] [-6.87063828e-01 7.23885405e-01 -6.27153605e-02 -1.88330252e+02] [-9.01733286e-02 6.97646310e-04 9.95925843e-01 -1.82603328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62864 meters 0.02967666159647339 Centerline is valid? [True, True] Translation: X:253.10, Y:-188.35, Z:-18.26 [[ 7.21238025e-01 6.89751881e-01 6.37028597e-02 2.53100983e+02] [-6.86986142e-01 7.24045432e-01 -6.17110446e-02 -1.88352925e+02] [-8.86890737e-02 7.45370055e-04 9.96059081e-01 -1.82618808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65864 meters 0.02991362764959887 Centerline is valid? [True, True] Translation: X:253.12, Y:-188.38, Z:-18.26 [[ 7.22727012e-01 6.88276272e-01 6.27808881e-02 2.53124631e+02] [-6.85579987e-01 7.25448047e-01 -6.08704611e-02 -1.88375353e+02] [-8.74399667e-02 9.51406026e-04 9.96169337e-01 -1.82642771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68864 meters 0.029866921391181633 Centerline is valid? [True, True] Translation: X:253.15, Y:-188.40, Z:-18.27 [[ 7.22800856e-01 6.88201055e-01 6.27553255e-02 2.53147923e+02] [-6.85501776e-01 7.25519335e-01 -6.09016398e-02 -1.88399319e+02] [-8.74427748e-02 1.00087026e-03 9.96169042e-01 -1.82669430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71864 meters 0.029868823131046055 Centerline is valid? [True, True] Translation: X:253.17, Y:-188.43, Z:-18.27 [[ 7.23012793e-01 6.88029746e-01 6.21897938e-02 2.53167419e+02] [-6.85373427e-01 7.25681720e-01 -6.04094856e-02 -1.88425138e+02] [-8.66935196e-02 1.05359874e-03 9.96234472e-01 -1.82692531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74864 meters 0.030006131218936635 Centerline is valid? [True, True] Translation: X:253.19, Y:-188.45, Z:-18.27 [[ 7.22193165e-01 6.88856541e-01 6.25595522e-02 2.53189452e+02] [-6.86166687e-01 7.24897002e-01 -6.08244555e-02 -1.88449908e+02] [-8.72485559e-02 1.00072537e-03 9.96186071e-01 -1.82712003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77864 meters 0.029508279363954008 Centerline is valid? [True, True] Translation: X:253.21, Y:-188.48, Z:-18.27 [[ 7.19662238e-01 6.91550420e-01 6.20022582e-02 2.53209603e+02] [-6.88913384e-01 7.22327843e-01 -6.03393459e-02 -1.88475885e+02] [-8.65136574e-02 7.09763157e-04 9.96250412e-01 -1.82732503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80864 meters 0.02936473903270296 Centerline is valid? [True, True] Translation: X:253.23, Y:-188.50, Z:-18.28 [[ 7.17489183e-01 6.93827700e-01 6.17445953e-02 2.53231255e+02] [-6.91216422e-01 7.20140889e-01 -6.01411508e-02 -1.88500167e+02] [-8.61924041e-02 4.71746875e-04 9.96278398e-01 -1.82761403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83864 meters 0.029233089306465284 Centerline is valid? [True, True] Translation: X:253.25, Y:-188.52, Z:-18.28 [[ 7.14411039e-01 6.97028311e-01 6.13873066e-02 2.53252510e+02] [-6.94454402e-01 7.17043596e-01 -5.98461737e-02 -1.88524440e+02] [-8.57318525e-02 1.24081800e-04 9.96318239e-01 -1.82789567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86864 meters 0.02916954039961944 Centerline is valid? [True, True] Translation: X:253.27, Y:-188.55, Z:-18.28 [[ 7.08550512e-01 7.02980572e-01 6.14368607e-02 2.53273944e+02] [-7.00419894e-01 7.11208836e-01 -5.99496786e-02 -1.88549014e+02] [-8.58378975e-02 -5.54224027e-04 9.96308962e-01 -1.82811426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89864 meters 0.029190842531852695 Centerline is valid? [True, True] Translation: X:253.30, Y:-188.57, Z:-18.28 [[ 7.04779367e-01 7.06735906e-01 6.17284626e-02 2.53297146e+02] [-7.04160221e-01 7.07476790e-01 -6.02907528e-02 -1.88570799e+02] [-8.62810943e-02 -9.75049307e-04 9.96270356e-01 -1.82819260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864000000003 meters 0.029647751536348032 Centerline is valid? [True, True] Translation: X:253.32, Y:-188.59, Z:-18.28 [[ 6.98243130e-01 7.13199478e-01 6.16687624e-02 2.53320824e+02] [-7.10649073e-01 7.00958993e-01 -6.02858678e-02 -1.88592441e+02] [-8.62231231e-02 -1.73065581e-03 9.96274349e-01 -1.82847972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95864 meters 0.029951693644895486 Centerline is valid? [True, True] Translation: X:253.34, Y:-188.61, Z:-18.29 [[ 6.95432463e-01 7.15851400e-01 6.26934013e-02 2.53343129e+02] [-7.13221415e-01 6.98249630e-01 -6.13405886e-02 -1.88614891e+02] [-8.76863905e-02 -2.05603984e-03 9.96146008e-01 -1.82879181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters 0.029810847013383976 Centerline is valid? [True, True] Translation: X:253.37, Y:-188.64, Z:-18.29 [[ 6.93705578e-01 7.17554706e-01 6.23523472e-02 2.53365821e+02] [-7.14956779e-01 6.96498574e-01 -6.10454026e-02 -1.88637218e+02] [-8.72317368e-02 -2.23169701e-03 9.96185547e-01 -1.82895962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01864 meters 0.02999078527281915 Centerline is valid? [True, True] Translation: X:253.39, Y:-188.66, Z:-18.29 [[ 6.93456676e-01 7.17878979e-01 6.13808603e-02 2.53391796e+02] [-7.15359955e-01 6.96164399e-01 -6.01270672e-02 -1.88657197e+02] [-8.58951273e-02 -2.21389331e-03 9.96301724e-01 -1.82919079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters 0.02991574100634051 Centerline is valid? [True, True] Translation: X:253.42, Y:-188.68, Z:-18.29 [[ 6.93583764e-01 7.17722947e-01 6.17683902e-02 2.53417693e+02] [-7.15166276e-01 6.96325407e-01 -6.05650493e-02 -1.88677727e+02] [-8.64798251e-02 -2.16773473e-03 9.96251244e-01 -1.82939411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07864 meters 0.02991574100634051 Centerline is valid? [True, True] Translation: X:253.44, Y:-188.70, Z:-18.30 [[ 6.93215402e-01 7.18081423e-01 6.17371593e-02 2.53441163e+02] [-7.15523338e-01 6.95955725e-01 -6.05968743e-02 -1.88700311e+02] [-8.64798192e-02 -2.16769173e-03 9.96251244e-01 -1.82956778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters 0.029936233088515344 Centerline is valid? [True, True] Translation: X:253.47, Y:-188.72, Z:-18.30 [[ 6.94870565e-01 7.16473049e-01 6.18164051e-02 2.53466996e+02] [-7.13896837e-01 6.97612107e-01 -6.07342823e-02 -1.88719787e+02] [-8.66383490e-02 -1.92807106e-03 9.96237963e-01 -1.82984013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13864 meters 0.029850273948377054 Centerline is valid? [True, True] Translation: X:253.49, Y:-188.74, Z:-18.30 [[ 6.95337785e-01 7.15946727e-01 6.26550047e-02 2.53491709e+02] [-7.13292652e-01 6.98152473e-01 -6.16175092e-02 -1.88741710e+02] [-8.78576005e-02 -1.84637211e-03 9.96131333e-01 -1.83003685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters 0.029737022098596407 Centerline is valid? [True, True] Translation: X:253.52, Y:-188.76, Z:-18.30 [[ 6.96280617e-01 7.15123129e-01 6.15809465e-02 2.53516333e+02] [-7.12551100e-01 6.98996508e-01 -6.06202194e-02 -1.88763023e+02] [-8.63957876e-02 -1.67088745e-03 9.96259492e-01 -1.83023636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19864 meters 0.0293109403110695 Centerline is valid? [True, True] Translation: X:253.54, Y:-188.78, Z:-18.30 [[ 7.00017015e-01 7.11654481e-01 5.93639437e-02 2.53541234e+02] [-7.09249166e-01 7.02528666e-01 -5.84730220e-02 -1.88782611e+02] [-8.33174603e-02 -1.17171722e-03 9.96522367e-01 -1.83046471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters 0.029336483884921213 Centerline is valid? [True, True] Translation: X:253.56, Y:-188.80, Z:-18.31 [[ 7.04975171e-01 7.06724570e-01 5.95851493e-02 2.53564780e+02] [-7.04281543e-01 7.07488555e-01 -5.87150196e-02 -1.88804029e+02] [-8.36511581e-02 -5.72089814e-04 9.96494936e-01 -1.83085292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25864 meters 0.029471636957272493 Centerline is valid? [True, True] Translation: X:253.59, Y:-188.83, Z:-18.31 [[ 7.07630876e-01 7.04023664e-01 6.00768226e-02 2.53588994e+02] [-7.01525533e-01 7.10176481e-01 -5.92561528e-02 -1.88827106e+02] [-8.43828803e-02 -2.13941726e-04 9.96433382e-01 -1.83109569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters 0.02946686101549084 Centerline is valid? [True, True] Translation: X:253.61, Y:-188.85, Z:-18.31 [[ 7.10267380e-01 7.01420113e-01 5.94144252e-02 2.53611744e+02] [-6.98962936e-01 7.12748067e-01 -5.86600961e-02 -1.88849445e+02] [-8.34928879e-02 1.35871683e-04 9.96508364e-01 -1.83126116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31864 meters 0.02971839788770947 Centerline is valid? [True, True] Translation: X:253.64, Y:-188.87, Z:-18.31 [[ 7.13047061e-01 6.98614736e-01 5.91721195e-02 2.53635375e+02] [-6.96163334e-01 7.15497868e-01 -5.84757564e-02 -1.88872000e+02] [-8.31895505e-02 5.02506267e-04 9.96533615e-01 -1.83141259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters 0.029865200183155208 Centerline is valid? [True, True] Translation: X:253.66, Y:-188.90, Z:-18.32 [[ 7.15931257e-01 6.95763970e-01 5.79217792e-02 2.53657796e+02] [-6.93401186e-01 7.18269978e-01 -5.72977659e-02 -1.88896749e+02] [-8.14691961e-02 8.58231175e-04 9.96675491e-01 -1.83164422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37864 meters 0.029945542065521195 Centerline is valid? [True, True] Translation: X:253.68, Y:-188.92, Z:-18.32 [[ 7.17220939e-01 6.94526317e-01 5.68094963e-02 2.53678557e+02] [-6.92245165e-01 7.19466576e-01 -5.62536913e-02 -1.88922024e+02] [-7.99422028e-02 1.02022623e-03 9.96798978e-01 -1.83192714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters 0.029901592466516757 Centerline is valid? [True, True] Translation: X:253.70, Y:-188.95, Z:-18.32 [[ 7.16965253e-01 6.94855713e-01 5.60032544e-02 2.53700142e+02] [-6.92635772e-01 7.19148471e-01 -5.55082354e-02 -1.88945684e+02] [-7.88448692e-02 1.00761864e-03 9.96886388e-01 -1.83200613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43864 meters 0.030057210390387997 Centerline is valid? [True, True] Translation: X:253.72, Y:-188.97, Z:-18.32 [[ 7.17201717e-01 6.94612264e-01 5.59955329e-02 2.53723652e+02] [-6.92388184e-01 7.19383525e-01 -5.55512923e-02 -1.88968888e+02] [-7.88688728e-02 1.07083691e-03 9.96884424e-01 -1.83218096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters 0.030094406358627028 Centerline is valid? [True, True] Translation: X:253.75, Y:-188.99, Z:-18.32 [[ 7.17297005e-01 6.94402298e-01 5.73624911e-02 2.53746071e+02] [-6.92062966e-01 7.19586063e-01 -5.69626999e-02 -1.88991509e+02] [-8.08322788e-02 1.16071835e-03 9.96727042e-01 -1.83237446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49864 meters 0.030171686233075343 Centerline is valid? [True, True] Translation: X:253.77, Y:-189.01, Z:-18.33 [[ 7.18322433e-01 6.93307456e-01 5.77724348e-02 2.53767749e+02] [-6.90926865e-01 7.20640690e-01 -5.74200594e-02 -1.89014991e+02] [-8.14429225e-02 1.32958948e-03 9.96677121e-01 -1.83251569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters 0.030331306531401415 Centerline is valid? [True, True] Translation: X:253.79, Y:-189.04, Z:-18.33 [[ 7.20293006e-01 6.91426489e-01 5.57440216e-02 2.53788715e+02] [-6.89201050e-01 7.22445218e-01 -5.54510532e-02 -1.89038975e+02] [-7.86123289e-02 1.52216757e-03 9.96904100e-01 -1.83270666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55864 meters 0.030737564929879328 Centerline is valid? [True, True] Translation: X:253.81, Y:-189.06, Z:-18.33 [[ 7.21777110e-01 6.89908305e-01 5.53564234e-02 2.53811198e+02] [-6.87705589e-01 7.23894748e-01 -5.51127668e-02 -1.89062071e+02] [-7.80949797e-02 1.71021178e-03 9.96944457e-01 -1.83295796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58864 meters 0.031034515726691414 Centerline is valid? [True, True] Translation: X:253.83, Y:-189.09, Z:-18.33 [[ 7.22849401e-01 6.88802478e-01 5.51352063e-02 2.53834176e+02] [-6.86610482e-01 7.24946688e-01 -5.49394716e-02 -1.89085108e+02] [-7.78125293e-02 1.85655351e-03 9.96966280e-01 -1.83320706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61864 meters 0.031005014851413285 Centerline is valid? [True, True] Translation: X:253.86, Y:-189.11, Z:-18.33 [[ 7.23797947e-01 6.87953046e-01 5.32647978e-02 2.53855898e+02] [-6.85901837e-01 7.25752675e-01 -5.31199116e-02 -1.89108875e+02] [-7.52010744e-02 1.91366028e-03 9.97166554e-01 -1.83334164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64864 meters 0.03074576203009854 Centerline is valid? [True, True] Translation: X:253.88, Y:-189.13, Z:-18.33 [[ 7.23060117e-01 6.88808941e-01 5.22140811e-02 2.53877725e+02] [-6.86836979e-01 7.24940639e-01 -5.21155814e-02 -1.89132579e+02] [-7.37497878e-02 1.82013660e-03 9.97275115e-01 -1.83346029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67864000000003 meters 0.030466715593056196 Centerline is valid? [True, True] Translation: X:253.90, Y:-189.16, Z:-18.34 [[ 7.21836483e-01 6.90127972e-01 5.17249809e-02 2.53900351e+02] [-6.88192999e-01 7.23685351e-01 -5.16711494e-02 -1.89155037e+02] [-7.30923165e-02 1.70135101e-03 9.97323728e-01 -1.83366255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70864 meters 0.030211940005558855 Centerline is valid? [True, True] Translation: X:253.92, Y:-189.18, Z:-18.34 [[ 7.21186817e-01 6.90893222e-01 5.05581959e-02 2.53923279e+02] [-6.89043501e-01 7.22955004e-01 -5.05481551e-02 -1.89177382e+02] [-7.14746785e-02 1.61786679e-03 9.97441102e-01 -1.83371211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73864 meters 0.030096110231485236 Centerline is valid? [True, True] Translation: X:253.94, Y:-189.18, Z:-18.34 [[ 6.72362669e-01 7.38717699e-01 4.71656818e-02 2.53942436e+02] [-7.36737879e-01 6.74013040e-01 -5.40714260e-02 -1.89176463e+02] [-7.17338040e-02 1.60686394e-03 9.97422518e-01 -1.83376478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76864 meters 0.029737867598185874 Centerline is valid? [True, True] Translation: X:253.82, Y:-189.43, Z:-16.62 [[ 6.94209584e-01 -7.19475043e-01 -2.07054395e-02 2.53816208e+02] [-7.19014485e-01 -6.94511328e-01 2.59265644e-02 -1.89431666e+02] [-3.30336783e-02 -3.11095852e-03 -9.99449397e-01 -1.66159918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79864 meters 0.0298342701224089 Centerline is valid? [True, True] Translation: X:253.95, Y:-189.21, Z:-18.34 [[ 7.21650685e-01 6.90315744e-01 5.18117972e-02 2.53950855e+02] [-6.88395850e-01 7.23506734e-01 -5.14699863e-02 -1.89210801e+02] [-7.30167261e-02 1.47632469e-03 9.97329624e-01 -1.83415643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82864 meters 0.02961596847834918 Centerline is valid? [True, True] Translation: X:253.97, Y:-189.24, Z:-18.34 [[ 7.20231958e-01 6.91751762e-01 5.23968166e-02 2.53971885e+02] [-6.89788471e-01 7.22134056e-01 -5.20986650e-02 -1.89235855e+02] [-7.38768690e-02 1.38040347e-03 9.97266415e-01 -1.83443497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85864 meters 0.02935731529450514 Centerline is valid? [True, True] Translation: X:253.99, Y:-189.26, Z:-18.35 [[ 7.20120405e-01 6.91924608e-01 5.16424192e-02 2.53993053e+02] [-6.90014405e-01 7.21968446e-01 -5.13973129e-02 -1.89259787e+02] [-7.28472627e-02 1.37824055e-03 9.97342156e-01 -1.83451843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88864 meters 0.029368147594275723 Centerline is valid? [True, True] Translation: X:254.01, Y:-189.28, Z:-18.35 [[ 7.19706054e-01 6.92399860e-01 5.10453752e-02 2.54013746e+02] [-6.90531666e-01 7.21512731e-01 -5.08467994e-02 -1.89284490e+02] [-7.20362049e-02 1.34630133e-03 9.97401109e-01 -1.83475683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91864 meters 0.029005507262831295 Centerline is valid? [True, True] Translation: X:254.03, Y:-189.31, Z:-18.35 [[ 7.17471530e-01 6.94700942e-01 5.12367637e-02 2.54033672e+02] [-6.92821281e-01 7.19297765e-01 -5.10822690e-02 -1.89310199e+02] [-7.23413900e-02 1.15215341e-03 9.97379264e-01 -1.83491357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94864 meters 0.028531059963741116 Centerline is valid? [True, True] Translation: X:254.05, Y:-189.34, Z:-18.35 [[ 7.14098765e-01 6.98108146e-01 5.20381674e-02 2.54054146e+02] [-6.96175333e-01 7.15991828e-01 -5.19192408e-02 -1.89335956e+02] [-7.35041475e-02 8.47777218e-04 9.97294551e-01 -1.83501133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97864 meters 0.02837593595074411 Centerline is valid? [True, True] Translation: X:254.07, Y:-189.36, Z:-18.35 [[ 7.12055224e-01 7.00183010e-01 5.21642717e-02 2.54074830e+02] [-6.98244528e-01 7.13963113e-01 -5.20696974e-02 -1.89360795e+02] [-7.37016833e-02 6.53082789e-04 9.97280119e-01 -1.83514995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00864 meters 0.0282613432289871 Centerline is valid? [True, True] Translation: X:254.10, Y:-189.39, Z:-18.35 [[ 7.09757655e-01 7.02489872e-01 5.24599964e-02 2.54096064e+02] [-7.00531961e-01 7.11693597e-01 -5.24136994e-02 -1.89386443e+02] [-7.41555365e-02 4.51120250e-04 9.97246586e-01 -1.83537920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03864 meters 0.027951695713645926 Centerline is valid? [True, True] Translation: X:254.12, Y:-189.41, Z:-18.36 [[ 7.06495886e-01 7.05781928e-01 5.23013634e-02 2.54116456e+02] [-7.03840972e-01 7.08429142e-01 -5.23071458e-02 -1.89411019e+02] [-7.39692482e-02 1.42940913e-04 9.97260513e-01 -1.83550856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06864 meters 0.027957741012603687 Centerline is valid? [True, True] Translation: X:254.05, Y:-189.63, Z:-16.63 [[ 7.55117357e-01 -6.55221990e-01 -2.19527081e-02 2.54051333e+02] [-6.54790628e-01 -7.55426814e-01 2.40740937e-02 -1.89630480e+02] [-3.23575399e-02 -3.80433847e-03 -9.99469117e-01 -1.66322095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09864 meters 0.028142497862458333 Centerline is valid? [True, True] Translation: X:254.13, Y:-189.45, Z:-18.36 [[ 7.51589480e-01 6.57166381e-01 5.69701767e-02 2.54132621e+02] [-6.55306070e-01 7.53745521e-01 -4.94129989e-02 -1.89445045e+02] [-7.54135772e-02 -1.94612368e-04 9.97152323e-01 -1.83581314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12864 meters 0.027921505252603455 Centerline is valid? [True, True] Translation: X:254.16, Y:-189.47, Z:-18.36 [[ 7.50852851e-01 6.57996858e-01 5.70975589e-02 2.54157452e+02] [-6.56126981e-01 7.53020635e-01 -4.95712465e-02 -1.89466587e+02] [-7.56133645e-02 -2.42537185e-04 9.97137182e-01 -1.83596208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15864 meters 0.028066814697831392 Centerline is valid? [True, True] Translation: X:254.18, Y:-189.49, Z:-18.36 [[ 7.51058630e-01 6.57695559e-01 5.78574567e-02 2.54182802e+02] [-6.55770484e-01 7.53283825e-01 -5.02847070e-02 -1.89487148e+02] [-7.66551148e-02 -1.74449225e-04 9.97057653e-01 -1.83620983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18864 meters 0.02826786161826888 Centerline is valid? [True, True] Translation: X:254.21, Y:-189.51, Z:-18.36 [[ 7.52680391e-01 6.55864769e-01 5.75641697e-02 2.54209792e+02] [-6.53949756e-01 7.54878402e-01 -5.00830802e-02 -1.89507085e+02] [-7.63016763e-02 5.24776487e-05 9.97084776e-01 -1.83643054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21864 meters 0.02810250007896021 Centerline is valid? [True, True] Translation: X:254.23, Y:-189.53, Z:-18.37 [[ 7.53740614e-01 6.54741710e-01 5.64657395e-02 2.54234650e+02] [-6.52892315e-01 7.55852666e-01 -4.91769388e-02 -1.89528260e+02] [-7.48779728e-02 2.00608643e-04 9.97192684e-01 -1.83658789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24864 meters 0.028446494082371633 Centerline is valid? [True, True] Translation: X:254.26, Y:-189.55, Z:-18.37 [[ 7.55709140e-01 6.52506361e-01 5.60280728e-02 2.54259288e+02] [-6.50675956e-01 7.57783111e-01 -4.88421720e-02 -1.89550244e+02] [-7.43269552e-02 4.54355987e-04 9.97233823e-01 -1.83685861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27864 meters 0.028253448242111717 Centerline is valid? [True, True] Translation: X:254.28, Y:-189.57, Z:-18.37 [[ 7.56723738e-01 6.51441576e-01 5.47088463e-02 2.54284446e+02] [-6.49690245e-01 7.58698579e-01 -4.77394084e-02 -1.89571099e+02] [-7.26069594e-02 5.81739779e-04 9.97360462e-01 -1.83693159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30864 meters 0.028339602455316096 Centerline is valid? [True, True] Translation: X:254.31, Y:-189.59, Z:-18.37 [[ 7.57917514e-01 6.50072949e-01 5.44628614e-02 2.54309596e+02] [-6.48330575e-01 7.59871441e-01 -4.75695070e-02 -1.89591790e+02] [-7.23084227e-02 7.43824194e-04 9.97382043e-01 -1.83711781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33864 meters 0.029139259829349326 Centerline is valid? [True, True] Translation: X:254.34, Y:-189.61, Z:-18.37 [[ 7.62122247e-01 6.45143315e-01 5.44038898e-02 2.54335222e+02] [-6.43388720e-01 7.64060565e-01 -4.75647770e-02 -1.89610687e+02] [-7.22539647e-02 1.24732567e-03 9.97385487e-01 -1.83737483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36864 meters 0.029644568740022824 Centerline is valid? [True, True] Translation: X:254.36, Y:-189.63, Z:-18.38 [[ 7.66376805e-01 6.40173488e-01 5.33338290e-02 2.54358901e+02] [-6.38472471e-01 7.68228462e-01 -4.66683418e-02 -1.89632947e+02] [-7.08484006e-02 1.71335308e-03 9.97485623e-01 -1.83764371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39864 meters 0.03017577269948471 Centerline is valid? [True, True] Translation: X:254.38, Y:-189.65, Z:-18.38 [[ 7.68364891e-01 6.37906640e-01 5.18701504e-02 2.54382160e+02] [-6.36290012e-01 7.70111363e-01 -4.54258653e-02 -1.89654571e+02] [-6.89232534e-02 1.89918144e-03 9.97620157e-01 -1.83774603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864000000003 meters 0.03077184205871421 Centerline is valid? [True, True] Translation: X:254.41, Y:-189.68, Z:-18.38 [[ 7.69854212e-01 6.36088115e-01 5.21191161e-02 2.54405133e+02] [-6.34449116e-01 7.71613565e-01 -4.56817809e-02 -1.89676573e+02] [-6.92734549e-02 2.10138433e-03 9.97595496e-01 -1.83805521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45864 meters 0.031085364932907325 Centerline is valid? [True, True] Translation: X:254.43, Y:-189.70, Z:-18.38 [[ 7.71041725e-01 6.34606134e-01 5.26280684e-02 2.54427748e+02] [-6.32928649e-01 7.72832337e-01 -4.61682149e-02 -1.89699354e+02] [-6.99713055e-02 2.28780775e-03 9.97546381e-01 -1.83819813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters 0.03167729726643341 Centerline is valid? [True, True] Translation: X:254.45, Y:-189.73, Z:-18.38 [[ 7.73351154e-01 6.31766016e-01 5.29121330e-02 2.54447730e+02] [-6.30061365e-01 7.75154836e-01 -4.64505875e-02 -1.89725329e+02] [-7.03609984e-02 2.58472466e-03 9.97518245e-01 -1.83836939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51864 meters 0.031609506770834433 Centerline is valid? [True, True] Translation: X:254.47, Y:-189.75, Z:-18.38 [[ 7.74450008e-01 6.30576029e-01 5.10005597e-02 2.54465668e+02] [-6.28988775e-01 7.76123102e-01 -4.47889582e-02 -1.89753844e+02] [-6.78255560e-02 2.60802942e-03 9.97693787e-01 -1.83845721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters 0.03159867138534586 Centerline is valid? [True, True] Translation: X:254.49, Y:-189.78, Z:-18.39 [[ 7.74356412e-01 6.30712565e-01 5.07327064e-02 2.54487002e+02] [-6.29139625e-01 7.76012135e-01 -4.45925812e-02 -1.89779241e+02] [-6.74942971e-02 2.61259528e-03 9.97716239e-01 -1.83861818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57864 meters 0.0315093906054271 Centerline is valid? [True, True] Translation: X:254.51, Y:-189.80, Z:-18.39 [[ 7.74181935e-01 6.30947731e-01 5.04707104e-02 2.54508621e+02] [-6.29388608e-01 7.75820944e-01 -4.44054413e-02 -1.89804042e+02] [-6.71737466e-02 2.61220037e-03 9.97737874e-01 -1.83882075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters 0.03147505849349598 Centerline is valid? [True, True] Translation: X:254.53, Y:-189.83, Z:-18.39 [[ 7.73381635e-01 6.31912012e-01 5.06759875e-02 2.54526889e+02] [-6.30339341e-01 7.75035867e-01 -4.46286946e-02 -1.89832474e+02] [-6.74771161e-02 2.57194425e-03 9.97717507e-01 -1.83922887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63864 meters 0.03127834214814323 Centerline is valid? [True, True] Translation: X:254.55, Y:-189.86, Z:-18.39 [[ 7.72656424e-01 6.32795015e-01 5.07200067e-02 2.54547965e+02] [-6.31218915e-01 7.74315236e-01 -4.47056726e-02 -1.89857364e+02] [-6.75628007e-02 2.52669752e-03 9.97711824e-01 -1.83946669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters 0.030026431353747454 Centerline is valid? [True, True] Translation: X:254.56, Y:-189.89, Z:-18.40 [[ 7.68890585e-01 6.37390105e-01 5.04095504e-02 2.54563206e+02] [-6.35840962e-01 7.70538316e-01 -4.44631926e-02 -1.89887545e+02] [-6.71828891e-02 2.13487317e-03 9.97738393e-01 -1.83960402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69864 meters 0.029399422994787195 Centerline is valid? [True, True] Translation: X:254.58, Y:-189.91, Z:-18.40 [[ 7.66051874e-01 6.40850562e-01 4.97502050e-02 2.54583839e+02] [-6.39348187e-01 7.67663504e-01 -4.38935110e-02 -1.89912748e+02] [-6.63205979e-02 1.81700299e-03 9.97796711e-01 -1.83968460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters 0.028980154920144816 Centerline is valid? [True, True] Translation: X:254.61, Y:-189.94, Z:-18.40 [[ 7.63579913e-01 6.43711610e-01 5.08043304e-02 2.54605230e+02] [-6.42148407e-01 7.65266422e-01 -4.48634279e-02 -1.89936580e+02] [-6.77579576e-02 1.63289257e-03 9.97700452e-01 -1.83989289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75864 meters 0.028069232170773933 Centerline is valid? [True, True] Translation: X:254.63, Y:-189.96, Z:-18.40 [[ 7.58458275e-01 6.49757481e-01 5.05594859e-02 2.54625352e+02] [-6.48220429e-01 7.60140760e-01 -4.46799827e-02 -1.89962015e+02] [-6.74634790e-02 1.11421097e-03 9.97721122e-01 -1.83983625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters 0.02758808783904017 Centerline is valid? [True, True] Translation: X:254.65, Y:-189.99, Z:-18.40 [[ 7.55486268e-01 6.53286102e-01 4.95758741e-02 2.54647610e+02] [-6.51814939e-01 7.57110716e-01 -4.38252121e-02 -1.89985814e+02] [-6.61648275e-02 7.95050607e-04 9.97808390e-01 -1.84000735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81864 meters 0.02718888789974283 Centerline is valid? [True, True] Translation: X:254.67, Y:-190.01, Z:-18.40 [[ 7.49405500e-01 6.60267485e-01 4.93785842e-02 2.54668467e+02] [-6.58820422e-01 7.51030495e-01 -4.36903569e-02 -1.90010353e+02] [-6.59321446e-02 2.10174045e-04 9.97824087e-01 -1.84028335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters 0.027034948950670892 Centerline is valid? [True, True] Translation: X:254.69, Y:-190.03, Z:-18.40 [[ 7.46001219e-01 6.64166235e-01 4.86353179e-02 2.54692516e+02] [-6.62768067e-01 7.47584913e-01 -4.30730430e-02 -1.90032360e+02] [-6.49666907e-02 -1.01393053e-04 9.97887428e-01 -1.84041159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87864 meters 0.02707826826539509 Centerline is valid? [True, True] Translation: X:254.72, Y:-190.05, Z:-18.41 [[ 7.42638332e-01 6.67898720e-01 4.89858028e-02 2.54717328e+02] [-6.66485303e-01 7.44252070e-01 -4.34303619e-02 -1.90053767e+02] [-6.54648682e-02 -3.95266109e-04 9.97854796e-01 -1.84061311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters 0.027431351972264133 Centerline is valid? [True, True] Translation: X:254.74, Y:-190.07, Z:-18.41 [[ 7.36693545e-01 6.74437628e-01 4.91579767e-02 2.54742847e+02] [-6.73025632e-01 7.38331224e-01 -4.36291461e-02 -1.90073063e+02] [-6.57200069e-02 -9.43268071e-04 9.97837658e-01 -1.84078445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93864 meters 0.02779600335662081 Centerline is valid? [True, True] Translation: X:254.77, Y:-190.09, Z:-18.41 [[ 7.34137296e-01 6.77235778e-01 4.89298575e-02 2.54768129e+02] [-6.75840388e-01 7.35765153e-01 -4.34673318e-02 -1.90093312e+02] [-6.54385164e-02 -1.15778439e-03 9.97855932e-01 -1.84108196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters 0.028197985098527893 Centerline is valid? [True, True] Translation: X:254.80, Y:-190.11, Z:-18.41 [[ 7.31091558e-01 6.80492491e-01 4.93467679e-02 2.54796018e+02] [-6.79077820e-01 7.32753658e-01 -4.38792805e-02 -1.90110083e+02] [-6.60185456e-02 -1.43052401e-03 9.97817371e-01 -1.84120253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99864 meters 0.02807302955175975 Centerline is valid? [True, True] Translation: X:254.82, Y:-190.13, Z:-18.41 [[ 7.30343237e-01 6.81426260e-01 4.75079828e-02 2.54823236e+02] [-6.80114627e-01 7.31885379e-01 -4.22834055e-02 -1.90128571e+02] [-6.35834209e-02 -1.42947480e-03 9.97975503e-01 -1.84130044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters 0.02807302955175975 Centerline is valid? [True, True] Translation: X:254.85, Y:-190.15, Z:-18.41 [[ 7.29982450e-01 6.81814301e-01 4.74855939e-02 2.54847710e+02] [-6.80501854e-01 7.31523899e-01 -4.23085363e-02 -1.90149954e+02] [-6.35834119e-02 -1.42954569e-03 9.97975504e-01 -1.84147354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05864 meters 0.02804629595421965 Centerline is valid? [True, True] Translation: X:254.88, Y:-190.17, Z:-18.42 [[ 7.30950103e-01 6.80820624e-01 4.68532380e-02 2.54877062e+02] [-6.79538171e-01 7.32449047e-01 -4.17883767e-02 -1.90165731e+02] [-6.27679982e-02 -1.29334540e-03 9.98027307e-01 -1.84166347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08864 meters 0.027725935928832404 Centerline is valid? [True, True] Translation: X:254.90, Y:-190.18, Z:-18.42 [[ 7.32836531e-01 6.78776953e-01 4.70368715e-02 2.54903884e+02] [-6.77477717e-01 7.34343688e-01 -4.19915512e-02 -1.90184246e+02] [-6.30441269e-02 -1.09348964e-03 9.98010141e-01 -1.84195880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11864 meters 0.02749910032265783 Centerline is valid? [True, True] Translation: X:254.93, Y:-190.20, Z:-18.42 [[ 7.34797977e-01 6.76691183e-01 4.64863076e-02 2.54930186e+02] [-6.75415611e-01 7.36266445e-01 -4.15388341e-02 -1.90202499e+02] [-6.23352712e-02 -8.74926581e-04 9.98054883e-01 -1.84203140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14864 meters 0.027221856581610856 Centerline is valid? [True, True] Translation: X:254.96, Y:-190.22, Z:-18.42 [[ 7.38679970e-01 6.72416862e-01 4.69836778e-02 2.54958930e+02] [-6.71102599e-01 7.40172497e-01 -4.20235336e-02 -1.90218382e+02] [-6.30333587e-02 -4.88925762e-04 9.98011301e-01 -1.84223845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17864000000003 meters 0.027473494337193243 Centerline is valid? [True, True] Translation: X:254.99, Y:-190.24, Z:-18.42 [[ 7.40110614e-01 6.70838898e-01 4.70260798e-02 2.54985655e+02] [-6.69516477e-01 7.41603040e-01 -4.21024806e-02 -1.90237689e+02] [-6.31186654e-02 -3.24242531e-04 9.98005976e-01 -1.84245831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20864 meters 0.027394348257591662 Centerline is valid? [True, True] Translation: X:255.01, Y:-190.26, Z:-18.43 [[ 7.42799741e-01 6.67901148e-01 4.64392139e-02 2.55012974e+02] [-6.66603003e-01 7.44249995e-01 -4.16218959e-02 -1.90255961e+02] [-6.23616968e-02 -3.97859255e-05 9.98053614e-01 -1.84262211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23864 meters 0.027282118756119262 Centerline is valid? [True, True] Translation: X:255.04, Y:-190.28, Z:-18.43 [[ 7.44180806e-01 6.66376670e-01 4.62283687e-02 2.55038566e+02] [-6.65084553e-01 7.45615262e-01 -4.14779230e-02 -1.90276208e+02] [-6.21084974e-02 1.21300260e-04 9.98069396e-01 -1.84282482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26864 meters 0.02772059167178902 Centerline is valid? [True, True] Translation: X:255.07, Y:-190.29, Z:-18.43 [[ 7.47297620e-01 6.62878639e-01 4.62404294e-02 2.55066091e+02] [-6.61576393e-01 7.48726727e-01 -4.15326978e-02 -1.90294154e+02] [-6.21525836e-02 4.45709777e-04 9.98066560e-01 -1.84309381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29864 meters 0.027709681454410356 Centerline is valid? [True, True] Translation: X:255.09, Y:-190.31, Z:-18.43 [[ 7.47415704e-01 6.62750857e-01 4.61634808e-02 2.55092149e+02] [-6.61450252e-01 7.48839814e-01 -4.15029785e-02 -1.90314316e+02] [-6.20751869e-02 4.85131901e-04 9.98071358e-01 -1.84318869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32864 meters 0.027783104358720615 Centerline is valid? [True, True] Translation: X:255.12, Y:-190.33, Z:-18.43 [[ 7.47599417e-01 6.62468086e-01 4.72350100e-02 2.55118735e+02] [-6.61102884e-01 7.49089933e-01 -4.25117555e-02 -1.90333749e+02] [-6.35459518e-02 5.54562293e-04 9.97978760e-01 -1.84316663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35864 meters 0.027705406546211588 Centerline is valid? [True, True] Translation: X:255.14, Y:-190.35, Z:-18.43 [[ 7.47503864e-01 6.62542631e-01 4.76994250e-02 2.55144534e+02] [-6.61147667e-01 7.49023976e-01 -4.29749427e-02 -1.90354429e+02] [-6.42007446e-02 5.87572214e-04 9.97936831e-01 -1.84325028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38864 meters 0.02763629384280146 Centerline is valid? [True, True] Translation: X:255.17, Y:-190.38, Z:-18.44 [[ 7.46736616e-01 6.63441357e-01 4.72228024e-02 2.55169830e+02] [-6.62073140e-01 7.48228091e-01 -4.25896761e-02 -1.90375688e+02] [-6.35891798e-02 5.38321525e-04 9.97976015e-01 -1.84352995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41864 meters 0.027483142239619143 Centerline is valid? [True, True] Translation: X:255.20, Y:-190.40, Z:-18.44 [[ 7.46892932e-01 6.63318861e-01 4.64654450e-02 2.55195442e+02] [-6.61991278e-01 7.48336663e-01 -4.19498055e-02 -1.90396698e+02] [-6.25978932e-02 5.72293919e-04 9.98038665e-01 -1.84370141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44864 meters 0.02740598702255011 Centerline is valid? [True, True] Translation: X:255.22, Y:-190.42, Z:-18.44 [[ 7.46627689e-01 6.63623511e-01 4.63781202e-02 2.55220889e+02] [-6.62298777e-01 7.48066508e-01 -4.19145477e-02 -1.90417924e+02] [-6.25093978e-02 5.78389606e-04 9.98044208e-01 -1.84388112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47864 meters 0.02755486421508746 Centerline is valid? [True, True] Translation: X:255.25, Y:-190.44, Z:-18.44 [[ 7.48028752e-01 6.62030286e-01 4.65713073e-02 2.55246854e+02] [-6.60688668e-01 7.49476712e-01 -4.21324353e-02 -1.90437897e+02] [-6.27970585e-02 7.47138009e-04 9.98026037e-01 -1.84399633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50864 meters 0.027634806491079536 Centerline is valid? [True, True] Translation: X:255.27, Y:-190.46, Z:-18.44 [[ 7.47941314e-01 6.62085387e-01 4.71882610e-02 2.55271885e+02] [-6.60705498e-01 7.49428001e-01 -4.27307449e-02 -1.90459312e+02] [-6.36556058e-02 7.82545996e-04 9.97971619e-01 -1.84417163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53864 meters 0.0277133486899666 Centerline is valid? [True, True] Translation: X:255.30, Y:-190.48, Z:-18.44 [[ 7.48050757e-01 6.61966707e-01 4.71184037e-02 2.55296334e+02] [-6.60587875e-01 7.49532787e-01 -4.27113603e-02 -1.90481086e+02] [-6.35902869e-02 8.24419215e-04 9.97975749e-01 -1.84430436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56864 meters 0.027778156425407232 Centerline is valid? [True, True] Translation: X:255.32, Y:-190.50, Z:-18.45 [[ 7.47738231e-01 6.62113391e-01 4.99339060e-02 2.55319239e+02] [-6.60562031e-01 7.49403135e-01 -4.53072162e-02 -1.90502828e+02] [-6.74191403e-02 8.93495280e-04 9.97724341e-01 -1.84469428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59864 meters 0.02799717682807575 Centerline is valid? [True, True] Translation: X:255.34, Y:-190.53, Z:-18.45 [[ 7.48182854e-01 6.61608956e-01 4.99600590e-02 2.55343387e+02] [-6.60052990e-01 7.49848430e-01 -4.53583712e-02 -1.90525291e+02] [-6.74719764e-02 9.60069271e-04 9.97720708e-01 -1.84479224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62864 meters 0.02772319169467804 Centerline is valid? [True, True] Translation: X:255.37, Y:-190.55, Z:-18.45 [[ 7.48142884e-01 6.61794904e-01 4.80596523e-02 2.55365248e+02] [-6.60352813e-01 7.49684349e-01 -4.36753881e-02 -1.90548733e+02] [-6.49337185e-02 9.39104234e-04 9.97889137e-01 -1.84493892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65864 meters 0.02766743993982168 Centerline is valid? [True, True] Translation: X:255.39, Y:-190.57, Z:-18.45 [[ 7.47949764e-01 6.62112518e-01 4.66708009e-02 2.55388867e+02] [-6.60750933e-01 7.49403883e-01 -4.24502607e-02 -1.90571291e+02] [-6.30821285e-02 9.12887250e-04 9.98007922e-01 -1.84505869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68864 meters 0.027296211500194723 Centerline is valid? [True, True] Translation: X:255.41, Y:-190.59, Z:-18.45 [[ 7.47160532e-01 6.63195021e-01 4.38577591e-02 2.55410601e+02] [-6.61992615e-01 7.48446209e-01 -3.99255458e-02 -1.90594626e+02] [-5.93035967e-02 7.97279433e-04 9.98239675e-01 -1.84512028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71864 meters 0.027217626902543215 Centerline is valid? [True, True] Translation: X:255.43, Y:-190.62, Z:-18.45 [[ 7.46082951e-01 6.64403095e-01 4.39176283e-02 2.55433423e+02] [-6.63197316e-01 7.47374066e-01 -4.00165619e-02 -1.90618008e+02] [-5.94100241e-02 7.29621369e-04 9.98233398e-01 -1.84530100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74864 meters 0.026971708575233726 Centerline is valid? [True, True] Translation: X:255.46, Y:-190.64, Z:-18.45 [[ 7.45021881e-01 6.65686354e-01 4.24743962e-02 2.55455547e+02] [-6.64558450e-01 7.46231381e-01 -3.87400597e-02 -1.90640991e+02] [-5.74844564e-02 6.35473237e-04 9.98346199e-01 -1.84543877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77864 meters 0.02684586543136059 Centerline is valid? [True, True] Translation: X:255.48, Y:-190.67, Z:-18.46 [[ 7.43020763e-01 6.67817826e-01 4.40397181e-02 2.55477461e+02] [-6.66606615e-01 7.44324582e-01 -4.02061867e-02 -1.90665856e+02] [-5.96302530e-02 5.16864105e-04 9.98220399e-01 -1.84554430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80864 meters 0.02681197390075876 Centerline is valid? [True, True] Translation: X:255.50, Y:-190.69, Z:-18.46 [[ 7.41277517e-01 6.69753505e-01 4.40214271e-02 2.55501673e+02] [-6.68544186e-01 7.42583389e-01 -4.02316168e-02 -1.90688248e+02] [-5.96348468e-02 3.92523893e-04 9.98220182e-01 -1.84561594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83864 meters 0.02687444988815546 Centerline is valid? [True, True] Translation: X:255.53, Y:-190.71, Z:-18.46 [[ 7.37888566e-01 6.73363773e-01 4.58442303e-02 2.55525961e+02] [-6.72056208e-01 7.39311308e-01 -4.19433313e-02 -1.90710994e+02] [-6.21362776e-02 1.39604959e-04 9.98067665e-01 -1.84579690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86864 meters 0.026926284890602194 Centerline is valid? [True, True] Translation: X:255.55, Y:-190.73, Z:-18.46 [[ 7.36714284e-01 6.74585091e-01 4.67655752e-02 2.55549625e+02] [-6.73223887e-01 7.38197095e-01 -4.28327842e-02 -1.90733301e+02] [-6.34165694e-02 7.18216975e-05 9.97987141e-01 -1.84598585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89864 meters 0.027036997715416063 Centerline is valid? [True, True] Translation: X:255.57, Y:-190.76, Z:-18.46 [[ 7.35698051e-01 6.75679071e-01 4.69698990e-02 2.55573285e+02] [-6.74305230e-01 7.37195899e-01 -4.30658084e-02 -1.90756794e+02] [-6.37246823e-02 1.13827960e-05 9.97967517e-01 -1.84597301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864000000003 meters 0.027055054777384485 Centerline is valid? [True, True] Translation: X:255.60, Y:-190.78, Z:-18.46 [[ 7.35207854e-01 6.76212051e-01 4.69752476e-02 2.55598444e+02] [-6.74836044e-01 7.36707039e-01 -4.31167297e-02 -1.90778668e+02] [-6.37630478e-02 -8.31974996e-07 9.97965066e-01 -1.84620429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95864 meters 0.027137007852540845 Centerline is valid? [True, True] Translation: X:255.62, Y:-190.80, Z:-18.46 [[ 7.34965892e-01 6.76504999e-01 4.65416392e-02 2.55623694e+02] [-6.75152017e-01 7.36438040e-01 -4.27640858e-02 -1.90800378e+02] [-6.32051513e-02 7.46283929e-06 9.98000556e-01 -1.84641127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters 0.027308626385371418 Centerline is valid? [True, True] Translation: X:255.65, Y:-190.82, Z:-18.47 [[ 7.36489391e-01 6.74918065e-01 4.54860605e-02 2.55647837e+02] [-6.73620057e-01 7.37892658e-01 -4.18383033e-02 -1.90823361e+02] [-6.18012568e-02 1.73143910e-04 9.98088460e-01 -1.84664811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01864 meters 0.027380431286381925 Centerline is valid? [True, True] Translation: X:255.67, Y:-190.85, Z:-18.47 [[ 7.37419286e-01 6.73877744e-01 4.58430267e-02 2.55671529e+02] [-6.72554431e-01 7.38842811e-01 -4.22118191e-02 -1.90846638e+02] [-6.23163961e-02 2.95878712e-04 9.98056401e-01 -1.84682606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters 0.027796261578263717 Centerline is valid? [True, True] Translation: X:255.69, Y:-190.87, Z:-18.47 [[ 7.39968247e-01 6.71025548e-01 4.66015908e-02 2.55694207e+02] [-6.69649504e-01 7.41434002e-01 -4.29553590e-02 -1.90869182e+02] [-6.33761473e-02 5.78869541e-04 9.97989543e-01 -1.84694588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07864 meters 0.027846786627997975 Centerline is valid? [True, True] Translation: X:255.72, Y:-190.89, Z:-18.47 [[ 7.39755738e-01 6.71220681e-01 4.71619037e-02 2.55718340e+02] [-6.69809054e-01 7.41257335e-01 -4.35131419e-02 -1.90892357e+02] [-6.41660278e-02 5.99626267e-04 9.97939057e-01 -1.84708585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters 0.028041199900065157 Centerline is valid? [True, True] Translation: X:255.74, Y:-190.92, Z:-18.47 [[ 7.39694129e-01 6.71307581e-01 4.68905882e-02 2.55742153e+02] [-6.69909451e-01 7.41178618e-01 -4.33080077e-02 -1.90915550e+02] [-6.38272953e-02 6.22230846e-04 9.97960765e-01 -1.84723716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13864 meters 0.02821205041725891 Centerline is valid? [True, True] Translation: X:255.77, Y:-190.94, Z:-18.47 [[ 7.39274561e-01 6.71680409e-01 4.81513526e-02 2.55765396e+02] [-6.70203659e-01 7.40840750e-01 -4.45200804e-02 -1.90939308e+02] [-6.55757500e-02 6.41350162e-04 9.97847388e-01 -1.84733868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters 0.028037709073242333 Centerline is valid? [True, True] Translation: X:255.79, Y:-190.96, Z:-18.47 [[ 7.38327243e-01 6.72703733e-01 4.84001012e-02 2.55789797e+02] [-6.71210768e-01 7.39911712e-01 -4.47969124e-02 -1.90962064e+02] [-6.59468520e-02 5.88111785e-04 9.97822964e-01 -1.84745128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19864 meters 0.028150203103912707 Centerline is valid? [True, True] Translation: X:255.81, Y:-190.99, Z:-18.48 [[ 7.37678629e-01 6.73460898e-01 4.77562627e-02 2.55814106e+02] [-6.72006038e-01 7.39222646e-01 -4.42466377e-02 -1.90985107e+02] [-6.51008912e-02 5.47302077e-04 9.97878537e-01 -1.84758056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters 0.028015331169904914 Centerline is valid? [True, True] Translation: X:255.84, Y:-191.01, Z:-18.48 [[ 7.37398026e-01 6.73833859e-01 4.68196679e-02 2.55837274e+02] [-6.72433451e-01 7.38882698e-01 -4.34236414e-02 -1.91008321e+02] [-6.38545624e-02 5.37396624e-04 9.97959070e-01 -1.84767018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25864 meters 0.028139889823771105 Centerline is valid? [True, True] Translation: X:255.86, Y:-191.03, Z:-18.48 [[ 7.36953696e-01 6.74228420e-01 4.81174327e-02 2.55860262e+02] [-6.72746894e-01 7.38522669e-01 -4.46753226e-02 -1.91032256e+02] [-6.56571870e-02 5.52790779e-04 9.97842086e-01 -1.84788607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters 0.028159610353678168 Centerline is valid? [True, True] Translation: X:255.88, Y:-191.06, Z:-18.48 [[ 7.37447714e-01 6.73686536e-01 4.81385559e-02 2.55883139e+02] [-6.72199466e-01 7.39016946e-01 -4.47418262e-02 -1.91056261e+02] [-6.57171745e-02 6.36045838e-04 9.97838087e-01 -1.84778421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31864 meters 0.028231436905174642 Centerline is valid? [True, True] Translation: X:255.91, Y:-191.08, Z:-18.48 [[ 7.36985586e-01 6.74230608e-01 4.75955217e-02 2.55905827e+02] [-6.72775096e-01 7.38520623e-01 -4.42827270e-02 -1.91080863e+02] [-6.50070442e-02 6.14649836e-04 9.97884616e-01 -1.84792790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters 0.02833835691857599 Centerline is valid? [True, True] Translation: X:255.93, Y:-191.10, Z:-18.48 [[ 7.37042563e-01 6.74146349e-01 4.79057410e-02 2.55929001e+02] [-6.72668535e-01 7.38597498e-01 -4.46181392e-02 -1.91103797e+02] [-6.54622161e-02 6.60783139e-04 9.97854830e-01 -1.84813524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37864 meters 0.028328372825248575 Centerline is valid? [True, True] Translation: X:255.95, Y:-191.13, Z:-18.48 [[ 7.36183657e-01 6.75129760e-01 4.72591828e-02 2.55951430e+02] [-6.73690749e-01 7.37698752e-01 -4.40604839e-02 -1.91126897e+02] [-6.46095841e-02 5.98533921e-04 9.97910439e-01 -1.84818860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters 0.028211011893352796 Centerline is valid? [True, True] Translation: X:255.97, Y:-191.15, Z:-18.48 [[ 7.34188640e-01 6.77214559e-01 4.84508198e-02 2.55974254e+02] [-6.75703642e-01 7.35785452e-01 -4.52145718e-02 -1.91150271e+02] [-6.62693746e-02 4.57629637e-04 9.97801664e-01 -1.84822685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43864 meters 0.028033029354942004 Centerline is valid? [True, True] Translation: X:256.00, Y:-191.17, Z:-18.48 [[ 7.32189121e-01 6.79296358e-01 4.95535043e-02 2.55997744e+02] [-6.77717202e-01 7.33863993e-01 -4.62929159e-02 -1.91173411e+02] [-6.78121418e-02 3.11907148e-04 9.97698059e-01 -1.84832179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters 0.027820535156826955 Centerline is valid? [True, True] Translation: X:256.02, Y:-191.20, Z:-18.48 [[ 7.28496224e-01 6.83318460e-01 4.86737416e-02 2.56020118e+02] [-6.81800778e-01 7.30120456e-01 -4.55172343e-02 -1.91197052e+02] [-6.66404609e-02 -2.66615365e-05 9.97777053e-01 -1.84832894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49864 meters 0.028062866564997943 Centerline is valid? [True, True] Translation: X:256.04, Y:-191.22, Z:-18.48 [[ 7.26596233e-01 6.85370294e-01 4.82231685e-02 2.56044287e+02] [-6.83882265e-01 7.28194704e-01 -4.51389043e-02 -1.91219460e+02] [-6.60527200e-02 -1.81211870e-04 9.97816118e-01 -1.84839404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52864 meters 0.027897237555778148 Centerline is valid? [True, True] Translation: X:256.07, Y:-191.24, Z:-18.48 [[ 7.25352691e-01 6.86686769e-01 4.82157171e-02 2.56069382e+02] [-6.85198939e-01 7.26953376e-01 -4.51796676e-02 -1.91240285e+02] [-6.60748583e-02 -2.66164694e-04 9.97814633e-01 -1.84845509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55864 meters 0.028124027469419166 Centerline is valid? [True, True] Translation: X:256.10, Y:-191.26, Z:-18.49 [[ 7.24325662e-01 6.87695650e-01 4.92648766e-02 2.56095640e+02] [-6.86141364e-01 7.25999025e-01 -4.62108687e-02 -1.91260178e+02] [-6.75452658e-02 -3.30951619e-04 9.97716156e-01 -1.84861212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58864 meters 0.028232773442322667 Centerline is valid? [True, True] Translation: X:256.12, Y:-191.28, Z:-18.49 [[ 7.24825616e-01 6.87143709e-01 4.96119934e-02 2.56120542e+02] [-6.85562692e-01 7.26521482e-01 -4.65868153e-02 -1.91282152e+02] [-6.80560160e-02 -2.44814662e-04 9.97681472e-01 -1.84875621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61864 meters 0.028285971582194182 Centerline is valid? [True, True] Translation: X:256.15, Y:-191.30, Z:-18.49 [[ 7.28542354e-01 6.83240477e-01 4.90763629e-02 2.56145309e+02] [-6.81681267e-01 7.30193418e-01 -4.61326724e-02 -1.91304299e+02] [-6.73549462e-02 1.55168518e-04 9.97729065e-01 -1.84889721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64864 meters 0.02836540762118138 Centerline is valid? [True, True] Translation: X:256.17, Y:-191.33, Z:-18.49 [[ 7.30988950e-01 6.80707239e-01 4.78832923e-02 2.56169804e+02] [-6.79214456e-01 7.32555447e-01 -4.50581830e-02 -1.91326258e+02] [-6.57485979e-02 4.14009556e-04 9.97836134e-01 -1.84900521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67864000000003 meters 0.02857873703527746 Centerline is valid? [True, True] Translation: X:256.19, Y:-191.35, Z:-18.49 [[ 7.36098223e-01 6.75358679e-01 4.52776072e-02 2.56192985e+02] [-6.74011296e-01 7.37488907e-01 -4.26483896e-02 -1.91348667e+02] [-6.21946931e-02 8.75785108e-04 9.98063652e-01 -1.84923454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70864 meters 0.02860980591520775 Centerline is valid? [True, True] Translation: X:256.22, Y:-191.37, Z:-18.49 [[ 7.37791873e-01 6.73604257e-01 4.38230151e-02 2.56215871e+02] [-6.72336834e-01 7.39091516e-01 -4.13148089e-02 -1.91371080e+02] [-6.02190498e-02 1.01790309e-03 9.98184667e-01 -1.84937307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73864 meters 0.028886118835172118 Centerline is valid? [True, True] Translation: X:256.24, Y:-191.39, Z:-18.50 [[ 7.38328861e-01 6.73064108e-01 4.30720380e-02 2.56238500e+02] [-6.71836682e-01 7.39583369e-01 -4.06437377e-02 -1.91394453e+02] [-5.92112040e-02 1.07106947e-03 9.98244903e-01 -1.84960811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76864 meters 0.028783235058279098 Centerline is valid? [True, True] Translation: X:256.26, Y:-191.42, Z:-18.50 [[ 7.38048128e-01 6.73422444e-01 4.22749778e-02 2.56261654e+02] [-6.72238285e-01 7.39257130e-01 -3.99322497e-02 -1.91418789e+02] [-5.81433519e-02 1.05306353e-03 9.98307689e-01 -1.84961121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79864 meters 0.028692657512916324 Centerline is valid? [True, True] Translation: X:256.28, Y:-191.44, Z:-18.50 [[ 7.36735198e-01 6.74808863e-01 4.30609643e-02 2.56284528e+02] [-6.73580085e-01 7.37991879e-01 -4.07167658e-02 -1.91441160e+02] [-5.92546764e-02 9.92466552e-04 9.98242405e-01 -1.84976983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82864 meters 0.028482058030491565 Centerline is valid? [True, True] Translation: X:256.31, Y:-191.46, Z:-18.50 [[ 7.32812915e-01 6.78973868e-01 4.44940270e-02 2.56307199e+02] [-6.77667091e-01 7.34162098e-01 -4.21108923e-02 -1.91464489e+02] [-6.12580237e-02 7.07267823e-04 9.98121713e-01 -1.84984365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85864 meters 0.028293695693040823 Centerline is valid? [True, True] Translation: X:256.33, Y:-191.49, Z:-18.50 [[ 7.30885067e-01 6.80880570e-01 4.69964856e-02 2.56330890e+02] [-6.79423608e-01 7.32394209e-01 -4.45228437e-02 -1.91487952e+02] [-6.47346931e-02 6.10559723e-04 9.97902323e-01 -1.85001695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88864 meters 0.028293695693040823 Centerline is valid? [True, True] Translation: X:256.35, Y:-191.51, Z:-18.50 [[ 7.30530197e-01 6.81262912e-01 4.69731388e-02 2.56354695e+02] [-6.79805158e-01 7.32038572e-01 -4.45474642e-02 -1.91510069e+02] [-6.47346846e-02 6.10685766e-04 9.97902324e-01 -1.85019001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91864 meters 0.028300952933955976 Centerline is valid? [True, True] Translation: X:256.38, Y:-191.53, Z:-18.50 [[ 7.28748801e-01 6.83169354e-01 4.69554966e-02 2.56377836e+02] [-6.81713683e-01 7.30259823e-01 -4.45762958e-02 -1.91532888e+02] [-6.47428719e-02 4.74717639e-04 9.97901867e-01 -1.85016781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94864 meters 0.028327597864200076 Centerline is valid? [True, True] Translation: X:256.40, Y:-191.55, Z:-18.50 [[ 7.27369918e-01 6.84612776e-01 4.73112013e-02 2.56402703e+02] [-6.83135205e-01 7.28906855e-01 -4.49565252e-02 -1.91554510e+02] [-6.52632705e-02 3.80076882e-04 9.97868008e-01 -1.85028582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97864 meters 0.028102757593137608 Centerline is valid? [True, True] Translation: X:256.43, Y:-191.58, Z:-18.50 [[ 7.26233628e-01 6.85857661e-01 4.67331395e-02 2.56427581e+02] [-6.84415866e-01 7.27735653e-01 -4.44493095e-02 -1.91575703e+02] [-6.44952712e-02 2.95681154e-04 9.97917969e-01 -1.85046446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00864 meters 0.028059219081293676 Centerline is valid? [True, True] Translation: X:256.45, Y:-191.59, Z:-18.51 [[ 7.23629926e-01 6.88619845e-01 4.65020475e-02 2.56454656e+02] [-6.87196260e-01 7.25122545e-01 -4.42560278e-02 -1.91594503e+02] [-6.41952620e-02 6.89530029e-05 9.97937355e-01 -1.85059564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03864 meters 0.027924937302796375 Centerline is valid? [True, True] Translation: X:256.48, Y:-191.62, Z:-18.51 [[ 7.22359602e-01 6.90030475e-01 4.53271429e-02 2.56480558e+02] [-6.88677935e-01 7.23780315e-01 -4.31828449e-02 -1.91615392e+02] [-6.26043727e-02 -2.22605797e-05 9.98038422e-01 -1.85074794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06864 meters 0.02791841917615432 Centerline is valid? [True, True] Translation: X:256.51, Y:-191.64, Z:-18.51 [[ 7.21223306e-01 6.91247534e-01 4.48752679e-02 2.56506324e+02] [-6.89921382e-01 7.22618044e-01 -4.27977652e-02 -1.91636175e+02] [-6.20115279e-02 -9.36611869e-05 9.98075429e-01 -1.85087739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09864 meters 0.02776155816068955 Centerline is valid? [True, True] Translation: X:256.53, Y:-191.66, Z:-18.51 [[ 7.19196936e-01 6.93429880e-01 4.37123567e-02 2.56532395e+02] [-6.92172986e-01 7.20524075e-01 -4.17326456e-02 -1.91656644e+02] [-6.04344688e-02 -2.42521622e-04 9.98172138e-01 -1.85092259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12864 meters 0.027623783741073927 Centerline is valid? [True, True] Translation: X:256.56, Y:-191.68, Z:-18.51 [[ 7.15749065e-01 6.96895150e-01 4.51710633e-02 2.56558359e+02] [-6.95556837e-01 7.17172839e-01 -4.31718261e-02 -1.91675410e+02] [-6.24816959e-02 -5.18847710e-04 9.98045975e-01 -1.85104761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15864 meters 0.027784463808699436 Centerline is valid? [True, True] Translation: X:256.58, Y:-191.70, Z:-18.51 [[ 7.13125153e-01 6.99529690e-01 4.59426727e-02 2.56583642e+02] [-6.98148001e-01 7.14603161e-01 -4.39510080e-02 -1.91695603e+02] [-6.35758141e-02 -7.32215852e-04 9.97976743e-01 -1.85109710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18864 meters 0.02774608254423967 Centerline is valid? [True, True] Translation: X:256.61, Y:-191.72, Z:-18.51 [[ 7.10920962e-01 7.01717257e-01 4.67362568e-02 2.56608206e+02] [-7.00289331e-01 7.12454951e-01 -4.47526061e-02 -1.91716784e+02] [-6.47011536e-02 -9.13336174e-04 9.97904267e-01 -1.85126995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21864 meters 0.027727299429941676 Centerline is valid? [True, True] Translation: X:256.63, Y:-191.74, Z:-18.51 [[ 7.09026128e-01 7.03658530e-01 4.63316684e-02 2.56632265e+02] [-7.02256729e-01 7.10537521e-01 -4.44062963e-02 -1.91738414e+02] [-6.41672579e-02 -1.05150151e-03 9.97938604e-01 -1.85141687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24864 meters 0.02776346556317727 Centerline is valid? [True, True] Translation: X:256.66, Y:-191.76, Z:-18.52 [[ 7.05795837e-01 7.06910458e-01 4.61501975e-02 2.56658070e+02] [-7.05523889e-01 7.07301833e-01 -4.42736865e-02 -1.91758579e+02] [-6.39396513e-02 -1.31188324e-03 9.97952905e-01 -1.85154342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27864 meters 0.02764573995530898 Centerline is valid? [True, True] Translation: X:256.69, Y:-191.78, Z:-18.52 [[ 7.03510562e-01 7.09153849e-01 4.66230311e-02 2.56685238e+02] [-7.07740879e-01 7.05052171e-01 -4.47692372e-02 -1.91777158e+02] [-6.46199462e-02 -1.50139382e-03 9.97908818e-01 -1.85166864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30864 meters 0.02805019298833427 Centerline is valid? [True, True] Translation: X:256.71, Y:-191.80, Z:-18.52 [[ 7.01674870e-01 7.10930659e-01 4.72226105e-02 2.56709029e+02] [-7.09482274e-01 7.03260162e-01 -4.53877462e-02 -1.91799066e+02] [-6.54773210e-02 -1.65616415e-03 9.97852683e-01 -1.85189477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33864 meters 0.02802423893941887 Centerline is valid? [True, True] Translation: X:256.73, Y:-191.82, Z:-18.52 [[ 7.00811703e-01 7.11791531e-01 4.70720042e-02 2.56733204e+02] [-7.10351484e-01 7.02388728e-01 -4.52862518e-02 -1.91821670e+02] [-6.52972156e-02 -1.70053279e-03 9.97864411e-01 -1.85201870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36864 meters 0.0283741554096964 Centerline is valid? [True, True] Translation: X:256.76, Y:-191.84, Z:-18.52 [[ 6.98714093e-01 7.13807527e-01 4.77224359e-02 2.56758062e+02] [-7.12328869e-01 7.00339400e-01 -4.59598463e-02 -1.91842539e+02] [-6.62283863e-02 -1.88127646e-03 9.97802717e-01 -1.85219142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39864 meters 0.028223914383152547 Centerline is valid? [True, True] Translation: X:256.78, Y:-191.86, Z:-18.52 [[ 6.97992750e-01 7.14525524e-01 4.75331036e-02 2.56783666e+02] [-7.13057384e-01 6.99606762e-01 -4.58207879e-02 -1.91863991e+02] [-6.59946032e-02 -1.91125276e-03 9.97818150e-01 -1.85231108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864000000003 meters 0.02823365142181679 Centerline is valid? [True, True] Translation: X:256.81, Y:-191.89, Z:-18.52 [[ 6.97986283e-01 7.14547192e-01 4.73017835e-02 2.56808686e+02] [-7.13090212e-01 6.99584743e-01 -4.56457847e-02 -1.91885093e+02] [-6.57076734e-02 -1.87030718e-03 9.97837163e-01 -1.85247366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45864 meters 0.02812396807308503 Centerline is valid? [True, True] Translation: X:256.83, Y:-191.91, Z:-18.53 [[ 6.98047166e-01 7.14474531e-01 4.75005000e-02 2.56832576e+02] [-7.13001883e-01 6.99659037e-01 -4.58862352e-02 -1.91907901e+02] [-6.60187005e-02 -1.83718943e-03 9.97816695e-01 -1.85256536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters 0.02798695870686719 Centerline is valid? [True, True] Translation: X:256.86, Y:-191.93, Z:-18.53 [[ 6.97835605e-01 7.14673102e-01 4.76216909e-02 2.56856664e+02] [-7.13190144e-01 6.99456232e-01 -4.60521283e-02 -1.91929807e+02] [-6.62215059e-02 -1.82650581e-03 9.97803275e-01 -1.85270767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51864 meters 0.027640660650837638 Centerline is valid? [True, True] Translation: X:256.88, Y:-191.95, Z:-18.53 [[ 6.98536088e-01 7.13950253e-01 4.81909730e-02 2.56881198e+02] [-7.12426616e-01 7.00194252e-01 -4.66511108e-02 -1.91951167e+02] [-6.70496147e-02 -1.74504744e-03 9.97748117e-01 -1.85280932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters 0.02767191122161291 Centerline is valid? [True, True] Translation: X:256.90, Y:-191.97, Z:-18.53 [[ 6.99147691e-01 7.13324921e-01 4.85804843e-02 2.56904457e+02] [-7.11772045e-01 7.00831489e-01 -4.70720748e-02 -1.91973273e+02] [-6.76244171e-02 -1.66789822e-03 9.97709455e-01 -1.85304613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57864 meters 0.02747008589998592 Centerline is valid? [True, True] Translation: X:256.93, Y:-192.00, Z:-18.53 [[ 7.00962016e-01 7.11531231e-01 4.87397119e-02 2.56926745e+02] [-7.09960810e-01 7.02652938e-01 -4.72704727e-02 -1.91995942e+02] [-6.78815194e-02 -1.46847946e-03 9.97692309e-01 -1.85325037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters 0.027499396984242336 Centerline is valid? [True, True] Translation: X:256.95, Y:-192.02, Z:-18.53 [[ 7.00780041e-01 7.11706729e-01 4.87941115e-02 2.56950517e+02] [-7.10130125e-01 7.02475205e-01 -4.73686793e-02 -1.92019212e+02] [-6.79892613e-02 -1.45514341e-03 9.97684992e-01 -1.85332543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63864 meters 0.02729177671604039 Centerline is valid? [True, True] Translation: X:256.97, Y:-192.04, Z:-18.53 [[ 7.01225968e-01 7.11242052e-01 4.91618372e-02 2.56974665e+02] [-7.09636902e-01 7.02945821e-01 -4.77769807e-02 -1.92041081e+02] [-6.85391058e-02 -1.38459429e-03 9.97647470e-01 -1.85348505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters 0.027241795681873484 Centerline is valid? [True, True] Translation: X:257.00, Y:-192.06, Z:-18.54 [[ 7.02397447e-01 7.10166789e-01 4.79683012e-02 2.56997786e+02] [-7.08633023e-01 7.04032426e-01 -4.66645704e-02 -1.92063179e+02] [-6.69108675e-02 -1.21484717e-03 9.97758217e-01 -1.85364307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69864 meters 0.026879359536971893 Centerline is valid? [True, True] Translation: X:257.02, Y:-192.09, Z:-18.54 [[ 7.05366671e-01 7.07233750e-01 4.77313606e-02 2.57020453e+02] [-7.05705499e-01 7.06979216e-01 -4.64772795e-02 -1.92085857e+02] [-6.66153805e-02 -9.00759752e-04 9.97778322e-01 -1.85375582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters 0.02676495539555163 Centerline is valid? [True, True] Translation: X:257.04, Y:-192.11, Z:-18.54 [[ 7.07329258e-01 7.05239402e-01 4.81944607e-02 2.57043412e+02] [-7.03673720e-01 7.08968907e-01 -4.69721718e-02 -1.92107934e+02] [-6.72950005e-02 -6.88384051e-04 9.97732885e-01 -1.85396010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75864 meters 0.02667224797211217 Centerline is valid? [True, True] Translation: X:257.07, Y:-192.13, Z:-18.54 [[ 7.08609841e-01 7.03959431e-01 4.80958697e-02 2.57066660e+02] [-7.02394271e-01 7.10239983e-01 -4.69196544e-02 -1.92130612e+02] [-6.71891429e-02 -5.34534514e-04 9.97740113e-01 -1.85416713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters 0.02638929465473226 Centerline is valid? [True, True] Translation: X:257.09, Y:-192.15, Z:-18.54 [[ 7.10916741e-01 7.01668986e-01 4.75186430e-02 2.57088576e+02] [-7.00133239e-01 7.12503020e-01 -4.63992919e-02 -1.92153638e+02] [-6.64141207e-02 -2.83348048e-04 9.97792105e-01 -1.85426913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81864 meters 0.02647409988234742 Centerline is valid? [True, True] Translation: X:257.11, Y:-192.18, Z:-18.54 [[ 7.11618372e-01 7.00958089e-01 4.75084313e-02 2.57111407e+02] [-6.99418459e-01 7.13202442e-01 -4.64337772e-02 -1.92177724e+02] [-6.64312610e-02 -1.85144837e-04 9.97790987e-01 -1.85448052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters 0.026384334919875956 Centerline is valid? [True, True] Translation: X:257.13, Y:-192.20, Z:-18.55 [[ 7.13513806e-01 6.99083360e-01 4.66958719e-02 2.57133303e+02] [-6.97588847e-01 7.15040177e-01 -4.56874852e-02 -1.92202155e+02] [-6.53287852e-02 2.41320469e-05 9.97863793e-01 -1.85471006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87864 meters 0.0263604088358371 Centerline is valid? [True, True] Translation: X:257.16, Y:-192.23, Z:-18.55 [[ 7.14001780e-01 6.98572560e-01 4.68810887e-02 2.57156537e+02] [-6.97061817e-01 7.15539214e-01 -4.59179363e-02 -1.92225459e+02] [-6.56222677e-02 1.06471370e-04 9.97844530e-01 -1.85487016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters 0.02664745496243435 Centerline is valid? [True, True] Translation: X:257.18, Y:-192.25, Z:-18.55 [[ 7.13892139e-01 6.98542973e-01 4.89461872e-02 2.57179632e+02] [-6.96892453e-01 7.15568091e-01 -4.79918445e-02 -1.92248096e+02] [-6.85486955e-02 1.50772033e-04 9.97647760e-01 -1.85498655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93864 meters 0.026800722133540532 Centerline is valid? [True, True] Translation: X:257.20, Y:-192.27, Z:-18.55 [[ 7.12826228e-01 6.99566114e-01 4.98600194e-02 2.57202939e+02] [-6.97852499e-01 7.14567873e-01 -4.89351074e-02 -1.92271526e+02] [-6.98617109e-02 8.72888143e-05 9.97556682e-01 -1.85499649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters 0.026668244858979357 Centerline is valid? [True, True] Translation: X:257.23, Y:-192.30, Z:-18.55 [[ 7.12186016e-01 7.00203855e-01 5.00563685e-02 2.57226402e+02] [-6.98474619e-01 7.13942966e-01 -4.91797541e-02 -1.92295364e+02] [-7.01732456e-02 6.20302456e-05 9.97534817e-01 -1.85517066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99864 meters 0.026431404932351462 Centerline is valid? [True, True] Translation: X:257.25, Y:-192.32, Z:-18.55 [[ 7.11238601e-01 7.01193873e-01 4.96669436e-02 2.57249469e+02] [-6.99490297e-01 7.12970653e-01 -4.88484611e-02 -1.92318429e+02] [-6.96633149e-02 1.36603872e-06 9.97570560e-01 -1.85526866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02864 meters 0.026352464065478146 Centerline is valid? [True, True] Translation: X:257.27, Y:-192.34, Z:-18.55 [[ 7.09850676e-01 7.02599278e-01 4.96615896e-02 2.57273259e+02] [-7.00895876e-01 7.11585726e-01 -4.88950532e-02 -1.92341667e+02] [-6.96921073e-02 -9.94167452e-05 9.97568544e-01 -1.85545406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05864 meters 0.02641523534910331 Centerline is valid? [True, True] Translation: X:257.30, Y:-192.37, Z:-18.56 [[ 7.08880049e-01 7.03597582e-01 4.93914830e-02 2.57295745e+02] [-7.01911520e-01 7.10598633e-01 -4.86806009e-02 -1.92366509e+02] [-6.93490734e-02 -1.59744112e-04 9.97592442e-01 -1.85562499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08864 meters 0.026514396800679206 Centerline is valid? [True, True] Translation: X:257.32, Y:-192.39, Z:-18.56 [[ 7.08839669e-01 7.03690589e-01 4.86402940e-02 2.57319482e+02] [-7.02052228e-01 7.10506536e-01 -4.79909535e-02 -1.92389967e+02] [-6.83300292e-02 -1.30135172e-04 9.97662764e-01 -1.85576751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11864 meters 0.02653880284487201 Centerline is valid? [True, True] Translation: X:257.34, Y:-192.41, Z:-18.56 [[ 7.08208414e-01 7.04324117e-01 4.86660149e-02 2.57343225e+02] [-7.02682006e-01 7.09878521e-01 -4.80674939e-02 -1.92413113e+02] [-6.84020539e-02 -1.54929344e-04 9.97657825e-01 -1.85592620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14864 meters 0.026355571931756437 Centerline is valid? [True, True] Translation: X:257.37, Y:-192.43, Z:-18.56 [[ 7.07223480e-01 7.05403496e-01 4.73376988e-02 2.57366795e+02] [-7.03849146e-01 7.08805940e-01 -4.68029752e-02 -1.92434721e+02] [-6.65682244e-02 -2.18435864e-04 9.97781852e-01 -1.85596971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17864000000003 meters 0.026542860584711524 Centerline is valid? [True, True] Translation: X:257.39, Y:-192.46, Z:-18.56 [[ 7.05744639e-01 7.06867301e-01 4.75722939e-02 2.57390432e+02] [-7.05297777e-01 7.07346105e-01 -4.70800739e-02 -1.92457948e+02] [-6.69294415e-02 -3.26123416e-04 9.97757658e-01 -1.85611489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20864 meters 0.026636392559778635 Centerline is valid? [True, True] Translation: X:257.41, Y:-192.48, Z:-18.56 [[ 7.02790806e-01 7.09901116e-01 4.61030238e-02 2.57413734e+02] [-7.08430746e-01 7.04301134e-01 -4.56704637e-02 -1.92481654e+02] [-6.48919251e-02 -5.64017537e-04 9.97892138e-01 -1.85611905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23864 meters 0.026749858904964417 Centerline is valid? [True, True] Translation: X:257.44, Y:-192.50, Z:-18.56 [[ 7.01204655e-01 7.11419580e-01 4.68424228e-02 2.57436830e+02] [-7.09902588e-01 7.02767177e-01 -4.64393254e-02 -1.92504570e+02] [-6.59571626e-02 -6.90086053e-04 9.97822217e-01 -1.85642960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26864 meters 0.026763112413046606 Centerline is valid? [True, True] Translation: X:257.46, Y:-192.53, Z:-18.57 [[ 7.00132613e-01 7.12492078e-01 4.65764117e-02 2.57460511e+02] [-7.10991741e-01 7.01679747e-01 -4.62198769e-02 -1.92527820e+02] [-6.56130209e-02 -7.55400894e-04 9.97844858e-01 -1.85655224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29864 meters 0.026966107622285716 Centerline is valid? [True, True] Translation: X:257.48, Y:-192.55, Z:-18.57 [[ 6.97595410e-01 7.14947426e-01 4.70193884e-02 2.57484954e+02] [-7.13420672e-01 6.99177556e-01 -4.67085619e-02 -1.92549183e+02] [-6.62690671e-02 -9.60925292e-04 9.97801327e-01 -1.85672627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32864 meters 0.026963892827941077 Centerline is valid? [True, True] Translation: X:257.51, Y:-192.57, Z:-18.57 [[ 6.95942519e-01 7.16520120e-01 4.75702397e-02 2.57509744e+02] [-7.14958025e-01 6.97565570e-01 -4.73000812e-02 -1.92570400e+02] [-6.70748212e-02 -1.09258697e-03 9.97747350e-01 -1.85681689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35864 meters 0.027406470538059943 Centerline is valid? [True, True] Translation: X:257.54, Y:-192.59, Z:-18.57 [[ 6.92310543e-01 7.19992387e-01 4.81359928e-02 2.57535197e+02] [-7.18398190e-01 6.93980520e-01 -4.79069849e-02 -1.92589792e+02] [-6.78981057e-02 -1.41429936e-03 9.97691258e-01 -1.85685404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38864 meters 0.02754123334055049 Centerline is valid? [True, True] Translation: X:257.56, Y:-192.61, Z:-18.57 [[ 6.90588081e-01 7.21711658e-01 4.71209710e-02 2.57560444e+02] [-7.20185251e-01 6.92192149e-01 -4.69386171e-02 -1.92611829e+02] [-6.64929133e-02 -1.52057880e-03 9.97785739e-01 -1.85695996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41864 meters 0.027747465516647425 Centerline is valid? [True, True] Translation: X:257.59, Y:-192.63, Z:-18.57 [[ 6.89292916e-01 7.22968304e-01 4.68199452e-02 2.57587406e+02] [-7.21461053e-01 6.90879352e-01 -4.66869485e-02 -1.92630586e+02] [-6.61001174e-02 -1.59778411e-03 9.97811717e-01 -1.85713384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44864 meters 0.027791927291856516 Centerline is valid? [True, True] Translation: X:257.61, Y:-192.65, Z:-18.57 [[ 6.90301933e-01 7.21967468e-01 4.73942670e-02 2.57612624e+02] [-7.20417646e-01 6.91925398e-01 -4.73038961e-02 -1.92650249e+02] [-6.69451712e-02 -1.48969538e-03 9.97755544e-01 -1.85729521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47864 meters 0.02757090236079814 Centerline is valid? [True, True] Translation: X:257.64, Y:-192.67, Z:-18.57 [[ 6.91699416e-01 7.20625848e-01 4.74373790e-02 2.57637498e+02] [-7.19067085e-01 6.93322881e-01 -4.73910343e-02 -1.92670331e+02] [-6.70406246e-02 -1.33030710e-03 9.97749360e-01 -1.85748571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50864 meters 0.027036841699048218 Centerline is valid? [True, True] Translation: X:257.67, Y:-192.69, Z:-18.58 [[ 6.97035296e-01 7.15336371e-01 4.93525255e-02 2.57665054e+02] [-7.13632399e-01 6.98779796e-01 -4.93517461e-02 -1.92688325e+02] [-6.97896468e-02 -8.19652232e-04 9.97561393e-01 -1.85767585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53864 meters 0.026913757062045806 Centerline is valid? [True, True] Translation: X:257.68, Y:-192.68, Z:-18.58 [[ 6.50454776e-01 7.58111052e-01 4.66499420e-02 2.57679691e+02] [-7.56263969e-01 6.52124888e-01 -5.28955579e-02 -1.92678738e+02] [-7.05222953e-02 -8.73501987e-04 9.97509821e-01 -1.85766797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56864 meters 0.02676923759827696 Centerline is valid? [True, True] Translation: X:257.69, Y:-192.67, Z:-18.58 [[ 6.04830738e-01 7.95151442e-01 4.37488656e-02 2.57694459e+02] [-7.93185883e-01 6.06410234e-01 -5.58818657e-02 -1.92668519e+02] [-7.09643059e-02 -9.01912564e-04 9.97478448e-01 -1.85770723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59864 meters 0.026852862869339727 Centerline is valid? [True, True] Translation: X:257.72, Y:-192.67, Z:-18.58 [[ 5.53469932e-01 8.31872628e-01 4.07304046e-02 2.57716294e+02] [-8.29754992e-01 5.54965772e-01 -5.93265966e-02 -1.92674259e+02] [-7.19561523e-02 -9.60769195e-04 9.97407334e-01 -1.85789534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62864 meters 0.027158975068591634 Centerline is valid? [True, True] Translation: X:257.63, Y:-192.87, Z:-16.92 [[ 6.00041239e-01 -7.99757972e-01 -1.83765505e-02 2.57625159e+02] [-7.99193803e-01 -6.00312630e-01 3.02326377e-02 -1.92873529e+02] [-3.52104684e-02 -3.45440411e-03 -9.99373949e-01 -1.69249548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65864 meters 0.027345553609512224 Centerline is valid? [True, True] Translation: X:257.64, Y:-192.90, Z:-16.93 [[ 6.52380678e-01 -7.57604683e-01 -2.08469512e-02 2.57635985e+02] [-7.57047483e-01 -6.52705378e-01 2.92369198e-02 -1.92897602e+02] [-3.57569445e-02 -3.29146968e-03 -9.99355096e-01 -1.69276556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68864 meters 0.02732526283083513 Centerline is valid? [True, True] Translation: X:257.65, Y:-192.92, Z:-16.93 [[ 7.04251084e-01 -7.09569676e-01 -2.32655227e-02 2.57646067e+02] [-7.09022668e-01 -7.04627756e-01 2.80460473e-02 -1.92918620e+02] [-3.62941577e-02 -3.25567621e-03 -9.99335847e-01 -1.69297229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71864 meters 0.02731580081854061 Centerline is valid? [True, True] Translation: X:257.73, Y:-192.75, Z:-18.58 [[ 7.22820991e-01 6.89228975e-01 4.99323146e-02 2.57730537e+02] [-6.87497715e-01 7.24542949e-01 -4.88303820e-02 -1.92754461e+02] [-6.98334206e-02 9.67272918e-04 9.97558198e-01 -1.85796728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74864 meters 0.027004157753098616 Centerline is valid? [True, True] Translation: X:257.75, Y:-192.78, Z:-18.58 [[ 7.21602053e-01 6.90480798e-01 5.02667357e-02 2.57753108e+02] [-6.88725695e-01 7.23350177e-01 -4.92081203e-02 -1.92778865e+02] [-7.03377143e-02 8.88688136e-04 9.97522840e-01 -1.85813114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77864 meters 0.026908102805053603 Centerline is valid? [True, True] Translation: X:257.78, Y:-192.80, Z:-18.58 [[ 7.20585912e-01 6.91504078e-01 5.07745280e-02 2.57775897e+02] [-6.89712171e-01 7.22372074e-01 -4.97564778e-02 -1.92802853e+02] [-7.10849084e-02 8.34007060e-04 9.97469919e-01 -1.85832670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80864 meters 0.02674031025420259 Centerline is valid? [True, True] Translation: X:257.80, Y:-192.83, Z:-18.58 [[ 7.18775585e-01 6.93365000e-01 5.10552052e-02 2.57798154e+02] [-6.91554172e-01 7.20586219e-01 -5.00832135e-02 -1.92827953e+02] [-7.15156246e-02 6.91150862e-04 9.97439240e-01 -1.85846195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83864 meters 0.02674031025420259 Centerline is valid? [True, True] Translation: X:257.82, Y:-192.85, Z:-18.59 [[ 7.18421285e-01 6.93733989e-01 5.10294949e-02 2.57821596e+02] [-6.91922231e-01 7.20230987e-01 -5.01093994e-02 -1.92850497e+02] [-7.15156170e-02 6.91217139e-04 9.97439241e-01 -1.85863429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86864 meters 0.026805664519251482 Centerline is valid? [True, True] Translation: X:257.84, Y:-192.87, Z:-18.59 [[ 7.17729988e-01 6.94400640e-01 5.16857310e-02 2.57844214e+02] [-6.92539827e-01 7.19588286e-01 -5.08063667e-02 -1.92874687e+02] [-7.24724201e-02 6.70825758e-04 9.97370191e-01 -1.85882154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89864 meters 0.026700208074269663 Centerline is valid? [True, True] Translation: X:257.86, Y:-192.90, Z:-18.59 [[ 7.18643400e-01 6.93390720e-01 5.25449643e-02 2.57864023e+02] [-6.91460908e-01 7.20561332e-01 -5.17028097e-02 -1.92900166e+02] [-7.37121178e-02 8.23094246e-04 9.97279222e-01 -1.85910371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864000000003 meters 0.027030845046000555 Centerline is valid? [True, True] Translation: X:257.89, Y:-192.92, Z:-18.59 [[ 7.19057064e-01 6.92947372e-01 5.27340329e-02 2.57886169e+02] [-6.90998834e-01 7.20987598e-01 -5.19374026e-02 -1.92924067e+02] [-7.40104703e-02 9.06800958e-04 9.97257052e-01 -1.85933464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95864 meters 0.027088833479787914 Centerline is valid? [True, True] Translation: X:257.91, Y:-192.95, Z:-18.60 [[ 7.19252248e-01 6.92747993e-01 5.26917648e-02 2.57908448e+02] [-6.90798121e-01 7.21179095e-01 -5.19487191e-02 -1.92947862e+02] [-7.39875701e-02 9.64860887e-04 9.97258697e-01 -1.85953144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters 0.026981516362056368 Centerline is valid? [True, True] Translation: X:257.93, Y:-192.97, Z:-18.60 [[ 7.20003649e-01 6.92049661e-01 5.15946842e-02 2.57929921e+02] [-6.90174747e-01 7.21849125e-01 -5.09181596e-02 -1.92973692e+02] [-7.24814728e-02 1.05191263e-03 9.97369204e-01 -1.85962954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01864 meters 0.0271000337917931 Centerline is valid? [True, True] Translation: X:257.95, Y:-193.00, Z:-18.60 [[ 7.19960018e-01 6.92071516e-01 5.19094300e-02 2.57951886e+02] [-6.90169827e-01 7.21828109e-01 -5.12814804e-02 -1.92998309e+02] [-7.29601376e-02 1.09429327e-03 9.97334257e-01 -1.85979658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters 0.02694620480829983 Centerline is valid? [True, True] Translation: X:257.97, Y:-193.02, Z:-18.60 [[ 7.19810125e-01 6.92173727e-01 5.26204910e-02 2.57971028e+02] [-6.90215925e-01 7.21730033e-01 -5.20359074e-02 -1.93024931e+02] [-7.39956766e-02 1.13647217e-03 9.97257915e-01 -1.85991393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07864 meters 0.027057269974047036 Centerline is valid? [True, True] Translation: X:257.99, Y:-193.05, Z:-18.60 [[ 7.19476505e-01 6.92508697e-01 5.27756002e-02 2.57993080e+02] [-6.90536608e-01 7.21408625e-01 -5.22378135e-02 -1.93050126e+02] [-7.42479133e-02 1.14039555e-03 9.97239162e-01 -1.86010576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters 0.026913551449376523 Centerline is valid? [True, True] Translation: X:258.01, Y:-193.08, Z:-18.60 [[ 7.19332036e-01 6.92657545e-01 5.27915513e-02 2.58014639e+02] [-6.90680687e-01 7.21265673e-01 -5.23069582e-02 -1.93075267e+02] [-7.43075430e-02 1.16396579e-03 9.97234694e-01 -1.86036828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13864 meters 0.026710428545997998 Centerline is valid? [True, True] Translation: X:258.03, Y:-193.10, Z:-18.61 [[ 7.18721062e-01 6.93402771e-01 5.13091776e-02 2.58031513e+02] [-6.91533868e-01 7.20549378e-01 -5.08871710e-02 -1.93104396e+02] [-7.22561013e-02 1.09164755e-03 9.97385514e-01 -1.86059788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters 0.026517988846609847 Centerline is valid? [True, True] Translation: X:258.05, Y:-193.13, Z:-18.61 [[ 7.17334037e-01 6.94832340e-01 5.13799494e-02 2.58051268e+02] [-6.92958628e-01 7.19171089e-01 -5.10027906e-02 -1.93130225e+02] [-7.23893625e-02 9.81858430e-04 9.97375965e-01 -1.86072960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19864 meters 0.026533908810560045 Centerline is valid? [True, True] Translation: X:258.07, Y:-193.16, Z:-18.61 [[ 7.14554228e-01 6.97574823e-01 5.29303499e-02 2.58070615e+02] [-6.95589881e-01 7.16511539e-01 -5.25921281e-02 -1.93157570e+02] [-7.46121510e-02 7.62111692e-04 9.97212338e-01 -1.86077166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters 0.026256213896645206 Centerline is valid? [True, True] Translation: X:258.09, Y:-193.18, Z:-18.61 [[ 7.12988863e-01 6.99208170e-01 5.24863397e-02 2.58091760e+02] [-6.97256990e-01 7.14917860e-01 -5.22029095e-02 -1.93181884e+02] [-7.40241225e-02 6.23625900e-04 9.97256256e-01 -1.86082128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25864 meters 0.026253147682971607 Centerline is valid? [True, True] Translation: X:258.11, Y:-193.21, Z:-18.61 [[ 7.11504320e-01 7.00744892e-01 5.21363444e-02 2.58111684e+02] [-6.98820342e-01 7.13411769e-01 -5.19016151e-02 -1.93206867e+02] [-7.35644734e-02 4.94285292e-04 9.97290341e-01 -1.86102815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters 0.026275087507491475 Centerline is valid? [True, True] Translation: X:258.13, Y:-193.23, Z:-18.61 [[ 7.08868725e-01 7.03369080e-01 5.26978864e-02 2.58130838e+02] [-7.01406261e-01 7.10824781e-01 -5.25108338e-02 -1.93234044e+02] [-7.43934604e-02 2.60660312e-04 9.97228933e-01 -1.86123886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31864 meters 0.026247962213353314 Centerline is valid? [True, True] Translation: X:258.15, Y:-193.26, Z:-18.61 [[ 7.07662888e-01 7.04585310e-01 5.26571765e-02 2.58152874e+02] [-7.02624751e-01 7.09619272e-01 -5.25256827e-02 -1.93258085e+02] [-7.43753717e-02 1.72240741e-04 9.97230302e-01 -1.86129782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters 0.02634507395311983 Centerline is valid? [True, True] Translation: X:258.17, Y:-193.29, Z:-18.62 [[ 7.05023844e-01 7.07188645e-01 5.31563723e-02 2.58172961e+02] [-7.05193756e-01 7.07024905e-01 -5.30805980e-02 -1.93285143e+02] [-7.51208753e-02 -6.24545779e-05 9.97174433e-01 -1.86157499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37864 meters 0.02626092758707918 Centerline is valid? [True, True] Translation: X:258.19, Y:-193.31, Z:-18.62 [[ 7.03826246e-01 7.08428172e-01 5.25180044e-02 2.58194430e+02] [-7.06480273e-01 7.05782900e-01 -5.24987871e-02 -1.93309851e+02] [-7.42579292e-02 -1.52909855e-04 9.97239057e-01 -1.86173949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters 0.02633498365955304 Centerline is valid? [True, True] Translation: X:258.27, Y:-193.42, Z:-16.97 [[ 7.59592104e-01 -6.50060939e-01 -2.09907455e-02 2.58265950e+02] [-6.49656450e-01 -7.59871292e-01 2.32834032e-02 -1.93417660e+02] [-3.10858958e-02 -4.04911605e-03 -9.99508515e-01 -1.69725588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43864 meters 0.02670377411903748 Centerline is valid? [True, True] Translation: X:258.24, Y:-193.37, Z:-18.62 [[ 7.50713181e-01 6.58133189e-01 5.73622381e-02 2.58237717e+02] [-6.56274665e-01 7.52901332e-01 -4.94282164e-02 -1.93366447e+02] [-7.57184551e-02 -5.38970073e-04 9.97129092e-01 -1.86208577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters 0.026939578644185894 Centerline is valid? [True, True] Translation: X:258.26, Y:-193.39, Z:-18.62 [[ 7.49073661e-01 6.59892264e-01 5.85734650e-02 2.58262720e+02] [-6.57957571e-01 7.51359896e-01 -5.04989212e-02 -1.93386416e+02] [-7.73336001e-02 -7.11443010e-04 9.97005019e-01 -1.86237392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49864 meters 0.027041273387437028 Centerline is valid? [True, True] Translation: X:258.29, Y:-193.41, Z:-18.63 [[ 7.47516638e-01 6.61694483e-01 5.81316412e-02 2.58288127e+02] [-6.59790547e-01 7.49773087e-01 -5.01672362e-02 -1.93408116e+02] [-7.67809235e-02 -8.53863617e-04 9.97047622e-01 -1.86257145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52864 meters 0.02711448285901445 Centerline is valid? [True, True] Translation: X:258.31, Y:-193.43, Z:-18.63 [[ 7.46616899e-01 6.62670564e-01 5.85741504e-02 2.58313723e+02] [-6.60736422e-01 7.48910458e-01 -5.06014460e-02 -1.93427647e+02] [-7.73988825e-02 -9.22179896e-04 9.96999781e-01 -1.86282131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55864 meters 0.027143356317853123 Centerline is valid? [True, True] Translation: X:258.34, Y:-193.45, Z:-18.63 [[ 7.46575613e-01 6.62750379e-01 5.81961321e-02 2.58340497e+02] [-6.60837585e-01 7.48839868e-01 -5.03243349e-02 -1.93447769e+02] [-7.69320559e-02 -8.87270161e-04 9.97035943e-01 -1.86299093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58864 meters 0.027231534762544026 Centerline is valid? [True, True] Translation: X:258.37, Y:-193.47, Z:-18.63 [[ 7.46562708e-01 6.62817804e-01 5.75906492e-02 2.58366570e+02] [-6.60940928e-01 7.48780237e-01 -4.98522461e-02 -1.93467050e+02] [-7.61656962e-02 -8.46189290e-04 9.97094815e-01 -1.86320792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61864 meters 0.027259596383970783 Centerline is valid? [True, True] Translation: X:258.39, Y:-193.48, Z:-18.63 [[ 7.47597831e-01 6.61779009e-01 5.60894484e-02 2.58393970e+02] [-6.59992580e-01 7.49698653e-01 -4.85975740e-02 -1.93484578e+02] [-7.42110383e-02 -6.87178838e-04 9.97242322e-01 -1.86334923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64864 meters 0.027147202715496126 Centerline is valid? [True, True] Translation: X:258.42, Y:-193.50, Z:-18.64 [[ 7.48252664e-01 6.60980363e-01 5.67706759e-02 2.58420423e+02] [-6.59144256e-01 7.50402975e-01 -4.92364284e-02 -1.93503681e+02] [-7.51451964e-02 -5.78776153e-04 9.97172435e-01 -1.86356469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67864000000003 meters 0.026888462694308918 Centerline is valid? [True, True] Translation: X:258.45, Y:-193.52, Z:-18.64 [[ 7.48584591e-01 6.60587603e-01 5.69660347e-02 2.58449355e+02] [-6.58733631e-01 7.50748805e-01 -4.94594278e-02 -1.93520786e+02] [-7.54394673e-02 -5.00877325e-04 9.97150257e-01 -1.86364781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70864 meters 0.027041417430507402 Centerline is valid? [True, True] Translation: X:258.48, Y:-193.54, Z:-18.64 [[ 7.48532301e-01 6.60640286e-01 5.70421493e-02 2.58475136e+02] [-6.58777456e-01 7.50702468e-01 -4.95789119e-02 -1.93540932e+02] [-7.55755088e-02 -4.66664988e-04 9.97139972e-01 -1.86387912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73864 meters 0.027083331157288396 Centerline is valid? [True, True] Translation: X:258.50, Y:-193.56, Z:-18.64 [[ 7.48423242e-01 6.60721009e-01 5.75360638e-02 2.58500400e+02] [-6.58821826e-01 7.50631438e-01 -5.00624144e-02 -1.93561909e+02] [-7.62656673e-02 -4.38140156e-04 9.97087437e-01 -1.86405511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76864 meters 0.027055790935458415 Centerline is valid? [True, True] Translation: X:258.53, Y:-193.58, Z:-18.64 [[ 7.48770167e-01 6.60396948e-01 5.67371828e-02 2.58525853e+02] [-6.58545470e-01 7.50916600e-01 -4.94178538e-02 -1.93581178e+02] [-7.52402922e-02 -3.61400052e-04 9.97165366e-01 -1.86413692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79864 meters 0.027061248573318916 Centerline is valid? [True, True] Translation: X:258.55, Y:-193.60, Z:-18.64 [[ 7.48504440e-01 6.60719399e-01 5.64887567e-02 2.58553241e+02] [-6.58881430e-01 7.50632899e-01 -4.92494902e-02 -1.93600101e+02] [-7.49424128e-02 -3.55930714e-04 9.97187800e-01 -1.86424967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82864 meters 0.02700151484265872 Centerline is valid? [True, True] Translation: X:258.58, Y:-193.62, Z:-18.64 [[ 7.48210624e-01 6.61084714e-01 5.61058166e-02 2.58580414e+02] [-6.59268742e-01 7.50311187e-01 -4.89678259e-02 -1.93618709e+02] [-7.44687031e-02 -3.50563602e-04 9.97223290e-01 -1.86439372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85864 meters 0.02688811091307174 Centerline is valid? [True, True] Translation: X:258.61, Y:-193.64, Z:-18.65 [[ 7.48162149e-01 6.61132199e-01 5.61926452e-02 2.58606880e+02] [-6.59306803e-01 7.50269362e-01 -4.90960786e-02 -1.93638513e+02] [-7.46186185e-02 -3.16365553e-04 9.97212095e-01 -1.86460526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88864 meters 0.02711462273927375 Centerline is valid? [True, True] Translation: X:258.63, Y:-193.66, Z:-18.65 [[ 7.49513760e-01 6.59549353e-01 5.67782991e-02 2.58632143e+02] [-6.57677135e-01 7.51661251e-01 -4.96603372e-02 -1.93659004e+02] [-7.54314906e-02 -1.20683126e-04 9.97150979e-01 -1.86475561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91864 meters 0.027173189179225427 Centerline is valid? [True, True] Translation: X:258.66, Y:-193.68, Z:-18.65 [[ 7.50215308e-01 6.58677857e-01 5.76235464e-02 2.58656938e+02] [-6.56742981e-01 7.52425067e-01 -5.04497391e-02 -1.93678867e+02] [-7.65875268e-02 4.30686072e-06 9.97062862e-01 -1.86498180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94864 meters 0.027066628158776605 Centerline is valid? [True, True] Translation: X:258.68, Y:-193.70, Z:-18.65 [[ 7.52264955e-01 6.56335085e-01 5.76341388e-02 2.58682321e+02] [-6.54388833e-01 7.54469467e-01 -5.05081992e-02 -1.93699177e+02] [-7.66335012e-02 2.80411316e-04 9.97059290e-01 -1.86525698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97864 meters 0.027070815029191068 Centerline is valid? [True, True] Translation: X:258.71, Y:-193.72, Z:-18.65 [[ 7.52521976e-01 6.56054496e-01 5.74732477e-02 2.58706442e+02] [-6.54114206e-01 7.54713441e-01 -5.04205150e-02 -1.93721811e+02] [-7.64544381e-02 3.48477814e-04 9.97073015e-01 -1.86537556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00864 meters 0.027129273592608097 Centerline is valid? [True, True] Translation: X:258.73, Y:-193.74, Z:-18.66 [[ 7.52561407e-01 6.56038352e-01 5.71402656e-02 2.58730739e+02] [-6.54116448e-01 7.54727454e-01 -5.01810942e-02 -1.93744337e+02] [-7.60460495e-02 3.87967249e-04 9.97104231e-01 -1.86552136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03864 meters 0.027205337751094884 Centerline is valid? [True, True] Translation: X:258.76, Y:-193.77, Z:-18.66 [[ 7.51947806e-01 6.56717014e-01 5.74217827e-02 2.58755801e+02] [-6.54773964e-01 7.54137012e-01 -5.04819111e-02 -1.93766390e+02] [-7.64562215e-02 3.61474062e-04 9.97072874e-01 -1.86577908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06864 meters 0.02692574283530766 Centerline is valid? [True, True] Translation: X:258.78, Y:-193.79, Z:-18.66 [[ 7.48688526e-01 6.60580117e-01 5.56722591e-02 2.58779967e+02] [-6.58760845e-01 7.50755559e-01 -4.89922449e-02 -1.93787796e+02] [-7.41595608e-02 5.22711603e-06 9.97246389e-01 -1.86580505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09864 meters 0.027007587152708033 Centerline is valid? [True, True] Translation: X:258.80, Y:-193.81, Z:-18.66 [[ 7.46020641e-01 6.63604245e-01 5.55212426e-02 2.58804364e+02] [-6.61799693e-01 7.48083778e-01 -4.89063133e-02 -1.93809685e+02] [-7.39889780e-02 -2.58822092e-04 9.97259026e-01 -1.86601128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12864 meters 0.027228250700037787 Centerline is valid? [True, True] Translation: X:258.83, Y:-193.83, Z:-18.66 [[ 7.41543427e-01 6.68534038e-01 5.63523430e-02 2.58828626e+02] [-6.66685227e-01 7.43681194e-01 -4.96899331e-02 -1.93831447e+02] [-7.51275893e-02 -7.22031331e-04 9.97173668e-01 -1.86606122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15864 meters 0.027346449246602584 Centerline is valid? [True, True] Translation: X:258.85, Y:-193.85, Z:-18.66 [[ 7.39460823e-01 6.70885089e-01 5.57753338e-02 2.58854352e+02] [-6.69077115e-01 7.41560759e-01 -4.92285963e-02 -1.93852835e+02] [-7.43875301e-02 -9.15381112e-04 9.97228989e-01 -1.86615862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18864 meters 0.027556701722217566 Centerline is valid? [True, True] Translation: X:258.88, Y:-193.87, Z:-18.66 [[ 7.37834209e-01 6.72720503e-01 5.52069250e-02 2.58879676e+02] [-6.70950529e-01 7.39895953e-01 -4.87787494e-02 -1.93873793e+02] [-7.36618452e-02 -1.05048551e-03 9.97282723e-01 -1.86624047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21864 meters 0.02761198262230328 Centerline is valid? [True, True] Translation: X:258.91, Y:-193.89, Z:-18.67 [[ 7.37252171e-01 6.73303568e-01 5.58707606e-02 2.58905397e+02] [-6.71488388e-01 7.39365358e-01 -4.94187426e-02 -1.93894171e+02] [-7.45827207e-02 -1.08249173e-03 9.97214243e-01 -1.86657175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24864 meters 0.027533103547602043 Centerline is valid? [True, True] Translation: X:258.93, Y:-193.91, Z:-18.67 [[ 7.38138910e-01 6.72384378e-01 5.52286052e-02 2.58930419e+02] [-6.70604472e-01 7.40201569e-01 -4.89007008e-02 -1.93914652e+02] [-7.37603675e-02 -9.41039641e-04 9.97275550e-01 -1.86672919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27864 meters 0.027325226132804182 Centerline is valid? [True, True] Translation: X:258.96, Y:-193.93, Z:-18.67 [[ 7.40889532e-01 6.69414294e-01 5.44720423e-02 2.58956281e+02] [-6.67671575e-01 7.42889049e-01 -4.82755537e-02 -1.93933391e+02] [-7.27830295e-02 -6.02581856e-04 9.97347616e-01 -1.86701161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30864 meters 0.027314051076091583 Centerline is valid? [True, True] Translation: X:258.98, Y:-193.95, Z:-18.67 [[ 7.42494228e-01 6.67558435e-01 5.53900396e-02 2.58982180e+02] [-6.65747638e-01 7.44557306e-01 -4.91375650e-02 -1.93954333e+02] [-7.40432547e-02 -3.91429583e-04 9.97254954e-01 -1.86733201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33864 meters 0.027223017087327432 Centerline is valid? [True, True] Translation: X:259.01, Y:-193.98, Z:-18.68 [[ 7.44063455e-01 6.65825882e-01 5.51857813e-02 2.59007641e+02] [-6.64019791e-01 7.46107139e-01 -4.90087145e-02 -1.93975858e+02] [-7.38057760e-02 -1.78857535e-04 9.97272618e-01 -1.86755717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36864 meters 0.02728996871423528 Centerline is valid? [True, True] Translation: X:259.03, Y:-194.00, Z:-18.68 [[ 7.44723062e-01 6.65079837e-01 5.52844596e-02 2.59032631e+02] [-6.63261328e-01 7.46772259e-01 -4.91487964e-02 -1.93998055e+02] [-7.39727742e-02 -6.58019762e-05 9.97260259e-01 -1.86761533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39864 meters 0.027215424653736237 Centerline is valid? [True, True] Translation: X:259.06, Y:-194.02, Z:-18.68 [[ 7.45420644e-01 6.64241865e-01 5.59536209e-02 2.59057414e+02] [-6.62372619e-01 7.47517720e-01 -4.97973181e-02 -1.94020088e+02] [-7.49037866e-02 5.78025527e-05 9.97190764e-01 -1.86773568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864000000003 meters 0.027181351377464212 Centerline is valid? [True, True] Translation: X:259.08, Y:-194.04, Z:-18.68 [[ 7.44997936e-01 6.64734410e-01 5.57336421e-02 2.59081712e+02] [-6.62877296e-01 7.47079756e-01 -4.96540936e-02 -1.94041723e+02] [-7.46442603e-02 4.76312764e-05 9.97210225e-01 -1.86799675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45864 meters 0.027051902603276494 Centerline is valid? [True, True] Translation: X:259.10, Y:-194.06, Z:-18.68 [[ 7.43388008e-01 6.66692479e-01 5.38089937e-02 2.59104309e+02] [-6.64963219e-01 7.45332897e-01 -4.79874035e-02 -1.94064596e+02] [-7.20984542e-02 -1.07741343e-04 9.97397514e-01 -1.86813433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters 0.02697783760701506 Centerline is valid? [True, True] Translation: X:259.13, Y:-194.09, Z:-18.68 [[ 7.42031266e-01 6.68248755e-01 5.32278252e-02 2.59128760e+02] [-6.66557438e-01 7.43937869e-01 -4.75145260e-02 -1.94087498e+02] [-7.13497176e-02 -2.22138879e-04 9.97451336e-01 -1.86825887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51864 meters 0.027063642288653704 Centerline is valid? [True, True] Translation: X:259.15, Y:-194.11, Z:-18.68 [[ 7.40714871e-01 6.69791808e-01 5.21575915e-02 2.59152302e+02] [-6.68168386e-01 7.42548871e-01 -4.66066663e-02 -1.94109222e+02] [-6.99463241e-02 -3.27802938e-04 9.97550703e-01 -1.86834289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters 0.027048562734228055 Centerline is valid? [True, True] Translation: X:259.18, Y:-194.13, Z:-18.68 [[ 7.38230698e-01 6.72544216e-01 5.19587756e-02 2.59177748e+02] [-6.70936815e-01 7.40056736e-01 -4.64738495e-02 -1.94130878e+02] [-6.97081605e-02 -5.52633093e-04 9.97567274e-01 -1.86840182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57864 meters 0.027128803312947074 Centerline is valid? [True, True] Translation: X:259.20, Y:-194.15, Z:-18.68 [[ 7.36576338e-01 6.74323996e-01 5.23683735e-02 2.59201194e+02] [-6.72692220e-01 7.38435285e-01 -4.68882257e-02 -1.94152191e+02] [-7.02885106e-02 -6.91039846e-04 9.97526465e-01 -1.86848742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters 0.027129517279157293 Centerline is valid? [True, True] Translation: X:259.23, Y:-194.17, Z:-18.69 [[ 7.35230901e-01 6.75824968e-01 5.19243232e-02 2.59225827e+02] [-6.74221555e-01 7.37061720e-01 -4.65329489e-02 -1.94174821e+02] [-6.97195597e-02 -7.96036007e-04 9.97566313e-01 -1.86869026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63864 meters 0.027396323733978097 Centerline is valid? [True, True] Translation: X:259.25, Y:-194.20, Z:-18.69 [[ 7.33722786e-01 6.77501637e-01 5.14043322e-02 2.59251669e+02] [-6.75930930e-01 7.35520703e-01 -4.61158595e-02 -1.94195400e+02] [-6.90525209e-02 -9.09521219e-04 9.97612611e-01 -1.86861817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters 0.02766577087817716 Centerline is valid? [True, True] Translation: X:259.28, Y:-194.21, Z:-18.69 [[ 7.32232204e-01 6.79004172e-01 5.28141469e-02 2.59277432e+02] [-6.77346365e-01 7.34133671e-01 -4.74305388e-02 -1.94214431e+02] [-7.09781772e-02 -1.04330245e-03 9.97477323e-01 -1.86882214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69864 meters 0.02790391806619879 Centerline is valid? [True, True] Translation: X:259.31, Y:-194.23, Z:-18.69 [[ 7.28917057e-01 6.82505495e-01 5.35366574e-02 2.59305730e+02] [-6.80808066e-01 7.30879179e-01 -4.81248712e-02 -1.94230777e+02] [-7.19743173e-02 -1.36914868e-03 9.97405546e-01 -1.86886763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters 0.02790391806619879 Centerline is valid? [True, True] Translation: X:259.33, Y:-194.25, Z:-18.69 [[ 7.28555118e-01 6.82893656e-01 5.35134999e-02 2.59330111e+02] [-6.81195382e-01 7.30516509e-01 -4.81506113e-02 -1.94252289e+02] [-7.19742421e-02 -1.37277481e-03 9.97405546e-01 -1.86903954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75864 meters 0.028053108330584615 Centerline is valid? [True, True] Translation: X:259.36, Y:-194.27, Z:-18.69 [[ 7.27086898e-01 6.84437332e-01 5.37604104e-02 2.59356473e+02] [-6.82723900e-01 7.29070162e-01 -4.84228822e-02 -1.94270980e+02] [-7.23375394e-02 -1.49587377e-03 9.97379087e-01 -1.86923367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters 0.028125162849173536 Centerline is valid? [True, True] Translation: X:259.38, Y:-194.29, Z:-18.69 [[ 7.25881195e-01 6.85702964e-01 5.39252863e-02 2.59382628e+02] [-6.83979180e-01 7.27879732e-01 -4.86166338e-02 -1.94289488e+02] [-7.25876928e-02 -1.59387292e-03 9.97360760e-01 -1.86939821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81864 meters 0.027913480203098563 Centerline is valid? [True, True] Translation: X:259.41, Y:-194.31, Z:-18.70 [[ 7.27246397e-01 6.84202072e-01 5.45912382e-02 2.59410603e+02] [-6.82427765e-01 7.29291084e-01 -4.92631722e-02 -1.94306545e+02] [-7.35188678e-02 -1.42811223e-03 9.97292804e-01 -1.86977034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters 0.027817540069832555 Centerline is valid? [True, True] Translation: X:259.44, Y:-194.33, Z:-18.70 [[ 7.28515950e-01 6.82745522e-01 5.58843781e-02 2.59437810e+02] [-6.80877991e-01 7.30655136e-01 -5.04800416e-02 -1.94326017e+02] [-7.52972302e-02 -1.27492761e-03 9.97160319e-01 -1.86990595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87864 meters 0.027572327372392198 Centerline is valid? [True, True] Translation: X:259.46, Y:-194.34, Z:-18.70 [[ 7.30149177e-01 6.80937585e-01 5.66231911e-02 2.59464676e+02] [-6.79010807e-01 7.32340682e-01 -5.12001029e-02 -1.94344603e+02] [-7.63315408e-02 -1.06404570e-03 9.97081924e-01 -1.87005272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters 0.026980639906224135 Centerline is valid? [True, True] Translation: X:259.50, Y:-194.36, Z:-18.70 [[ 7.34507369e-01 6.76169974e-01 5.73854556e-02 2.59495395e+02] [-6.74172484e-01 7.36745462e-01 -5.19382823e-02 -1.94358850e+02] [-7.73975810e-02 -5.38644097e-04 9.97000163e-01 -1.87013955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93864 meters 0.027182074474144287 Centerline is valid? [True, True] Translation: X:259.52, Y:-194.38, Z:-18.71 [[ 7.36698142e-01 6.73762171e-01 5.76227718e-02 2.59522529e+02] [-6.71736722e-01 7.38948222e-01 -5.22044178e-02 -1.94377738e+02] [-7.77536067e-02 -2.48434265e-04 9.96972575e-01 -1.87050229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters 0.02702425714517717 Centerline is valid? [True, True] Translation: X:259.55, Y:-194.40, Z:-18.71 [[ 7.38433929e-01 6.71862339e-01 5.75875861e-02 2.59548944e+02] [-6.69829273e-01 7.40676041e-01 -5.22278415e-02 -1.94397889e+02] [-7.77436650e-02 -7.04073879e-06 9.96973381e-01 -1.87070585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99864 meters 0.026974210397340173 Centerline is valid? [True, True] Translation: X:259.58, Y:-194.42, Z:-18.71 [[ 7.41936866e-01 6.68100791e-01 5.63118171e-02 2.59575248e+02] [-6.66142200e-01 7.44070668e-01 -5.11215249e-02 -1.94416869e+02] [-7.60543026e-02 4.17266246e-04 9.97103590e-01 -1.87093379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02864 meters 0.027105425122694912 Centerline is valid? [True, True] Translation: X:259.60, Y:-194.44, Z:-18.71 [[ 7.43189434e-01 6.66750585e-01 5.57953656e-02 2.59601321e+02] [-6.64820363e-01 7.45280694e-01 -5.07008090e-02 -1.94437565e+02] [-7.53880029e-02 5.86410321e-04 9.97154103e-01 -1.87118415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05864 meters 0.027059928215892808 Centerline is valid? [True, True] Translation: X:259.63, Y:-194.46, Z:-18.71 [[ 7.44112954e-01 6.65749972e-01 5.54336163e-02 2.59626098e+02] [-6.63838035e-01 7.46174546e-01 -5.04243065e-02 -1.94458964e+02] [-7.49331341e-02 7.22436754e-04 9.97188299e-01 -1.87134077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08864 meters 0.02741598636316824 Centerline is valid? [True, True] Translation: X:259.65, Y:-194.48, Z:-18.72 [[ 7.45592294e-01 6.64056979e-01 5.58610737e-02 2.59648027e+02] [-6.62106842e-01 7.47681383e-01 -5.08633390e-02 -1.94482456e+02] [-7.55424401e-02 9.37314524e-04 9.97142147e-01 -1.87155708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11864 meters 0.027555312497946953 Centerline is valid? [True, True] Translation: X:259.67, Y:-194.51, Z:-18.72 [[ 7.46068900e-01 6.63511978e-01 5.59736657e-02 2.59671749e+02] [-6.61548827e-01 7.48164951e-01 -5.10132883e-02 -1.94506072e+02] [-7.57254626e-02 1.03011501e-03 9.97128173e-01 -1.87169793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14864 meters 0.02752416787311397 Centerline is valid? [True, True] Translation: X:259.69, Y:-194.53, Z:-18.72 [[ 7.46328361e-01 6.63219773e-01 5.59777633e-02 2.59694928e+02] [-6.61251585e-01 7.48423894e-01 -5.10687322e-02 -1.94529225e+02] [-7.57648886e-02 1.09865846e-03 9.97125105e-01 -1.87184716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17864000000003 meters 0.027441755262039277 Centerline is valid? [True, True] Translation: X:259.72, Y:-194.55, Z:-18.72 [[ 7.45214836e-01 6.64491016e-01 5.57363251e-02 2.59717479e+02] [-6.62539599e-01 7.47295580e-01 -5.08978924e-02 -1.94552838e+02] [-7.54727016e-02 1.00234208e-03 9.97147365e-01 -1.87205467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20864 meters 0.027200424211273957 Centerline is valid? [True, True] Translation: X:259.74, Y:-194.58, Z:-18.72 [[ 7.44587632e-01 6.65213385e-01 5.55014556e-02 2.59739878e+02] [-6.63276885e-01 7.46652684e-01 -5.07300963e-02 -1.94577233e+02] [-7.51866499e-02 9.60169679e-04 9.97169016e-01 -1.87217708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23864 meters 0.027340972190674093 Centerline is valid? [True, True] Translation: X:259.76, Y:-194.60, Z:-18.72 [[ 7.43669045e-01 6.66155495e-01 5.65084856e-02 2.59761903e+02] [-6.64146596e-01 7.45812315e-01 -5.17038616e-02 -1.94602415e+02] [-7.65875359e-02 9.20643023e-04 9.97062436e-01 -1.87243040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26864 meters 0.027158056624387687 Centerline is valid? [True, True] Translation: X:259.78, Y:-194.63, Z:-18.73 [[ 7.42537984e-01 6.67493201e-01 5.55892863e-02 2.59782156e+02] [-6.65549204e-01 7.44615454e-01 -5.09125000e-02 -1.94627925e+02] [-7.53763893e-02 8.07059805e-04 9.97154827e-01 -1.87250123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29864 meters 0.027112151064207578 Centerline is valid? [True, True] Translation: X:259.81, Y:-194.65, Z:-18.73 [[ 7.41881165e-01 6.68284949e-01 5.48412587e-02 2.59805084e+02] [-6.66391819e-01 7.43905010e-01 -5.02720494e-02 -1.94650582e+02] [-7.43927410e-02 7.50120432e-04 9.97228739e-01 -1.87257897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32864 meters 0.02704724215343511 Centerline is valid? [True, True] Translation: X:259.83, Y:-194.68, Z:-18.73 [[ 7.40282063e-01 6.70203956e-01 5.30011883e-02 2.59825900e+02] [-6.68437725e-01 7.42176753e-01 -4.86279222e-02 -1.94675928e+02] [-7.19268756e-02 5.70384799e-04 9.97409745e-01 -1.87284189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35864 meters 0.026894711746978935 Centerline is valid? [True, True] Translation: X:259.85, Y:-194.70, Z:-18.73 [[ 7.38970791e-01 6.71687978e-01 5.25112394e-02 2.59847891e+02] [-6.69954939e-01 7.40834026e-01 -4.82216371e-02 -1.94700253e+02] [-7.12920068e-02 4.54217150e-04 9.97455384e-01 -1.87297473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38864 meters 0.027017639220144354 Centerline is valid? [True, True] Translation: X:259.87, Y:-194.72, Z:-18.73 [[ 7.37443465e-01 6.73312072e-01 5.31788495e-02 2.59870841e+02] [-6.71535460e-01 7.39358331e-01 -4.88813359e-02 -1.94724309e+02] [-7.22306190e-02 3.35738614e-04 9.97387901e-01 -1.87306775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41864 meters 0.026764308575442444 Centerline is valid? [True, True] Translation: X:259.89, Y:-194.75, Z:-18.73 [[ 7.34219833e-01 6.76828004e-01 5.31515787e-02 2.59892621e+02] [-6.75058671e-01 7.36141190e-01 -4.89074497e-02 -1.94749509e+02] [-7.22289980e-02 2.83854175e-05 9.97388074e-01 -1.87303547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44864 meters 0.02671697869878034 Centerline is valid? [True, True] Translation: X:259.92, Y:-194.77, Z:-18.73 [[ 7.32764972e-01 6.78433869e-01 5.27539740e-02 2.59915970e+02] [-6.76691445e-01 7.34661471e-01 -4.85922885e-02 -1.94773120e+02] [-7.17229664e-02 -9.14360101e-05 9.97424588e-01 -1.87315592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47864 meters 0.026828065869083893 Centerline is valid? [True, True] Translation: X:259.94, Y:-194.80, Z:-18.73 [[ 7.31458428e-01 6.79817988e-01 5.30666689e-02 2.59939162e+02] [-6.78054689e-01 7.33380847e-01 -4.89323227e-02 -1.94796780e+02] [-7.21831517e-02 -1.90143835e-04 9.97391376e-01 -1.87341218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50864 meters 0.02653514748173133 Centerline is valid? [True, True] Translation: X:259.96, Y:-194.82, Z:-18.73 [[ 7.30631255e-01 6.80696452e-01 5.32006444e-02 2.59962202e+02] [-6.78922771e-01 7.32565548e-01 -4.91079222e-02 -1.94820492e+02] [-7.24005476e-02 -2.39346030e-04 9.97375608e-01 -1.87346613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53864 meters 0.026746278555324025 Centerline is valid? [True, True] Translation: X:259.99, Y:-194.84, Z:-18.74 [[ 7.30569989e-01 6.80699251e-01 5.40001934e-02 2.59985875e+02] [-6.78867839e-01 7.32562958e-01 -4.98995975e-02 -1.94843376e+02] [-7.35251600e-02 -2.03846177e-04 9.97293342e-01 -1.87368146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56864 meters 0.02683323275994986 Centerline is valid? [True, True] Translation: X:260.01, Y:-194.87, Z:-18.74 [[ 7.31003853e-01 6.80216751e-01 5.42082879e-02 2.60009788e+02] [-6.78365874e-01 7.33011021e-01 -5.01456178e-02 -1.94866159e+02] [-7.38451618e-02 -1.16412812e-04 9.97269712e-01 -1.87399626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59864 meters 0.026912056856206967 Centerline is valid? [True, True] Translation: X:260.03, Y:-194.89, Z:-18.74 [[ 7.31292493e-01 6.79844930e-01 5.49741779e-02 2.60032371e+02] [-6.77936144e-01 7.33355895e-01 -5.09088950e-02 -1.94890039e+02] [-7.49257917e-02 -3.96894310e-05 9.97189112e-01 -1.87423683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62864 meters 0.02686117167281235 Centerline is valid? [True, True] Translation: X:260.06, Y:-194.91, Z:-18.74 [[ 7.30521699e-01 6.80693678e-01 5.47189568e-02 2.60056312e+02] [-6.78800954e-01 7.32568160e-01 -5.07262790e-02 -1.94912595e+02] [-7.46144229e-02 -8.66325664e-05 9.97212455e-01 -1.87438480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65864 meters 0.02695552223359513 Centerline is valid? [True, True] Translation: X:260.08, Y:-194.93, Z:-18.75 [[ 7.29066836e-01 6.82286683e-01 5.42810373e-02 2.60080486e+02] [-6.80424631e-01 7.31084700e-01 -5.03734296e-02 -1.94934861e+02] [-7.40531561e-02 -2.08557833e-04 9.97254274e-01 -1.87455408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68864 meters 0.02690608726879625 Centerline is valid? [True, True] Translation: X:260.10, Y:-194.96, Z:-18.75 [[ 7.27235357e-01 6.84290859e-01 5.36167618e-02 2.60103600e+02] [-6.82475764e-01 7.29209082e-01 -4.98091034e-02 -1.94957955e+02] [-7.31817438e-02 -3.69199441e-04 9.97318553e-01 -1.87468135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71864 meters 0.027348285225539785 Centerline is valid? [True, True] Translation: X:260.13, Y:-194.98, Z:-18.75 [[ 7.23639832e-01 6.88051589e-01 5.41332080e-02 2.60126589e+02] [-6.86207913e-01 7.25661419e-01 -5.03408888e-02 -1.94980584e+02] [-7.39195091e-02 -7.17963385e-04 9.97263952e-01 -1.87489039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74864 meters 0.027525781433082902 Centerline is valid? [True, True] Translation: X:260.15, Y:-195.00, Z:-18.75 [[ 7.21841339e-01 6.89957911e-01 5.38810099e-02 2.60151447e+02] [-6.88133102e-01 7.23848961e-01 -5.01549207e-02 -1.95001798e+02] [-7.36064974e-02 -8.73411364e-04 9.97286980e-01 -1.87492737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77864 meters 0.02757366485306817 Centerline is valid? [True, True] Translation: X:260.18, Y:-195.02, Z:-18.75 [[ 7.20284210e-01 6.91653136e-01 5.29773252e-02 2.60176419e+02] [-6.89889887e-01 7.22229158e-01 -4.93658404e-02 -1.95022950e+02] [-7.24058073e-02 -9.91085523e-04 9.97374762e-01 -1.87509601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80864 meters 0.027888309334737127 Centerline is valid? [True, True] Translation: X:260.20, Y:-195.04, Z:-18.75 [[ 7.18670573e-01 6.93295719e-01 5.34195946e-02 2.60201381e+02] [-6.91503602e-01 7.20652324e-01 -4.98296693e-02 -1.95043383e+02] [-7.30436514e-02 -1.12872506e-03 9.97328106e-01 -1.87533124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83864 meters 0.027941603560101443 Centerline is valid? [True, True] Translation: X:260.23, Y:-195.06, Z:-18.76 [[ 7.18104738e-01 6.93800306e-01 5.44676008e-02 2.60225973e+02] [-6.91934970e-01 7.20166487e-01 -5.08549794e-02 -1.95064152e+02] [-7.45089410e-02 -1.16883602e-03 9.97219661e-01 -1.87551884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86864 meters 0.027920585734964688 Centerline is valid? [True, True] Translation: X:260.25, Y:-195.09, Z:-18.76 [[ 7.17668254e-01 6.94288539e-01 5.39972374e-02 2.60251087e+02] [-6.92453104e-01 7.19695801e-01 -5.04643666e-02 -1.95085462e+02] [-7.38984164e-02 -1.17388078e-03 9.97265083e-01 -1.87565177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89864 meters 0.027884432377485682 Centerline is valid? [True, True] Translation: X:260.28, Y:-195.11, Z:-18.76 [[ 7.17806689e-01 6.94049643e-01 5.52145894e-02 2.60276979e+02] [-6.92125604e-01 7.19926247e-01 -5.16560390e-02 -1.95105254e+02] [-7.56022876e-02 -1.13638074e-03 9.97137404e-01 -1.87586885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864000000003 meters 0.027998551989979064 Centerline is valid? [True, True] Translation: X:260.30, Y:-195.13, Z:-18.76 [[ 7.17463874e-01 6.94315402e-01 5.63179566e-02 2.60301929e+02] [-6.92310572e-01 7.19669921e-01 -5.27378183e-02 -1.95125565e+02] [-7.71470189e-02 -1.15203737e-03 9.97019062e-01 -1.87610518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95864 meters 0.028025457652805088 Centerline is valid? [True, True] Translation: X:260.33, Y:-195.14, Z:-18.76 [[ 7.16946010e-01 6.94883771e-01 5.59013753e-02 2.60328502e+02] [-6.92906353e-01 7.19121118e-01 -5.23985188e-02 -1.95144889e+02] [-7.66107399e-02 -1.16750912e-03 9.97060395e-01 -1.87633886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters 0.028152474447569478 Centerline is valid? [True, True] Translation: X:260.35, Y:-195.16, Z:-18.76 [[ 7.16035109e-01 6.95773162e-01 5.65104418e-02 2.60353238e+02] [-6.93750862e-01 7.18260522e-01 -5.30241964e-02 -1.95164993e+02] [-7.74820322e-02 -1.23698144e-03 9.96992981e-01 -1.87649975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01864 meters 0.02836205211886564 Centerline is valid? [True, True] Translation: X:260.38, Y:-195.19, Z:-18.77 [[ 7.15422514e-01 6.96484939e-01 5.54919511e-02 2.60377456e+02] [-6.94533488e-01 7.17570312e-01 -5.21160420e-02 -1.95185795e+02] [-7.61174150e-02 -1.25602859e-03 9.97098070e-01 -1.87670201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters 0.02828343709818798 Centerline is valid? [True, True] Translation: X:260.40, Y:-195.21, Z:-18.77 [[ 7.13775682e-01 6.98259515e-01 5.43868171e-02 2.60403231e+02] [-6.96386611e-01 7.15843378e-01 -5.11267563e-02 -1.95206182e+02] [-7.46321869e-02 -1.38121592e-03 9.97210173e-01 -1.87672611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07864 meters 0.028328340359569663 Centerline is valid? [True, True] Translation: X:260.43, Y:-195.23, Z:-18.77 [[ 7.12808849e-01 6.99196581e-01 5.50244179e-02 2.60427995e+02] [-6.97278211e-01 7.14927978e-01 -5.17791696e-02 -1.95227092e+02] [-7.55423141e-02 -1.45867744e-03 9.97141530e-01 -1.87680839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters 0.028498058498514153 Centerline is valid? [True, True] Translation: X:260.45, Y:-195.25, Z:-18.77 [[ 7.12495235e-01 6.99444983e-01 5.59218714e-02 2.60452714e+02] [-6.97460394e-01 7.14684926e-01 -5.26731036e-02 -1.95247178e+02] [-7.68084566e-02 -1.47395509e-03 9.97044778e-01 -1.87701517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13864 meters 0.02864434686537933 Centerline is valid? [True, True] Translation: X:260.48, Y:-195.27, Z:-18.77 [[ 7.12543649e-01 6.99260699e-01 5.75849259e-02 2.60478657e+02] [-6.97151459e-01 7.14865261e-01 -5.42909002e-02 -1.95266099e+02] [-7.91289559e-02 -1.46077902e-03 9.96863318e-01 -1.87717928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters 0.02880071465481882 Centerline is valid? [True, True] Translation: X:260.50, Y:-195.29, Z:-18.77 [[ 7.11521737e-01 7.00311197e-01 5.74547185e-02 2.60504482e+02] [-6.98210748e-01 7.13836023e-01 -5.42206981e-02 -1.95287246e+02] [-7.89846097e-02 -1.53629673e-03 9.96874652e-01 -1.87747451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19864 meters 0.02896405394593415 Centerline is valid? [True, True] Translation: X:260.53, Y:-195.31, Z:-18.78 [[ 7.10741337e-01 7.01077320e-01 5.77697397e-02 2.60530330e+02] [-6.98951648e-01 7.13083492e-01 -5.45758858e-02 -1.95308343e+02] [-7.94565635e-02 -1.58891673e-03 9.96837063e-01 -1.87778651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters 0.02905265844798281 Centerline is valid? [True, True] Translation: X:260.56, Y:-195.33, Z:-18.78 [[ 7.08839519e-01 7.03187240e-01 5.54458508e-02 2.60556213e+02] [-7.01231879e-01 7.11002648e-01 -5.24317304e-02 -1.95328355e+02] [-7.62914705e-02 -1.71471559e-03 9.97084084e-01 -1.87791273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25864 meters 0.029057676283866726 Centerline is valid? [True, True] Translation: X:260.58, Y:-195.35, Z:-18.78 [[ 7.07744044e-01 7.04292654e-01 5.54096209e-02 2.60581387e+02] [-7.02339386e-01 7.09907480e-01 -5.24476626e-02 -1.95349904e+02] [-7.62742078e-02 -1.79683826e-03 9.97085260e-01 -1.87797213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters 0.028840043619129403 Centerline is valid? [True, True] Translation: X:260.61, Y:-195.37, Z:-18.78 [[ 7.09209676e-01 7.02790623e-01 5.57402554e-02 2.60607444e+02] [-7.00805700e-01 7.11394928e-01 -5.28074519e-02 -1.95369961e+02] [-7.67659170e-02 -1.61153287e-03 9.97047841e-01 -1.87799543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31864 meters 0.028702680081897178 Centerline is valid? [True, True] Translation: X:260.63, Y:-195.39, Z:-18.78 [[ 7.09851518e-01 7.02121672e-01 5.59998123e-02 2.60632512e+02] [-7.00113488e-01 7.12055363e-01 -5.30873161e-02 -1.95390981e+02] [-7.71487218e-02 -1.52211204e-03 9.97018434e-01 -1.87816845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters 0.028451275341811823 Centerline is valid? [True, True] Translation: X:260.66, Y:-195.41, Z:-18.79 [[ 7.12616318e-01 6.99339937e-01 5.56923343e-02 2.60656916e+02] [-6.97341501e-01 7.14788265e-01 -5.28447423e-02 -1.95411889e+02] [-7.67646658e-02 -1.17855029e-03 9.97048543e-01 -1.87852085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37864 meters 0.02825903848875475 Centerline is valid? [True, True] Translation: X:260.68, Y:-195.43, Z:-18.79 [[ 7.14936028e-01 6.96920857e-01 5.62831604e-02 2.60681384e+02] [-6.94868325e-01 7.17147490e-01 -5.34554759e-02 -1.95433326e+02] [-7.76175634e-02 -8.92139782e-04 9.96982807e-01 -1.87874013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters 0.02813291173669712 Centerline is valid? [True, True] Translation: X:260.71, Y:-195.45, Z:-18.79 [[ 7.17435723e-01 6.94331578e-01 5.64769239e-02 2.60706053e+02] [-6.92252955e-01 7.19655005e-01 -5.36891078e-02 -1.95454479e+02] [-7.79219439e-02 -5.77833540e-04 9.96959295e-01 -1.87890218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43864 meters 0.027949020965600254 Centerline is valid? [True, True] Translation: X:260.73, Y:-195.48, Z:-18.79 [[ 7.19333605e-01 6.92399844e-01 5.60501696e-02 2.60730166e+02] [-6.90342913e-01 7.21513927e-01 -5.33321297e-02 -1.95475346e+02] [-7.73681362e-02 -3.30244242e-04 9.97002539e-01 -1.87910194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters 0.027757892793712307 Centerline is valid? [True, True] Translation: X:260.76, Y:-195.50, Z:-18.79 [[ 7.24384400e-01 6.87135993e-01 5.57796464e-02 2.60755618e+02] [-6.85079270e-01 7.26528771e-01 -5.31256878e-02 -1.95496591e+02] [-7.70300901e-02 2.69940077e-04 9.97028732e-01 -1.87927177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49864 meters 0.027973664324300852 Centerline is valid? [True, True] Translation: X:260.78, Y:-195.52, Z:-18.80 [[ 7.26520432e-01 6.84796505e-01 5.67609814e-02 2.60778917e+02] [-6.82655173e-01 7.28734125e-01 -5.41155330e-02 -1.95518148e+02] [-7.84217920e-02 5.67862832e-04 9.96920107e-01 -1.87953068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52864 meters 0.028381029195074008 Centerline is valid? [True, True] Translation: X:260.80, Y:-195.54, Z:-18.80 [[ 7.30776171e-01 6.80262511e-01 5.66489443e-02 2.60801709e+02] [-6.78112108e-01 7.32967754e-01 -5.40577583e-02 -1.95540667e+02] [-7.82953159e-02 1.08978663e-03 9.96929614e-01 -1.87976109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55864 meters 0.028464227178764588 Centerline is valid? [True, True] Translation: X:260.83, Y:-195.56, Z:-18.80 [[ 7.31856206e-01 6.79160063e-01 5.59294490e-02 2.60825426e+02] [-6.77056984e-01 7.33989169e-01 -5.34204190e-02 -1.95564393e+02] [-7.73326249e-02 1.22864115e-03 9.97004592e-01 -1.87977043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58864 meters 0.028463064435327787 Centerline is valid? [True, True] Translation: X:260.85, Y:-195.59, Z:-18.80 [[ 7.32921114e-01 6.78026367e-01 5.57394537e-02 2.60847628e+02] [-6.75930338e-01 7.35036283e-01 -5.32901613e-02 -1.95587422e+02] [-7.71026553e-02 1.38149657e-03 9.97022202e-01 -1.87997046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61864 meters 0.028325138564646864 Centerline is valid? [True, True] Translation: X:260.87, Y:-195.61, Z:-18.80 [[ 7.32375447e-01 6.78712590e-01 5.45474651e-02 2.60867412e+02] [-6.76703855e-01 7.34402814e-01 -5.21957780e-02 -1.95612754e+02] [-7.54857435e-02 1.31442629e-03 9.97146015e-01 -1.88009544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64864 meters 0.028325138564646864 Centerline is valid? [True, True] Translation: X:260.89, Y:-195.64, Z:-18.80 [[ 7.32036009e-01 6.79080603e-01 5.45235420e-02 2.60891135e+02] [-6.77071027e-01 7.34062542e-01 -5.22207594e-02 -1.95635012e+02] [-7.54857946e-02 1.31116573e-03 9.97146015e-01 -1.88026736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67864000000003 meters 0.028096709399450286 Centerline is valid? [True, True] Translation: X:260.91, Y:-195.66, Z:-18.80 [[ 7.30648236e-01 6.80551190e-01 5.48017594e-02 2.60912727e+02] [-6.78521111e-01 7.32699548e-01 -5.25402163e-02 -1.95660414e+02] [-7.59095311e-02 1.20426571e-03 9.97113982e-01 -1.88044256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70864 meters 0.027777289618084598 Centerline is valid? [True, True] Translation: X:260.93, Y:-195.69, Z:-18.81 [[ 7.29190248e-01 6.82187727e-01 5.38654664e-02 2.60933543e+02] [-6.80227249e-01 7.31176311e-01 -5.16922886e-02 -1.95685251e+02] [-7.46489978e-02 1.05275473e-03 9.97209315e-01 -1.88051659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73864 meters 0.027485625498803186 Centerline is valid? [True, True] Translation: X:260.95, Y:-195.71, Z:-18.81 [[ 7.25702579e-01 6.85879920e-01 5.40786642e-02 2.60951855e+02] [-6.83910553e-01 7.27714388e-01 -5.19434747e-02 -1.95712680e+02] [-7.49808083e-02 7.10544371e-04 9.97184724e-01 -1.88059199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76864 meters 0.02745126267801465 Centerline is valid? [True, True] Translation: X:260.97, Y:-195.74, Z:-18.81 [[ 7.23992559e-01 6.87712361e-01 5.37259991e-02 2.60972913e+02] [-6.85770198e-01 7.25983061e-01 -5.16510402e-02 -1.95737004e+02] [-7.45252241e-02 5.51279773e-04 9.97218977e-01 -1.88076375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79864 meters 0.02722572452599887 Centerline is valid? [True, True] Translation: X:260.99, Y:-195.76, Z:-18.81 [[ 7.19767248e-01 6.92123792e-01 5.38494658e-02 2.60992394e+02] [-6.90182092e-01 7.21778804e-01 -5.18077008e-02 -1.95762552e+02] [-7.47247454e-02 1.23549235e-04 9.97204190e-01 -1.88090633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82864 meters 0.027164108553143485 Centerline is valid? [True, True] Translation: X:261.02, Y:-195.79, Z:-18.81 [[ 7.16419869e-01 6.95619315e-01 5.34447329e-02 2.61015144e+02] [-6.93714355e-01 7.18410552e-01 -5.14458215e-02 -1.95786215e+02] [-7.41819672e-02 -2.18569685e-04 9.97244698e-01 -1.88096296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85864 meters 0.027200969480514717 Centerline is valid? [True, True] Translation: X:261.04, Y:-195.81, Z:-18.81 [[ 7.12804537e-01 6.99336261e-01 5.32774429e-02 2.61038919e+02] [-6.97449525e-01 7.14792611e-01 -5.13389098e-02 -1.95809663e+02] [-7.39854837e-02 -5.63719457e-04 9.97259159e-01 -1.88101338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88864 meters 0.027751354728327845 Centerline is valid? [True, True] Translation: X:261.06, Y:-195.83, Z:-18.81 [[ 7.05740659e-01 7.06552350e-01 5.20950972e-02 2.61061960e+02] [-7.04764311e-01 7.07659671e-01 -5.02499337e-02 -1.95831902e+02] [-7.23698081e-02 -1.25134401e-03 9.97377083e-01 -1.88104277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91864 meters 0.02805431607320767 Centerline is valid? [True, True] Translation: X:261.09, Y:-195.85, Z:-18.81 [[ 7.02349068e-01 7.09924443e-01 5.20871574e-02 2.61085119e+02] [-7.08142806e-01 7.04276108e-01 -5.02884731e-02 -1.95854233e+02] [-7.23847568e-02 -1.56508355e-03 9.97375555e-01 -1.88112546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94864 meters 0.028426365527980526 Centerline is valid? [True, True] Translation: X:261.11, Y:-195.87, Z:-18.81 [[ 6.99274236e-01 7.12840960e-01 5.36032585e-02 2.61110578e+02] [-7.10958818e-01 7.01323183e-01 -5.18010767e-02 -1.95874308e+02] [-7.45191371e-02 -1.88655105e-03 9.97217799e-01 -1.88113220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97864 meters 0.02824220174748426 Centerline is valid? [True, True] Translation: X:261.14, Y:-195.89, Z:-18.81 [[ 6.98876676e-01 7.13224110e-01 5.36913528e-02 2.61136400e+02] [-7.11333148e-01 7.00933504e-01 -5.19362661e-02 -1.95894412e+02] [-7.46762652e-02 -1.89539399e-03 9.97206028e-01 -1.88133161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00864 meters 0.028278934409394427 Centerline is valid? [True, True] Translation: X:261.16, Y:-195.91, Z:-18.82 [[ 6.99465638e-01 7.12587640e-01 5.44672010e-02 2.61162423e+02] [-7.10635344e-01 7.01580761e-01 -5.27431894e-02 -1.95914894e+02] [-7.57972852e-02 -1.81426953e-03 9.97121597e-01 -1.88156480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03864 meters 0.02783490023812351 Centerline is valid? [True, True] Translation: X:261.19, Y:-195.93, Z:-18.82 [[ 7.02495232e-01 7.09666413e-01 5.36100008e-02 2.61187555e+02] [-7.07762722e-01 7.04536384e-01 -5.19655009e-02 -1.95934631e+02] [-7.46483667e-02 -1.43764353e-03 9.97208882e-01 -1.88182493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06864 meters 0.02742911896340724 Centerline is valid? [True, True] Translation: X:261.21, Y:-195.96, Z:-18.82 [[ 7.03629979e-01 7.08525306e-01 5.38213940e-02 2.61212781e+02] [-7.06599578e-01 7.05684230e-01 -5.22188009e-02 -1.95955383e+02] [-7.49792509e-02 -1.28746052e-03 9.97184263e-01 -1.88190627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09864 meters 0.02735039660539226 Centerline is valid? [True, True] Translation: X:261.24, Y:-195.97, Z:-18.82 [[ 7.05355889e-01 7.06635654e-01 5.60278740e-02 2.61239809e+02] [-7.04538547e-01 7.07576748e-01 -5.44112217e-02 -1.95974188e+02] [-7.80929301e-02 -1.09452131e-03 9.96945483e-01 -1.88211664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12864 meters 0.027540948645323058 Centerline is valid? [True, True] Translation: X:261.26, Y:-196.00, Z:-18.82 [[ 7.05729970e-01 7.06137522e-01 5.75761150e-02 2.61263171e+02] [-7.03916813e-01 7.08073963e-01 -5.59676919e-02 -1.95995823e+02] [-8.02890352e-02 -1.03071792e-03 9.96771091e-01 -1.88244205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15864 meters 0.02757354406135589 Centerline is valid? [True, True] Translation: X:261.29, Y:-196.02, Z:-18.83 [[ 7.06807121e-01 7.05055420e-01 5.76242035e-02 2.61287378e+02] [-7.02823221e-01 7.09151673e-01 -5.60662595e-02 -1.96017702e+02] [-8.03941205e-02 -8.71596837e-04 9.96762773e-01 -1.88266428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18864 meters 0.02735379916777607 Centerline is valid? [True, True] Translation: X:261.31, Y:-196.04, Z:-18.83 [[ 7.08291244e-01 7.03675116e-01 5.62569523e-02 2.61313021e+02] [-7.01539499e-01 7.10521564e-01 -5.47853857e-02 -1.96037644e+02] [-7.85228903e-02 -6.62465132e-04 9.96912091e-01 -1.88291027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21864 meters 0.027313015900015086 Centerline is valid? [True, True] Translation: X:261.34, Y:-196.06, Z:-18.83 [[ 7.08480371e-01 7.03573153e-01 5.51396700e-02 2.61338008e+02] [-7.01517575e-01 7.10622583e-01 -5.37460431e-02 -1.96057890e+02] [-7.69977677e-02 -6.03431052e-04 9.97031083e-01 -1.88307814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24864 meters 0.027393707458727035 Centerline is valid? [True, True] Translation: X:261.36, Y:-196.08, Z:-18.83 [[ 7.08010459e-01 7.04034469e-01 5.52870369e-02 2.61362853e+02] [-7.01965277e-01 7.10165532e-01 -5.39413296e-02 -1.96079309e+02] [-7.72395034e-02 -6.18554666e-04 9.97012375e-01 -1.88330158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27864 meters 0.027309318671946355 Centerline is valid? [True, True] Translation: X:261.39, Y:-196.10, Z:-18.83 [[ 7.08547054e-01 7.03543440e-01 5.46598526e-02 2.61386678e+02] [-7.01515441e-01 7.10652065e-01 -5.33828487e-02 -1.96101047e+02] [-7.64012901e-02 -5.20470411e-04 9.97077014e-01 -1.88333636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30864 meters 0.027215019277217423 Centerline is valid? [True, True] Translation: X:261.41, Y:-196.12, Z:-18.83 [[ 7.08670240e-01 7.03307376e-01 5.60823142e-02 2.61410567e+02] [-7.01168120e-01 7.10885721e-01 -5.48156872e-02 -1.96122397e+02] [-7.84203934e-02 -4.76884575e-04 9.96920265e-01 -1.88348040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33864 meters 0.02754286899842672 Centerline is valid? [True, True] Translation: X:261.44, Y:-196.14, Z:-18.84 [[ 7.10097788e-01 7.01788242e-01 5.70473032e-02 2.61436593e+02] [-6.99566563e-01 7.12385556e-01 -5.57982368e-02 -1.96142608e+02] [-7.97982214e-02 -2.86181333e-04 9.96810996e-01 -1.88380945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36864 meters 0.02745902910151401 Centerline is valid? [True, True] Translation: X:261.46, Y:-196.17, Z:-18.84 [[ 7.10824014e-01 7.01053400e-01 5.70381621e-02 2.61460323e+02] [-6.98825274e-01 7.13108761e-01 -5.58491809e-02 -1.96165727e+02] [-7.98276712e-02 -1.60770329e-04 9.96808666e-01 -1.88409691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39864 meters 0.027621562856411683 Centerline is valid? [True, True] Translation: X:261.48, Y:-196.19, Z:-18.84 [[ 7.11856700e-01 7.00011540e-01 5.69550871e-02 2.61483595e+02] [-6.97781909e-01 7.14131531e-01 -5.58261897e-02 -1.96189347e+02] [-7.97524006e-02 -1.98220210e-06 9.96814704e-01 -1.88431127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864000000003 meters 0.0277335242297986 Centerline is valid? [True, True] Translation: X:261.51, Y:-196.21, Z:-18.85 [[ 7.13185370e-01 6.98562665e-01 5.81105169e-02 2.61505898e+02] [-6.96231970e-01 7.15548853e-01 -5.70165086e-02 -1.96211949e+02] [-8.14105179e-02 2.04940054e-04 9.96680634e-01 -1.88450076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45864 meters 0.027651250036969704 Centerline is valid? [True, True] Translation: X:261.53, Y:-196.23, Z:-18.85 [[ 7.13713072e-01 6.98164975e-01 5.63854429e-02 2.61529898e+02] [-6.95965684e-01 7.15936862e-01 -5.53730717e-02 -1.96233454e+02] [-7.90279563e-02 2.78151845e-04 9.96872361e-01 -1.88450172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters 0.027721249655692635 Centerline is valid? [True, True] Translation: X:261.55, Y:-196.26, Z:-18.85 [[ 7.14942751e-01 6.96835086e-01 5.72514273e-02 2.61551837e+02] [-6.94559208e-01 7.17231234e-01 -5.62748836e-02 -1.96257413e+02] [-8.02768252e-02 4.68814100e-04 9.96772497e-01 -1.88489038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51864 meters 0.027974642084947723 Centerline is valid? [True, True] Translation: X:261.57, Y:-196.28, Z:-18.85 [[ 7.15739246e-01 6.96069761e-01 5.66058334e-02 2.61574375e+02] [-6.93838428e-01 7.17973916e-01 -5.56928251e-02 -1.96282060e+02] [-7.94076034e-02 5.86238156e-04 9.96842058e-01 -1.88510281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters 0.02795031128144072 Centerline is valid? [True, True] Translation: X:261.60, Y:-196.31, Z:-18.85 [[ 7.16561030e-01 6.95217714e-01 5.66799737e-02 2.61597089e+02] [-6.92973284e-01 7.18798864e-01 -5.58231268e-02 -1.96305753e+02] [-7.95507273e-02 7.22969764e-04 9.96830557e-01 -1.88535332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57864 meters 0.028069429547290966 Centerline is valid? [True, True] Translation: X:261.62, Y:-196.33, Z:-18.86 [[ 7.17161237e-01 6.94568929e-01 5.70417731e-02 2.61620421e+02] [-6.92289218e-01 7.19425672e-01 -5.62346953e-02 -1.96327940e+02] [-8.00961881e-02 8.39939175e-04 9.96786785e-01 -1.88564382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters 0.028139321371975515 Centerline is valid? [True, True] Translation: X:261.64, Y:-196.35, Z:-18.86 [[ 7.16917998e-01 6.94801720e-01 5.72639059e-02 2.61642910e+02] [-6.92500666e-01 7.19200833e-01 -5.65065417e-02 -1.96351596e+02] [-8.04450912e-02 8.55263758e-04 9.96758675e-01 -1.88577416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63864 meters 0.028493760322615105 Centerline is valid? [True, True] Translation: X:261.66, Y:-196.38, Z:-18.86 [[ 7.16664304e-01 6.95018114e-01 5.78108795e-02 2.61662186e+02] [-6.92668966e-01 7.18991689e-01 -5.71021443e-02 -1.96378168e+02] [-8.12525665e-02 8.79266376e-04 9.96693156e-01 -1.88595578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters 0.02838179363457297 Centerline is valid? [True, True] Translation: X:261.68, Y:-196.40, Z:-18.86 [[ 7.16266944e-01 6.95440567e-01 5.76548647e-02 2.61684635e+02] [-6.93101135e-01 7.18583096e-01 -5.70013273e-02 -1.96402207e+02] [-8.10708465e-02 8.67514415e-04 9.96707964e-01 -1.88613768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69864 meters 0.028389727731609766 Centerline is valid? [True, True] Translation: X:261.71, Y:-196.43, Z:-18.86 [[ 7.15407694e-01 6.96365569e-01 5.71561442e-02 2.61707491e+02] [-6.94065024e-01 7.17686813e-01 -5.65630719e-02 -1.96425161e+02] [-8.04087867e-02 7.95576218e-04 9.96761654e-01 -1.88641340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters 0.028318885211190237 Centerline is valid? [True, True] Translation: X:261.73, Y:-196.45, Z:-18.87 [[ 7.13133711e-01 6.98739436e-01 5.65995593e-02 2.61728284e+02] [-6.96487616e-01 7.15376051e-01 -5.60545058e-02 -1.96449798e+02] [-7.96574630e-02 5.53465646e-04 9.96822142e-01 -1.88667900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75864 meters 0.02845233677534139 Centerline is valid? [True, True] Translation: X:261.75, Y:-196.47, Z:-18.87 [[ 7.12822533e-01 6.99105961e-01 5.59900972e-02 2.61749836e+02] [-6.96900845e-01 7.15017883e-01 -5.54854886e-02 -1.96474078e+02] [-7.88241566e-02 5.31760451e-04 9.96888394e-01 -1.88687813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters 0.028653912581913705 Centerline is valid? [True, True] Translation: X:261.77, Y:-196.50, Z:-18.87 [[ 7.13117385e-01 6.98654949e-01 5.78347358e-02 2.61769907e+02] [-6.96296071e-01 7.15458492e-01 -5.73666142e-02 -1.96499402e+02] [-8.14578218e-02 6.39030626e-04 9.96676585e-01 -1.88710869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81864 meters 0.02879526514037197 Centerline is valid? [True, True] Translation: X:261.79, Y:-196.52, Z:-18.87 [[ 7.13618587e-01 6.98150710e-01 5.77416466e-02 2.61793222e+02] [-6.95793352e-01 7.15950450e-01 -5.73285664e-02 -1.96522938e+02] [-8.13641372e-02 7.34476735e-04 9.96684172e-01 -1.88719880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters 0.029003733084996677 Centerline is valid? [True, True] Translation: X:261.82, Y:-196.55, Z:-18.87 [[ 7.14147548e-01 6.97559579e-01 5.83430749e-02 2.61815168e+02] [-6.95146086e-01 7.16526280e-01 -5.79828462e-02 -1.96546070e+02] [-8.22508362e-02 8.51347269e-04 9.96611296e-01 -1.88739245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87864 meters 0.029212157614791824 Centerline is valid? [True, True] Translation: X:261.84, Y:-196.57, Z:-18.88 [[ 7.16013067e-01 6.95743027e-01 5.71570535e-02 2.61836916e+02] [-6.93416793e-01 7.18289971e-01 -5.68565707e-02 -1.96571563e+02] [-8.06129009e-02 1.07638681e-03 9.96744903e-01 -1.88765433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters 0.029227171308304354 Centerline is valid? [True, True] Translation: X:261.86, Y:-196.60, Z:-18.88 [[ 7.16181990e-01 6.95624953e-01 5.64737321e-02 2.61859584e+02] [-6.93349194e-01 7.18404257e-01 -5.62336157e-02 -1.96595329e+02] [-7.96884758e-02 1.11748619e-03 9.96819190e-01 -1.88782443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93864 meters 0.02926199582643993 Centerline is valid? [True, True] Translation: X:261.88, Y:-196.62, Z:-18.88 [[ 7.16456406e-01 6.95492354e-01 5.45949076e-02 2.61881742e+02] [-6.93361323e-01 7.18532605e-01 -5.44148057e-02 -1.96618297e+02] [-7.70733025e-02 1.13183873e-03 9.97024787e-01 -1.88787960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters 0.028987413416240542 Centerline is valid? [True, True] Translation: X:261.90, Y:-196.64, Z:-18.88 [[ 7.15353086e-01 6.96692992e-01 5.37479074e-02 2.61903569e+02] [-6.94627459e-01 7.17368687e-01 -5.36177127e-02 -1.96642004e+02] [-7.59121505e-02 1.02082392e-03 9.97113987e-01 -1.88797680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99864 meters 0.028888332224696497 Centerline is valid? [True, True] Translation: X:261.93, Y:-196.67, Z:-18.88 [[ 7.14392588e-01 6.97723945e-01 5.31462763e-02 2.61925936e+02] [-6.95703780e-01 7.16366123e-01 -5.30643718e-02 -1.96665186e+02] [-7.50964748e-02 9.34728633e-04 9.97175835e-01 -1.88804555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02864 meters 0.028955273024413 Centerline is valid? [True, True] Translation: X:261.95, Y:-196.69, Z:-18.88 [[ 7.12468661e-01 6.99456545e-01 5.61154908e-02 2.61948302e+02] [-6.97205185e-01 7.14674646e-01 -5.60810292e-02 -1.96688573e+02] [-7.93305614e-02 8.31964692e-04 9.96848017e-01 -1.88821889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05864 meters 0.0291186805855536 Centerline is valid? [True, True] Translation: X:261.97, Y:-196.71, Z:-18.88 [[ 7.12072945e-01 6.99848117e-01 5.62559669e-02 2.61971400e+02] [-6.97582436e-01 7.14291206e-01 -5.62744904e-02 -1.96711920e+02] [-7.95667386e-02 8.28367666e-04 9.96829197e-01 -1.88843564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08864 meters 0.029009001826206013 Centerline is valid? [True, True] Translation: X:261.97, Y:-196.87, Z:-17.24 [[ 7.47741690e-01 -6.63729978e-01 -1.85709856e-02 2.61968014e+02] [-6.63402923e-01 -7.47964206e-01 2.11212877e-02 -1.96874050e+02] [-2.79092644e-02 -3.47322121e-03 -9.99604427e-01 -1.72444241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11864 meters 0.02921130973655757 Centerline is valid? [True, True] Translation: X:262.00, Y:-196.76, Z:-18.89 [[ 7.62574102e-01 6.44220453e-01 5.88281125e-02 2.61998999e+02] [-6.42202284e-01 7.64839088e-01 -5.09646427e-02 -1.96755533e+02] [-7.78265051e-02 1.08476838e-03 9.96966328e-01 -1.88867441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14864 meters 0.02931847667841163 Centerline is valid? [True, True] Translation: X:262.02, Y:-196.78, Z:-18.89 [[ 7.62669894e-01 6.44194671e-01 5.78606826e-02 2.62023404e+02] [-6.42238938e-01 7.64860777e-01 -5.01710991e-02 -1.96776799e+02] [-7.65753213e-02 1.10360346e-03 9.97063189e-01 -1.88880618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17864000000003 meters 0.02927522690807681 Centerline is valid? [True, True] Translation: X:262.05, Y:-196.80, Z:-18.89 [[ 7.64038520e-01 6.42643196e-01 5.70514044e-02 2.62049510e+02] [-6.40734078e-01 7.66164534e-01 -4.95151292e-02 -1.96797872e+02] [-7.55313235e-02 1.27668703e-03 9.97142612e-01 -1.88888532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20864 meters 0.029296793869107978 Centerline is valid? [True, True] Translation: X:262.07, Y:-196.82, Z:-18.89 [[ 7.64454962e-01 6.42195238e-01 5.65144972e-02 2.62074204e+02] [-6.40316964e-01 7.66539929e-01 -4.90991150e-02 -1.96819693e+02] [-7.48518365e-02 1.34687079e-03 9.97193757e-01 -1.88890046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23864 meters 0.02942086200219461 Centerline is valid? [True, True] Translation: X:262.10, Y:-196.84, Z:-18.89 [[ 7.65468224e-01 6.41079171e-01 5.54607414e-02 2.62099088e+02] [-6.39263864e-01 7.67473352e-01 -4.82324118e-02 -1.96842044e+02] [-7.34854357e-02 1.46633079e-03 9.97295212e-01 -1.88907894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26864 meters 0.02963408166878656 Centerline is valid? [True, True] Translation: X:262.12, Y:-196.86, Z:-18.89 [[ 7.65889109e-01 6.40469626e-01 5.66791884e-02 2.62123195e+02] [-6.38568180e-01 7.67981841e-01 -4.93413676e-02 -1.96863699e+02] [-7.51302347e-02 1.59648985e-03 9.97172452e-01 -1.88925744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29864 meters 0.029766300762451615 Centerline is valid? [True, True] Translation: X:262.15, Y:-196.89, Z:-18.89 [[ 7.65810745e-01 6.40578136e-01 5.65115430e-02 2.62148219e+02] [-6.38684810e-01 7.67891294e-01 -4.92409817e-02 -1.96885924e+02] [-7.49374181e-02 1.61620878e-03 9.97186929e-01 -1.88945608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32864 meters 0.029911645731620917 Centerline is valid? [True, True] Translation: X:262.17, Y:-196.91, Z:-18.90 [[ 7.65904129e-01 6.40330870e-01 5.80279440e-02 2.62171244e+02] [-6.38329830e-01 7.68097264e-01 -5.06124717e-02 -1.96907787e+02] [-7.69798331e-02 1.72333346e-03 9.97031161e-01 -1.88974336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35864 meters 0.030102359697050444 Centerline is valid? [True, True] Translation: X:262.20, Y:-196.93, Z:-18.90 [[ 7.66105006e-01 6.40084489e-01 5.80944554e-02 2.62195816e+02] [-6.38074531e-01 7.68302451e-01 -5.07172167e-02 -1.96929301e+02] [-7.70974163e-02 1.78612120e-03 9.97021965e-01 -1.88986756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38864 meters 0.029967960168993668 Centerline is valid? [True, True] Translation: X:262.22, Y:-196.95, Z:-18.90 [[ 7.65813419e-01 6.40478448e-01 5.75948364e-02 2.62220038e+02] [-6.38500217e-01 7.67974104e-01 -5.03313912e-02 -1.96951375e+02] [-7.64675142e-02 1.77013924e-03 9.97070502e-01 -1.89001670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41864 meters 0.03026082328855972 Centerline is valid? [True, True] Translation: X:262.24, Y:-196.97, Z:-18.90 [[ 7.66562197e-01 6.39694956e-01 5.63272793e-02 2.62243889e+02] [-6.37797203e-01 7.68626671e-01 -4.92723881e-02 -1.96974242e+02] [-7.48139473e-02 1.84496885e-03 9.97195803e-01 -1.89016738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44864 meters 0.030404506804297682 Centerline is valid? [True, True] Translation: X:262.27, Y:-197.00, Z:-18.90 [[ 7.67661055e-01 6.38488588e-01 5.50347813e-02 2.62268184e+02] [-6.36670460e-01 7.69628809e-01 -4.81894318e-02 -1.96996366e+02] [-7.31247554e-02 1.95413051e-03 9.97320887e-01 -1.89023997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47864 meters 0.030624537112641348 Centerline is valid? [True, True] Translation: X:262.29, Y:-197.02, Z:-18.90 [[ 7.68892505e-01 6.37025498e-01 5.47980888e-02 2.62291686e+02] [-6.35215915e-01 7.70839815e-01 -4.80283419e-02 -1.97017835e+02] [-7.28358271e-02 2.12001405e-03 9.97341691e-01 -1.89039096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50864 meters 0.030958539021106297 Centerline is valid? [True, True] Translation: X:262.31, Y:-197.04, Z:-18.91 [[ 7.70989992e-01 6.34681849e-01 5.24726816e-02 2.62313563e+02] [-6.33014637e-01 7.72770204e-01 -4.60291312e-02 -1.97041420e+02] [-6.97631790e-02 2.27202401e-03 9.97560994e-01 -1.89050779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53864 meters 0.030958539021106297 Centerline is valid? [True, True] Translation: X:262.34, Y:-197.06, Z:-18.91 [[ 7.70677231e-01 6.35063295e-01 5.24520486e-02 2.62338211e+02] [-6.33395367e-01 7.72456772e-01 -4.60526340e-02 -1.97062630e+02] [-6.97632776e-02 2.26883185e-03 9.97560994e-01 -1.89067930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56864 meters 0.03138110518601261 Centerline is valid? [True, True] Translation: X:262.36, Y:-197.09, Z:-18.91 [[ 7.72426116e-01 6.32832011e-01 5.36799928e-02 2.62360330e+02] [-6.31076824e-01 7.74284896e-01 -4.71692989e-02 -1.97085683e+02] [-7.14138499e-02 2.55859900e-03 9.97443490e-01 -1.89085776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59864 meters 0.03134908881432669 Centerline is valid? [True, True] Translation: X:262.38, Y:-197.11, Z:-18.91 [[ 7.72539393e-01 6.32571134e-01 5.51057863e-02 2.62383068e+02] [-6.30719219e-01 7.74497675e-01 -4.84419150e-02 -1.97107846e+02] [-7.33222605e-02 2.66700910e-03 9.97304734e-01 -1.89107332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62864 meters 0.031422938816431684 Centerline is valid? [True, True] Translation: X:262.41, Y:-197.13, Z:-18.91 [[ 7.72263238e-01 6.32893973e-01 5.52694284e-02 2.62406515e+02] [-6.31028797e-01 7.74233851e-01 -4.86271709e-02 -1.97130788e+02] [-7.35673058e-02 2.67637553e-03 9.97286663e-01 -1.89132935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65864 meters 0.031213430658846592 Centerline is valid? [True, True] Translation: X:262.43, Y:-197.15, Z:-18.91 [[ 7.72411178e-01 6.32870293e-01 5.34430832e-02 2.62428474e+02] [-6.31123344e-01 7.74253388e-01 -4.70639614e-02 -1.97153897e+02] [-7.11638712e-02 2.62355253e-03 9.97461187e-01 -1.89142214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68864 meters 0.030859188859205952 Centerline is valid? [True, True] Translation: X:262.45, Y:-197.18, Z:-18.92 [[ 7.71157075e-01 6.34451714e-01 5.27995062e-02 2.62449862e+02] [-6.32747541e-01 7.72958524e-01 -4.65367527e-02 -1.97178563e+02] [-7.03371509e-02 2.47838844e-03 9.97520197e-01 -1.89162973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71864 meters 0.03082924018313005 Centerline is valid? [True, True] Translation: X:262.47, Y:-197.20, Z:-18.92 [[ 7.70175757e-01 6.35496354e-01 5.45315321e-02 2.62471925e+02] [-6.33677755e-01 7.72099835e-01 -4.81076759e-02 -1.97204192e+02] [-7.26760395e-02 2.49594695e-03 9.97352477e-01 -1.89173833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74864 meters 0.03040109514973722 Centerline is valid? [True, True] Translation: X:262.49, Y:-197.23, Z:-18.92 [[ 7.68913334e-01 6.37096696e-01 5.36664287e-02 2.62494087e+02] [-6.35336071e-01 7.70780328e-01 -4.73894758e-02 -1.97228239e+02] [-7.15567060e-02 2.34218190e-03 9.97433783e-01 -1.89181616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77864 meters 0.030496240265766854 Centerline is valid? [True, True] Translation: X:262.52, Y:-197.25, Z:-18.92 [[ 7.68357674e-01 6.37774120e-01 5.35785189e-02 2.62517000e+02] [-6.36017841e-01 7.70219997e-01 -4.73546441e-02 -1.97251507e+02] [-7.14688131e-02 2.30841023e-03 9.97440164e-01 -1.89206573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80864 meters 0.03041983520181214 Centerline is valid? [True, True] Translation: X:262.54, Y:-197.27, Z:-18.92 [[ 7.67910734e-01 6.38410604e-01 5.23927933e-02 2.62539571e+02] [-6.36729690e-01 7.69692740e-01 -4.63507014e-02 -1.97274338e+02] [-6.99171319e-02 2.23315409e-03 9.97550303e-01 -1.89219111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83864 meters 0.029958667020824364 Centerline is valid? [True, True] Translation: X:262.56, Y:-197.30, Z:-18.92 [[ 7.66209986e-01 6.40403818e-01 5.29642101e-02 2.62560541e+02] [-6.38687819e-01 7.68035492e-01 -4.68972604e-02 -1.97298521e+02] [-7.07115777e-02 2.10555339e-03 9.97494581e-01 -1.89242703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86864 meters 0.029883636624326308 Centerline is valid? [True, True] Translation: X:262.58, Y:-197.32, Z:-18.93 [[ 7.64739260e-01 6.42175866e-01 5.27638164e-02 2.62583986e+02] [-6.40474162e-01 7.66554820e-01 -4.67606130e-02 -1.97321078e+02] [-7.04748950e-02 1.96581547e-03 9.97511616e-01 -1.89265378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89864 meters 0.029401007676314313 Centerline is valid? [True, True] Translation: X:262.61, Y:-197.34, Z:-18.93 [[ 7.61982642e-01 6.45223051e-01 5.54045825e-02 2.62606407e+02] [-6.43351173e-01 7.63992121e-01 -4.91457754e-02 -1.97343662e+02] [-7.40386516e-02 1.80362468e-03 9.97253742e-01 -1.89270385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864000000003 meters 0.029222679778494187 Centerline is valid? [True, True] Translation: X:262.63, Y:-197.37, Z:-18.93 [[ 7.60475938e-01 6.46938590e-01 5.60964280e-02 2.62629960e+02] [-6.45020918e-01 7.62540229e-01 -4.98037544e-02 -1.97366001e+02] [-7.49957537e-02 1.69118733e-03 9.97182419e-01 -1.89283228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95864 meters 0.029045098114196775 Centerline is valid? [True, True] Translation: X:262.65, Y:-197.39, Z:-18.93 [[ 7.59346968e-01 6.48339945e-01 5.52041453e-02 2.62652547e+02] [-6.46483376e-01 7.61349381e-01 -4.90547192e-02 -1.97388445e+02] [-7.38337758e-02 1.56099006e-03 9.97269340e-01 -1.89303917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters 0.02857584941094848 Centerline is valid? [True, True] Translation: X:262.67, Y:-197.41, Z:-18.93 [[ 7.57159928e-01 6.51110994e-01 5.25672607e-02 2.62673667e+02] [-6.49431580e-01 7.58981480e-01 -4.67518496e-02 -1.97413352e+02] [-7.03382206e-02 1.25978792e-03 9.97522405e-01 -1.89316554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01864 meters 0.028600470390599764 Centerline is valid? [True, True] Translation: X:262.70, Y:-197.44, Z:-18.93 [[ 7.55604391e-01 6.52987760e-01 5.16622536e-02 2.62697426e+02] [-6.51367280e-01 7.57367665e-01 -4.59878938e-02 -1.97435374e+02] [-6.91568522e-02 1.09755287e-03 9.97605195e-01 -1.89331417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters 0.028257066332778136 Centerline is valid? [True, True] Translation: X:262.72, Y:-197.46, Z:-18.93 [[ 7.53505645e-01 6.55443481e-01 5.12160661e-02 2.62721889e+02] [-6.53853710e-01 7.55243696e-01 -4.56320754e-02 -1.97455842e+02] [-6.85898573e-02 8.96211618e-04 9.97644540e-01 -1.89342340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07864 meters 0.028281610161237595 Centerline is valid? [True, True] Translation: X:262.75, Y:-197.48, Z:-18.94 [[ 7.52291675e-01 6.56764100e-01 5.21359122e-02 2.62745789e+02] [-6.55116658e-01 7.54095643e-01 -4.64965150e-02 -1.97477819e+02] [-6.98527060e-02 8.23836607e-04 9.97556976e-01 -1.89365504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters 0.0281077251674949 Centerline is valid? [True, True] Translation: X:262.77, Y:-197.50, Z:-18.94 [[ 7.51262639e-01 6.57895054e-01 5.27119106e-02 2.62769433e+02] [-6.56210215e-01 7.53109231e-01 -4.70599602e-02 -1.97500548e+02] [-7.06583415e-02 7.64295709e-04 9.97500283e-01 -1.89384339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13864 meters 0.02834312580308659 Centerline is valid? [True, True] Translation: X:262.79, Y:-197.52, Z:-18.94 [[ 7.50407986e-01 6.58842034e-01 5.30568408e-02 2.62794084e+02] [-6.57133826e-01 7.52280971e-01 -4.74180897e-02 -1.97523125e+02] [-7.11546824e-02 7.17468360e-04 9.97465035e-01 -1.89399829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters 0.028347593716199864 Centerline is valid? [True, True] Translation: X:262.82, Y:-197.55, Z:-18.94 [[ 7.49979061e-01 6.59277886e-01 5.37036065e-02 2.62818668e+02] [-6.57525120e-01 7.51899027e-01 -4.80475775e-02 -1.97545155e+02] [-7.20563947e-02 7.23206762e-04 9.97400297e-01 -1.89420504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19864 meters 0.028473343960599775 Centerline is valid? [True, True] Translation: X:262.84, Y:-197.57, Z:-18.94 [[ 7.50171954e-01 6.59089442e-01 5.33211730e-02 2.62842611e+02] [-6.57357526e-01 7.52064166e-01 -4.77553577e-02 -1.97568415e+02] [-7.15759955e-02 7.73655641e-04 9.97434849e-01 -1.89432792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters 0.028640178243451234 Centerline is valid? [True, True] Translation: X:262.87, Y:-197.59, Z:-18.94 [[ 7.50340860e-01 6.58749342e-01 5.51171335e-02 2.62866396e+02] [-6.56893917e-01 7.52361977e-01 -4.94149488e-02 -1.97589858e+02] [-7.40201005e-02 8.71945468e-04 9.97256368e-01 -1.89445393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25864 meters 0.028772224046572745 Centerline is valid? [True, True] Translation: X:262.89, Y:-197.61, Z:-18.95 [[ 7.50446305e-01 6.58545954e-01 5.61032095e-02 2.62890683e+02] [-6.56619367e-01 7.52539924e-01 -5.03455097e-02 -1.97611381e+02] [-7.53747367e-02 9.43147805e-04 9.97154832e-01 -1.89465637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters 0.028631410700885828 Centerline is valid? [True, True] Translation: X:262.92, Y:-197.63, Z:-18.95 [[ 7.50423179e-01 6.58722217e-01 5.43147670e-02 2.62915183e+02] [-6.56913937e-01 7.52385658e-01 -4.87842234e-02 -1.97632448e+02] [-7.30009035e-02 9.28684524e-04 9.97331442e-01 -1.89480868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31864 meters 0.028638024258001844 Centerline is valid? [True, True] Translation: X:262.94, Y:-197.65, Z:-18.95 [[ 7.50048247e-01 6.59313997e-01 5.22750451e-02 2.62939215e+02] [-6.57637629e-01 7.51867207e-01 -4.69941661e-02 -1.97654325e+02] [-7.02878036e-02 8.69855142e-04 9.97526375e-01 -1.89499154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters 0.028683773353444502 Centerline is valid? [True, True] Translation: X:262.96, Y:-197.68, Z:-18.95 [[ 7.49398812e-01 6.60034024e-01 5.25024604e-02 2.62962507e+02] [-6.58341582e-01 7.51235238e-01 -4.72438225e-02 -1.97677775e+02] [-7.06242286e-02 8.39911564e-04 9.97502638e-01 -1.89508368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37864 meters 0.028711720775472366 Centerline is valid? [True, True] Translation: X:262.99, Y:-197.70, Z:-18.95 [[ 7.48469645e-01 6.61008918e-01 5.34827167e-02 2.62986101e+02] [-6.59251371e-01 7.50377618e-01 -4.81773947e-02 -1.97700189e+02] [-7.19779211e-02 8.00763235e-04 9.97405904e-01 -1.89522468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters 0.028697535511582942 Centerline is valid? [True, True] Translation: X:263.01, Y:-197.72, Z:-18.95 [[ 7.47996192e-01 6.61424182e-01 5.49522265e-02 2.63009915e+02] [-6.59565879e-01 7.50011585e-01 -4.95527375e-02 -1.97721727e+02] [-7.39901854e-02 8.20645366e-04 9.97258632e-01 -1.89540897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43864 meters 0.028875369214174766 Centerline is valid? [True, True] Translation: X:263.03, Y:-197.74, Z:-18.95 [[ 7.47537050e-01 6.61933859e-01 5.50629157e-02 2.63033655e+02] [-6.60065871e-01 7.49561814e-01 -4.97004265e-02 -1.97744186e+02] [-7.41714541e-02 8.07758795e-04 9.97245177e-01 -1.89549700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters 0.028908476022514402 Centerline is valid? [True, True] Translation: X:263.06, Y:-197.77, Z:-18.96 [[ 7.47479788e-01 6.62011794e-01 5.49031079e-02 2.63057414e+02] [-6.60151006e-01 7.49492952e-01 -4.96081198e-02 -1.97767660e+02] [-7.39906528e-02 8.36725033e-04 9.97258584e-01 -1.89569318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49864 meters 0.028808636314707207 Centerline is valid? [True, True] Translation: X:263.08, Y:-197.79, Z:-18.96 [[ 7.47384528e-01 6.62164603e-01 5.43544393e-02 2.63080714e+02] [-6.60337504e-01 7.49357933e-01 -4.91636880e-02 -1.97790996e+02] [-7.32853842e-02 8.51904984e-04 9.97310647e-01 -1.89584474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52864 meters 0.028808840985392988 Centerline is valid? [True, True] Translation: X:263.10, Y:-197.81, Z:-18.96 [[ 7.46711746e-01 6.63038392e-01 5.29307010e-02 2.63102173e+02] [-6.61304642e-01 7.48584985e-01 -4.79238003e-02 -1.97814763e+02] [-7.13984475e-02 7.81946335e-04 9.97447568e-01 -1.89594138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55864 meters 0.028790174136089607 Centerline is valid? [True, True] Translation: X:263.13, Y:-197.84, Z:-18.96 [[ 7.45532172e-01 6.64376069e-01 5.27846484e-02 2.63125563e+02] [-6.62651967e-01 7.47398132e-01 -4.78372478e-02 -1.97837566e+02] [-7.12330702e-02 6.86356135e-04 9.97459462e-01 -1.89603082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58864 meters 0.028850670764003793 Centerline is valid? [True, True] Translation: X:263.15, Y:-197.86, Z:-18.96 [[ 7.44406180e-01 6.65613913e-01 5.30806735e-02 2.63148429e+02] [-6.63869861e-01 7.46296019e-01 -4.81566243e-02 -1.97861666e+02] [-7.16676144e-02 6.09429424e-04 9.97428384e-01 -1.89621635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61864 meters 0.028742741800792657 Centerline is valid? [True, True] Translation: X:263.17, Y:-197.88, Z:-18.96 [[ 7.42909992e-01 6.67318916e-01 5.26327698e-02 2.63170899e+02] [-6.65605002e-01 7.44771936e-01 -4.77989964e-02 -1.97884829e+02] [-7.10965843e-02 4.77717145e-04 9.97469322e-01 -1.89629546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64864 meters 0.028845557332183216 Centerline is valid? [True, True] Translation: X:263.19, Y:-197.91, Z:-18.96 [[ 7.39193235e-01 6.71475312e-01 5.20986270e-02 2.63192051e+02] [-6.69803236e-01 7.41026918e-01 -4.73574911e-02 -1.97908837e+02] [-7.04058711e-02 1.10508113e-04 9.97518421e-01 -1.89648751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67864000000003 meters 0.028788991146790982 Centerline is valid? [True, True] Translation: X:263.21, Y:-197.93, Z:-18.97 [[ 7.36870305e-01 6.73923494e-01 5.33786313e-02 2.63214334e+02] [-6.72171169e-01 7.38801134e-01 -4.85675202e-02 -1.97931443e+02] [-7.21669863e-02 -9.16136569e-05 9.97392560e-01 -1.89673407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70864 meters 0.02890731478065005 Centerline is valid? [True, True] Translation: X:263.24, Y:-197.95, Z:-18.97 [[ 7.34856630e-01 6.76139146e-01 5.31186282e-02 2.63237615e+02] [-6.74406221e-01 7.36773901e-01 -4.83783890e-02 -1.97954503e+02] [-7.18469415e-02 -2.72353398e-04 9.97415632e-01 -1.89682135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73864 meters 0.029090525916101107 Centerline is valid? [True, True] Translation: X:263.26, Y:-197.98, Z:-18.97 [[ 7.31541539e-01 6.79670533e-01 5.38046763e-02 2.63258793e+02] [-6.77898214e-01 7.33517294e-01 -4.90549750e-02 -1.97978313e+02] [-7.28078816e-02 -5.88342053e-04 9.97345811e-01 -1.89708499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76864 meters 0.02937739882281403 Centerline is valid? [True, True] Translation: X:263.28, Y:-198.00, Z:-18.97 [[ 7.29909931e-01 6.81456427e-01 5.33725654e-02 2.63282400e+02] [-6.79713810e-01 7.31858328e-01 -4.87085729e-02 -1.98001172e+02] [-7.22539266e-02 -7.25198717e-04 9.97386006e-01 -1.89728908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79864 meters 0.02960855007616474 Centerline is valid? [True, True] Translation: X:263.31, Y:-198.02, Z:-18.97 [[ 7.26244713e-01 6.85462432e-01 5.20564227e-02 2.63305038e+02] [-6.83811586e-01 7.28107226e-01 -4.75560975e-02 -1.98023992e+02] [-7.05005758e-02 -1.05942060e-03 9.97511176e-01 -1.89738447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82864 meters 0.02970800013130049 Centerline is valid? [True, True] Translation: X:263.33, Y:-198.05, Z:-18.98 [[ 7.24348726e-01 6.87456395e-01 5.21788084e-02 2.63328269e+02] [-6.85799813e-01 7.26224625e-01 -4.77117389e-02 -1.98045398e+02] [-7.06932756e-02 -1.22427973e-03 9.97497349e-01 -1.89759870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85864 meters 0.029928974742480675 Centerline is valid? [True, True] Translation: X:263.35, Y:-198.07, Z:-18.98 [[ 7.22753415e-01 6.89218130e-01 5.10477292e-02 2.63352407e+02] [-6.87634165e-01 7.24552679e-01 -4.67190591e-02 -1.98067352e+02] [-6.91863915e-02 -1.33580314e-03 9.97602856e-01 -1.89771508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88864 meters 0.030443467725737958 Centerline is valid? [True, True] Translation: X:263.38, Y:-198.09, Z:-18.98 [[ 7.19234838e-01 6.92806047e-01 5.21634829e-02 2.63377701e+02] [-6.91157857e-01 7.21122011e-01 -4.77897664e-02 -1.98087246e+02] [-7.07252748e-02 -1.68113611e-03 9.97494416e-01 -1.89781462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91864 meters 0.030594113909579234 Centerline is valid? [True, True] Translation: X:263.40, Y:-198.11, Z:-18.98 [[ 7.16816559e-01 6.95299447e-01 5.22752382e-02 2.63402655e+02] [-6.93647662e-01 7.18717658e-01 -4.79358778e-02 -1.98107284e+02] [-7.09009261e-02 -1.89936585e-03 9.97481554e-01 -1.89790772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94864 meters 0.03144918503616414 Centerline is valid? [True, True] Translation: X:263.43, Y:-198.13, Z:-18.98 [[ 7.12944573e-01 6.99285122e-01 5.20610652e-02 2.63428754e+02] [-6.97654891e-01 7.14839291e-01 -4.77749049e-02 -1.98126337e+02] [-7.06235751e-02 -2.25979760e-03 9.97500478e-01 -1.89814328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97864 meters 0.03170272188699881 Centerline is valid? [True, True] Translation: X:263.45, Y:-198.15, Z:-18.98 [[ 7.11229626e-01 7.01098143e-01 5.11254738e-02 2.63453497e+02] [-6.99529360e-01 7.13060812e-01 -4.69356236e-02 -1.98146348e+02] [-6.93620504e-02 -2.38176401e-03 9.97588709e-01 -1.89839879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00864 meters 0.03151565802853814 Centerline is valid? [True, True] Translation: X:263.48, Y:-198.17, Z:-18.99 [[ 7.11259578e-01 7.01130659e-01 5.02554624e-02 2.63479408e+02] [-6.99612582e-01 7.13029045e-01 -4.61715944e-02 -1.98165067e+02] [-6.82059248e-02 -2.31936504e-03 9.97668568e-01 -1.89852319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03864 meters 0.03120775343570354 Centerline is valid? [True, True] Translation: X:263.51, Y:-198.18, Z:-18.99 [[ 7.12955781e-01 6.99421544e-01 5.00355661e-02 2.63506960e+02] [-6.97911125e-01 7.14706206e-01 -4.59902195e-02 -1.98182046e+02] [-6.79272799e-02 -2.13138544e-03 9.97687998e-01 -1.89859491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06864 meters 0.030948507963118873 Centerline is valid? [True, True] Translation: X:263.53, Y:-198.20, Z:-18.99 [[ 7.15015923e-01 6.97216576e-01 5.13933488e-02 2.63531854e+02] [-6.95614229e-01 7.16857916e-01 -4.72818368e-02 -1.98202633e+02] [-6.98074093e-02 -1.94267859e-03 9.97558596e-01 -1.89885208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09864 meters 0.030519077831810026 Centerline is valid? [True, True] Translation: X:263.56, Y:-198.22, Z:-18.99 [[ 7.17381625e-01 6.94804071e-01 5.10970473e-02 2.63556886e+02] [-6.93211424e-01 7.19197131e-01 -4.70468724e-02 -1.98223670e+02] [-6.94372083e-02 -1.67049519e-03 9.97584926e-01 -1.89896284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12864 meters 0.030227958212819987 Centerline is valid? [True, True] Translation: X:263.58, Y:-198.24, Z:-18.99 [[ 7.20643115e-01 6.91294665e-01 5.27748620e-02 2.63583067e+02] [-6.89584522e-01 7.22571684e-01 -4.86142890e-02 -1.98243433e+02] [-7.17404196e-02 -1.35917528e-03 9.97422410e-01 -1.89918383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15864 meters 0.030182867107187414 Centerline is valid? [True, True] Translation: X:263.61, Y:-198.26, Z:-18.99 [[ 7.21467912e-01 6.90403683e-01 5.31677141e-02 2.63608405e+02] [-6.88663781e-01 7.23423223e-01 -4.90003786e-02 -1.98263525e+02] [-7.22928010e-02 -1.26247816e-03 9.97382653e-01 -1.89936996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18864 meters 0.029926690706470905 Centerline is valid? [True, True] Translation: X:263.63, Y:-198.28, Z:-19.00 [[ 7.22006105e-01 6.89717325e-01 5.47466565e-02 2.63633549e+02] [-6.87866714e-01 7.24077750e-01 -5.05054042e-02 -1.98284846e+02] [-7.44752882e-02 -1.19319252e-03 9.97222146e-01 -1.89953203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21864 meters 0.02982579962471132 Centerline is valid? [True, True] Translation: X:263.66, Y:-198.31, Z:-19.00 [[ 7.21913239e-01 6.89802976e-01 5.48919834e-02 2.63657639e+02] [-6.87938694e-01 7.23996199e-01 -5.06937595e-02 -1.98307113e+02] [-7.47102934e-02 -1.16582323e-03 9.97204599e-01 -1.89967926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24864 meters 0.030017592527325235 Centerline is valid? [True, True] Translation: X:263.68, Y:-198.33, Z:-19.00 [[ 7.21213838e-01 6.90509625e-01 5.52001639e-02 2.63681522e+02] [-6.88622272e-01 7.23322199e-01 -5.10329623e-02 -1.98329387e+02] [-7.51662555e-02 -1.20638369e-03 9.97170286e-01 -1.89979382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27864 meters 0.029914559906356233 Centerline is valid? [True, True] Translation: X:263.70, Y:-198.35, Z:-19.00 [[ 7.20724081e-01 6.91186745e-01 5.30818498e-02 2.63704721e+02] [-6.89439923e-01 7.22675212e-01 -4.91236240e-02 -1.98351328e+02] [-7.23145349e-02 -1.19216768e-03 9.97381164e-01 -1.90001385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30864 meters 0.029732286510383264 Centerline is valid? [True, True] Translation: X:263.73, Y:-198.37, Z:-19.00 [[ 7.20110636e-01 6.91851204e-01 5.27501967e-02 2.63727934e+02] [-6.90124565e-01 7.22039078e-01 -4.88636308e-02 -1.98374353e+02] [-7.18940652e-02 -1.21698631e-03 9.97411531e-01 -1.90020845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33864 meters 0.029789627309001403 Centerline is valid? [True, True] Translation: X:263.75, Y:-198.40, Z:-19.00 [[ 7.18635326e-01 6.93438822e-01 5.20179575e-02 2.63751558e+02] [-6.91760357e-01 7.20514302e-01 -4.82363937e-02 -1.98397781e+02] [-7.09286703e-02 -1.31958433e-03 9.97480517e-01 -1.90018757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36864 meters 0.029774235051550458 Centerline is valid? [True, True] Translation: X:263.78, Y:-198.42, Z:-19.00 [[ 7.17881912e-01 6.94211536e-01 5.21143379e-02 2.63777315e+02] [-6.92525199e-01 7.19769748e-01 -4.83772603e-02 -1.98418451e+02] [-7.10943761e-02 -1.36133207e-03 9.97468664e-01 -1.90029761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39864 meters 0.030076866337222865 Centerline is valid? [True, True] Translation: X:263.80, Y:-198.44, Z:-19.01 [[ 7.16493982e-01 6.95487360e-01 5.41637018e-02 2.63802754e+02] [-6.93665316e-01 7.18536747e-01 -5.03326140e-02 -1.98438715e+02] [-7.39243069e-02 -1.50846634e-03 9.97262714e-01 -1.90052478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864000000003 meters 0.03006852125171148 Centerline is valid? [True, True] Translation: X:263.83, Y:-198.46, Z:-19.01 [[ 7.16219858e-01 6.95770470e-01 5.41531860e-02 2.63826507e+02] [-6.93946360e-01 7.18262623e-01 -5.03711676e-02 -1.98461547e+02] [-7.39429804e-02 -1.50257576e-03 9.97261339e-01 -1.90076656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45864 meters 0.03006852125171148 Centerline is valid? [True, True] Translation: X:263.85, Y:-198.48, Z:-19.01 [[ 7.15855023e-01 6.96147893e-01 5.41266809e-02 2.63850496e+02] [-6.94322708e-01 7.17896826e-01 -5.03996372e-02 -1.98483444e+02] [-7.39429737e-02 -1.50255028e-03 9.97261339e-01 -1.90093801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters 0.029925767264753902 Centerline is valid? [True, True] Translation: X:263.88, Y:-198.50, Z:-19.01 [[ 7.15816996e-01 6.96121810e-01 5.49586502e-02 2.63876116e+02] [-6.94235821e-01 7.17922157e-01 -5.12289082e-02 -1.98504396e+02] [-7.51175930e-02 -1.48374053e-03 9.97173579e-01 -1.90113526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51864 meters 0.02988422005976043 Centerline is valid? [True, True] Translation: X:263.90, Y:-198.52, Z:-19.01 [[ 7.16031182e-01 6.95987899e-01 5.38534208e-02 2.63901818e+02] [-6.94172992e-01 7.18052139e-01 -5.02492120e-02 -1.98524181e+02] [-7.36424075e-02 -1.40358753e-03 9.97283724e-01 -1.90138625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters 0.029709826145130735 Centerline is valid? [True, True] Translation: X:263.93, Y:-198.54, Z:-19.01 [[ 7.16129958e-01 6.96051008e-01 5.16805306e-02 2.63927732e+02] [-6.94376851e-01 7.17991119e-01 -4.82653201e-02 -1.98543871e+02] [-7.07012868e-02 -1.32152244e-03 9.97496657e-01 -1.90147995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57864 meters 0.029488045922801073 Centerline is valid? [True, True] Translation: X:263.95, Y:-198.56, Z:-19.02 [[ 7.16214461e-01 6.96061610e-01 5.03495960e-02 2.63953802e+02] [-6.94469747e-01 7.17980957e-01 -4.70650190e-02 -1.98562990e+02] [-6.89102040e-02 -1.25762398e-03 9.97622074e-01 -1.90163367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters 0.029462928708490647 Centerline is valid? [True, True] Translation: X:263.98, Y:-198.58, Z:-19.02 [[ 7.16045931e-01 6.96306107e-01 4.93561562e-02 2.63978262e+02] [-6.94774230e-01 7.17743898e-01 -4.61786286e-02 -1.98583838e+02] [-6.75795411e-02 -1.22536633e-03 9.97713137e-01 -1.90176654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63864 meters 0.029487832790690914 Centerline is valid? [True, True] Translation: X:264.01, Y:-198.60, Z:-19.02 [[ 7.15787686e-01 6.96494546e-01 5.04315080e-02 2.64005167e+02] [-6.94892377e-01 7.17561020e-01 -4.72309944e-02 -1.98603480e+02] [-6.90838143e-02 -1.23710630e-03 9.97610092e-01 -1.90175334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters 0.02936981983537471 Centerline is valid? [True, True] Translation: X:264.03, Y:-198.62, Z:-19.02 [[ 7.15291945e-01 6.97010461e-01 5.03373653e-02 2.64031258e+02] [-6.95412054e-01 7.17059871e-01 -4.71933956e-02 -1.98623796e+02] [-6.89891951e-02 -1.24815481e-03 9.97616626e-01 -1.90189621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69864 meters 0.029674301548905546 Centerline is valid? [True, True] Translation: X:264.06, Y:-198.64, Z:-19.02 [[ 7.15195082e-01 6.97074237e-01 5.08281700e-02 2.64056638e+02] [-6.95441025e-01 7.16997906e-01 -4.77051805e-02 -1.98644197e+02] [-6.96977437e-02 -1.22948414e-03 9.97567398e-01 -1.90215323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters 0.029886995093124282 Centerline is valid? [True, True] Translation: X:264.08, Y:-198.66, Z:-19.02 [[ 7.13241617e-01 6.99106988e-01 5.03568744e-02 2.64082490e+02] [-6.97505611e-01 7.15015746e-01 -4.73117961e-02 -1.98663350e+02] [-6.90819654e-02 -1.37946049e-03 9.97610034e-01 -1.90222252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75864 meters 0.02996316593765169 Centerline is valid? [True, True] Translation: X:264.11, Y:-198.68, Z:-19.02 [[ 7.12368201e-01 6.99974880e-01 5.06627377e-02 2.64107793e+02] [-6.98352964e-01 7.14166013e-01 -4.76449714e-02 -1.98684966e+02] [-6.95318886e-02 -1.43971047e-03 9.97578691e-01 -1.90245125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters 0.02980218213713815 Centerline is valid? [True, True] Translation: X:264.14, Y:-198.70, Z:-19.03 [[ 7.11757596e-01 7.00613164e-01 5.04214096e-02 2.64136176e+02] [-6.99004805e-01 7.13539814e-01 -4.74680694e-02 -1.98703140e+02] [-6.92344375e-02 -1.45904861e-03 9.97599350e-01 -1.90257657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81864 meters 0.029524058987767717 Centerline is valid? [True, True] Translation: X:264.16, Y:-198.72, Z:-19.03 [[ 7.12449013e-01 6.99884032e-01 5.07813535e-02 2.64161492e+02] [-6.98247300e-01 7.14255196e-01 -4.78562738e-02 -1.98722662e+02] [-6.97646875e-02 -1.36278793e-03 9.97562545e-01 -1.90276393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters 0.02900713083320183 Centerline is valid? [True, True] Translation: X:264.19, Y:-198.74, Z:-19.03 [[ 7.16075095e-01 6.96260849e-01 4.95710376e-02 2.64186034e+02] [-6.94689972e-01 7.17788210e-01 -4.67539254e-02 -1.98744077e+02] [-6.81344341e-02 -9.57181140e-04 9.97675690e-01 -1.90302946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87864 meters 0.028735075445666745 Centerline is valid? [True, True] Translation: X:264.21, Y:-198.77, Z:-19.03 [[ 7.18275629e-01 6.93990263e-01 4.95745591e-02 2.64210290e+02] [-6.92411786e-01 7.19984025e-01 -4.67859275e-02 -1.98765452e+02] [-6.81618687e-02 -7.20817495e-04 9.97674015e-01 -1.90313428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters 0.028768184423148203 Centerline is valid? [True, True] Translation: X:264.24, Y:-198.79, Z:-19.03 [[ 7.19246524e-01 6.92903731e-01 5.06839042e-02 2.64235525e+02] [-6.91247709e-01 7.21029863e-01 -4.78804923e-02 -1.98786284e+02] [-6.97211802e-02 -5.97254968e-04 9.97566339e-01 -1.90330082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93864 meters 0.02849051057214499 Centerline is valid? [True, True] Translation: X:264.26, Y:-198.81, Z:-19.03 [[ 7.21738656e-01 6.90275618e-01 5.11163781e-02 2.64262225e+02] [-6.88580889e-01 7.23546458e-01 -4.83413172e-02 -1.98805502e+02] [-7.03539069e-02 -3.07963768e-04 9.97522046e-01 -1.90346736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters 0.028521553848822805 Centerline is valid? [True, True] Translation: X:264.29, Y:-198.83, Z:-19.04 [[ 7.22608774e-01 6.89344289e-01 5.13907623e-02 2.64286667e+02] [-6.87625222e-01 7.24433860e-01 -4.86532279e-02 -1.98827240e+02] [-7.07680331e-02 -1.80334925e-04 9.97492783e-01 -1.90374413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99864 meters 0.02838155491009982 Centerline is valid? [True, True] Translation: X:264.31, Y:-198.85, Z:-19.04 [[ 7.23666077e-01 6.88168597e-01 5.22627108e-02 2.64310813e+02] [-6.86383674e-01 7.25550813e-01 -4.95325191e-02 -1.98849057e+02] [-7.20059764e-02 -2.72676553e-05 9.97404200e-01 -1.90399109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02864 meters 0.028317867879533755 Centerline is valid? [True, True] Translation: X:264.33, Y:-198.87, Z:-19.04 [[ 7.24342742e-01 6.87593964e-01 5.04195711e-02 2.64334377e+02] [-6.85928111e-01 7.26095405e-01 -4.78339883e-02 -1.98870581e+02] [-6.94997805e-02 6.40011064e-05 9.97581965e-01 -1.90407425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05864 meters 0.028127526356195826 Centerline is valid? [True, True] Translation: X:264.36, Y:-198.89, Z:-19.04 [[ 7.24423942e-01 6.87480443e-01 5.07995293e-02 2.64358767e+02] [-6.85785789e-01 7.26202883e-01 -4.82413125e-02 -1.98893274e+02] [-7.00557235e-02 1.09566502e-04 9.97543074e-01 -1.90427683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08864 meters 0.028266163010818586 Centerline is valid? [True, True] Translation: X:264.38, Y:-198.92, Z:-19.04 [[ 7.24573049e-01 6.87338673e-01 5.05909632e-02 2.64382153e+02] [-6.85653993e-01 7.26337059e-01 -4.80944871e-02 -1.98917112e+02] [-6.98032923e-02 1.60073256e-04 9.97560762e-01 -1.90438998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11864 meters 0.028160149959536793 Centerline is valid? [True, True] Translation: X:264.41, Y:-198.94, Z:-19.05 [[ 7.24069774e-01 6.87830960e-01 5.11031542e-02 2.64405685e+02] [-6.86109498e-01 7.25870889e-01 -4.86334181e-02 -1.98940045e+02] [-7.05458626e-02 1.51628615e-04 9.97508525e-01 -1.90458863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14864 meters 0.028116307257252025 Centerline is valid? [True, True] Translation: X:264.43, Y:-198.96, Z:-19.05 [[ 7.23123693e-01 6.88877084e-01 5.04032501e-02 2.64428150e+02] [-6.87201515e-01 7.24878166e-01 -4.80179287e-02 -1.98964151e+02] [-6.96146662e-02 8.57121073e-05 9.97573953e-01 -1.90481800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17864000000003 meters 0.02818778837017321 Centerline is valid? [True, True] Translation: X:264.45, Y:-198.99, Z:-19.05 [[ 7.22626820e-01 6.89311368e-01 5.15782695e-02 2.64450709e+02] [-6.87554069e-01 7.24465204e-01 -4.91891395e-02 -1.98986851e+02] [-7.12732946e-02 8.25423907e-05 9.97456821e-01 -1.90492870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20864 meters 0.028131016727266738 Centerline is valid? [True, True] Translation: X:264.47, Y:-199.01, Z:-19.05 [[ 7.21823989e-01 6.90138656e-01 5.17567906e-02 2.64474313e+02] [-6.88367821e-01 7.23677162e-01 -4.94075821e-02 -1.99010196e+02] [-7.15532896e-02 3.58688832e-05 9.97436778e-01 -1.90503485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23864 meters 0.028341713820064743 Centerline is valid? [True, True] Translation: X:264.50, Y:-199.03, Z:-19.05 [[ 7.22102808e-01 6.89781785e-01 5.26177070e-02 2.64496740e+02] [-6.87946697e-01 7.24017318e-01 -5.02818540e-02 -1.99032829e+02] [-7.27796382e-02 1.10490228e-04 9.97348040e-01 -1.90515368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26864 meters 0.028178272655755655 Centerline is valid? [True, True] Translation: X:264.52, Y:-199.06, Z:-19.05 [[ 7.22630700e-01 6.89251450e-01 5.23193185e-02 2.64519801e+02] [-6.87432248e-01 7.24522187e-01 -5.00450210e-02 -1.99055706e+02] [-7.24001103e-02 1.98081746e-04 9.97375649e-01 -1.90539509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29864 meters 0.028124487110868533 Centerline is valid? [True, True] Translation: X:264.54, Y:-199.08, Z:-19.06 [[ 7.22966254e-01 6.88950359e-01 5.16449247e-02 2.64541985e+02] [-6.87173315e-01 7.24808481e-01 -4.94520113e-02 -1.99079818e+02] [-7.15026603e-02 2.63121242e-04 9.97440374e-01 -1.90554114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32864 meters 0.02813231116186978 Centerline is valid? [True, True] Translation: X:264.57, Y:-199.10, Z:-19.06 [[ 7.22948626e-01 6.88978892e-01 5.15108846e-02 2.64565266e+02] [-6.87207372e-01 7.24781345e-01 -4.93764157e-02 -1.99102507e+02] [-7.13534364e-02 2.97952250e-04 9.97451051e-01 -1.90573104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35864 meters 0.028165757474360807 Centerline is valid? [True, True] Translation: X:264.59, Y:-199.13, Z:-19.06 [[ 7.23295917e-01 6.88654461e-01 5.09710618e-02 2.64589450e+02] [-6.86915453e-01 7.25089581e-01 -4.89107414e-02 -1.99125292e+02] [-7.06411861e-02 3.64129592e-04 9.97501724e-01 -1.90582945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38864 meters 0.027855168866224946 Centerline is valid? [True, True] Translation: X:264.61, Y:-199.15, Z:-19.06 [[ 7.24689143e-01 6.87359877e-01 4.86008843e-02 2.64613513e+02] [-6.85772971e-01 7.26316838e-01 -4.66827988e-02 -1.99147187e+02] [-6.73875234e-02 5.01344642e-04 9.97726751e-01 -1.90586851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41864 meters 0.027909007479005533 Centerline is valid? [True, True] Translation: X:264.64, Y:-199.17, Z:-19.06 [[ 7.25662045e-01 6.86281263e-01 4.93216485e-02 2.64637081e+02] [-6.84641358e-01 7.27335971e-01 -4.74193589e-02 -1.99169568e+02] [-6.84164266e-02 6.42788511e-04 9.97656644e-01 -1.90607499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44864 meters 0.028193076862312226 Centerline is valid? [True, True] Translation: X:264.66, Y:-199.19, Z:-19.06 [[ 7.27939701e-01 6.83906224e-01 4.87449383e-02 2.64659844e+02] [-6.82296259e-01 7.29569386e-01 -4.69076287e-02 -1.99192607e+02] [-6.76432339e-02 8.87436177e-04 9.97709179e-01 -1.90607065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47864 meters 0.02816119203183074 Centerline is valid? [True, True] Translation: X:264.68, Y:-199.22, Z:-19.06 [[ 7.28627724e-01 6.83226470e-01 4.79919876e-02 2.64683843e+02] [-6.81661574e-01 7.30205899e-01 -4.62259972e-02 -1.99215195e+02] [-6.66268574e-02 9.67249279e-04 9.97777493e-01 -1.90620145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50864 meters 0.028197894104071176 Centerline is valid? [True, True] Translation: X:264.71, Y:-199.24, Z:-19.06 [[ 7.28790382e-01 6.83090701e-01 4.74517946e-02 2.64708562e+02] [-6.81557478e-01 7.30332861e-01 -4.57527823e-02 -1.99237751e+02] [-6.59089051e-02 1.00306227e-03 9.97825140e-01 -1.90633212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53864 meters 0.027880126753646674 Centerline is valid? [True, True] Translation: X:264.73, Y:-199.26, Z:-19.06 [[ 7.28405192e-01 6.83693927e-01 4.45924972e-02 2.64732176e+02] [-6.82338854e-01 7.29768299e-01 -4.30339129e-02 -1.99260322e+02] [-6.19642158e-02 9.18932144e-04 9.98077949e-01 -1.90647831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56864 meters 0.02791486656591725 Centerline is valid? [True, True] Translation: X:264.76, Y:-199.28, Z:-19.07 [[ 7.27769589e-01 6.84392140e-01 4.42586032e-02 2.64755300e+02] [-6.83057467e-01 7.29113604e-01 -4.27299585e-02 -1.99284353e+02] [-6.15135975e-02 8.66394946e-04 9.98105870e-01 -1.90664675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59864 meters 0.02767687722430479 Centerline is valid? [True, True] Translation: X:264.78, Y:-199.31, Z:-19.07 [[ 7.26326721e-01 6.85954257e-01 4.37750068e-02 2.64776727e+02] [-6.84648814e-01 7.27644270e-01 -4.23062397e-02 -1.99308164e+02] [-6.08727781e-02 7.57645908e-04 9.98145245e-01 -1.90661018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62864 meters 0.027631435286824345 Centerline is valid? [True, True] Translation: X:264.80, Y:-199.33, Z:-19.07 [[ 7.25786732e-01 6.86601767e-01 4.25632815e-02 2.64800731e+02] [-6.85366540e-01 7.27033361e-01 -4.11727842e-02 -1.99330186e+02] [-5.92142319e-02 7.11211559e-04 9.98245045e-01 -1.90665975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65864 meters 0.02755188310240079 Centerline is valid? [True, True] Translation: X:264.82, Y:-199.35, Z:-19.07 [[ 7.24104941e-01 6.88420938e-01 4.18168237e-02 2.64823766e+02] [-6.87229283e-01 7.25311155e-01 -4.04924806e-02 -1.99352648e+02] [-5.82060802e-02 5.83059537e-04 9.98304419e-01 -1.90669962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68864 meters 0.027637482262006803 Centerline is valid? [True, True] Translation: X:264.85, Y:-199.38, Z:-19.07 [[ 7.22980236e-01 6.89560578e-01 4.24945524e-02 2.64846957e+02] [-6.88329580e-01 7.24227817e-01 -4.11880953e-02 -1.99376391e+02] [-5.91774237e-02 5.27921443e-04 9.98247341e-01 -1.90694090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71864 meters 0.027485975962115224 Centerline is valid? [True, True] Translation: X:264.87, Y:-199.40, Z:-19.07 [[ 7.21903767e-01 6.90791967e-01 4.07603972e-02 2.64869313e+02] [-6.89659135e-01 7.23053432e-01 -3.95475928e-02 -1.99399089e+02] [-5.67911045e-02 4.38775976e-04 9.98385986e-01 -1.90693702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74864 meters 0.02727207540513984 Centerline is valid? [True, True] Translation: X:264.89, Y:-199.42, Z:-19.07 [[ 7.20737511e-01 6.91926354e-01 4.21350443e-02 2.64894398e+02] [-6.90715353e-01 7.21967983e-01 -4.09210456e-02 -1.99420935e+02] [-5.87345028e-02 3.90010494e-04 9.98273563e-01 -1.90714964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77864 meters 0.027335242606135315 Centerline is valid? [True, True] Translation: X:264.92, Y:-199.44, Z:-19.07 [[ 7.20353867e-01 6.92300630e-01 4.25457788e-02 2.64918799e+02] [-6.91063868e-01 7.21609092e-01 -4.13648261e-02 -1.99443758e+02] [-5.93383160e-02 3.95461980e-04 9.98237851e-01 -1.90739341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80864 meters 0.027162176281269244 Centerline is valid? [True, True] Translation: X:264.94, Y:-199.47, Z:-19.07 [[ 7.19684356e-01 6.93151997e-01 3.99341648e-02 2.64940545e+02] [-6.92061670e-01 7.20791370e-01 -3.88644593e-02 -1.99467443e+02] [-5.57231789e-02 3.33238588e-04 9.98446201e-01 -1.90731006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83864 meters 0.02714623482315592 Centerline is valid? [True, True] Translation: X:264.96, Y:-199.49, Z:-19.08 [[ 7.19187757e-01 6.93654566e-01 4.01536244e-02 2.64963906e+02] [-6.92550918e-01 7.20307739e-01 -3.91150488e-02 -1.99490479e+02] [-5.60552986e-02 3.22634761e-04 9.98427614e-01 -1.90752451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86864 meters 0.027120173580056587 Centerline is valid? [True, True] Translation: X:264.99, Y:-199.51, Z:-19.08 [[ 7.19090592e-01 6.93756784e-01 4.01278660e-02 2.64988084e+02] [-6.92652348e-01 7.20209279e-01 -3.91320674e-02 -1.99513234e+02] [-5.60485987e-02 3.44840903e-04 9.98427982e-01 -1.90770266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89864 meters 0.02693109699049267 Centerline is valid? [True, True] Translation: X:265.01, Y:-199.54, Z:-19.08 [[ 7.17082621e-01 6.95886760e-01 3.91679925e-02 2.65010913e+02] [-6.94835531e-01 7.18151499e-01 -3.82362318e-02 -1.99537191e+02] [-5.47366400e-02 2.03224472e-04 9.98500806e-01 -1.90779451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864000000003 meters 0.027035541172000237 Centerline is valid? [True, True] Translation: X:265.03, Y:-199.56, Z:-19.08 [[ 7.16003807e-01 6.96993430e-01 3.92263536e-02 2.65033854e+02] [-6.95938457e-01 7.17077497e-01 -3.83344290e-02 -1.99560954e+02] [-5.48471806e-02 1.48469165e-04 9.98494750e-01 -1.90796726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95864 meters 0.026810037660870936 Centerline is valid? [True, True] Translation: X:265.06, Y:-199.58, Z:-19.08 [[ 7.12524529e-01 7.00481763e-01 4.04239526e-02 2.65057412e+02] [-6.99364421e-01 7.13670296e-01 -3.95488947e-02 -1.99584450e+02] [-5.65526537e-02 -9.15166651e-05 9.98399614e-01 -1.90797856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters 0.026997708597970304 Centerline is valid? [True, True] Translation: X:265.08, Y:-199.61, Z:-19.08 [[ 7.10554176e-01 7.02418563e-01 4.14840251e-02 2.65081066e+02] [-7.01242439e-01 7.11764086e-01 -4.06316226e-02 -1.99607160e+02] [-5.80672452e-02 -2.19389752e-04 9.98312650e-01 -1.90815749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01864 meters 0.02706729475219126 Centerline is valid? [True, True] Translation: X:265.10, Y:-199.63, Z:-19.08 [[ 7.07304857e-01 7.05734782e-01 4.07216987e-02 2.65104002e+02] [-7.04604542e-01 7.08475979e-01 -3.99277566e-02 -1.99631176e+02] [-5.70287520e-02 -4.51597651e-04 9.98372434e-01 -1.90821023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters 0.027214759739100567 Centerline is valid? [True, True] Translation: X:265.13, Y:-199.65, Z:-19.08 [[ 7.05249524e-01 7.07752537e-01 4.13455664e-02 2.65127213e+02] [-7.06588215e-01 7.06460187e-01 -4.05844657e-02 -1.99654104e+02] [-5.79327551e-02 -5.92114815e-04 9.98320312e-01 -1.90840542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07864 meters 0.027346185471432475 Centerline is valid? [True, True] Translation: X:265.15, Y:-199.68, Z:-19.09 [[ 7.04426312e-01 7.08576274e-01 4.12702531e-02 2.65152191e+02] [-7.07415034e-01 7.05633949e-01 -4.05549026e-02 -1.99675888e+02] [-5.78579335e-02 -6.27256986e-04 9.98324630e-01 -1.90851635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters 0.027193621179815938 Centerline is valid? [True, True] Translation: X:265.18, Y:-199.70, Z:-19.09 [[ 7.02649725e-01 7.10421023e-01 3.98162453e-02 2.65178964e+02] [-7.09340865e-01 7.03776561e-01 -3.91674604e-02 -1.99695279e+02] [-5.58471275e-02 -7.22284570e-04 9.98439070e-01 -1.90864094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13864 meters 0.027216701265521514 Centerline is valid? [True, True] Translation: X:265.20, Y:-199.72, Z:-19.09 [[ 7.02111181e-01 7.10962109e-01 3.96581655e-02 2.65204796e+02] [-7.09889009e-01 7.03229937e-01 -3.90544585e-02 -1.99716310e+02] [-5.56550493e-02 -7.32323832e-04 9.98449788e-01 -1.90890796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters 0.02710609700962995 Centerline is valid? [True, True] Translation: X:265.23, Y:-199.74, Z:-19.09 [[ 7.02505021e-01 7.10564969e-01 3.98010054e-02 2.65232110e+02] [-7.09481074e-01 7.03631276e-01 -3.92381642e-02 -1.99735198e+02] [-5.58864971e-02 -6.73052745e-04 9.98436902e-01 -1.90900542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19864 meters 0.02685324835090104 Centerline is valid? [True, True] Translation: X:265.26, Y:-199.76, Z:-19.09 [[ 7.03369850e-01 7.09662066e-01 4.06276671e-02 2.65257556e+02] [-7.08528571e-01 7.04541989e-01 -4.00980175e-02 -1.99755780e+02] [-5.70799393e-02 -5.82126389e-04 9.98369441e-01 -1.90918234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters 0.026756526055507983 Centerline is valid? [True, True] Translation: X:265.28, Y:-199.78, Z:-19.09 [[ 7.04782811e-01 7.08283189e-01 4.02009120e-02 2.65281937e+02] [-7.07168739e-01 7.05928279e-01 -3.97195186e-02 -1.99776467e+02] [-5.65116279e-02 -4.35194260e-04 9.98401846e-01 -1.90926905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25864 meters 0.026417813467579623 Centerline is valid? [True, True] Translation: X:265.31, Y:-199.80, Z:-19.09 [[ 7.07477166e-01 7.05586227e-01 4.03005690e-02 2.65308153e+02] [-7.04459668e-01 7.08624046e-01 -3.98564682e-02 -1.99795961e+02] [-5.66801273e-02 -1.92584348e-04 9.98392371e-01 -1.90946465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters 0.026237780128395814 Centerline is valid? [True, True] Translation: X:265.33, Y:-199.82, Z:-19.10 [[ 7.08868334e-01 7.04173095e-01 4.05701431e-02 2.65333610e+02] [-7.03026849e-01 7.10028344e-01 -4.01621772e-02 -1.99816842e+02] [-5.70870762e-02 -5.22042821e-05 9.98369202e-01 -1.90972992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31864 meters 0.025938111985702755 Centerline is valid? [True, True] Translation: X:265.36, Y:-199.84, Z:-19.10 [[ 7.10304817e-01 7.02785187e-01 3.94974509e-02 2.65360373e+02] [-7.01694325e-01 7.11402118e-01 -3.91420528e-02 -1.99836552e+02] [-5.56070251e-02 8.76514566e-05 9.98452729e-01 -1.90982163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters 0.025938111985702755 Centerline is valid? [True, True] Translation: X:265.38, Y:-199.86, Z:-19.10 [[ 7.09925090e-01 7.03169958e-01 3.94762824e-02 2.65383670e+02] [-7.02078504e-01 7.11021802e-01 -3.91633910e-02 -1.99859202e+02] [-5.56070175e-02 8.76246548e-05 9.98452729e-01 -1.90999301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37864 meters 0.02590364043210839 Centerline is valid? [True, True] Translation: X:265.41, Y:-199.88, Z:-19.10 [[ 7.10478592e-01 7.02589324e-01 3.98548871e-02 2.65408134e+02] [-7.01473474e-01 7.11595542e-01 -3.95822043e-02 -1.99880718e+02] [-5.61705941e-02 1.65162685e-04 9.98421172e-01 -1.91022491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters 0.025914229181793678 Centerline is valid? [True, True] Translation: X:265.43, Y:-199.90, Z:-19.10 [[ 7.10732648e-01 7.02381884e-01 3.89716828e-02 2.65432024e+02] [-7.01312414e-01 7.11800285e-01 -3.87459951e-02 -1.99904080e+02] [-5.49545400e-02 2.06718711e-04 9.98488836e-01 -1.91032630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43864 meters 0.02581461266234048 Centerline is valid? [True, True] Translation: X:265.45, Y:-199.93, Z:-19.11 [[ 7.10917081e-01 7.02187202e-01 3.91156910e-02 2.65454144e+02] [-7.01107198e-01 7.11992324e-01 -3.89310655e-02 -1.99928171e+02] [-5.51869677e-02 2.52466939e-04 9.98476006e-01 -1.91059151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters 0.025760226678573042 Centerline is valid? [True, True] Translation: X:265.48, Y:-199.95, Z:-19.11 [[ 7.09701186e-01 7.03384737e-01 3.96754174e-02 2.65476896e+02] [-7.02273015e-01 7.10809310e-01 -3.95314771e-02 -1.99951992e+02] [-5.60074937e-02 1.92561209e-04 9.98430330e-01 -1.91079842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49864 meters 0.025621185944478583 Centerline is valid? [True, True] Translation: X:265.50, Y:-199.98, Z:-19.11 [[ 7.06605234e-01 7.06558055e-01 3.85325507e-02 2.65500050e+02] [-7.05511998e-01 7.07655081e-01 -3.84331432e-02 -1.99975610e+02] [-5.44230022e-02 -2.81166249e-05 9.98517970e-01 -1.91093052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52864 meters 0.025453936476579588 Centerline is valid? [True, True] Translation: X:265.52, Y:-200.00, Z:-19.11 [[ 7.04989738e-01 7.08222117e-01 3.75619926e-02 2.65523382e+02] [-7.07228383e-01 7.05989673e-01 -3.75046198e-02 -1.99998454e+02] [-5.30799801e-02 -1.24535157e-04 9.98590256e-01 -1.91109057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55864 meters 0.02543763067684527 Centerline is valid? [True, True] Translation: X:265.55, Y:-200.02, Z:-19.11 [[ 7.02632207e-01 7.10522990e-01 3.82761319e-02 2.65547277e+02] [-7.09492181e-01 7.03673934e-01 -3.82601450e-02 -2.00021695e+02] [-5.41186289e-02 -2.73806218e-04 9.98534476e-01 -1.91125449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58864 meters 0.02591319727412141 Centerline is valid? [True, True] Translation: X:265.58, Y:-200.15, Z:-17.53 [[ 7.62091960e-01 -6.46496556e-01 -3.54689669e-02 2.65576997e+02] [-6.45522955e-01 -7.62904593e-01 3.57308965e-02 -2.00154355e+02] [-5.01593393e-02 -4.33419670e-03 -9.98731824e-01 -1.75299837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61864 meters 0.02608803397876773 Centerline is valid? [True, True] Translation: X:265.58, Y:-200.07, Z:-19.12 [[ 7.44208896e-01 6.66600845e-01 4.23843436e-02 2.65583884e+02] [-6.65588383e-01 7.45414351e-01 -3.67362265e-02 -2.00068003e+02] [-5.60822976e-02 -8.71100151e-04 9.98425769e-01 -1.91151942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64864 meters 0.026356668451076492 Centerline is valid? [True, True] Translation: X:265.61, Y:-200.09, Z:-19.12 [[ 7.41054187e-01 6.70073817e-01 4.28925658e-02 2.65609343e+02] [-6.69040649e-01 7.42293624e-01 -3.72126997e-02 -2.00088163e+02] [-5.67741339e-02 -1.12024320e-03 9.98386420e-01 -1.91162009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67864000000003 meters 0.02654966857393361 Centerline is valid? [True, True] Translation: X:265.63, Y:-200.11, Z:-19.12 [[ 7.40414411e-01 6.70703099e-01 4.40891569e-02 2.65634945e+02] [-6.69610326e-01 7.41725001e-01 -3.82888115e-02 -2.00109067e+02] [-5.83824544e-02 -1.17296694e-03 9.98293601e-01 -1.91188528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70864 meters 0.026251451094933414 Centerline is valid? [True, True] Translation: X:265.66, Y:-200.13, Z:-19.12 [[ 7.40386355e-01 6.70733538e-01 4.40972418e-02 2.65661393e+02] [-6.69637957e-01 7.41697521e-01 -3.83379024e-02 -2.00128804e+02] [-5.84213318e-02 -1.14432705e-03 9.98291360e-01 -1.91191894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73864 meters 0.02615660608833009 Centerline is valid? [True, True] Translation: X:265.69, Y:-200.15, Z:-19.12 [[ 7.41516176e-01 6.69470671e-01 4.43032886e-02 2.65688711e+02] [-6.68360121e-01 7.42837790e-01 -3.85585989e-02 -2.00145913e+02] [-5.87240081e-02 -1.01872655e-03 9.98273737e-01 -1.91216957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76864 meters 0.026121944728373554 Centerline is valid? [True, True] Translation: X:265.71, Y:-200.17, Z:-19.12 [[ 7.41570501e-01 6.69369939e-01 4.49118859e-02 2.65714242e+02] [-6.68226164e-01 7.42928592e-01 -3.91267265e-02 -2.00166286e+02] [-5.95565787e-02 -9.96071095e-04 9.98224435e-01 -1.91235635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79864 meters 0.026086667920933514 Centerline is valid? [True, True] Translation: X:265.74, Y:-200.19, Z:-19.13 [[ 7.43045473e-01 6.67635221e-01 4.63318094e-02 2.65739787e+02] [-6.66411781e-01 7.44488071e-01 -4.04085462e-02 -2.00186193e+02] [-6.14716480e-02 -8.50676281e-04 9.98108467e-01 -1.91255528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82864 meters 0.025872409075042888 Centerline is valid? [True, True] Translation: X:265.76, Y:-200.21, Z:-19.13 [[ 7.44203926e-01 6.66351091e-01 4.62248788e-02 2.65764604e+02] [-6.65128460e-01 7.45637790e-01 -4.03536669e-02 -2.00206090e+02] [-6.13567264e-02 -7.14125064e-04 9.98115646e-01 -1.91282418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85864 meters 0.02566005973920363 Centerline is valid? [True, True] Translation: X:265.79, Y:-200.23, Z:-19.13 [[ 7.45074030e-01 6.65454354e-01 4.51131216e-02 2.65789836e+02] [-6.64285998e-01 7.46438308e-01 -3.94203793e-02 -2.00226456e+02] [-5.99066252e-02 -5.96914115e-04 9.98203807e-01 -1.91293017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88864 meters 0.025680021901832103 Centerline is valid? [True, True] Translation: X:265.81, Y:-200.25, Z:-19.13 [[ 7.46482024e-01 6.63944107e-01 4.40773318e-02 2.65814261e+02] [-6.62824080e-01 7.47782075e-01 -3.85513579e-02 -2.00246688e+02] [-5.85561855e-02 -4.37621229e-04 9.98284019e-01 -1.91320515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91864 meters 0.0254732734137016 Centerline is valid? [True, True] Translation: X:265.84, Y:-200.27, Z:-19.13 [[ 7.46976309e-01 6.63356620e-01 4.45464781e-02 2.65839023e+02] [-6.62209296e-01 7.48303321e-01 -3.89998525e-02 -2.00268146e+02] [-5.92050879e-02 -3.67126018e-04 9.98245773e-01 -1.91332113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94864 meters 0.025412271854583363 Centerline is valid? [True, True] Translation: X:265.86, Y:-200.29, Z:-19.13 [[ 7.47700014e-01 6.62409955e-01 4.64514892e-02 2.65864461e+02] [-6.61157628e-01 7.49141494e-01 -4.07137862e-02 -2.00289910e+02] [-6.17679554e-02 -2.70057902e-04 9.98090500e-01 -1.91343482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97864 meters 0.025398212409215984 Centerline is valid? [True, True] Translation: X:265.89, Y:-200.31, Z:-19.14 [[ 7.48253756e-01 6.61772883e-01 4.66151136e-02 2.65889901e+02] [-6.60507692e-01 7.49704353e-01 -4.09019800e-02 -2.00311637e+02] [-6.20153748e-02 -1.84580916e-04 9.98075177e-01 -1.91356117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00864 meters 0.025281835133902128 Centerline is valid? [True, True] Translation: X:265.91, Y:-200.33, Z:-19.14 [[ 7.50121168e-01 6.59731888e-01 4.55199865e-02 2.65913679e+02] [-6.58519147e-01 7.51501055e-01 -3.99837263e-02 -2.00334912e+02] [-6.05868571e-02 1.68568328e-05 9.98162929e-01 -1.91386681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03864 meters 0.02534286503079173 Centerline is valid? [True, True] Translation: X:265.94, Y:-200.36, Z:-19.14 [[ 7.50905129e-01 6.58790155e-01 4.62278978e-02 2.65938147e+02] [-6.57534799e-01 7.52326734e-01 -4.06506227e-02 -2.00356683e+02] [-6.15587134e-02 1.28309626e-04 9.98103456e-01 -1.91404280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06864 meters 0.025324072659992154 Centerline is valid? [True, True] Translation: X:265.96, Y:-200.38, Z:-19.14 [[ 7.51458642e-01 6.58180310e-01 4.59193844e-02 2.65962928e+02] [-6.56937874e-01 7.52860303e-01 -4.04226906e-02 -2.00378995e+02] [-6.11763006e-02 2.09797414e-04 9.98126954e-01 -1.91423623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09864 meters 0.025301527838842743 Centerline is valid? [True, True] Translation: X:265.99, Y:-200.40, Z:-19.14 [[ 7.51472631e-01 6.58112795e-01 4.66522609e-02 2.65985716e+02] [-6.56827420e-01 7.52919308e-01 -4.11127175e-02 -2.00402981e+02] [-6.21821935e-02 2.52597846e-04 9.98064783e-01 -1.91435452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12864 meters 0.025181007395616854 Centerline is valid? [True, True] Translation: X:266.01, Y:-200.43, Z:-19.15 [[ 7.50866783e-01 6.58711560e-01 4.79390865e-02 2.66009555e+02] [-6.57352462e-01 7.52395522e-01 -4.22932562e-02 -2.00426051e+02] [-6.39282108e-02 2.43724648e-04 9.97954470e-01 -1.91453469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15864 meters 0.025227456241443215 Centerline is valid? [True, True] Translation: X:266.03, Y:-200.45, Z:-19.15 [[ 7.49236851e-01 6.60674500e-01 4.64041610e-02 2.66032402e+02] [-6.59402275e-01 7.50672495e-01 -4.09810334e-02 -2.00448754e+02] [-6.19094510e-02 1.05491111e-04 9.98081765e-01 -1.91452716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18864 meters 0.025303545513391687 Centerline is valid? [True, True] Translation: X:266.06, Y:-200.47, Z:-19.15 [[ 7.48473370e-01 6.61617646e-01 4.52736703e-02 2.66056668e+02] [-6.60406154e-01 7.49841375e-01 -4.00202985e-02 -2.00471401e+02] [-6.04262069e-02 5.51171441e-05 9.98172666e-01 -1.91465091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21864 meters 0.025202946926400942 Centerline is valid? [True, True] Translation: X:266.08, Y:-200.49, Z:-19.15 [[ 7.47348718e-01 6.62928235e-01 4.46771578e-02 2.66080115e+02] [-6.61748296e-01 7.48682947e-01 -3.95352831e-02 -2.00494584e+02] [-5.96580816e-02 -1.83898969e-05 9.98218870e-01 -1.91488447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24864 meters 0.025399186605592584 Centerline is valid? [True, True] Translation: X:266.11, Y:-200.52, Z:-19.15 [[ 7.46928949e-01 6.63345141e-01 4.55013077e-02 2.66105244e+02] [-6.62119304e-01 7.48313586e-01 -4.03088519e-02 -2.00516133e+02] [-6.07879278e-02 -1.94458366e-05 9.98150704e-01 -1.91515105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27864 meters 0.025277948387317978 Centerline is valid? [True, True] Translation: X:266.13, Y:-200.54, Z:-19.15 [[ 7.46636086e-01 6.63640909e-01 4.59923701e-02 2.66130062e+02] [-6.62386478e-01 7.48051297e-01 -4.07849270e-02 -2.00537408e+02] [-6.14711982e-02 -1.32257811e-05 9.98108858e-01 -1.91519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30864 meters 0.0253052910929163 Centerline is valid? [True, True] Translation: X:266.15, Y:-200.56, Z:-19.15 [[ 7.47524036e-01 6.62684413e-01 4.53561863e-02 2.66154510e+02] [-6.61461357e-01 7.48898766e-01 -4.02431583e-02 -2.00560224e+02] [-6.06357057e-02 8.13635498e-05 9.98159959e-01 -1.91526126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33864 meters 0.02534906651189812 Centerline is valid? [True, True] Translation: X:266.18, Y:-200.58, Z:-19.15 [[ 7.48146631e-01 6.62060021e-01 4.41944171e-02 2.66178256e+02] [-6.60895288e-01 7.49450801e-01 -3.92545035e-02 -2.00582948e+02] [-5.91103787e-02 1.60242595e-04 9.98251440e-01 -1.91546307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36864 meters 0.025334337704100363 Centerline is valid? [True, True] Translation: X:266.20, Y:-200.60, Z:-19.16 [[ 7.47837133e-01 6.62448249e-01 4.36112375e-02 2.66202996e+02] [-6.61312333e-01 7.49107664e-01 -3.87776573e-02 -2.00604259e+02] [-5.83577034e-02 1.58722770e-04 9.98295724e-01 -1.91554174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39864 meters 0.02535302349962606 Centerline is valid? [True, True] Translation: X:266.23, Y:-200.63, Z:-19.16 [[ 7.46685867e-01 6.63738057e-01 4.37265238e-02 2.66228264e+02] [-6.62595857e-01 7.47965096e-01 -3.89223013e-02 -2.00625077e+02] [-5.85401262e-02 8.97187636e-05 9.98285052e-01 -1.91577173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864000000003 meters 0.025321561509371593 Centerline is valid? [True, True] Translation: X:266.25, Y:-200.65, Z:-19.16 [[ 7.46039000e-01 6.64313934e-01 4.59652764e-02 2.66251480e+02] [-6.63049881e-01 7.47453671e-01 -4.09617508e-02 -2.00648312e+02] [-6.15683764e-02 8.17925205e-05 9.98102865e-01 -1.91584288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45864 meters 0.025327747429315626 Centerline is valid? [True, True] Translation: X:266.28, Y:-200.67, Z:-19.16 [[ 7.46115028e-01 6.64163338e-01 4.68980290e-02 2.66275365e+02] [-6.62844191e-01 7.47587482e-01 -4.18393857e-02 -2.00671542e+02] [-6.28485655e-02 1.30908362e-04 9.98023066e-01 -1.91595717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters 0.025403741014977815 Centerline is valid? [True, True] Translation: X:266.30, Y:-200.69, Z:-19.16 [[ 7.45793234e-01 6.64594236e-01 4.59015547e-02 2.66300032e+02] [-6.63328733e-01 7.47204447e-01 -4.09939865e-02 -2.00693725e+02] [-6.15422129e-02 1.25217649e-04 9.98104474e-01 -1.91608528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51864 meters 0.025377242935608058 Centerline is valid? [True, True] Translation: X:266.33, Y:-200.71, Z:-19.16 [[ 7.45424991e-01 6.65060697e-01 4.51204149e-02 2.66326074e+02] [-6.63836186e-01 7.46789298e-01 -4.03393516e-02 -2.00714156e+02] [-6.05235602e-02 1.17396705e-04 9.98166762e-01 -1.91634614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters 0.025422368224592474 Centerline is valid? [True, True] Translation: X:266.35, Y:-200.74, Z:-19.17 [[ 7.45006429e-01 6.65568314e-01 4.45448132e-02 2.66350531e+02] [-6.64373223e-01 7.46336927e-01 -3.98674306e-02 -2.00736122e+02] [-5.97799376e-02 1.07111012e-04 9.98211575e-01 -1.91655055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57864 meters 0.02545448166930732 Centerline is valid? [True, True] Translation: X:266.37, Y:-200.76, Z:-19.17 [[ 7.43693093e-01 6.67055216e-01 4.42484059e-02 2.66374578e+02] [-6.65876084e-01 7.45008281e-01 -3.96447063e-02 -2.00759166e+02] [-5.94106370e-02 1.95390616e-05 9.98233628e-01 -1.91669094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters 0.025380680447982713 Centerline is valid? [True, True] Translation: X:266.40, Y:-200.78, Z:-19.17 [[ 7.43424880e-01 6.67282332e-01 4.53181862e-02 2.66399745e+02] [-6.66043104e-01 7.44804866e-01 -4.06484306e-02 -2.00779846e+02] [-6.08771852e-02 3.51891910e-05 9.98145264e-01 -1.91686569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63864 meters 0.02525931849670172 Centerline is valid? [True, True] Translation: X:266.43, Y:-200.80, Z:-19.17 [[ 7.43150517e-01 6.67618089e-01 4.48708903e-02 2.66425395e+02] [-6.66401221e-01 7.44503919e-01 -4.02905402e-02 -2.00800361e+02] [-6.03052472e-02 3.99197137e-05 9.98179982e-01 -1.91693552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters 0.02531979320010689 Centerline is valid? [True, True] Translation: X:266.45, Y:-200.82, Z:-19.17 [[ 7.42852454e-01 6.67951293e-01 4.48475387e-02 2.66450911e+02] [-6.66733667e-01 7.44204990e-01 -4.03131470e-02 -2.00821551e+02] [-6.03029808e-02 4.53563050e-05 9.98180118e-01 -1.91714295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69864 meters 0.025412359268114318 Centerline is valid? [True, True] Translation: X:266.47, Y:-200.84, Z:-19.17 [[ 7.41278207e-01 6.69737550e-01 4.42519296e-02 2.66474373e+02] [-6.68552704e-01 7.42597879e-01 -3.98205049e-02 -2.00844698e+02] [-5.95306765e-02 -6.66746858e-05 9.98226474e-01 -1.91731077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters 0.02542514714462113 Centerline is valid? [True, True] Translation: X:266.50, Y:-200.87, Z:-19.17 [[ 7.40240907e-01 6.70917889e-01 4.37331268e-02 2.66498659e+02] [-6.69760234e-01 7.41531638e-01 -3.93961721e-02 -2.00866354e+02] [-5.88610937e-02 -1.28051091e-04 9.98266175e-01 -1.91742319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75864 meters 0.02534645350143989 Centerline is valid? [True, True] Translation: X:266.53, Y:-200.89, Z:-19.17 [[ 7.39155551e-01 6.72139534e-01 4.33303488e-02 2.66525446e+02] [-6.71002739e-01 7.40424480e-01 -3.90757433e-02 -2.00886480e+02] [-5.83472028e-02 -1.91730204e-04 9.98296332e-01 -1.91741029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters 0.02536615252592835 Centerline is valid? [True, True] Translation: X:266.55, Y:-200.91, Z:-19.18 [[ 7.38058865e-01 6.73304465e-01 4.39341416e-02 2.66550362e+02] [-6.72135197e-01 7.39365290e-01 -3.96641494e-02 -2.00907686e+02] [-5.91894283e-02 -2.55205851e-04 9.98246736e-01 -1.91763578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81864 meters 0.025484877800357592 Centerline is valid? [True, True] Translation: X:266.57, Y:-200.93, Z:-19.18 [[ 7.37186773e-01 6.74232912e-01 4.43355602e-02 2.66574781e+02] [-6.73041192e-01 7.38518714e-01 -4.00707332e-02 -2.00929830e+02] [-5.97596480e-02 -3.00043776e-04 9.98212750e-01 -1.91780289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters 0.02524270093207809 Centerline is valid? [True, True] Translation: X:266.60, Y:-200.95, Z:-19.18 [[ 7.37533042e-01 6.73741575e-01 4.60141505e-02 2.66599873e+02] [-6.72453929e-01 7.38967005e-01 -4.16350699e-02 -2.00950827e+02] [-6.20542165e-02 -2.35156524e-04 9.98072752e-01 -1.91804073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87864 meters 0.025272471402588842 Centerline is valid? [True, True] Translation: X:266.63, Y:-200.97, Z:-19.18 [[ 7.38119231e-01 6.73098177e-01 4.60309081e-02 2.66625980e+02] [-6.71805487e-01 7.39553123e-01 -4.16961069e-02 -2.00971656e+02] [-6.21078754e-02 -1.47118225e-04 9.98069432e-01 -1.91823637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters 0.02505674496055057 Centerline is valid? [True, True] Translation: X:266.65, Y:-200.99, Z:-19.18 [[ 7.38721800e-01 6.72539545e-01 4.45046285e-02 2.66650738e+02] [-6.71327706e-01 7.40061184e-01 -4.03553689e-02 -2.00992130e+02] [-6.00767295e-02 -6.57993963e-05 9.98193760e-01 -1.91845663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93864 meters 0.0250522982181533 Centerline is valid? [True, True] Translation: X:266.68, Y:-201.01, Z:-19.19 [[ 7.38719281e-01 6.72503827e-01 4.50824507e-02 2.66675183e+02] [-6.71257792e-01 7.40093644e-01 -4.09191283e-02 -2.01014050e+02] [-6.08835056e-02 -3.41972925e-05 9.98144878e-01 -1.91862950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters 0.024985999193597647 Centerline is valid? [True, True] Translation: X:266.70, Y:-201.04, Z:-19.19 [[ 7.38326537e-01 6.72879815e-01 4.58985818e-02 2.66700661e+02] [-6.71586085e-01 7.39751819e-01 -4.17058440e-02 -2.01035530e+02] [-6.20165800e-02 -3.23174472e-05 9.98075119e-01 -1.91867107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99864 meters 0.02508297395529942 Centerline is valid? [True, True] Translation: X:266.73, Y:-201.06, Z:-19.19 [[ 7.37720733e-01 6.73437037e-01 4.74412948e-02 2.66726007e+02] [-6.72052854e-01 7.39244584e-01 -4.31556086e-02 -2.01056267e+02] [-6.41333054e-02 -4.62703325e-05 9.97941339e-01 -1.91889684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02864 meters 0.025231391192672 Centerline is valid? [True, True] Translation: X:266.75, Y:-201.08, Z:-19.19 [[ 7.37182145e-01 6.73996550e-01 4.78658062e-02 2.66752162e+02] [-6.72585545e-01 7.38734490e-01 -4.35894185e-02 -2.01076705e+02] [-6.47392396e-02 -6.05082940e-05 9.97902213e-01 -1.91894131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05864 meters 0.025000953077554455 Centerline is valid? [True, True] Translation: X:266.78, Y:-201.10, Z:-19.19 [[ 7.36689493e-01 6.74479205e-01 4.86455821e-02 2.66778199e+02] [-6.73019635e-01 7.38293842e-01 -4.43483257e-02 -2.01096672e+02] [-6.58267571e-02 -6.84863142e-05 9.97831065e-01 -1.91909460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08864 meters 0.025205202188873517 Centerline is valid? [True, True] Translation: X:266.80, Y:-201.12, Z:-19.19 [[ 7.35722500e-01 6.75576573e-01 4.80489021e-02 2.66804377e+02] [-6.74151888e-01 7.37289819e-01 -4.38515096e-02 -2.01117285e+02] [-6.50510189e-02 -1.29715844e-04 9.97881931e-01 -1.91937544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11864 meters 0.025431178296155686 Centerline is valid? [True, True] Translation: X:266.83, Y:-201.14, Z:-19.20 [[ 7.35587228e-01 6.75789983e-01 4.71097510e-02 2.66828231e+02] [-6.74417986e-01 7.37094218e-01 -4.30406024e-02 -2.01139466e+02] [-6.38107330e-02 -1.11546044e-04 9.97962012e-01 -1.91960023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14864 meters 0.02527164086339014 Centerline is valid? [True, True] Translation: X:266.85, Y:-201.16, Z:-19.20 [[ 7.36335577e-01 6.74969964e-01 4.71748456e-02 2.66854166e+02] [-6.73589477e-01 7.37845206e-01 -4.31470564e-02 -2.01160357e+02] [-6.39307007e-02 -5.76684412e-06 9.97954340e-01 -1.91978809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17864000000003 meters 0.025425003432290986 Centerline is valid? [True, True] Translation: X:266.88, Y:-201.18, Z:-19.20 [[ 7.36727747e-01 6.74514659e-01 4.75626076e-02 2.66880160e+02] [-6.73107327e-01 7.38261451e-01 -4.35494809e-02 -2.01180352e+02] [-6.44884029e-02 6.93712874e-05 9.97918454e-01 -1.91993785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20864 meters 0.025229639445897466 Centerline is valid? [True, True] Translation: X:266.91, Y:-201.20, Z:-19.20 [[ 7.36669218e-01 6.74593889e-01 4.73449941e-02 2.66905068e+02] [-6.73196586e-01 7.38189051e-01 -4.33967938e-02 -2.01201889e+02] [-6.42247682e-02 9.65937674e-05 9.97935454e-01 -1.92008121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23864 meters 0.025229639445897466 Centerline is valid? [True, True] Translation: X:266.93, Y:-201.22, Z:-19.20 [[ 7.36308964e-01 6.74988699e-01 4.73219401e-02 2.66929243e+02] [-6.73590595e-01 7.37828060e-01 -4.34219209e-02 -2.01223619e+02] [-6.42247612e-02 9.63357636e-05 9.97935454e-01 -1.92025216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26864 meters 0.025445813507586984 Centerline is valid? [True, True] Translation: X:266.95, Y:-201.25, Z:-19.21 [[ 7.37496951e-01 6.73614817e-01 4.83872489e-02 2.66950326e+02] [-6.72146950e-01 7.39082548e-01 -4.44462023e-02 -2.01247319e+02] [-6.57017917e-02 2.55596909e-04 9.97839270e-01 -1.92058998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29864 meters 0.025422684604299566 Centerline is valid? [True, True] Translation: X:266.97, Y:-201.27, Z:-19.21 [[ 7.37371333e-01 6.73755436e-01 4.83438704e-02 2.66974051e+02] [-6.72287850e-01 7.38954355e-01 -4.44466981e-02 -2.01270992e+02] [-6.56701180e-02 2.72724335e-04 9.97841351e-01 -1.92069291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32864 meters 0.02539591163594813 Centerline is valid? [True, True] Translation: X:267.00, Y:-201.29, Z:-19.21 [[ 7.36791797e-01 6.74332009e-01 4.91343919e-02 2.66997926e+02] [-6.72813997e-01 7.38428245e-01 -4.52222483e-02 -2.01293212e+02] [-6.67770323e-02 2.61075034e-04 9.97767889e-01 -1.92089207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35864 meters 0.025356070704886723 Centerline is valid? [True, True] Translation: X:267.02, Y:-201.32, Z:-19.21 [[ 7.36311129e-01 6.74888599e-01 4.86959945e-02 2.67021203e+02] [-6.73395646e-01 7.37919589e-01 -4.48662944e-02 -2.01316080e+02] [-6.62134789e-02 2.43881232e-04 9.97805450e-01 -1.92105154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38864 meters 0.02532635071846412 Centerline is valid? [True, True] Translation: X:267.04, Y:-201.34, Z:-19.21 [[ 7.35354183e-01 6.75930917e-01 4.86992857e-02 2.67043378e+02] [-6.74436876e-01 7.36964966e-01 -4.49170271e-02 -2.01340634e+02] [-6.62504747e-02 1.85329732e-04 9.97803007e-01 -1.92123354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41864 meters 0.025256953185942625 Centerline is valid? [True, True] Translation: X:267.06, Y:-201.37, Z:-19.21 [[ 7.34325500e-01 6.77073094e-01 4.83537523e-02 2.67063619e+02] [-6.75599537e-01 7.35915764e-01 -4.46458656e-02 -2.01367307e+02] [-6.58128029e-02 1.16824904e-04 9.97831981e-01 -1.92133375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44864 meters 0.02535195584541188 Centerline is valid? [True, True] Translation: X:267.09, Y:-201.39, Z:-19.21 [[ 7.33484203e-01 6.78002393e-01 4.81007199e-02 2.67087000e+02] [-6.76543108e-01 7.35059692e-01 -4.44597957e-02 -2.01390589e+02] [-6.55007483e-02 6.83472892e-05 9.97852518e-01 -1.92145444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47864 meters 0.025537497414447077 Centerline is valid? [True, True] Translation: X:267.11, Y:-201.42, Z:-19.22 [[ 7.32661955e-01 6.78866319e-01 4.84456418e-02 2.67108940e+02] [-6.77384692e-01 7.34261888e-01 -4.48269901e-02 -2.01415798e+02] [-6.60033222e-02 2.66940699e-05 9.97819403e-01 -1.92186880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50864 meters 0.025432419278177118 Centerline is valid? [True, True] Translation: X:267.13, Y:-201.44, Z:-19.22 [[ 7.32337686e-01 6.79250628e-01 4.79593417e-02 2.67131304e+02] [-6.77796343e-01 7.33906387e-01 -4.44244635e-02 -2.01439752e+02] [-6.53730119e-02 2.70423691e-05 9.97860896e-01 -1.92205680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53864 meters 0.02563338042928698 Centerline is valid? [True, True] Translation: X:267.15, Y:-201.46, Z:-19.22 [[ 7.31819144e-01 6.79789274e-01 4.82419348e-02 2.67154138e+02] [-6.78315752e-01 7.33407488e-01 -4.47347449e-02 -2.01464027e+02] [-6.57911960e-02 1.44784682e-05 9.97833412e-01 -1.92215258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56864 meters 0.025531926701278115 Centerline is valid? [True, True] Translation: X:267.18, Y:-201.49, Z:-19.22 [[ 7.30658059e-01 6.80971485e-01 4.91593205e-02 2.67177484e+02] [-6.79440632e-01 7.32309930e-01 -4.56354377e-02 -2.01487294e+02] [-6.70762903e-02 -5.69395359e-05 9.97747848e-01 -1.92219750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59864 meters 0.025575244151209018 Centerline is valid? [True, True] Translation: X:267.20, Y:-201.51, Z:-19.22 [[ 7.29362641e-01 6.82322415e-01 4.96614497e-02 2.67201774e+02] [-6.80759822e-01 7.31051367e-01 -4.61515371e-02 -2.01509808e+02] [-6.77952989e-02 -1.46312624e-04 9.97699241e-01 -1.92245114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62864 meters 0.025957903591959437 Centerline is valid? [True, True] Translation: X:267.22, Y:-201.53, Z:-19.23 [[ 7.27003623e-01 6.84638551e-01 5.23047563e-02 2.67224344e+02] [-6.82907157e-01 7.28882664e-01 -4.86608474e-02 -2.01533053e+02] [-7.14391221e-02 -3.42680082e-04 9.97444903e-01 -1.92289857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65864 meters 0.02572027435529098 Centerline is valid? [True, True] Translation: X:267.25, Y:-201.56, Z:-19.23 [[ 7.26337775e-01 6.85389344e-01 5.17192794e-02 2.67248669e+02] [-6.83695143e-01 7.28176699e-01 -4.81627142e-02 -2.01555927e+02] [-7.06709853e-02 -3.77821447e-04 9.97499609e-01 -1.92302802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68864 meters 0.02560533899310009 Centerline is valid? [True, True] Translation: X:267.27, Y:-201.58, Z:-19.23 [[ 7.25629937e-01 6.86241056e-01 5.03429086e-02 2.67272833e+02] [-6.84634645e-01 7.27374074e-01 -4.69293021e-02 -2.01577705e+02] [-6.88229403e-02 -4.13192914e-04 9.97628805e-01 -1.92314158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71864 meters 0.025716412186115534 Centerline is valid? [True, True] Translation: X:267.30, Y:-201.60, Z:-19.23 [[ 7.25036270e-01 6.86916284e-01 4.96832514e-02 2.67299835e+02] [-6.85350271e-01 7.26736422e-01 -4.63592394e-02 -2.01597681e+02] [-6.79515448e-02 -4.38299735e-04 9.97688526e-01 -1.92328660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74864 meters 0.025763605492808293 Centerline is valid? [True, True] Translation: X:267.32, Y:-201.62, Z:-19.24 [[ 7.24811027e-01 6.87100039e-01 5.04233138e-02 2.67324653e+02] [-6.85483850e-01 7.26562699e-01 -4.71013445e-02 -2.01619124e+02] [-6.89990346e-02 -4.24793366e-04 9.97616636e-01 -1.92350849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77864 meters 0.025943193390892617 Centerline is valid? [True, True] Translation: X:267.35, Y:-201.64, Z:-19.24 [[ 7.25458229e-01 6.86228113e-01 5.29276479e-02 2.67349456e+02] [-6.84440987e-01 7.27386331e-01 -4.94940475e-02 -2.01639536e+02] [-7.24630544e-02 -3.19987510e-04 9.97371046e-01 -1.92370764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80864 meters 0.025899132536495183 Centerline is valid? [True, True] Translation: X:267.37, Y:-201.66, Z:-19.24 [[ 7.26616791e-01 6.84945169e-01 5.36484275e-02 2.67374761e+02] [-6.83101813e-01 7.28594599e-01 -5.02177510e-02 -2.01660734e+02] [-7.34843605e-02 -1.58277000e-04 9.97296357e-01 -1.92397342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83864 meters 0.025770825421697847 Centerline is valid? [True, True] Translation: X:267.40, Y:-201.68, Z:-19.24 [[ 7.28167635e-01 6.83307554e-01 5.35040355e-02 2.67399830e+02] [-6.81465730e-01 7.30130663e-01 -5.01365516e-02 -2.01681785e+02] [-7.33236214e-02 4.66475226e-05 9.97308199e-01 -1.92419726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86864 meters 0.025854442246404114 Centerline is valid? [True, True] Translation: X:267.43, Y:-201.70, Z:-19.24 [[ 7.31672045e-01 6.79616391e-01 5.27027470e-02 2.67425273e+02] [-6.77816006e-01 7.33567556e-01 -4.94378715e-02 -2.01702911e+02] [-7.22598131e-02 4.49543032e-04 9.97385742e-01 -1.92449905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89864 meters 0.02590653148098327 Centerline is valid? [True, True] Translation: X:267.45, Y:-201.72, Z:-19.25 [[ 7.32263175e-01 6.78954723e-01 5.30200545e-02 2.67450283e+02] [-6.77126964e-01 7.34179933e-01 -4.97885583e-02 -2.01724745e+02] [-7.27304368e-02 5.57019241e-04 9.97351479e-01 -1.92468336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864000000003 meters 0.026014760760364537 Centerline is valid? [True, True] Translation: X:267.48, Y:-201.75, Z:-19.25 [[ 7.32508979e-01 6.78613801e-01 5.39805939e-02 2.67475091e+02] [-6.76714338e-01 7.34494996e-01 -5.07425356e-02 -2.01745828e+02] [-7.40830610e-02 6.39921074e-04 9.97251869e-01 -1.92494240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95864 meters 0.026135242879704042 Centerline is valid? [True, True] Translation: X:267.50, Y:-201.77, Z:-19.25 [[ 7.32459358e-01 6.78661108e-01 5.40591368e-02 2.67499659e+02] [-6.76752621e-01 7.34451257e-01 -5.08649203e-02 -2.01768098e+02] [-7.42238441e-02 6.71824325e-04 9.97241380e-01 -1.92515842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters 0.02615238335567442 Centerline is valid? [True, True] Translation: X:267.52, Y:-201.79, Z:-19.25 [[ 7.32603213e-01 6.78584627e-01 5.30606778e-02 2.67523501e+02] [-6.76742242e-01 7.34521891e-01 -4.99752859e-02 -2.01789824e+02] [-7.28866901e-02 7.03652974e-04 9.97339980e-01 -1.92533544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01864 meters 0.026341638513817964 Centerline is valid? [True, True] Translation: X:267.55, Y:-201.81, Z:-19.26 [[ 7.32052231e-01 6.79123598e-01 5.37649414e-02 2.67549172e+02] [-6.77229791e-01 7.34023608e-01 -5.06868173e-02 -2.01810736e+02] [-7.38873500e-02 6.94177712e-04 9.97266352e-01 -1.92554120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters 0.026394959518289716 Centerline is valid? [True, True] Translation: X:267.57, Y:-201.83, Z:-19.26 [[ 7.31280751e-01 6.79881009e-01 5.46834251e-02 2.67574424e+02] [-6.77919891e-01 7.33322144e-01 -5.16067245e-02 -2.01831948e+02] [-7.51869985e-02 6.68022681e-04 9.97169228e-01 -1.92570578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07864 meters 0.026622017183646755 Centerline is valid? [True, True] Translation: X:267.60, Y:-201.85, Z:-19.26 [[ 7.29677329e-01 6.81553030e-01 5.52852827e-02 2.67600933e+02] [-6.79549062e-01 7.31768525e-01 -5.22292887e-02 -2.01851525e+02] [-7.60530597e-02 5.41465981e-04 9.97103625e-01 -1.92597102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters 0.026406444570941 Centerline is valid? [True, True] Translation: X:267.63, Y:-201.87, Z:-19.26 [[ 7.28973495e-01 6.82368869e-01 5.45010997e-02 2.67626480e+02] [-6.80419866e-01 7.31007858e-01 -5.15394771e-02 -2.01871805e+02] [-7.50096669e-02 4.87281795e-04 9.97182688e-01 -1.92613478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13864 meters 0.026523031207216018 Centerline is valid? [True, True] Translation: X:267.65, Y:-201.89, Z:-19.26 [[ 7.28857740e-01 6.82571251e-01 5.35059152e-02 2.67651932e+02] [-6.80690055e-01 7.30818888e-01 -5.06438757e-02 -2.01891472e+02] [-7.36711870e-02 4.91236389e-04 9.97282465e-01 -1.92630856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters 0.02664873755666911 Centerline is valid? [True, True] Translation: X:267.68, Y:-201.91, Z:-19.27 [[ 7.29970593e-01 6.81408235e-01 5.31577979e-02 2.67678923e+02] [-6.79544879e-01 7.31903278e-01 -5.03621853e-02 -2.01910491e+02] [-7.32235743e-02 6.39804925e-04 9.97315346e-01 -1.92667267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19864 meters 0.026903319127621735 Centerline is valid? [True, True] Translation: X:267.70, Y:-201.93, Z:-19.27 [[ 7.30935971e-01 6.80344370e-01 5.35177031e-02 2.67703316e+02] [-6.78449075e-01 7.32892158e-01 -5.07536917e-02 -2.01930720e+02] [-7.37526933e-02 7.88662782e-04 9.97276250e-01 -1.92689852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters 0.026953444237806254 Centerline is valid? [True, True] Translation: X:267.73, Y:-201.95, Z:-19.27 [[ 7.32171356e-01 6.78950695e-01 5.43236520e-02 2.67728472e+02] [-6.76990605e-01 7.34183220e-01 -5.15627776e-02 -2.01951583e+02] [-7.48920974e-02 9.76186771e-04 9.97191166e-01 -1.92708026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25864 meters 0.02749947526444419 Centerline is valid? [True, True] Translation: X:267.76, Y:-201.97, Z:-19.27 [[ 7.34142214e-01 6.76751774e-01 5.51565542e-02 2.67755828e+02] [-6.74721184e-01 7.36210202e-01 -5.24009776e-02 -2.01969288e+02] [-7.60692726e-02 1.25447417e-03 9.97101746e-01 -1.92728330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters 0.027648794389611587 Centerline is valid? [True, True] Translation: X:267.78, Y:-201.99, Z:-19.28 [[ 7.34654318e-01 6.76161335e-01 5.55777180e-02 2.67780963e+02] [-6.74094220e-01 7.36752331e-01 -5.28486944e-02 -2.01989405e+02] [-7.66812571e-02 1.36090308e-03 9.97054729e-01 -1.92761041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31864 meters 0.02790649336238245 Centerline is valid? [True, True] Translation: X:267.81, Y:-202.01, Z:-19.28 [[ 7.34874180e-01 6.75829411e-01 5.66969628e-02 2.67806525e+02] [-6.73673267e-01 7.37056630e-01 -5.39615969e-02 -2.02009800e+02] [-7.82577066e-02 1.45975620e-03 9.96932094e-01 -1.92782046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters 0.027946099913719585 Centerline is valid? [True, True] Translation: X:267.83, Y:-202.03, Z:-19.28 [[ 7.34747747e-01 6.75981581e-01 5.65212424e-02 2.67831358e+02] [-6.73835349e-01 7.36917040e-01 -5.38442050e-02 -2.02031274e+02] [-7.80491575e-02 1.47589721e-03 9.96948419e-01 -1.92792689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37864 meters 0.027892095993271315 Centerline is valid? [True, True] Translation: X:267.86, Y:-202.05, Z:-19.28 [[ 7.34824557e-01 6.75862211e-01 5.69485919e-02 2.67856032e+02] [-6.73678821e-01 7.37026392e-01 -5.43041714e-02 -2.02051845e+02] [-7.86747526e-02 1.53897842e-03 9.96899150e-01 -1.92806296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters 0.027988373287156552 Centerline is valid? [True, True] Translation: X:267.88, Y:-202.07, Z:-19.28 [[ 7.34172489e-01 6.76477289e-01 5.80451089e-02 2.67880087e+02] [-6.74206789e-01 7.36461887e-01 -5.53994027e-02 -2.02073658e+02] [-8.02244482e-02 1.53831088e-03 9.96775638e-01 -1.92839921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43864 meters 0.027996194203428956 Centerline is valid? [True, True] Translation: X:267.90, Y:-202.10, Z:-19.29 [[ 7.33393098e-01 6.77382673e-01 5.73347882e-02 2.67902474e+02] [-6.75166434e-01 7.35629385e-01 -5.47694725e-02 -2.02096574e+02] [-7.92770466e-02 1.45702865e-03 9.96851557e-01 -1.92860793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46864 meters 0.028005032297712777 Centerline is valid? [True, True] Translation: X:267.93, Y:-202.12, Z:-19.29 [[ 7.32980947e-01 6.77880878e-01 5.67137217e-02 2.67926321e+02] [-6.75710222e-01 7.35170382e-01 -5.42236620e-02 -2.02117622e+02] [-7.84514321e-02 1.42286970e-03 9.96916921e-01 -1.92878021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49864 meters 0.02803591433975266 Centerline is valid? [True, True] Translation: X:267.95, Y:-202.14, Z:-19.29 [[ 7.32363053e-01 6.78591061e-01 5.62007971e-02 2.67950122e+02] [-6.76457978e-01 7.34515008e-01 -5.37801666e-02 -2.02138952e+02] [-7.77750693e-02 1.36912948e-03 9.96969992e-01 -1.92890739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52864 meters 0.027992149857028716 Centerline is valid? [True, True] Translation: X:267.97, Y:-202.16, Z:-19.29 [[ 7.31470786e-01 6.79481944e-01 5.70506484e-02 2.67974165e+02] [-6.77282427e-01 7.33691022e-01 -5.46442931e-02 -2.02161848e+02] [-7.89873590e-02 1.33130244e-03 9.96874729e-01 -1.92913544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55864 meters 0.028097649879997022 Centerline is valid? [True, True] Translation: X:268.00, Y:-202.19, Z:-19.29 [[ 7.31574135e-01 6.79427504e-01 5.63697735e-02 2.67996565e+02] [-6.77276792e-01 7.33741398e-01 -5.40343219e-02 -2.02185606e+02] [-7.80732408e-02 1.35217289e-03 9.96946709e-01 -1.92932872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58864 meters 0.027911561123159834 Centerline is valid? [True, True] Translation: X:268.02, Y:-202.21, Z:-19.30 [[ 7.30927383e-01 6.80122861e-01 5.63742429e-02 2.68019515e+02] [-6.77971567e-01 7.33096996e-01 -5.40680116e-02 -2.02209095e+02] [-7.81006788e-02 1.29965643e-03 9.96944630e-01 -1.92951040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61864 meters 0.027833539116455974 Centerline is valid? [True, True] Translation: X:268.04, Y:-202.23, Z:-19.30 [[ 7.30406526e-01 6.80930872e-01 5.32865246e-02 2.68041917e+02] [-6.79007710e-01 7.32346742e-01 -5.11544625e-02 -2.02231935e+02] [-7.38568655e-02 1.18159225e-03 9.97268152e-01 -1.92974510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64864 meters 0.027585989302644335 Centerline is valid? [True, True] Translation: X:268.06, Y:-202.25, Z:-19.30 [[ 7.29808936e-01 6.81699437e-01 5.16216525e-02 2.68064385e+02] [-6.79893547e-01 7.31631510e-01 -4.95993804e-02 -2.02254511e+02] [-7.15798972e-02 1.10084260e-03 9.97434262e-01 -1.92988274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67864000000003 meters 0.02746771977981175 Centerline is valid? [True, True] Translation: X:268.09, Y:-202.28, Z:-19.30 [[ 7.29115230e-01 6.82506519e-01 5.07526601e-02 2.68086365e+02] [-6.80760421e-01 7.30878779e-01 -4.88001974e-02 -2.02278349e+02] [-7.04004951e-02 1.03056492e-03 9.97518275e-01 -1.93002972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70864 meters 0.027297657289536408 Centerline is valid? [True, True] Translation: X:268.11, Y:-202.30, Z:-19.30 [[ 7.26129266e-01 6.85671194e-01 5.09048442e-02 2.68107843e+02] [-6.83920685e-01 7.27911026e-01 -4.89697430e-02 -2.02302512e+02] [-7.06313395e-02 7.43487634e-04 9.97502211e-01 -1.93002142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73864 meters 0.02716923029560922 Centerline is valid? [True, True] Translation: X:268.13, Y:-202.32, Z:-19.30 [[ 7.23534656e-01 6.88278153e-01 5.26382480e-02 2.68131915e+02] [-6.86409483e-01 7.25446683e-01 -5.06866073e-02 -2.02324792e+02] [-7.30727268e-02 5.42124400e-04 9.97326467e-01 -1.93021327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76864 meters 0.027167193959677528 Centerline is valid? [True, True] Translation: X:268.16, Y:-202.35, Z:-19.30 [[ 7.17912206e-01 6.93970898e-01 5.48311669e-02 2.68156504e+02] [-6.91955321e-01 7.20003050e-01 -5.28530149e-02 -2.02346058e+02] [-7.61570616e-02 3.10682066e-06 9.97095834e-01 -1.93029874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79864 meters 0.02723480777898737 Centerline is valid? [True, True] Translation: X:268.18, Y:-202.37, Z:-19.31 [[ 7.15441037e-01 6.96416017e-01 5.61146472e-02 2.68178763e+02] [-6.94308355e-01 7.17638266e-01 -5.41408117e-02 -2.02369004e+02] [-7.79745465e-02 -2.26309883e-04 9.96955324e-01 -1.93062293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82864 meters 0.02730910903432634 Centerline is valid? [True, True] Translation: X:268.20, Y:-202.39, Z:-19.31 [[ 7.13417373e-01 6.98512226e-01 5.58240272e-02 2.68201266e+02] [-6.96428738e-01 7.15598000e-01 -5.39121145e-02 -2.02393162e+02] [-7.76058333e-02 -4.15617713e-04 9.96984033e-01 -1.93081946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85864 meters 0.027292012250381248 Centerline is valid? [True, True] Translation: X:268.23, Y:-202.42, Z:-19.31 [[ 7.12718101e-01 6.99274443e-01 5.52101611e-02 2.68225412e+02] [-6.97234563e-01 7.14853165e-01 -5.33752436e-02 -2.02416131e+02] [-7.67911022e-02 -4.52930229e-04 9.97047101e-01 -1.93096224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88864 meters 0.027148648206251694 Centerline is valid? [True, True] Translation: X:268.25, Y:-202.43, Z:-19.31 [[ 7.12069061e-01 7.00063069e-01 5.35663346e-02 2.68253020e+02] [-6.98141376e-01 7.14080853e-01 -5.18377677e-02 -2.02434480e+02] [-7.45404007e-02 -4.84803977e-04 9.97217877e-01 -1.93109337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91864 meters 0.027285342185614694 Centerline is valid? [True, True] Translation: X:268.28, Y:-202.46, Z:-19.31 [[ 7.11656331e-01 7.00488533e-01 5.34890847e-02 2.68278673e+02] [-6.98569868e-01 7.13663487e-01 -5.18127994e-02 -2.02455610e+02] [-7.44674786e-02 -4.92956147e-04 9.97223321e-01 -1.93118661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94864 meters 0.027365592984764812 Centerline is valid? [True, True] Translation: X:268.30, Y:-202.48, Z:-19.31 [[ 7.11606406e-01 7.00380009e-01 5.55352713e-02 2.68301910e+02] [-6.98306847e-01 7.13770013e-01 -5.38508710e-02 -2.02478070e+02] [-7.73554848e-02 -4.60035419e-04 9.97003469e-01 -1.93141844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97864 meters 0.02708625861631876 Centerline is valid? [True, True] Translation: X:268.33, Y:-202.50, Z:-19.32 [[ 7.12190655e-01 6.99790183e-01 5.54812581e-02 2.68326423e+02] [-6.97715230e-01 7.14348354e-01 -5.38506046e-02 -2.02500291e+02] [-7.73170699e-02 -3.58221402e-04 9.97006491e-01 -1.93159146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00864 meters 0.027070210275222772 Centerline is valid? [True, True] Translation: X:268.35, Y:-202.52, Z:-19.32 [[ 7.12717053e-01 6.99223616e-01 5.58635687e-02 2.68351821e+02] [-6.97113657e-01 7.14902979e-01 -5.42796463e-02 -2.02521814e+02] [-7.78906422e-02 -2.57227126e-04 9.96961876e-01 -1.93176777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03864 meters 0.027161424282741837 Centerline is valid? [True, True] Translation: X:268.38, Y:-202.54, Z:-19.32 [[ 7.13031849e-01 6.98906006e-01 5.58209333e-02 2.68377047e+02] [-6.96793821e-01 7.15213507e-01 -5.42955717e-02 -2.02542942e+02] [-7.78713867e-02 -1.81209514e-04 9.96963397e-01 -1.93204420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06864 meters 0.027247544174213566 Centerline is valid? [True, True] Translation: X:268.40, Y:-202.57, Z:-19.32 [[ 7.13004173e-01 6.98992740e-01 5.50835671e-02 2.68399854e+02] [-6.96932178e-01 7.15128749e-01 -5.36322002e-02 -2.02565318e+02] [-7.68803610e-02 -1.49527900e-04 9.97040314e-01 -1.93225530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09864 meters 0.027313500285116643 Centerline is valid? [True, True] Translation: X:268.42, Y:-202.59, Z:-19.32 [[ 7.12329536e-01 6.99747683e-01 5.42200458e-02 2.68423584e+02] [-6.97750552e-01 7.14390048e-01 -5.28301679e-02 -2.02587855e+02] [-7.57020486e-02 -1.99577913e-04 9.97130463e-01 -1.93228419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12864 meters 0.0271536471533682 Centerline is valid? [True, True] Translation: X:268.45, Y:-202.61, Z:-19.32 [[ 7.12148553e-01 6.99977343e-01 5.36298217e-02 2.68448145e+02] [-6.98022203e-01 7.14165022e-01 -5.22812244e-02 -2.02608842e+02] [-7.48962153e-02 -2.02807966e-04 9.97191314e-01 -1.93239197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15864 meters 0.0271536471533682 Centerline is valid? [True, True] Translation: X:268.47, Y:-202.63, Z:-19.33 [[ 7.11778566e-01 7.00355478e-01 5.36048208e-02 2.68471654e+02] [-6.98399479e-01 7.13794201e-01 -5.23068492e-02 -2.02631312e+02] [-7.48961987e-02 -2.06684776e-04 9.97191314e-01 -1.93256297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18864 meters 0.027064472257384065 Centerline is valid? [True, True] Translation: X:268.50, Y:-202.65, Z:-19.33 [[ 7.11404483e-01 7.00758771e-01 5.32992177e-02 2.68496496e+02] [-6.98822067e-01 7.13398277e-01 -5.20635918e-02 -2.02652899e+02] [-7.45075887e-02 -2.08396897e-04 9.97220425e-01 -1.93275571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21864 meters 0.02706510781566411 Centerline is valid? [True, True] Translation: X:268.52, Y:-202.67, Z:-19.33 [[ 7.12211905e-01 6.99955552e-01 5.30700259e-02 2.68520660e+02] [-6.98029182e-01 7.14186403e-01 -5.18945302e-02 -2.02674945e+02] [-7.42257554e-02 -8.45245292e-05 9.97241460e-01 -1.93304128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24864 meters 0.02703645386933561 Centerline is valid? [True, True] Translation: X:268.54, Y:-202.70, Z:-19.33 [[ 7.12947459e-01 6.99255456e-01 5.24187653e-02 2.68543525e+02] [-6.97370432e-01 7.14871881e-01 -5.13095934e-02 -2.02697230e+02] [-7.33512145e-02 2.57472222e-05 9.97306171e-01 -1.93321028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27864 meters 0.02706484241279846 Centerline is valid? [True, True] Translation: X:268.57, Y:-202.72, Z:-19.33 [[ 7.14063840e-01 6.98078423e-01 5.29088575e-02 2.68567884e+02] [-6.96150990e-01 7.16021286e-01 -5.18393435e-02 -2.02719860e+02] [-7.40717953e-02 1.84047120e-04 9.97252894e-01 -1.93327985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30864 meters 0.02720945787042048 Centerline is valid? [True, True] Translation: X:268.59, Y:-202.74, Z:-19.33 [[ 7.16862641e-01 6.95107027e-01 5.41680208e-02 2.68593011e+02] [-6.93073968e-01 7.18906062e-01 -5.31276635e-02 -2.02740543e+02] [-7.58711307e-02 5.42792068e-04 9.97117484e-01 -1.93339269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33864 meters 0.027112632841392564 Centerline is valid? [True, True] Translation: X:268.62, Y:-202.76, Z:-19.34 [[ 7.17604858e-01 6.94368337e-01 5.38133878e-02 2.68617662e+02] [-6.92355969e-01 7.19619473e-01 -5.28301624e-02 -2.02763093e+02] [-7.54087538e-02 6.53160937e-04 9.97152492e-01 -1.93353088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36864 meters 0.026950646621129226 Centerline is valid? [True, True] Translation: X:268.64, Y:-202.79, Z:-19.34 [[ 7.17387945e-01 6.94689447e-01 5.25462468e-02 2.68641007e+02] [-6.92767964e-01 7.19309503e-01 -5.16370772e-02 -2.02785374e+02] [-7.36687473e-02 6.41460269e-04 9.97282560e-01 -1.93374472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39864 meters 0.026986921289351627 Centerline is valid? [True, True] Translation: X:268.67, Y:-202.81, Z:-19.34 [[ 7.17213329e-01 6.94893356e-01 5.22327894e-02 2.68665250e+02] [-6.92991773e-01 7.19112508e-01 -5.13770749e-02 -2.02808442e+02] [-7.32628402e-02 6.51429592e-04 9.97312455e-01 -1.93391327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864000000003 meters 0.026912441257262675 Centerline is valid? [True, True] Translation: X:268.69, Y:-202.83, Z:-19.34 [[ 7.16542953e-01 6.95584186e-01 5.22382703e-02 2.68689343e+02] [-6.93680476e-01 7.18444334e-01 -5.14308847e-02 -2.02831687e+02] [-7.33047994e-02 6.15769764e-04 9.97309394e-01 -1.93411487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45864 meters 0.02678542478871473 Centerline is valid? [True, True] Translation: X:268.71, Y:-202.85, Z:-19.34 [[ 7.15786347e-01 6.96346328e-01 5.24566129e-02 2.68712803e+02] [-6.94425609e-01 7.17705696e-01 -5.16875892e-02 -2.02854712e+02] [-7.36408728e-02 5.70055290e-04 9.97284662e-01 -1.93421281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters 0.02697542429425773 Centerline is valid? [True, True] Translation: X:268.74, Y:-202.88, Z:-19.34 [[ 7.15653457e-01 6.96477234e-01 5.25318281e-02 2.68737048e+02] [-6.94547383e-01 7.17578642e-01 -5.18152995e-02 -2.02877154e+02] [-7.37838944e-02 5.95954478e-04 9.97274076e-01 -1.93447218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51864 meters 0.026880500075504986 Centerline is valid? [True, True] Translation: X:268.76, Y:-202.90, Z:-19.35 [[ 7.15783233e-01 6.96390118e-01 5.19149925e-02 2.68762467e+02] [-6.94501289e-01 7.17663152e-01 -5.12597390e-02 -2.02898266e+02] [-7.29542528e-02 6.35832522e-04 9.97335085e-01 -1.93464127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters 0.026950580165847213 Centerline is valid? [True, True] Translation: X:268.79, Y:-202.92, Z:-19.35 [[ 7.15834597e-01 6.96343628e-01 5.18303106e-02 2.68786734e+02] [-6.94456981e-01 7.17708223e-01 -5.12289767e-02 -2.02921111e+02] [-7.28720116e-02 6.77552875e-04 9.97341070e-01 -1.93484875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57864 meters 0.02696033609141393 Centerline is valid? [True, True] Translation: X:268.81, Y:-202.94, Z:-19.35 [[ 7.16386120e-01 6.95738303e-01 5.23368047e-02 2.68810323e+02] [-6.93809106e-01 7.18294926e-01 -5.17815113e-02 -2.02943568e+02] [-7.36196420e-02 7.83804319e-04 9.97286084e-01 -1.93501616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters 0.02713312378831509 Centerline is valid? [True, True] Translation: X:268.83, Y:-202.97, Z:-19.35 [[ 7.17959640e-01 6.94048009e-01 5.32101222e-02 2.68833766e+02] [-6.92045574e-01 7.19928014e-01 -5.26932462e-02 -2.02965899e+02] [-7.48791002e-02 1.00779454e-03 9.97192110e-01 -1.93517595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63864 meters 0.027263334979424753 Centerline is valid? [True, True] Translation: X:268.86, Y:-202.99, Z:-19.35 [[ 7.18732777e-01 6.93228338e-01 5.34571512e-02 2.68856874e+02] [-6.91201401e-01 7.20717135e-01 -5.29852279e-02 -2.02988546e+02] [-7.52583464e-02 1.13256215e-03 9.97163426e-01 -1.93530456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters 0.02736901475835979 Centerline is valid? [True, True] Translation: X:268.88, Y:-203.01, Z:-19.35 [[ 7.19080711e-01 6.92833504e-01 5.38949606e-02 2.68878551e+02] [-6.90768441e-01 7.21096562e-01 -5.34668934e-02 -2.03012569e+02] [-7.59071259e-02 1.21807386e-03 9.97114148e-01 -1.93549289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69864 meters 0.02736976352342743 Centerline is valid? [True, True] Translation: X:268.90, Y:-203.04, Z:-19.36 [[ 7.18234970e-01 6.93677827e-01 5.43102268e-02 2.68902403e+02] [-6.91579319e-01 7.20284454e-01 -5.39291277e-02 -2.03035383e+02] [-7.65282522e-02 1.17395575e-03 9.97066722e-01 -1.93560616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters 0.027160803101768726 Centerline is valid? [True, True] Translation: X:268.93, Y:-203.06, Z:-19.36 [[ 7.16676475e-01 6.95267866e-01 5.45657786e-02 2.68926283e+02] [-6.93149880e-01 7.18749953e-01 -5.42378966e-02 -2.03057959e+02] [-7.69290175e-02 1.04876167e-03 9.97036021e-01 -1.93582800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75864 meters 0.026963924384024476 Centerline is valid? [True, True] Translation: X:268.95, Y:-203.08, Z:-19.36 [[ 7.14650387e-01 6.97458600e-01 5.31631921e-02 2.68948606e+02] [-6.95450475e-01 7.16624598e-01 -5.28944518e-02 -2.03081343e+02] [-7.49897415e-02 8.28673221e-04 9.97183961e-01 -1.93601892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters 0.02709592103714904 Centerline is valid? [True, True] Translation: X:268.97, Y:-203.11, Z:-19.36 [[ 7.13906527e-01 6.98197721e-01 5.34547661e-02 2.68970284e+02] [-6.96165773e-01 7.15904544e-01 -5.32343891e-02 -2.03105860e+02] [-7.54366392e-02 7.90999308e-04 9.97150283e-01 -1.93626949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81864 meters 0.02708337317479733 Centerline is valid? [True, True] Translation: X:268.99, Y:-203.13, Z:-19.36 [[ 7.14297627e-01 6.97853555e-01 5.27192222e-02 2.68992892e+02] [-6.95872295e-01 7.16239964e-01 -5.25553367e-02 -2.03129837e+02] [-7.44355424e-02 8.54306152e-04 9.97225461e-01 -1.93636452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters 0.0270433597634194 Centerline is valid? [True, True] Translation: X:269.02, Y:-203.15, Z:-19.36 [[ 7.14204205e-01 6.97922764e-01 5.30675949e-02 2.69016088e+02] [-6.95911270e-01 7.16172479e-01 -5.29573830e-02 -2.03153184e+02] [-7.49657142e-02 8.92048229e-04 9.97185713e-01 -1.93645764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87864 meters 0.027135137164514322 Centerline is valid? [True, True] Translation: X:269.04, Y:-203.18, Z:-19.37 [[ 7.13884884e-01 6.98238986e-01 5.32042433e-02 2.69039802e+02] [-6.96213845e-01 7.15864168e-01 -5.31486032e-02 -2.03176679e+02] [-7.51974382e-02 9.00453527e-04 9.97168258e-01 -1.93663768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters 0.027344776567623956 Centerline is valid? [True, True] Translation: X:269.06, Y:-203.20, Z:-19.37 [[ 7.14458403e-01 6.97589667e-01 5.40170886e-02 2.69062485e+02] [-6.95496086e-01 7.16496762e-01 -5.40146700e-02 -2.03199247e+02] [-7.63831448e-02 1.02256119e-03 9.97078016e-01 -1.93690942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93864 meters 0.027451107066249904 Centerline is valid? [True, True] Translation: X:269.03, Y:-203.38, Z:-17.77 [[ 7.45488441e-01 -6.66208118e-01 -2.03403025e-02 2.69028197e+02] [-6.65832960e-01 -7.45758564e-01 2.25972019e-02 -2.03383965e+02] [-3.02233941e-02 -3.30270905e-03 -9.99537712e-01 -1.77716654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96864 meters 0.027403369703170727 Centerline is valid? [True, True] Translation: X:269.09, Y:-203.24, Z:-19.37 [[ 7.63042219e-01 6.43963874e-01 5.54716189e-02 2.69087479e+02] [-6.42165366e-01 7.65055129e-01 -4.81070976e-02 -2.03237051e+02] [-7.34180795e-02 1.08579407e-03 9.97300660e-01 -1.93707778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99864 meters 0.027498690523493918 Centerline is valid? [True, True] Translation: X:269.11, Y:-203.26, Z:-19.37 [[ 7.62710934e-01 6.44408084e-01 5.48657620e-02 2.69111872e+02] [-6.42646591e-01 7.64681035e-01 -4.76264038e-02 -2.03258741e+02] [-7.26456473e-02 1.06588400e-03 9.97357245e-01 -1.93740958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02864 meters 0.027291524592567937 Centerline is valid? [True, True] Translation: X:269.14, Y:-203.28, Z:-19.38 [[ 7.61489715e-01 6.45843636e-01 5.49491798e-02 2.69136239e+02] [-6.44077020e-01 7.63469097e-01 -4.77465152e-02 -2.03280260e+02] [-7.27887837e-02 9.66976230e-04 9.97346910e-01 -1.93750149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05864 meters 0.027354829446032857 Centerline is valid? [True, True] Translation: X:269.16, Y:-203.30, Z:-19.38 [[ 7.58887086e-01 6.48788030e-01 5.62537407e-02 2.69162305e+02] [-6.46940945e-01 7.60968822e-01 -4.89271377e-02 -2.03300583e+02] [-7.45506841e-02 7.37324686e-04 9.97216953e-01 -1.93769256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08864 meters 0.02724014528767701 Centerline is valid? [True, True] Translation: X:269.19, Y:-203.32, Z:-19.38 [[ 7.57807091e-01 6.50086148e-01 5.58248415e-02 2.69186937e+02] [-6.48267075e-01 7.59860242e-01 -4.86025959e-02 -2.03321356e+02] [-7.40149519e-02 6.41985056e-04 9.97256925e-01 -1.93772768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11864 meters 0.027332963307693407 Centerline is valid? [True, True] Translation: X:269.21, Y:-203.34, Z:-19.38 [[ 7.57688789e-01 6.50304605e-01 5.48782317e-02 2.69211473e+02] [-6.48544216e-01 7.59673290e-01 -4.78214592e-02 -2.03341471e+02] [-7.27880420e-02 6.42823792e-04 9.97347225e-01 -1.93799756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14864 meters 0.027196759125507643 Centerline is valid? [True, True] Translation: X:269.24, Y:-203.36, Z:-19.38 [[ 7.57718517e-01 6.50332115e-01 5.41367562e-02 2.69237383e+02] [-6.48615901e-01 7.59649720e-01 -4.72198674e-02 -2.03362172e+02] [-7.18335680e-02 6.65407035e-04 9.97416410e-01 -1.93812043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17864000000003 meters 0.027338514636556843 Centerline is valid? [True, True] Translation: X:269.26, Y:-203.38, Z:-19.38 [[ 7.57666836e-01 6.50401982e-01 5.40206236e-02 2.69262508e+02] [-6.48689759e-01 7.59589875e-01 -4.71679680e-02 -2.03382882e+02] [-7.17116587e-02 6.94979769e-04 9.97425163e-01 -1.93831398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20864 meters 0.027477573201691544 Centerline is valid? [True, True] Translation: X:269.29, Y:-203.40, Z:-19.39 [[ 7.58451587e-01 6.49449014e-01 5.44717214e-02 2.69286866e+02] [-6.47702055e-01 7.60404689e-01 -4.76104609e-02 -2.03403249e+02] [-7.23411193e-02 8.28783692e-04 9.97379605e-01 -1.93857278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23864 meters 0.02783897250605431 Centerline is valid? [True, True] Translation: X:269.31, Y:-203.42, Z:-19.39 [[ 7.59502990e-01 6.48240710e-01 5.42142966e-02 2.69311284e+02] [-6.46503956e-01 7.61434852e-01 -4.74299525e-02 -2.03424768e+02] [-7.20266809e-02 9.73433517e-04 9.97402231e-01 -1.93877035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26864 meters 0.02803634241616268 Centerline is valid? [True, True] Translation: X:269.33, Y:-203.45, Z:-19.39 [[ 7.60426769e-01 6.47123820e-01 5.46066926e-02 2.69334640e+02] [-6.45355450e-01 7.62384089e-01 -4.78209590e-02 -2.03446158e+02] [-7.25773553e-02 1.12361071e-03 9.97362153e-01 -1.93905770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29864 meters 0.028045574108532475 Centerline is valid? [True, True] Translation: X:269.36, Y:-203.47, Z:-19.39 [[ 7.60320396e-01 6.47259411e-01 5.44807341e-02 2.69359379e+02] [-6.45496322e-01 7.62268949e-01 -4.77550912e-02 -2.03468412e+02] [-7.24389041e-02 1.14205637e-03 9.97372198e-01 -1.93920294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32864 meters 0.028017147666459297 Centerline is valid? [True, True] Translation: X:269.38, Y:-203.49, Z:-19.39 [[ 7.60181017e-01 6.47495016e-01 5.36192734e-02 2.69383441e+02] [-6.45784598e-01 7.62068836e-01 -4.70461692e-02 -2.03489822e+02] [-7.13237373e-02 1.13710386e-03 9.97452571e-01 -1.93925639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35864 meters 0.027968207022193596 Centerline is valid? [True, True] Translation: X:269.41, Y:-203.51, Z:-19.39 [[ 7.59711234e-01 6.48107300e-01 5.28750355e-02 2.69406997e+02] [-6.46442667e-01 7.61548243e-01 -4.64343834e-02 -2.03511131e+02] [-7.03613533e-02 1.09604375e-03 9.97520967e-01 -1.93940651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38864 meters 0.027878343031051613 Centerline is valid? [True, True] Translation: X:269.43, Y:-203.53, Z:-19.40 [[ 7.58586882e-01 6.49411752e-01 5.30124436e-02 2.69430423e+02] [-6.47738532e-01 7.60436292e-01 -4.65987165e-02 -2.03534511e+02] [-7.05743402e-02 1.01097264e-03 9.97506010e-01 -1.93956739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41864 meters 0.02795947284843689 Centerline is valid? [True, True] Translation: X:269.45, Y:-203.56, Z:-19.40 [[ 7.57815552e-01 6.50343280e-01 5.26232505e-02 2.69453520e+02] [-6.48693563e-01 7.59639856e-01 -4.63028232e-02 -2.03556316e+02] [-7.00874483e-02 9.52635688e-04 9.97540396e-01 -1.93978024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44864 meters 0.02768465348513075 Centerline is valid? [True, True] Translation: X:269.48, Y:-203.58, Z:-19.40 [[ 7.55757235e-01 6.52779465e-01 5.20573850e-02 2.69476058e+02] [-6.51167972e-01 7.57547627e-01 -4.58461074e-02 -2.03579587e+02] [-6.93633459e-02 7.50425531e-04 9.97591180e-01 -1.93987140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47864 meters 0.027679140522146334 Centerline is valid? [True, True] Translation: X:269.50, Y:-203.60, Z:-19.40 [[ 7.54559888e-01 6.54099877e-01 5.28462405e-02 2.69500284e+02] [-6.52439209e-01 7.56407891e-01 -4.65851914e-02 -2.03601470e+02] [-7.04446813e-02 6.72357491e-04 9.97515461e-01 -1.94002226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50864 meters 0.02760501073324172 Centerline is valid? [True, True] Translation: X:269.52, Y:-203.62, Z:-19.40 [[ 7.52898590e-01 6.56044824e-01 5.24299692e-02 2.69524391e+02] [-6.54411673e-01 7.54721748e-01 -4.62649498e-02 -2.03623348e+02] [-6.99219188e-02 5.22031608e-04 9.97552331e-01 -1.94010404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53864 meters 0.02740638142320246 Centerline is valid? [True, True] Translation: X:269.55, Y:-203.65, Z:-19.40 [[ 7.50328644e-01 6.58967292e-01 5.26216099e-02 2.69548632e+02] [-6.57326185e-01 7.52171541e-01 -4.64785879e-02 -2.03645377e+02] [-7.02083466e-02 2.84653811e-04 9.97532309e-01 -1.94034113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56864 meters 0.027451940328279342 Centerline is valid? [True, True] Translation: X:269.57, Y:-203.67, Z:-19.40 [[ 7.48443038e-01 6.61099881e-01 5.27253905e-02 2.69573454e+02] [-6.59454075e-01 7.50297896e-01 -4.66196425e-02 -2.03667131e+02] [-7.03799896e-02 1.22173230e-04 9.97520247e-01 -1.94048901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59864 meters 0.02735707822669448 Centerline is valid? [True, True] Translation: X:269.60, Y:-203.69, Z:-19.41 [[ 7.45836609e-01 6.63989245e-01 5.33482524e-02 2.69600130e+02] [-6.62307996e-01 7.47742115e-01 -4.72212744e-02 -2.03687476e+02] [-7.12451534e-02 -1.13619003e-04 9.97458829e-01 -1.94066515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62864 meters 0.027345831026140646 Centerline is valid? [True, True] Translation: X:269.63, Y:-203.71, Z:-19.41 [[ 7.44478380e-01 6.65547596e-01 5.28993271e-02 2.69626413e+02] [-6.63894942e-01 7.46355376e-01 -4.68738583e-02 -2.03708358e+02] [-7.06784809e-02 -2.23021574e-04 9.97499124e-01 -1.94073751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65864 meters 0.02753578633468209 Centerline is valid? [True, True] Translation: X:269.65, Y:-203.73, Z:-19.41 [[ 7.43275378e-01 6.66834038e-01 5.36104236e-02 2.69652874e+02] [-6.65136239e-01 7.45206192e-01 -4.75553884e-02 -2.03728275e+02] [-7.16623713e-02 -3.11486317e-04 9.97428899e-01 -1.94097695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68864 meters 0.027393386896947428 Centerline is valid? [True, True] Translation: X:269.68, Y:-203.75, Z:-19.41 [[ 7.42163640e-01 6.68123212e-01 5.29575803e-02 2.69679994e+02] [-6.66466292e-01 7.44050549e-01 -4.70261941e-02 -2.03747226e+02] [-7.08224086e-02 -3.93310777e-04 9.97488863e-01 -1.94111524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71864 meters 0.02755468970143304 Centerline is valid? [True, True] Translation: X:269.71, Y:-203.77, Z:-19.41 [[ 7.42302096e-01 6.67980420e-01 5.28181506e-02 2.69705393e+02] [-6.66328335e-01 7.44178770e-01 -4.69521855e-02 -2.03767955e+02] [-7.06692870e-02 -3.41524588e-04 9.97499742e-01 -1.94139489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74864 meters 0.027479494905962784 Centerline is valid? [True, True] Translation: X:269.73, Y:-203.79, Z:-19.42 [[ 7.43008163e-01 6.67229330e-01 5.23821742e-02 2.69730736e+02] [-6.65599717e-01 7.44852311e-01 -4.66052673e-02 -2.03788525e+02] [-7.01133847e-02 -2.37466346e-04 9.97539000e-01 -1.94159943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77864 meters 0.02714384098485915 Centerline is valid? [True, True] Translation: X:269.76, Y:-203.81, Z:-19.42 [[ 7.45130079e-01 6.64852286e-01 5.24652468e-02 2.69758160e+02] [-6.63209876e-01 7.46974857e-01 -4.67035679e-02 -2.03806637e+02] [-7.02411942e-02 4.76342589e-06 9.97530037e-01 -1.94177986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80864 meters 0.027450247941846945 Centerline is valid? [True, True] Translation: X:269.78, Y:-203.83, Z:-19.42 [[ 7.45754569e-01 6.64139641e-01 5.26180516e-02 2.69784622e+02] [-6.62482302e-01 7.47608537e-01 -4.68900309e-02 -2.03827308e+02] [-7.04792329e-02 1.09926824e-04 9.97513241e-01 -1.94185903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83864 meters 0.02733756789921251 Centerline is valid? [True, True] Translation: X:269.81, Y:-203.85, Z:-19.42 [[ 7.46983972e-01 6.62741141e-01 5.28121782e-02 2.69809274e+02] [-6.61064471e-01 7.48848517e-01 -4.71133069e-02 -2.03849120e+02] [-7.07722481e-02 2.80630466e-04 9.97492461e-01 -1.94207408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86864 meters 0.02719716484037852 Centerline is valid? [True, True] Translation: X:269.83, Y:-203.87, Z:-19.42 [[ 7.46279281e-01 6.63614488e-01 5.17981302e-02 2.69832090e+02] [-6.62000515e-01 7.48074701e-01 -4.62553737e-02 -2.03871466e+02] [-6.94446069e-02 2.29038183e-04 9.97585783e-01 -1.94215731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89864 meters 0.027469447381691162 Centerline is valid? [True, True] Translation: X:269.86, Y:-203.89, Z:-19.42 [[ 7.46023433e-01 6.63884987e-01 5.20169341e-02 2.69856388e+02] [-6.62254872e-01 7.47834652e-01 -4.64953467e-02 -2.03893105e+02] [-6.97676285e-02 2.38150104e-04 9.97563242e-01 -1.94248269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864000000003 meters 0.027310894980960444 Centerline is valid? [True, True] Translation: X:269.88, Y:-203.91, Z:-19.43 [[ 7.45862725e-01 6.64036558e-01 5.23855406e-02 2.69881687e+02] [-6.62380083e-01 7.47700060e-01 -4.68747918e-02 -2.03914526e+02] [-7.02952473e-02 2.63021191e-04 9.97526195e-01 -1.94268218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95864 meters 0.02730061353589511 Centerline is valid? [True, True] Translation: X:269.91, Y:-203.94, Z:-19.43 [[ 7.45131289e-01 6.64881332e-01 5.20785683e-02 2.69905849e+02] [-6.63242838e-01 7.46948972e-01 -4.66494435e-02 -2.03937063e+02] [-6.99163772e-02 2.19222490e-04 9.97552832e-01 -1.94282137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters 0.027216816230961678 Centerline is valid? [True, True] Translation: X:269.93, Y:-203.96, Z:-19.43 [[ 7.43729597e-01 6.66428378e-01 5.23402694e-02 2.69929254e+02] [-6.64773632e-01 7.45569047e-01 -4.69341518e-02 -2.03960951e+02] [-7.03015355e-02 1.11886789e-04 9.97525780e-01 -1.94290043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01864 meters 0.027177948980376718 Centerline is valid? [True, True] Translation: X:269.95, Y:-203.98, Z:-19.43 [[ 7.42442158e-01 6.67847581e-01 5.25285804e-02 2.69953583e+02] [-6.66180855e-01 7.44298064e-01 -4.71535721e-02 -2.03983736e+02] [-7.05883198e-02 1.52652217e-05 9.97505533e-01 -1.94307184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters 0.027177948980376718 Centerline is valid? [True, True] Translation: X:269.98, Y:-204.01, Z:-19.43 [[ 7.42089101e-01 6.68241833e-01 5.25035205e-02 2.69977999e+02] [-6.66574120e-01 7.43944119e-01 -4.71814627e-02 -2.04005219e+02] [-7.05883124e-02 1.53612260e-05 9.97505534e-01 -1.94324237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07864 meters 0.027254369260654082 Centerline is valid? [True, True] Translation: X:270.00, Y:-204.03, Z:-19.43 [[ 7.40799125e-01 6.69665138e-01 5.25857308e-02 2.70002323e+02] [-6.67992190e-01 7.42663178e-01 -4.73057998e-02 -2.04027810e+02] [-7.07325309e-02 -8.27624076e-05 9.97495314e-01 -1.94341951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters 0.02735986732251392 Centerline is valid? [True, True] Translation: X:270.03, Y:-204.05, Z:-19.44 [[ 7.40060226e-01 6.70488107e-01 5.25029536e-02 2.70026347e+02] [-6.68818930e-01 7.41920267e-01 -4.72816721e-02 -2.04050870e+02] [-7.06548042e-02 -1.23684301e-04 9.97500819e-01 -1.94358462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13864 meters 0.027092300394188848 Centerline is valid? [True, True] Translation: X:270.05, Y:-204.07, Z:-19.44 [[ 7.40085925e-01 6.70476233e-01 5.22919176e-02 2.70051308e+02] [-6.68816898e-01 7.41931003e-01 -4.71417330e-02 -2.04073169e+02] [-7.04044064e-02 -8.47850357e-05 9.97518527e-01 -1.94371108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters 0.027276017504126438 Centerline is valid? [True, True] Translation: X:270.08, Y:-204.10, Z:-19.44 [[ 7.40305489e-01 6.70172677e-01 5.30694350e-02 2.70075355e+02] [-6.68459100e-01 7.42205216e-01 -4.78941460e-02 -2.04095570e+02] [-7.14857595e-02 -1.84476255e-05 9.97441620e-01 -1.94397120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19864 meters 0.02702503632017164 Centerline is valid? [True, True] Translation: X:270.10, Y:-204.12, Z:-19.44 [[ 7.41895786e-01 6.68423033e-01 5.29272348e-02 2.70099203e+02] [-6.66710558e-01 7.43781295e-01 -4.78164945e-02 -2.04119019e+02] [-7.13279335e-02 1.87709562e-04 9.97452902e-01 -1.94408923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters 0.02713643251063964 Centerline is valid? [True, True] Translation: X:270.12, Y:-204.14, Z:-19.44 [[ 7.42471146e-01 6.67814540e-01 5.25389193e-02 2.70123996e+02] [-6.66122070e-01 7.44327657e-01 -4.75155490e-02 -2.04140887e+02] [-7.08377452e-02 2.81590431e-04 9.97487812e-01 -1.94425021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25864 meters 0.02707014852999436 Centerline is valid? [True, True] Translation: X:270.15, Y:-204.16, Z:-19.45 [[ 7.44031753e-01 6.66080164e-01 5.24782463e-02 2.70148795e+02] [-6.64383729e-01 7.45880005e-01 -4.75108335e-02 -2.04162043e+02] [-7.07884984e-02 4.83875735e-04 9.97491230e-01 -1.94452820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters 0.027122341745546858 Centerline is valid? [True, True] Translation: X:270.17, Y:-204.19, Z:-19.45 [[ 7.44299437e-01 6.65750594e-01 5.28629894e-02 2.70172354e+02] [-6.64024729e-01 7.46174133e-01 -4.79095163e-02 -2.04185204e+02] [-7.13407841e-02 5.56693762e-04 9.97451845e-01 -1.94480178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31864 meters 0.02729600130524874 Centerline is valid? [True, True] Translation: X:270.20, Y:-204.21, Z:-19.45 [[ 7.45312377e-01 6.64691662e-01 5.19081371e-02 2.70195729e+02] [-6.63021688e-01 7.47117480e-01 -4.70925951e-02 -2.04209113e+02] [-7.00835319e-02 6.82473337e-04 9.97540893e-01 -1.94484864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters 0.02734369287402826 Centerline is valid? [True, True] Translation: X:270.22, Y:-204.23, Z:-19.45 [[ 7.47192070e-01 6.62524092e-01 5.25912348e-02 2.70218503e+02] [-6.60800960e-01 7.49040022e-01 -4.77612451e-02 -2.04231819e+02] [-7.10359151e-02 9.34485135e-04 9.97473321e-01 -1.94490603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37864 meters 0.027472208811003398 Centerline is valid? [True, True] Translation: X:270.24, Y:-204.25, Z:-19.45 [[ 7.47734978e-01 6.61861515e-01 5.32140758e-02 2.70242903e+02] [-6.60092391e-01 7.49625405e-01 -4.83713443e-02 -2.04253005e+02] [-7.19057543e-02 1.04273952e-03 9.97410886e-01 -1.94506420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters 0.027888205752276914 Centerline is valid? [True, True] Translation: X:270.26, Y:-204.28, Z:-19.45 [[ 7.50053778e-01 6.59162180e-01 5.40791158e-02 2.70263881e+02] [-6.57324682e-01 7.51999588e-01 -4.92024603e-02 -2.04277337e+02] [-7.30998737e-02 1.35695367e-03 9.97323702e-01 -1.94547870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43864 meters 0.027974699125161845 Centerline is valid? [True, True] Translation: X:270.29, Y:-204.30, Z:-19.46 [[ 7.50187288e-01 6.59052555e-01 5.35608222e-02 2.70285633e+02] [-6.57246607e-01 7.52095607e-01 -4.87759818e-02 -2.04302166e+02] [-7.24287946e-02 1.38845287e-03 9.97372619e-01 -1.94571334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46864 meters 0.027904611236234455 Centerline is valid? [True, True] Translation: X:270.31, Y:-204.33, Z:-19.46 [[ 7.49488836e-01 6.59878838e-01 5.31639366e-02 2.70307180e+02] [-6.58098217e-01 7.51370839e-01 -4.84623559e-02 -2.04326484e+02] [-7.19251147e-02 1.33490279e-03 9.97409142e-01 -1.94592619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49864 meters 0.027541384443223734 Centerline is valid? [True, True] Translation: X:270.33, Y:-204.35, Z:-19.46 [[ 7.47077975e-01 6.62788302e-01 5.08543640e-02 2.70329418e+02] [-6.61163136e-01 7.48806108e-01 -4.63974272e-02 -2.04350189e+02] [-6.88317303e-02 1.03946524e-03 9.97627742e-01 -1.94604011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52864 meters 0.027455955868826556 Centerline is valid? [True, True] Translation: X:270.35, Y:-204.37, Z:-19.46 [[ 7.45323725e-01 6.64747668e-01 5.10204197e-02 2.70352208e+02] [-6.63113506e-01 7.47067427e-01 -4.65911795e-02 -2.04373488e+02] [-6.90870716e-02 8.93182148e-04 9.97610234e-01 -1.94626503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55864 meters 0.027310634707466603 Centerline is valid? [True, True] Translation: X:270.37, Y:-204.40, Z:-19.46 [[ 7.42541490e-01 6.67685715e-01 5.31782127e-02 2.70372339e+02] [-6.65914310e-01 7.44442960e-01 -4.86087486e-02 -2.04400888e+02] [-7.20435132e-02 6.81879785e-04 9.97401257e-01 -1.94630073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58864 meters 0.027340573761147346 Centerline is valid? [True, True] Translation: X:270.39, Y:-204.42, Z:-19.46 [[ 7.41627451e-01 6.68682311e-01 5.34105907e-02 2.70394739e+02] [-6.66894225e-01 7.43547964e-01 -4.88724557e-02 -2.04424700e+02] [-7.23934826e-02 6.25940241e-04 9.97375953e-01 -1.94638437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61864 meters 0.027316112957734857 Centerline is valid? [True, True] Translation: X:270.42, Y:-204.45, Z:-19.47 [[ 7.40172432e-01 6.70346502e-01 5.27289072e-02 2.70417172e+02] [-6.68604543e-01 7.42048060e-01 -4.82974329e-02 -2.04447588e+02] [-7.15033985e-02 4.93641482e-04 9.97440234e-01 -1.94652281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64864 meters 0.027184407531522802 Centerline is valid? [True, True] Translation: X:270.44, Y:-204.47, Z:-19.47 [[ 7.37226947e-01 6.73587188e-01 5.26946762e-02 2.70437625e+02] [-6.71853076e-01 7.39107744e-01 -4.83030686e-02 -2.04472672e+02] [-7.14833714e-02 2.07243521e-04 9.97441770e-01 -1.94681054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67864000000003 meters 0.027127224879174024 Centerline is valid? [True, True] Translation: X:270.46, Y:-204.50, Z:-19.47 [[ 7.35453349e-01 6.75460513e-01 5.34926771e-02 2.70460169e+02] [-6.73676480e-01 7.37396157e-01 -4.90602423e-02 -2.04496114e+02] [-7.25835510e-02 4.47610916e-05 9.97362334e-01 -1.94705292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70864 meters 0.0271688178155226 Centerline is valid? [True, True] Translation: X:270.48, Y:-204.52, Z:-19.47 [[ 7.33430389e-01 6.77730790e-01 5.25437054e-02 2.70482865e+02] [-6.76012553e-01 7.35310108e-01 -4.82293878e-02 -2.04519715e+02] [-7.13224588e-02 -1.47305746e-04 9.97453300e-01 -1.94715344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73864 meters 0.02701361546980505 Centerline is valid? [True, True] Translation: X:270.51, Y:-204.54, Z:-19.47 [[ 7.32508081e-01 6.78731981e-01 5.24862819e-02 2.70507175e+02] [-6.77018238e-01 7.34386034e-01 -4.82022634e-02 -2.04541408e+02] [-7.12616101e-02 -2.25622653e-04 9.97457634e-01 -1.94725177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76864 meters 0.026925674188368096 Centerline is valid? [True, True] Translation: X:270.53, Y:-204.56, Z:-19.47 [[ 7.31615479e-01 6.79713380e-01 5.22351566e-02 2.70531324e+02] [-6.78014843e-01 7.33477772e-01 -4.80232369e-02 -2.04563967e+02] [-7.09553629e-02 -2.81668066e-04 9.97479452e-01 -1.94741613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79864 meters 0.026910790515945474 Centerline is valid? [True, True] Translation: X:270.55, Y:-204.59, Z:-19.48 [[ 7.30525270e-01 6.80912017e-01 5.18811604e-02 2.70554339e+02] [-6.79235834e-01 7.32365139e-01 -4.77491824e-02 -2.04587446e+02] [-7.05089454e-02 -3.57558883e-04 9.97511083e-01 -1.94755790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82864 meters 0.02702841256344697 Centerline is valid? [True, True] Translation: X:270.58, Y:-204.61, Z:-19.48 [[ 7.29625490e-01 6.81807948e-01 5.27689929e-02 2.70578379e+02] [-6.80072487e-01 7.31531101e-01 -4.86175050e-02 -2.04608786e+02] [-7.17499607e-02 -4.14169278e-04 9.97422564e-01 -1.94772908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85864 meters 0.027200538334722205 Centerline is valid? [True, True] Translation: X:270.60, Y:-204.63, Z:-19.48 [[ 7.28193635e-01 6.83151183e-01 5.51225143e-02 2.70603933e+02] [-6.81257374e-01 7.30276780e-01 -5.08351719e-02 -2.04628836e+02] [-7.49828001e-02 -5.34770780e-04 9.97184684e-01 -1.94785415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88864 meters 0.02722993515145841 Centerline is valid? [True, True] Translation: X:270.63, Y:-204.65, Z:-19.48 [[ 7.27791832e-01 6.83570642e-01 5.52288635e-02 2.70628082e+02] [-6.81666938e-01 7.29884158e-01 -5.09833507e-02 -2.04651384e+02] [-7.51613943e-02 -5.42424072e-04 9.97171234e-01 -1.94809030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91864 meters 0.027328640730638096 Centerline is valid? [True, True] Translation: X:270.65, Y:-204.67, Z:-19.48 [[ 7.28867158e-01 6.82542393e-01 5.37452127e-02 2.70651013e+02] [-6.80733223e-01 7.30845902e-01 -4.96643412e-02 -2.04673828e+02] [-7.31774867e-02 -3.87444646e-04 9.97318858e-01 -1.94819092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94864 meters 0.027159886234987343 Centerline is valid? [True, True] Translation: X:270.68, Y:-204.69, Z:-19.48 [[ 7.29066643e-01 6.82422053e-01 5.25544662e-02 2.70676247e+02] [-6.80688702e-01 7.30958296e-01 -4.86092585e-02 -2.04694372e+02] [-7.15871531e-02 -3.33842439e-04 9.97434293e-01 -1.94831337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97864 meters 0.027015392157090888 Centerline is valid? [True, True] Translation: X:270.70, Y:-204.71, Z:-19.49 [[ 7.29603946e-01 6.81927771e-01 5.15033711e-02 2.70701628e+02] [-6.80258801e-01 7.31419479e-01 -4.76813366e-02 -2.04714118e+02] [-7.01857964e-02 -2.47130177e-04 9.97533906e-01 -1.94850346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00864 meters 0.02701125657894107 Centerline is valid? [True, True] Translation: X:270.73, Y:-204.73, Z:-19.49 [[ 7.30168514e-01 6.81400381e-01 5.04724001e-02 2.70725998e+02] [-6.79793393e-01 7.31910852e-01 -4.67701546e-02 -2.04734386e+02] [-6.88104985e-02 -1.60709882e-04 9.97629736e-01 -1.94874251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03864 meters 0.02713228790811222 Centerline is valid? [True, True] Translation: X:270.75, Y:-204.76, Z:-19.49 [[ 7.30876047e-01 6.80543186e-01 5.17800732e-02 2.70750165e+02] [-6.78846328e-01 7.32707970e-01 -4.80280458e-02 -2.04755713e+02] [-7.06248317e-02 -4.81642612e-05 9.97502948e-01 -1.94896339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06864 meters 0.02718353493395824 Centerline is valid? [True, True] Translation: X:270.78, Y:-204.77, Z:-19.49 [[ 7.31870473e-01 6.79443260e-01 5.21772692e-02 2.70776942e+02] [-6.77714059e-01 7.33728048e-01 -4.84438388e-02 -2.04774868e+02] [-7.11987656e-02 9.33463064e-05 9.97462143e-01 -1.94908870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09864 meters 0.027070731835217857 Centerline is valid? [True, True] Translation: X:270.80, Y:-204.80, Z:-19.49 [[ 7.31540203e-01 6.79834629e-01 5.17088868e-02 2.70802562e+02] [-6.78133749e-01 7.33365441e-01 -4.80598564e-02 -2.04795852e+02] [-7.05942652e-02 9.21759050e-05 9.97505108e-01 -1.94934236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12864 meters 0.02719640421956493 Centerline is valid? [True, True] Translation: X:270.83, Y:-204.82, Z:-19.50 [[ 7.31562338e-01 6.79827779e-01 5.14853024e-02 2.70827141e+02] [-6.78137971e-01 7.33371785e-01 -4.79032119e-02 -2.04817875e+02] [-7.03238023e-02 1.30047216e-04 9.97524208e-01 -1.94963254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15864 meters 0.02728305946146501 Centerline is valid? [True, True] Translation: X:270.85, Y:-204.84, Z:-19.50 [[ 7.31213538e-01 6.80160956e-01 5.20368784e-02 2.70850994e+02] [-6.78431820e-01 7.33062791e-01 -4.84686472e-02 -2.04841180e+02] [-7.11127807e-02 1.37456831e-04 9.97468272e-01 -1.94986564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18864 meters 0.027191197398585075 Centerline is valid? [True, True] Translation: X:270.88, Y:-204.86, Z:-19.50 [[ 7.32052488e-01 6.79246146e-01 5.21903168e-02 2.70875707e+02] [-6.77500739e-01 7.33910487e-01 -4.86635933e-02 -2.04862816e+02] [-7.13575791e-02 2.65326337e-04 9.97450763e-01 -1.94992852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21864 meters 0.027199301729471895 Centerline is valid? [True, True] Translation: X:270.90, Y:-204.88, Z:-19.50 [[ 7.31337674e-01 6.80004185e-01 5.23403646e-02 2.70900762e+02] [-6.78246893e-01 7.33208193e-01 -4.88558870e-02 -2.04883842e+02] [-7.15985918e-02 2.30461123e-04 9.97433501e-01 -1.95009033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24864 meters 0.027091049089752996 Centerline is valid? [True, True] Translation: X:270.92, Y:-204.91, Z:-19.50 [[ 7.30564378e-01 6.80880344e-01 5.17459854e-02 2.70924346e+02] [-6.79161333e-01 7.32394651e-01 -4.83524479e-02 -2.04906686e+02] [-7.08207143e-02 1.80703653e-04 9.97489044e-01 -1.95038334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27864 meters 0.027211268807980134 Centerline is valid? [True, True] Translation: X:270.95, Y:-204.93, Z:-19.51 [[ 7.30386621e-01 6.81067555e-01 5.17915938e-02 2.70947571e+02] [-6.79342318e-01 7.32220558e-01 -4.84465613e-02 -2.04929510e+02] [-7.09182507e-02 2.00498875e-04 9.97482111e-01 -1.95061673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30864 meters 0.02710369068634579 Centerline is valid? [True, True] Translation: X:270.97, Y:-204.95, Z:-19.51 [[ 7.30146461e-01 6.81375293e-01 5.11258839e-02 2.70971794e+02] [-6.79692019e-01 7.31934199e-01 -4.78653217e-02 -2.04951450e+02] [-7.00350305e-02 1.98839978e-04 9.97544513e-01 -1.95069569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33864 meters 0.02702592381590979 Centerline is valid? [True, True] Translation: X:271.00, Y:-204.97, Z:-19.51 [[ 7.28377778e-01 6.83292837e-01 5.07613136e-02 2.70997699e+02] [-6.81636456e-01 7.30144436e-01 -4.75483396e-02 -2.04972640e+02] [-6.95525306e-02 3.23920371e-05 9.97578290e-01 -1.95085679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36864 meters 0.027093930485322642 Centerline is valid? [True, True] Translation: X:271.02, Y:-205.00, Z:-19.51 [[ 7.27067570e-01 6.84699026e-01 5.05963648e-02 2.71021232e+02] [-6.83053298e-01 7.28825932e-01 -4.74442046e-02 -2.04995579e+02] [-6.93609434e-02 -6.48712895e-05 9.97591628e-01 -1.95099005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39864 meters 0.027082632431118654 Centerline is valid? [True, True] Translation: X:271.04, Y:-205.02, Z:-19.51 [[ 7.24635291e-01 6.87271553e-01 5.06113417e-02 2.71044998e+02] [-6.85627583e-01 7.26400535e-01 -4.75087357e-02 -2.05019258e+02] [-6.94155083e-02 -2.74025370e-04 9.97587797e-01 -1.95101913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864000000003 meters 0.027054053903218148 Centerline is valid? [True, True] Translation: X:271.07, Y:-205.04, Z:-19.51 [[ 7.22736682e-01 6.89346371e-01 4.95304905e-02 2.71070367e+02] [-6.87773468e-01 7.24431776e-01 -4.65430776e-02 -2.05040605e+02] [-6.79657629e-02 -4.27367698e-04 9.97687563e-01 -1.95101536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45864 meters 0.027208729278970903 Centerline is valid? [True, True] Translation: X:271.10, Y:-205.06, Z:-19.51 [[ 7.18551574e-01 6.93792605e-01 4.83265551e-02 2.71095888e+02] [-6.92302201e-01 7.20174418e-01 -4.54584388e-02 -2.05060346e+02] [-6.63422775e-02 -7.92347714e-04 9.97796610e-01 -1.95120985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters 0.027277854293700107 Centerline is valid? [True, True] Translation: X:271.12, Y:-205.08, Z:-19.51 [[ 7.16828815e-01 6.95623781e-01 4.75815658e-02 2.71119474e+02] [-6.94180247e-01 7.18405677e-01 -4.48003238e-02 -2.05082986e+02] [-6.53470376e-02 -9.16020034e-04 9.97862178e-01 -1.95143150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51864 meters 0.02735251409574664 Centerline is valid? [True, True] Translation: X:271.14, Y:-205.11, Z:-19.52 [[ 7.15954425e-01 6.96555698e-01 4.71107236e-02 2.71143892e+02] [-6.95139550e-01 7.17502086e-01 -4.44045253e-02 -2.05105432e+02] [-6.47322676e-02 -9.56910839e-04 9.97902209e-01 -1.95167591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters 0.027307264404771794 Centerline is valid? [True, True] Translation: X:271.17, Y:-205.13, Z:-19.52 [[ 7.14858398e-01 6.97747854e-01 4.61020924e-02 2.71170101e+02] [-6.96391294e-01 7.16342735e-01 -4.35000181e-02 -2.05126003e+02] [-6.33769432e-02 -1.00874252e-03 9.97989151e-01 -1.95173823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57864 meters 0.02722744126978166 Centerline is valid? [True, True] Translation: X:271.19, Y:-205.15, Z:-19.52 [[ 7.14171800e-01 6.98415968e-01 4.66237642e-02 2.71194732e+02] [-6.97026843e-01 7.15691304e-01 -4.40401874e-02 -2.05148591e+02] [-6.41265927e-02 -1.04575527e-03 9.97941224e-01 -1.95190920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters 0.027434274417335005 Centerline is valid? [True, True] Translation: X:271.22, Y:-205.17, Z:-19.52 [[ 7.12422361e-01 7.00103694e-01 4.80541125e-02 2.71216929e+02] [-6.98628518e-01 7.14040181e-01 -4.54402314e-02 -2.05171634e+02] [-6.61254410e-02 -1.19933644e-03 9.97810597e-01 -1.95196318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63864 meters 0.027539826455771778 Centerline is valid? [True, True] Translation: X:271.24, Y:-205.19, Z:-19.52 [[ 7.11655698e-01 7.00798174e-01 4.92756174e-02 2.71240659e+02] [-6.99245595e-01 7.13358480e-01 -4.66398718e-02 -2.05193066e+02] [-6.78363166e-02 -1.26422786e-03 9.97695663e-01 -1.95213672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters 0.02758684246511208 Centerline is valid? [True, True] Translation: X:271.27, Y:-205.21, Z:-19.52 [[ 7.10406677e-01 7.02010276e-01 5.00392475e-02 2.71266521e+02] [-7.00409039e-01 7.12165499e-01 -4.74076037e-02 -2.05212079e+02] [-6.89168506e-02 -1.36926304e-03 9.97621468e-01 -1.95228267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69864 meters 0.0277620604499066 Centerline is valid? [True, True] Translation: X:271.29, Y:-205.23, Z:-19.53 [[ 7.09032567e-01 7.03384359e-01 5.02320962e-02 2.71290396e+02] [-7.01771077e-01 7.10808176e-01 -4.76349929e-02 -2.05233070e+02] [-6.92110936e-02 -1.47667091e-03 9.97600944e-01 -1.95259195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters 0.027795575950198614 Centerline is valid? [True, True] Translation: X:271.32, Y:-205.25, Z:-19.53 [[ 7.07812613e-01 7.04647581e-01 4.97301976e-02 2.71315499e+02] [-7.03066408e-01 7.09555762e-01 -4.72043152e-02 -2.05254337e+02] [-6.85487547e-02 -1.55182173e-03 9.97646561e-01 -1.95272992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75864 meters 0.02798676698222643 Centerline is valid? [True, True] Translation: X:271.34, Y:-205.28, Z:-19.53 [[ 7.06203907e-01 7.06376054e-01 4.80511390e-02 2.71340023e+02] [-7.04900790e-01 7.07834883e-01 -4.56580095e-02 -2.05276245e+02] [-6.62639970e-02 -1.62742119e-03 9.97800799e-01 -1.95281814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters 0.02796848240633567 Centerline is valid? [True, True] Translation: X:271.36, Y:-205.30, Z:-19.53 [[ 7.05073543e-01 7.07545185e-01 4.74458617e-02 2.71363858e+02] [-7.06106379e-01 7.06666106e-01 -4.51308825e-02 -2.05298728e+02] [-6.54605209e-02 -1.68123442e-03 9.97853744e-01 -1.95292869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81864 meters 0.028143245623554233 Centerline is valid? [True, True] Translation: X:271.39, Y:-205.32, Z:-19.53 [[ 7.04183331e-01 7.08418946e-01 4.76280737e-02 2.71387893e+02] [-7.06967859e-01 7.05790044e-01 -4.53526149e-02 -2.05321912e+02] [-6.57440720e-02 -1.73496186e-03 9.97835010e-01 -1.95299660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters 0.028348780273891292 Centerline is valid? [True, True] Translation: X:271.41, Y:-205.34, Z:-19.53 [[ 7.02313352e-01 7.10118480e-01 4.98768512e-02 2.71412116e+02] [-7.08527732e-01 7.04079506e-01 -4.75447429e-02 -2.05343152e+02] [-6.88796693e-02 -1.94782460e-03 9.97623074e-01 -1.95321318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87864 meters 0.028577902678516648 Centerline is valid? [True, True] Translation: X:271.44, Y:-205.36, Z:-19.53 [[ 7.01043112e-01 7.11300395e-01 5.08950317e-02 2.71437142e+02] [-7.09643866e-01 7.02885088e-01 -4.85606527e-02 -2.05363708e+02] [-7.03145702e-02 -2.07423600e-03 9.97522711e-01 -1.95342292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters 0.028999083770911607 Centerline is valid? [True, True] Translation: X:271.46, Y:-205.38, Z:-19.54 [[ 6.97150839e-01 7.15190360e-01 4.98343002e-02 2.71462809e+02] [-7.13609120e-01 6.98925652e-01 -4.75915588e-02 -2.05383912e+02] [-6.88674948e-02 -2.38371604e-03 9.97622968e-01 -1.95359980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93864 meters 0.029432050110210183 Centerline is valid? [True, True] Translation: X:271.49, Y:-205.41, Z:-19.54 [[ 6.94962336e-01 7.17431532e-01 4.81596079e-02 2.71486181e+02] [-7.15957531e-01 6.96624577e-01 -4.60327365e-02 -2.05405859e+02] [-6.65745031e-02 -2.48921588e-03 9.97778352e-01 -1.95373154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96864 meters 0.029432050110210183 Centerline is valid? [True, True] Translation: X:271.51, Y:-205.43, Z:-19.54 [[ 6.94591322e-01 7.17792186e-01 4.81380683e-02 2.71509893e+02] [-7.16317492e-01 6.96252946e-01 -4.60552524e-02 -2.05428129e+02] [-6.65743722e-02 -2.49256175e-03 9.97778352e-01 -1.95390219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99864 meters 0.02975520762116337 Centerline is valid? [True, True] Translation: X:271.53, Y:-205.45, Z:-19.54 [[ 6.92957464e-01 7.19403998e-01 4.76218477e-02 2.71533454e+02] [-7.17961563e-01 6.94587068e-01 -4.56070075e-02 -2.05450358e+02] [-6.58873831e-02 -2.58693995e-03 9.97823712e-01 -1.95412171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02864 meters 0.029906834576030845 Centerline is valid? [True, True] Translation: X:271.56, Y:-205.47, Z:-19.54 [[ 6.91035473e-01 7.21178649e-01 4.86963292e-02 2.71558978e+02] [-7.19671799e-01 6.92743517e-01 -4.66789071e-02 -2.05470087e+02] [-6.73978975e-02 -2.78859424e-03 9.97722280e-01 -1.95427731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05864 meters 0.030126953420722403 Centerline is valid? [True, True] Translation: X:271.58, Y:-205.49, Z:-19.54 [[ 6.90504030e-01 7.21599490e-01 4.99835999e-02 2.71584041e+02] [-7.20009874e-01 6.92304785e-01 -4.79569284e-02 -2.05490060e+02] [-6.92095804e-02 -2.87423310e-03 9.97598002e-01 -1.95447059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08864 meters 0.030324309823305386 Centerline is valid? [True, True] Translation: X:271.61, Y:-205.51, Z:-19.55 [[ 6.89921584e-01 7.22119890e-01 5.05081469e-02 2.71610445e+02] [-7.20495001e-01 6.91761735e-01 -4.85041701e-02 -2.05508805e+02] [-6.99654293e-02 -2.92679351e-03 9.97545123e-01 -1.95468965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11864 meters 0.030012326754629046 Centerline is valid? [True, True] Translation: X:271.64, Y:-205.53, Z:-19.55 [[ 6.90281185e-01 7.21836074e-01 4.96444146e-02 2.71635088e+02] [-7.20263171e-01 6.92058314e-01 -4.77101089e-02 -2.05530407e+02] [-6.87957075e-02 -2.82365296e-03 9.97626773e-01 -1.95473367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14864 meters 0.02985631041474233 Centerline is valid? [True, True] Translation: X:271.66, Y:-205.55, Z:-19.55 [[ 6.90567679e-01 7.21564188e-01 4.96125354e-02 2.71659747e+02] [-7.19991108e-01 6.92341965e-01 -4.77012387e-02 -2.05550520e+02] [-6.87683458e-02 -2.77965065e-03 9.97628783e-01 -1.95491047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17864000000003 meters 0.02974554402639216 Centerline is valid? [True, True] Translation: X:271.69, Y:-205.57, Z:-19.55 [[ 6.91785387e-01 7.20380474e-01 4.98492817e-02 2.71686388e+02] [-7.18786270e-01 6.93574061e-01 -4.79720792e-02 -2.05569180e+02] [-6.91323179e-02 -2.64459586e-03 9.97603994e-01 -1.95512095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20864 meters 0.02947645255902489 Centerline is valid? [True, True] Translation: X:271.71, Y:-205.59, Z:-19.55 [[ 6.92044751e-01 7.20088942e-01 5.04576943e-02 2.71710904e+02] [-7.18451660e-01 6.93876840e-01 -4.86018892e-02 -2.05589457e+02] [-7.00091085e-02 -2.61673194e-03 9.97542920e-01 -1.95532693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23864 meters 0.029563924808246933 Centerline is valid? [True, True] Translation: X:271.74, Y:-205.61, Z:-19.56 [[ 6.91538780e-01 7.20617686e-01 4.98424206e-02 2.71738210e+02] [-7.19018416e-01 6.93327741e-01 -4.80537297e-02 -2.05608968e+02] [-6.91855004e-02 -2.60660070e-03 9.97600407e-01 -1.95563916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26864 meters 0.02975804552502488 Centerline is valid? [True, True] Translation: X:271.76, Y:-205.63, Z:-19.56 [[ 6.89994761e-01 7.22167613e-01 4.87972121e-02 2.71764007e+02] [-7.20635469e-01 6.91712948e-01 -4.70926658e-02 -2.05628728e+02] [-6.77624615e-02 -2.67130913e-03 9.97697907e-01 -1.95577061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29864 meters 0.030148142423371157 Centerline is valid? [True, True] Translation: X:271.79, Y:-205.65, Z:-19.56 [[ 6.88371378e-01 7.23718766e-01 4.87441536e-02 2.71789978e+02] [-7.22190936e-01 6.90089382e-01 -4.70839371e-02 -2.05648563e+02] [-6.77133517e-02 -2.79135122e-03 9.97700912e-01 -1.95587955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32864 meters 0.030364645002950916 Centerline is valid? [True, True] Translation: X:271.82, Y:-205.67, Z:-19.56 [[ 6.85823732e-01 7.26234059e-01 4.72218157e-02 2.71816419e+02] [-7.24803802e-01 6.87441322e-01 -4.56495153e-02 -2.05666775e+02] [-6.56144602e-02 -2.91903061e-03 9.97840780e-01 -1.95596278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35864 meters 0.030596187512154677 Centerline is valid? [True, True] Translation: X:271.84, Y:-205.69, Z:-19.56 [[ 6.85422265e-01 7.26586777e-01 4.76232489e-02 2.71841537e+02] [-7.25131141e-01 6.87068335e-01 -4.60644385e-02 -2.05688263e+02] [-6.61902382e-02 -2.95950900e-03 9.97802633e-01 -1.95615154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38864 meters 0.030107723426537045 Centerline is valid? [True, True] Translation: X:271.87, Y:-205.71, Z:-19.56 [[ 6.86255559e-01 7.25670722e-01 4.95510973e-02 2.71870015e+02] [-7.24088935e-01 6.88035812e-01 -4.79785001e-02 -2.05705611e+02] [-6.89095222e-02 -2.95388881e-03 9.97618540e-01 -1.95634181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41864 meters 0.029755366856310465 Centerline is valid? [True, True] Translation: X:271.90, Y:-205.72, Z:-19.56 [[ 6.86956409e-01 7.24978987e-01 4.99635960e-02 2.71896080e+02] [-7.23365855e-01 6.88764970e-01 -4.84216600e-02 -2.05724758e+02] [-6.95178607e-02 -2.87838963e-03 9.97576554e-01 -1.95644905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44864 meters 0.02988048609219806 Centerline is valid? [True, True] Translation: X:271.92, Y:-205.75, Z:-19.57 [[ 6.87900084e-01 7.24074858e-01 5.00906616e-02 2.71920724e+02] [-7.22448031e-01 6.89715856e-01 -4.85888859e-02 -2.05745177e+02] [-6.97303142e-02 -2.76360111e-03 9.97562051e-01 -1.95666416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47864 meters 0.029127372683945465 Centerline is valid? [True, True] Translation: X:271.95, Y:-205.76, Z:-19.57 [[ 6.90226580e-01 7.21767271e-01 5.13738796e-02 2.71947734e+02] [-7.20046774e-01 6.92131064e-01 -4.98721721e-02 -2.05764007e+02] [-7.15535595e-02 -2.56849745e-03 9.97433452e-01 -1.95677750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50864 meters 0.029049371286735896 Centerline is valid? [True, True] Translation: X:271.97, Y:-205.79, Z:-19.57 [[ 6.90273752e-01 7.21700345e-01 5.16793858e-02 2.71972987e+02] [-7.19957214e-01 6.92200885e-01 -5.01950649e-02 -2.05785197e+02] [-7.19983122e-02 -2.55861083e-03 9.97401472e-01 -1.95695022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53864 meters 0.028651061323479367 Centerline is valid? [True, True] Translation: X:272.00, Y:-205.80, Z:-19.57 [[ 6.91608044e-01 7.20323486e-01 5.30319690e-02 2.71998627e+02] [-7.18479813e-01 6.93633991e-01 -5.15620479e-02 -2.05804515e+02] [-7.39261304e-02 -2.44167206e-03 9.97260731e-01 -1.95725136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56864 meters 0.028817681400258536 Centerline is valid? [True, True] Translation: X:272.02, Y:-205.83, Z:-19.57 [[ 6.92338447e-01 7.19684751e-01 5.21664051e-02 2.72022105e+02] [-7.17895673e-01 6.94297168e-01 -5.07665758e-02 -2.05826396e+02] [-7.27549178e-02 -2.30238430e-03 9.97347192e-01 -1.95749387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59864 meters 0.028620442388377236 Centerline is valid? [True, True] Translation: X:272.05, Y:-205.85, Z:-19.58 [[ 6.92779253e-01 7.19298215e-01 5.16428612e-02 2.72046647e+02] [-7.17540500e-01 6.94697926e-01 -5.03033018e-02 -2.05847769e+02] [-7.20592637e-02 -2.20676062e-03 9.97397911e-01 -1.95775796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62864 meters 0.028371206784704464 Centerline is valid? [True, True] Translation: X:272.07, Y:-205.87, Z:-19.58 [[ 6.95614184e-01 7.16609155e-01 5.09139135e-02 2.72071799e+02] [-7.14890335e-01 6.97472456e-01 -4.96385052e-02 -2.05868301e+02] [-7.10824595e-02 -1.86861641e-03 9.97468692e-01 -1.95801775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65864 meters 0.02789814078319195 Centerline is valid? [True, True] Translation: X:272.10, Y:-205.89, Z:-19.58 [[ 6.96748286e-01 7.15534248e-01 5.05229268e-02 2.72095520e+02] [-7.13835727e-01 6.98575553e-01 -4.93026501e-02 -2.05890540e+02] [-7.05718162e-02 -1.71353319e-03 9.97505229e-01 -1.95816848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68864 meters 0.02771492024984083 Centerline is valid? [True, True] Translation: X:272.12, Y:-205.91, Z:-19.58 [[ 6.98515738e-01 7.13724242e-01 5.17056136e-02 2.72118538e+02] [-7.11936792e-01 7.00425125e-01 -5.05039497e-02 -2.05913066e+02] [-7.22618041e-02 -1.53332505e-03 9.97384520e-01 -1.95825120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71864 meters 0.02776054032416553 Centerline is valid? [True, True] Translation: X:272.14, Y:-205.94, Z:-19.58 [[ 6.99201641e-01 7.12933468e-01 5.33191859e-02 2.72143487e+02] [-7.11026438e-01 7.01230159e-01 -5.21312680e-02 -2.05935008e+02] [-7.45551469e-02 -1.46108273e-03 9.97215822e-01 -1.95847283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74864 meters 0.027576811761019934 Centerline is valid? [True, True] Translation: X:272.17, Y:-205.96, Z:-19.59 [[ 6.99943751e-01 7.12159110e-01 5.39272430e-02 2.72168474e+02] [-7.10201743e-01 7.02016785e-01 -5.27818018e-02 -2.05957226e+02] [-7.54468707e-02 -1.35492962e-03 9.97148903e-01 -1.95866522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77864 meters 0.02771573693313482 Centerline is valid? [True, True] Translation: X:272.19, Y:-205.98, Z:-19.59 [[ 6.99932200e-01 7.12163644e-01 5.40172271e-02 2.72191161e+02] [-7.10195516e-01 7.02012255e-01 -5.29256309e-02 -2.05981088e+02] [-7.56124656e-02 -1.31843926e-03 9.97136408e-01 -1.95905983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80864 meters 0.027753273938881 Centerline is valid? [True, True] Translation: X:272.21, Y:-206.00, Z:-19.59 [[ 6.99309068e-01 7.12875602e-01 5.26801975e-02 2.72213822e+02] [-7.11002051e-01 7.01289256e-01 -5.16668344e-02 -2.06004425e+02] [-7.37760822e-02 -1.32464271e-03 9.97273952e-01 -1.95925076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83864 meters 0.027791434367619168 Centerline is valid? [True, True] Translation: X:272.24, Y:-206.03, Z:-19.59 [[ 6.97136640e-01 7.15049433e-01 5.20078253e-02 2.72238101e+02] [-7.13226718e-01 6.99072267e-01 -5.10452110e-02 -2.06025335e+02] [-7.28570775e-02 -1.50788371e-03 9.97341252e-01 -1.95922344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86864 meters 0.027960003044559773 Centerline is valid? [True, True] Translation: X:272.26, Y:-206.05, Z:-19.59 [[ 6.95486892e-01 7.16660118e-01 5.19255071e-02 2.72261216e+02] [-7.14845814e-01 6.97420628e-01 -5.09895044e-02 -2.06047642e+02] [-7.27560640e-02 -1.65619943e-03 9.97348391e-01 -1.95938848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89864 meters 0.027985664948927076 Centerline is valid? [True, True] Translation: X:272.28, Y:-206.07, Z:-19.59 [[ 6.94409759e-01 7.17781051e-01 5.08473163e-02 2.72284594e+02] [-7.16041590e-01 6.96266790e-01 -4.99699814e-02 -2.06071258e+02] [-7.12708034e-02 -1.70915046e-03 9.97455539e-01 -1.95941037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864000000003 meters 0.028266884410811155 Centerline is valid? [True, True] Translation: X:272.31, Y:-206.10, Z:-19.60 [[ 6.93024669e-01 7.19096377e-01 5.11586656e-02 2.72306567e+02] [-7.17336960e-01 6.94907932e-01 -5.03055927e-02 -2.06095359e+02] [-7.17251319e-02 -1.83498491e-03 9.97422748e-01 -1.95955992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95864 meters 0.028328817122984046 Centerline is valid? [True, True] Translation: X:272.33, Y:-206.12, Z:-19.60 [[ 6.92536899e-01 7.19494624e-01 5.21548540e-02 2.72330115e+02] [-7.17663526e-01 6.94495467e-01 -5.13333259e-02 -2.06117997e+02] [-7.31553617e-02 -1.87941400e-03 9.97318786e-01 -1.95972671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters 0.028429026029521794 Centerline is valid? [True, True] Translation: X:272.35, Y:-206.14, Z:-19.60 [[ 6.90877916e-01 7.20908736e-01 5.45737996e-02 2.72353188e+02] [-7.18904084e-01 6.93026863e-01 -5.37650904e-02 -2.06140173e+02] [-7.65808325e-02 -2.08821387e-03 9.97061189e-01 -1.96014018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01864 meters 0.028754614360224917 Centerline is valid? [True, True] Translation: X:272.38, Y:-206.16, Z:-19.60 [[ 6.89708140e-01 7.22105356e-01 5.35400420e-02 2.72376512e+02] [-7.20175868e-01 6.91779775e-01 -5.27964182e-02 -2.06163155e+02] [-7.51624946e-02 -2.14412684e-03 9.97168994e-01 -1.96029823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters 0.028744527399278394 Centerline is valid? [True, True] Translation: X:272.40, Y:-206.19, Z:-19.60 [[ 6.88723064e-01 7.23122946e-01 5.24761579e-02 2.72400536e+02] [-7.21268475e-01 6.90715921e-01 -5.18006193e-02 -2.06185768e+02] [-7.37043342e-02 -2.17311716e-03 9.97277769e-01 -1.96040775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07864 meters 0.02868539157920107 Centerline is valid? [True, True] Translation: X:272.43, Y:-206.21, Z:-19.61 [[ 6.87705309e-01 7.24157099e-01 5.15548618e-02 2.72426273e+02] [-7.22367065e-01 6.89631491e-01 -5.09335871e-02 -2.06205025e+02] [-7.24377749e-02 -2.21423594e-03 9.97370476e-01 -1.96062644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters 0.02857475977532484 Centerline is valid? [True, True] Translation: X:272.45, Y:-206.23, Z:-19.61 [[ 6.87479949e-01 7.24367924e-01 5.15987396e-02 2.72451654e+02] [-7.22573462e-01 6.89410026e-01 -5.10040074e-02 -2.06226601e+02] [-7.25183554e-02 -2.21964745e-03 9.97364608e-01 -1.96084571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13864 meters 0.028557817016502066 Centerline is valid? [True, True] Translation: X:272.48, Y:-206.25, Z:-19.61 [[ 6.87611241e-01 7.24249305e-01 5.15143165e-02 2.72477573e+02] [-7.22456609e-01 6.89534804e-01 -5.09725697e-02 -2.06246101e+02] [-7.24377623e-02 -2.16754650e-03 9.97370579e-01 -1.96110396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters 0.028539515944337936 Centerline is valid? [True, True] Translation: X:272.50, Y:-206.27, Z:-19.61 [[ 6.87725943e-01 7.24066972e-01 5.25361481e-02 2.72502675e+02] [-7.22198076e-01 6.89726301e-01 -5.20343053e-02 -2.06267630e+02] [-7.39118850e-02 -2.15616339e-03 9.97262445e-01 -1.96124407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19864 meters 0.02837728748703421 Centerline is valid? [True, True] Translation: X:272.53, Y:-206.29, Z:-19.61 [[ 6.89412226e-01 7.22320034e-01 5.44476919e-02 2.72527849e+02] [-7.20302697e-01 6.91556044e-01 -5.39839022e-02 -2.06287738e+02] [-7.66472845e-02 -2.00165712e-03 9.97056261e-01 -1.96149920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters 0.028185778876446098 Centerline is valid? [True, True] Translation: X:272.55, Y:-206.31, Z:-19.62 [[ 6.90672349e-01 7.21104588e-01 5.45882778e-02 2.72551425e+02] [-7.19069173e-01 6.92823787e-01 -5.41731051e-02 -2.06310192e+02] [-7.68845319e-02 -1.83688198e-03 9.97038312e-01 -1.96174635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25864 meters 0.027990025481831375 Centerline is valid? [True, True] Translation: X:272.57, Y:-206.33, Z:-19.62 [[ 6.91927888e-01 7.19888094e-01 5.47442263e-02 2.72574607e+02] [-7.17833352e-01 6.94088134e-01 -5.43777702e-02 -2.06332239e+02] [-7.71432273e-02 -1.67173578e-03 9.97018620e-01 -1.96200103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters 0.027651909297482843 Centerline is valid? [True, True] Translation: X:272.60, Y:-206.35, Z:-19.62 [[ 6.93955208e-01 7.17909597e-01 5.50634257e-02 2.72598957e+02] [-7.15820651e-01 6.96134887e-01 -5.47450031e-02 -2.06352871e+02] [-7.76335347e-02 -1.42495725e-03 9.96980945e-01 -1.96222863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31864 meters 0.027618622163129422 Centerline is valid? [True, True] Translation: X:272.62, Y:-206.37, Z:-19.62 [[ 6.94321704e-01 7.17569700e-01 5.48734635e-02 2.72622507e+02] [-7.15490254e-01 6.96485399e-01 -5.46057265e-02 -2.06374612e+02] [-7.74019809e-02 -1.34748726e-03 9.96999056e-01 -1.96244813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters 0.027495571479413325 Centerline is valid? [True, True] Translation: X:272.64, Y:-206.40, Z:-19.63 [[ 6.95046032e-01 7.16946974e-01 5.38335397e-02 2.72644793e+02] [-7.14940187e-01 6.97126636e-01 -5.36188557e-02 -2.06397418e+02] [-7.59706709e-02 -1.22018805e-03 9.97109306e-01 -1.96267704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37864 meters 0.02756223922111038 Centerline is valid? [True, True] Translation: X:272.67, Y:-206.42, Z:-19.63 [[ 6.95328340e-01 7.16710239e-01 5.33379076e-02 2.72667120e+02] [-7.14735965e-01 6.97370139e-01 -5.31731970e-02 -2.06420053e+02] [-7.53060388e-02 -1.14969004e-03 9.97159806e-01 -1.96278620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters 0.027509620329789063 Centerline is valid? [True, True] Translation: X:272.69, Y:-206.44, Z:-19.63 [[ 6.95572038e-01 7.16428374e-01 5.39437192e-02 2.72690838e+02] [-7.14404120e-01 6.97659791e-01 -5.38290736e-02 -2.06443180e+02] [-7.61990395e-02 -1.09561688e-03 9.97092025e-01 -1.96299229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43864 meters 0.027569984543430112 Centerline is valid? [True, True] Translation: X:272.72, Y:-206.47, Z:-19.63 [[ 6.95612364e-01 7.16367629e-01 5.42296915e-02 2.72715499e+02] [-7.14317238e-01 6.97722228e-01 -5.41717307e-02 -2.06465704e+02] [-7.66441354e-02 -1.05467780e-03 9.97057954e-01 -1.96309117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46864 meters 0.02745539204344503 Centerline is valid? [True, True] Translation: X:272.74, Y:-206.49, Z:-19.63 [[ 6.95763202e-01 7.16245147e-01 5.39115637e-02 2.72737971e+02] [-7.14214272e-01 6.97848046e-01 -5.39080631e-02 -2.06488309e+02] [-7.62334680e-02 -9.97161624e-04 9.97089497e-01 -1.96331985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49864 meters 0.027450742097424378 Centerline is valid? [True, True] Translation: X:272.75, Y:-206.49, Z:-19.63 [[ 6.47761798e-01 7.60231840e-01 4.95197228e-02 2.72754380e+02] [-7.58126919e-01 6.49651220e-01 -5.65408374e-02 -2.06489499e+02] [-7.51546932e-02 -9.17240401e-04 9.97171465e-01 -1.96336709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52864 meters 0.02725705720463868 Centerline is valid? [True, True] Translation: X:272.77, Y:-206.49, Z:-19.63 [[ 5.96910796e-01 8.01028515e-01 4.52859818e-02 2.72773347e+02] [-7.98842207e-01 5.98625561e-01 -5.91486767e-02 -2.06489379e+02] [-7.44891229e-02 -8.69870001e-04 9.97221447e-01 -1.96323318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55864 meters 0.02703439187563059 Centerline is valid? [True, True] Translation: X:272.79, Y:-206.49, Z:-19.63 [[ 5.45191743e-01 8.37270421e-01 4.17636886e-02 2.72789851e+02] [-8.34949685e-01 5.46788282e-01 -6.23024805e-02 -2.06485734e+02] [-7.49999196e-02 -9.03780690e-04 9.97183130e-01 -1.96322501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58864 meters 0.027075741365143274 Centerline is valid? [True, True] Translation: X:272.60, Y:-206.73, Z:-18.02 [[ 6.10545145e-01 -7.91843200e-01 -1.47977097e-02 2.72603993e+02] [-7.91442601e-01 -6.10712354e-01 2.54760492e-02 -2.06729294e+02] [-2.92101805e-02 -3.84274030e-03 -9.99565905e-01 -1.80246631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61864 meters 0.027194751098989656 Centerline is valid? [True, True] Translation: X:272.61, Y:-206.75, Z:-18.02 [[ 6.63957568e-01 -7.47613961e-01 -1.52876769e-02 2.72613365e+02] [-7.47272677e-01 -6.64122779e-01 2.29015585e-02 -2.06745092e+02] [-2.72744193e-02 -3.78159981e-03 -9.99620831e-01 -1.80238054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64864 meters 0.027214091597988963 Centerline is valid? [True, True] Translation: X:272.62, Y:-206.77, Z:-18.02 [[ 7.15646382e-01 -6.98261799e-01 -1.67545710e-02 2.72622836e+02] [-6.97937223e-01 -7.15832507e-01 2.16206888e-02 -2.06766054e+02] [-2.70903676e-02 -3.77912900e-03 -9.99625845e-01 -1.80249779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67864000000003 meters 0.027154465119774967 Centerline is valid? [True, True] Translation: X:272.78, Y:-206.53, Z:-19.64 [[ 7.11196092e-01 7.00833685e-01 5.50660018e-02 2.72777799e+02] [-6.98761628e-01 7.13324691e-01 -5.38523290e-02 -2.06534557e+02] [-7.70214649e-02 -1.78443113e-04 9.97029419e-01 -1.96363946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70864 meters 0.02715553932526959 Centerline is valid? [True, True] Translation: X:272.80, Y:-206.56, Z:-19.64 [[ 7.10740537e-01 7.01371181e-01 5.40958006e-02 2.72798386e+02] [-6.99369926e-01 7.12796202e-01 -5.29460239e-02 -2.06559318e+02] [-7.56940965e-02 -2.02090642e-04 9.97131066e-01 -1.96376030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73864 meters 0.027084364883778144 Centerline is valid? [True, True] Translation: X:272.82, Y:-206.58, Z:-19.64 [[ 7.10170086e-01 7.01990592e-01 5.35505183e-02 2.72820762e+02] [-7.00029153e-01 7.12186175e-01 -5.24407889e-02 -2.06583787e+02] [-7.49508792e-02 -2.45044443e-04 9.97187197e-01 -1.96383086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76864 meters 0.02718757631203478 Centerline is valid? [True, True] Translation: X:272.84, Y:-206.61, Z:-19.64 [[ 7.08060830e-01 7.03974960e-01 5.53996027e-02 2.72844645e+02] [-7.01877204e-01 7.10224662e-01 -5.43076510e-02 -2.06605714e+02] [-7.75773905e-02 -4.30597697e-04 9.96986240e-01 -1.96391325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79864 meters 0.0271746794098952 Centerline is valid? [True, True] Translation: X:272.87, Y:-206.63, Z:-19.64 [[ 7.06267467e-01 7.05673558e-01 5.66665195e-02 2.72868469e+02] [-7.03479961e-01 7.08536856e-01 -5.56009819e-02 -2.06627253e+02] [-7.93864603e-02 -5.94596276e-04 9.96843737e-01 -1.96417313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82864 meters 0.02733978740910802 Centerline is valid? [True, True] Translation: X:272.89, Y:-206.65, Z:-19.64 [[ 7.04497074e-01 7.07454221e-01 5.65013052e-02 2.72891663e+02] [-7.05274935e-01 7.06758767e-01 -5.54915386e-02 -2.06650359e+02] [-7.91905159e-02 -7.55327769e-04 9.96859214e-01 -1.96440541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85864 meters 0.02733978740910802 Centerline is valid? [True, True] Translation: X:272.92, Y:-206.67, Z:-19.65 [[ 7.04132197e-01 7.07819685e-01 5.64724970e-02 2.72915116e+02] [-7.05639222e-01 7.06392755e-01 -5.55208457e-02 -2.06672940e+02] [-7.91905102e-02 -7.55193740e-04 9.96859214e-01 -1.96457563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88864 meters 0.027486602162521464 Centerline is valid? [True, True] Translation: X:272.94, Y:-206.69, Z:-19.65 [[ 7.02352919e-01 7.09606458e-01 5.62054510e-02 2.72938819e+02] [-7.07448832e-01 7.04597635e-01 -5.53021028e-02 -2.06694461e+02] [-7.88449571e-02 -9.20887423e-04 9.96886465e-01 -1.96473529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91864 meters 0.027743474054370786 Centerline is valid? [True, True] Translation: X:272.96, Y:-206.71, Z:-19.65 [[ 7.01075778e-01 7.10988358e-01 5.46654168e-02 2.72964165e+02] [-7.08949609e-01 7.03203028e-01 -5.38140629e-02 -2.06714740e+02] [-7.67020588e-02 -1.02728982e-03 9.97053529e-01 -1.96490641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94864 meters 0.02753565770196067 Centerline is valid? [True, True] Translation: X:272.99, Y:-206.73, Z:-19.65 [[ 7.00626963e-01 7.11531100e-01 5.33418569e-02 2.72991530e+02] [-7.09588045e-01 7.02653855e-01 -5.25582275e-02 -2.06732737e+02] [-7.48776747e-02 -1.02703265e-03 9.97192198e-01 -1.96506533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97864 meters 0.0277556442045352 Centerline is valid? [True, True] Translation: X:273.02, Y:-206.76, Z:-19.65 [[ 7.00832324e-01 7.11328578e-01 5.33451690e-02 2.73016087e+02] [-7.09380957e-01 7.02858956e-01 -5.26112691e-02 -2.06755518e+02] [-7.49180290e-02 -9.70369064e-04 9.97189223e-01 -1.96525655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00864 meters 0.027463916921496953 Centerline is valid? [True, True] Translation: X:273.04, Y:-206.78, Z:-19.65 [[ 7.02233692e-01 7.09904410e-01 5.38847881e-02 2.73041315e+02] [-7.07908674e-01 7.04297600e-01 -5.31996225e-02 -2.06777692e+02] [-7.57175736e-02 -7.86941653e-04 9.97128994e-01 -1.96539662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03864 meters 0.027279315045813813 Centerline is valid? [True, True] Translation: X:273.07, Y:-206.80, Z:-19.66 [[ 7.06118981e-01 7.06046895e-01 5.37937367e-02 2.73068682e+02] [-7.04043424e-01 7.08164999e-01 -5.31525367e-02 -2.06795315e+02] [-7.56230250e-02 -3.41111469e-04 9.97136421e-01 -1.96553593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06864 meters 0.027329858700806103 Centerline is valid? [True, True] Translation: X:273.09, Y:-206.82, Z:-19.66 [[ 7.08672268e-01 7.03453438e-01 5.41929591e-02 2.73094348e+02] [-7.01411231e-01 7.10741344e-01 -5.35633062e-02 -2.06816043e+02] [-7.61964685e-02 -5.27204200e-05 9.97092822e-01 -1.96573766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09864 meters 0.027418358495967084 Centerline is valid? [True, True] Translation: X:273.12, Y:-206.84, Z:-19.66 [[ 7.13701419e-01 6.98330516e-01 5.44497565e-02 2.73119377e+02] [-6.96252429e-01 7.15775264e-01 -5.38361078e-02 -2.06836567e+02] [-7.65691858e-02 5.12131254e-04 9.97064139e-01 -1.96597577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12864 meters 0.027453452124004518 Centerline is valid? [True, True] Translation: X:273.14, Y:-206.86, Z:-19.66 [[ 7.15506086e-01 6.96495839e-01 5.42640558e-02 2.73143384e+02] [-6.94425585e-01 7.17560474e-01 -5.36663160e-02 -2.06858020e+02] [-7.63161074e-02 7.16226976e-04 9.97083416e-01 -1.96619586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15864 meters 0.027457371131727717 Centerline is valid? [True, True] Translation: X:273.17, Y:-206.88, Z:-19.66 [[ 7.16484614e-01 6.95539049e-01 5.36211573e-02 2.73167990e+02] [-6.93513781e-01 7.18487828e-01 -5.30459882e-02 -2.06879860e+02] [-7.54217050e-02 8.19622847e-04 9.97151390e-01 -1.96642570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18864 meters 0.027398727823124545 Centerline is valid? [True, True] Translation: X:273.19, Y:-206.90, Z:-19.67 [[ 7.18168832e-01 6.93956867e-01 5.15499434e-02 2.73191625e+02] [-6.92079918e-01 7.20015934e-01 -5.10141382e-02 -2.06901251e+02] [-7.25183921e-02 9.60083412e-04 9.97366613e-01 -1.96665910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21864 meters 0.027624975374719703 Centerline is valid? [True, True] Translation: X:273.21, Y:-206.92, Z:-19.67 [[ 7.19187418e-01 6.92963649e-01 5.07034492e-02 2.73214925e+02] [-6.91144430e-01 7.20971756e-01 -5.01906813e-02 -2.06924712e+02] [-7.13360724e-02 1.05309995e-03 9.97451781e-01 -1.96673613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24864 meters 0.027815069945280126 Centerline is valid? [True, True] Translation: X:273.24, Y:-206.95, Z:-19.67 [[ 7.19052600e-01 6.93039666e-01 5.15691703e-02 2.73238477e+02] [-6.91156609e-01 7.20898649e-01 -5.10654410e-02 -2.06946861e+02] [-7.25665214e-02 1.07636526e-03 9.97362994e-01 -1.96695639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27864 meters 0.027614410458706645 Centerline is valid? [True, True] Translation: X:273.26, Y:-206.97, Z:-19.67 [[ 7.18276064e-01 6.93777009e-01 5.24686413e-02 2.73262332e+02] [-6.91828581e-01 7.20189144e-01 -5.19693282e-02 -2.06968502e+02] [-7.38424709e-02 1.02901879e-03 9.97269387e-01 -1.96712629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30864 meters 0.027486636713135525 Centerline is valid? [True, True] Translation: X:273.29, Y:-206.99, Z:-19.67 [[ 7.18377024e-01 6.93604069e-01 5.33652290e-02 2.73285117e+02] [-6.91586973e-01 7.20355636e-01 -5.28698078e-02 -2.06990424e+02] [-7.51126573e-02 1.07375796e-03 9.97174476e-01 -1.96729630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33864 meters 0.027805599136183228 Centerline is valid? [True, True] Translation: X:273.31, Y:-207.02, Z:-19.68 [[ 7.20045749e-01 6.91727734e-01 5.51983799e-02 2.73305617e+02] [-6.89563034e-01 7.22157181e-01 -5.46976012e-02 -2.07015183e+02] [-7.76977542e-02 1.32201286e-03 9.96976084e-01 -1.96751638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36864 meters 0.0281741020666716 Centerline is valid? [True, True] Translation: X:273.33, Y:-207.04, Z:-19.68 [[ 7.22332125e-01 6.89441767e-01 5.39105874e-02 2.73327882e+02] [-6.87369669e-01 7.24339475e-01 -5.34346602e-02 -2.07038780e+02] [-7.58896532e-02 1.54106895e-03 9.97115031e-01 -1.96768782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39864 meters 0.02874130731743465 Centerline is valid? [True, True] Translation: X:273.35, Y:-207.06, Z:-19.68 [[ 7.26550687e-01 6.85109107e-01 5.24367271e-02 2.73349462e+02] [-6.83136662e-01 7.28437857e-01 -5.19864426e-02 -2.07062770e+02] [-7.38132824e-02 1.94933492e-03 9.97270174e-01 -1.96785376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864000000003 meters 0.029039977171822585 Centerline is valid? [True, True] Translation: X:273.37, Y:-207.09, Z:-19.68 [[ 7.26968099e-01 6.84729512e-01 5.16030893e-02 2.73371293e+02] [-6.82817382e-01 7.28794641e-01 -5.11741494e-02 -2.07088164e+02] [-7.26485053e-02 1.96648770e-03 9.97355668e-01 -1.96795749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45864 meters 0.02875964498130771 Centerline is valid? [True, True] Translation: X:273.39, Y:-207.12, Z:-19.68 [[ 7.25776332e-01 6.85938548e-01 5.23165726e-02 2.73389252e+02] [-6.83974134e-01 7.27657013e-01 -5.19100766e-02 -2.07117778e+02] [-7.36756436e-02 1.89192254e-03 9.97280462e-01 -1.96794483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters 0.028660574795446096 Centerline is valid? [True, True] Translation: X:273.41, Y:-207.14, Z:-19.68 [[ 7.24945118e-01 6.86832866e-01 5.21074922e-02 2.73410570e+02] [-6.84882884e-01 7.26813091e-01 -5.17509978e-02 -2.07142457e+02] [-7.34166936e-02 1.82910360e-03 9.97299676e-01 -1.96788746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51864 meters 0.028818009772323582 Centerline is valid? [True, True] Translation: X:273.43, Y:-207.17, Z:-19.68 [[ 7.24232013e-01 6.87521178e-01 5.29397802e-02 2.73433023e+02] [-6.85506659e-01 7.26162042e-01 -5.26242253e-02 -2.07166058e+02] [-7.46231282e-02 1.82157680e-03 9.97210144e-01 -1.96800224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters 0.02830066251043259 Centerline is valid? [True, True] Translation: X:273.45, Y:-207.19, Z:-19.68 [[ 7.21305601e-01 6.90684169e-01 5.17069422e-02 2.73452493e+02] [-6.88767246e-01 7.23154996e-01 -5.14444619e-02 -2.07191626e+02] [-7.29240090e-02 1.49313041e-03 9.97336382e-01 -1.96821461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57864 meters 0.028102640232628148 Centerline is valid? [True, True] Translation: X:273.47, Y:-207.22, Z:-19.68 [[ 7.19976459e-01 6.92152083e-01 5.05904300e-02 2.73472317e+02] [-6.90317701e-01 7.21750428e-01 -5.03764968e-02 -2.07216762e+02] [-7.13818617e-02 1.34642250e-03 9.97448153e-01 -1.96836974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters 0.028219906326179742 Centerline is valid? [True, True] Translation: X:273.49, Y:-207.25, Z:-19.69 [[ 7.17928387e-01 6.94346458e-01 4.96168102e-02 2.73490186e+02] [-6.92584606e-01 7.19639986e-01 -4.94454552e-02 -2.07245030e+02] [-7.00385173e-02 1.13445697e-03 9.97543643e-01 -1.96850579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63864 meters 0.02815249112659981 Centerline is valid? [True, True] Translation: X:273.51, Y:-207.27, Z:-19.69 [[ 7.17238103e-01 6.95027552e-01 5.00620220e-02 2.73513921e+02] [-6.93233148e-01 7.18982258e-01 -4.99230913e-02 -2.07268018e+02] [-7.06916295e-02 1.10209021e-03 9.97497609e-01 -1.96866377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters 0.02833876219774074 Centerline is valid? [True, True] Translation: X:273.54, Y:-207.29, Z:-19.69 [[ 7.16601175e-01 6.95651222e-01 5.05186523e-02 2.73537579e+02] [-6.93821754e-01 7.18378867e-01 -5.04299244e-02 -2.07290562e+02] [-7.13731707e-02 1.08720311e-03 9.97449091e-01 -1.96887130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69864 meters 0.028409420803895517 Centerline is valid? [True, True] Translation: X:273.56, Y:-207.31, Z:-19.69 [[ 7.16347307e-01 6.96043118e-01 4.86879126e-02 2.73559701e+02] [-6.94342179e-01 7.17999234e-01 -4.86419422e-02 -2.07314572e+02] [-6.88147731e-02 1.03845298e-03 9.97628913e-01 -1.96896375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters 0.02840668094829269 Centerline is valid? [True, True] Translation: X:273.58, Y:-207.34, Z:-19.69 [[ 7.15358065e-01 6.97028671e-01 4.91311631e-02 2.73582096e+02] [-6.95297226e-01 7.17042601e-01 -4.91088084e-02 -2.07339129e+02] [-6.94593844e-02 9.69620719e-04 9.97584309e-01 -1.96912884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75864 meters 0.02834640781014003 Centerline is valid? [True, True] Translation: X:273.60, Y:-207.34, Z:-19.69 [[ 6.66140481e-01 7.44430924e-01 4.56010877e-02 2.73602571e+02] [-7.42592380e-01 6.67698773e-01 -5.22963354e-02 -2.07338587e+02] [-6.93787996e-02 9.73685807e-04 9.97589913e-01 -1.96906341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters 0.028317145495323076 Centerline is valid? [True, True] Translation: X:273.48, Y:-207.58, Z:-18.09 [[ 7.00679450e-01 -7.13125913e-01 -2.23548978e-02 2.73475489e+02] [-7.12605040e-01 -7.01028186e-01 2.74506926e-02 -2.07583947e+02] [-3.52472136e-02 -3.30392337e-03 -9.99373163e-01 -1.80926070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81864 meters 0.028447048564061255 Centerline is valid? [True, True] Translation: X:273.61, Y:-207.37, Z:-19.69 [[ 7.15463808e-01 6.96919905e-01 4.91343678e-02 2.73613025e+02] [-6.95209531e-01 7.17148571e-01 -4.88019909e-02 -2.07372798e+02] [-6.92477205e-02 7.57377476e-04 9.97599208e-01 -1.96948711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters 0.028280120870503585 Centerline is valid? [True, True] Translation: X:273.63, Y:-207.40, Z:-19.70 [[ 7.15523030e-01 6.96867948e-01 4.90087438e-02 2.73634695e+02] [-6.95162733e-01 7.17199016e-01 -4.87272590e-02 -2.07397587e+02] [-6.91054878e-02 7.96423770e-04 9.97609040e-01 -1.96963784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87864 meters 0.028431915669696394 Centerline is valid? [True, True] Translation: X:273.66, Y:-207.42, Z:-19.70 [[ 7.15955444e-01 6.96396179e-01 4.93980089e-02 2.73656755e+02] [-6.94659195e-01 7.17657007e-01 -4.91632169e-02 -2.07421462e+02] [-6.96879036e-02 8.83891669e-04 9.97568451e-01 -1.96983588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters 0.0284311231316314 Centerline is valid? [True, True] Translation: X:273.68, Y:-207.44, Z:-19.70 [[ 7.15667523e-01 6.96763528e-01 4.83795657e-02 2.73678920e+02] [-6.95095441e-01 7.17300387e-01 -4.81921503e-02 -2.07444712e+02] [-6.82812138e-02 8.61141260e-04 9.97665743e-01 -1.96999725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93864 meters 0.028615400849468908 Centerline is valid? [True, True] Translation: X:273.70, Y:-207.47, Z:-19.70 [[ 7.15002420e-01 6.97468474e-01 4.80548357e-02 2.73701192e+02] [-6.95821343e-01 7.16614998e-01 -4.79124477e-02 -2.07469754e+02] [-6.78542378e-02 8.19935735e-04 9.97694908e-01 -1.97013185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96864 meters 0.028398276018794254 Centerline is valid? [True, True] Translation: X:273.72, Y:-207.50, Z:-19.70 [[ 7.11952891e-01 7.00550345e-01 4.85004718e-02 2.73721222e+02] [-6.98876269e-01 7.13602756e-01 -4.84052307e-02 -2.07495057e+02] [-6.85203714e-02 5.66415125e-04 9.97649557e-01 -1.97035676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99864 meters 0.028301998261255727 Centerline is valid? [True, True] Translation: X:273.74, Y:-207.52, Z:-19.71 [[ 7.10427794e-01 7.02047680e-01 4.92077787e-02 2.73744535e+02] [-7.00324711e-01 7.12129793e-01 -4.91574644e-02 -2.07519050e+02] [-6.95532091e-02 4.61405616e-04 9.97578136e-01 -1.97057149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02864 meters 0.02820294322504447 Centerline is valid? [True, True] Translation: X:273.76, Y:-207.54, Z:-19.71 [[ 7.08602483e-01 7.03718985e-01 5.15956444e-02 2.73764892e+02] [-7.01825033e-01 7.10478337e-01 -5.15960887e-02 -2.07543903e+02] [-7.29667348e-02 3.50001763e-04 9.97334314e-01 -1.97086256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05864 meters 0.027966622127274132 Centerline is valid? [True, True] Translation: X:273.69, Y:-207.77, Z:-18.10 [[ 7.52063310e-01 -6.58765349e-01 -2.07121421e-02 2.73687102e+02] [-6.58377098e-01 -7.52339936e-01 2.28957958e-02 -2.07769397e+02] [-3.06655286e-02 -3.58268790e-03 -9.99523281e-01 -1.81035738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08864 meters 0.02810082080192458 Centerline is valid? [True, True] Translation: X:273.78, Y:-207.58, Z:-19.71 [[ 7.54990649e-01 6.53448096e-01 5.47239000e-02 2.73781888e+02] [-6.51721758e-01 7.56971304e-01 -4.74678267e-02 -2.07581341e+02] [-7.24421829e-02 1.73009024e-04 9.97372599e-01 -1.97114445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11864 meters 0.028227196995725654 Centerline is valid? [True, True] Translation: X:273.81, Y:-207.60, Z:-19.71 [[ 7.54067767e-01 6.54618801e-01 5.34418220e-02 2.73806973e+02] [-6.52972433e-01 7.55959137e-01 -4.63981106e-02 -2.07601495e+02] [-7.07729092e-02 9.12831580e-05 9.97492450e-01 -1.97117409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14864 meters 0.028217740752375126 Centerline is valid? [True, True] Translation: X:273.83, Y:-207.62, Z:-19.71 [[ 7.53011045e-01 6.55920266e-01 5.23733862e-02 2.73831173e+02] [-6.54339429e-01 7.54830183e-01 -4.55116134e-02 -2.07622306e+02] [-6.93850023e-02 7.75929823e-07 9.97589957e-01 -1.97144624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17864000000003 meters 0.028243654745463417 Centerline is valid? [True, True] Translation: X:273.86, Y:-207.64, Z:-19.72 [[ 7.51195299e-01 6.58007038e-01 5.22719881e-02 2.73856469e+02] [-6.56434344e-01 7.53011762e-01 -4.54669012e-02 -2.07643582e+02] [-6.92789629e-02 -1.58605779e-04 9.97597314e-01 -1.97161043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20864 meters 0.028407889068506435 Centerline is valid? [True, True] Translation: X:273.88, Y:-207.66, Z:-19.72 [[ 7.50168661e-01 6.59081829e-01 5.34614215e-02 2.73881732e+02] [-6.57435933e-01 7.52071201e-01 -4.65500043e-02 -2.07664251e+02] [-7.08870574e-02 -2.27105071e-04 9.97484322e-01 -1.97173567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23864 meters 0.028350358563937257 Centerline is valid? [True, True] Translation: X:273.91, Y:-207.68, Z:-19.72 [[ 7.48415383e-01 6.60918786e-01 5.53242538e-02 2.73906845e+02] [-6.59157665e-01 7.50457336e-01 -4.82178334e-02 -2.07684299e+02] [-7.33865641e-02 -3.80437659e-04 9.97303498e-01 -1.97183937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26864 meters 0.028360123897401345 Centerline is valid? [True, True] Translation: X:273.93, Y:-207.71, Z:-19.72 [[ 7.47697818e-01 6.61735193e-01 5.52675939e-02 2.73932656e+02] [-6.59976503e-01 7.49737523e-01 -4.82147439e-02 -2.07705315e+02] [-7.33415819e-02 -4.25254551e-04 9.97306789e-01 -1.97212156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29864 meters 0.0283202179193086 Centerline is valid? [True, True] Translation: X:273.96, Y:-207.72, Z:-19.72 [[ 7.48337149e-01 6.61165703e-01 5.33987371e-02 2.73958740e+02] [-6.59519334e-01 7.50239835e-01 -4.66308756e-02 -2.07724898e+02] [-7.08925953e-02 -3.21883063e-04 9.97483903e-01 -1.97220993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32864 meters 0.028087946920091818 Centerline is valid? [True, True] Translation: X:273.99, Y:-207.74, Z:-19.72 [[ 7.49452814e-01 6.59965562e-01 5.25921702e-02 2.73985237e+02] [-6.58362703e-01 7.51295831e-01 -4.59687319e-02 -2.07743551e+02] [-6.98500582e-02 -1.73327840e-04 9.97557487e-01 -1.97247396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35864 meters 0.028212720901393085 Centerline is valid? [True, True] Translation: X:274.01, Y:-207.76, Z:-19.73 [[ 7.50460343e-01 6.58732261e-01 5.36757091e-02 2.74010165e+02] [-6.57056254e-01 7.52377437e-01 -4.69603284e-02 -2.07764546e+02] [-7.13186757e-02 -2.60961310e-05 9.97453581e-01 -1.97276622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38864 meters 0.028236854424746455 Centerline is valid? [True, True] Translation: X:274.03, Y:-207.79, Z:-19.73 [[ 7.52149750e-01 6.56631264e-01 5.57327229e-02 2.74034833e+02] [-6.54814939e-01 7.54211732e-01 -4.88063440e-02 -2.07785379e+02] [-7.40820448e-02 2.15059888e-04 9.97252127e-01 -1.97294510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41864 meters 0.028276990244321717 Centerline is valid? [True, True] Translation: X:274.06, Y:-207.81, Z:-19.73 [[ 7.52508260e-01 6.56202860e-01 5.59385837e-02 2.74059965e+02] [-6.54368391e-01 7.54584469e-01 -4.90335518e-02 -2.07806786e+02] [-7.43863434e-02 2.93711730e-04 9.97229455e-01 -1.97317839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44864 meters 0.028285119269524032 Centerline is valid? [True, True] Translation: X:274.08, Y:-207.83, Z:-19.73 [[ 7.54320735e-01 6.54334694e-01 5.33510819e-02 2.74084212e+02] [-6.52658300e-01 7.56204911e-01 -4.68110599e-02 -2.07828565e+02] [-7.09744507e-02 4.90526698e-04 9.97478013e-01 -1.97337203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47864 meters 0.02824814768147445 Centerline is valid? [True, True] Translation: X:274.11, Y:-207.85, Z:-19.73 [[ 7.54356640e-01 6.54401707e-01 5.20044706e-02 2.74108571e+02] [-6.52806304e-01 7.56146912e-01 -4.56703037e-02 -2.07850143e+02] [-6.92097445e-02 5.02850658e-04 9.97602004e-01 -1.97337166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50864 meters 0.02830752787250021 Centerline is valid? [True, True] Translation: X:274.13, Y:-207.87, Z:-19.74 [[ 7.53852045e-01 6.54977484e-01 5.20729268e-02 2.74133151e+02] [-6.53376245e-01 7.55648240e-01 -4.57735701e-02 -2.07872043e+02] [-6.93294732e-02 4.83286089e-04 9.97593700e-01 -1.97355384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53864 meters 0.02821382451276894 Centerline is valid? [True, True] Translation: X:274.16, Y:-207.89, Z:-19.74 [[ 7.52521136e-01 6.56350398e-01 5.40008807e-02 2.74155901e+02] [-6.54628228e-01 7.54456088e-01 -4.75173046e-02 -2.07894878e+02] [-7.19292950e-02 4.07275184e-04 9.97409650e-01 -1.97367291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56864 meters 0.02818820909727738 Centerline is valid? [True, True] Translation: X:274.18, Y:-207.92, Z:-19.74 [[ 7.51390516e-01 6.57572856e-01 5.48655770e-02 2.74179337e+02] [-6.55794875e-01 7.53390888e-01 -4.83244354e-02 -2.07917933e+02] [-7.31120628e-02 3.29958246e-04 9.97323677e-01 -1.97391014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59864 meters 0.028334390910430083 Centerline is valid? [True, True] Translation: X:274.20, Y:-207.94, Z:-19.74 [[ 7.49222790e-01 6.59997478e-01 5.53944043e-02 2.74201835e+02] [-6.58187811e-01 7.51267803e-01 -4.88415217e-02 -2.07942729e+02] [-7.38513135e-02 1.33259496e-04 9.97269254e-01 -1.97424391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62864 meters 0.028075101282595785 Centerline is valid? [True, True] Translation: X:274.23, Y:-207.96, Z:-19.74 [[ 7.47867995e-01 6.61628938e-01 5.42273886e-02 2.74225461e+02] [-6.59895642e-01 7.49831413e-01 -4.78601457e-02 -2.07964877e+02] [-7.23270568e-02 8.65385083e-06 9.97380969e-01 -1.97439957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65864 meters 0.028155633485517282 Centerline is valid? [True, True] Translation: X:274.25, Y:-207.99, Z:-19.74 [[ 7.44058514e-01 6.66045146e-01 5.25432453e-02 2.74248697e+02] [-6.64426485e-01 7.45911335e-01 -4.64082567e-02 -2.07986922e+02] [-7.01025963e-02 -3.80665362e-04 9.97539714e-01 -1.97424916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68864 meters 0.028308763702137075 Centerline is valid? [True, True] Translation: X:274.27, Y:-208.01, Z:-19.74 [[ 7.41562058e-01 6.68861302e-01 5.20602830e-02 2.74273409e+02] [-6.67277558e-01 7.43386959e-01 -4.60053256e-02 -2.08008978e+02] [-6.94721175e-02 -6.22854576e-04 9.97583699e-01 -1.97440620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71864 meters 0.028472620525421172 Centerline is valid? [True, True] Translation: X:274.30, Y:-208.03, Z:-19.75 [[ 7.39238002e-01 6.71459424e-01 5.16664102e-02 2.74298225e+02] [-6.69902538e-01 7.41040865e-01 -4.57058672e-02 -2.08030588e+02] [-6.89765566e-02 -8.23945369e-04 9.97617941e-01 -1.97452449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74864 meters 0.028582772075192872 Centerline is valid? [True, True] Translation: X:274.32, Y:-208.05, Z:-19.75 [[ 7.36953434e-01 6.73926204e-01 5.21834075e-02 2.74322531e+02] [-6.72340842e-01 7.38797950e-01 -4.62101847e-02 -2.08050982e+02] [-6.96952488e-02 -1.03028182e-03 9.97567798e-01 -1.97469036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77864 meters 0.028582772075192872 Centerline is valid? [True, True] Translation: X:274.35, Y:-208.07, Z:-19.75 [[ 7.36599015e-01 6.74315184e-01 5.21624757e-02 2.74347092e+02] [-6.72729124e-01 7.38442930e-01 -4.62338033e-02 -2.08072322e+02] [-6.96951670e-02 -1.03544259e-03 9.97567798e-01 -1.97486014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80864 meters 0.028503154567072402 Centerline is valid? [True, True] Translation: X:274.37, Y:-208.09, Z:-19.75 [[ 7.36481940e-01 6.74373433e-01 5.30549218e-02 2.74372396e+02] [-6.72729126e-01 7.38389754e-01 -4.70754091e-02 -2.08093433e+02] [-7.09216159e-02 -1.02140257e-03 9.97481369e-01 -1.97505070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83864 meters 0.028497646341289293 Centerline is valid? [True, True] Translation: X:274.40, Y:-208.11, Z:-19.75 [[ 7.37734689e-01 6.72892589e-01 5.44342969e-02 2.74396869e+02] [-6.71153709e-01 7.39739697e-01 -4.83516287e-02 -2.08114818e+02] [-7.28026629e-02 -8.63106433e-04 9.97345992e-01 -1.97532732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86864 meters 0.028480633460742092 Centerline is valid? [True, True] Translation: X:274.42, Y:-208.14, Z:-19.75 [[ 7.38683763e-01 6.71838686e-01 5.45809386e-02 2.74421215e+02] [-6.70083757e-01 7.40697143e-01 -4.85335057e-02 -2.08136702e+02] [-7.30346320e-02 -7.22887764e-04 9.97329143e-01 -1.97546235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89864 meters 0.02841941151379007 Centerline is valid? [True, True] Translation: X:274.45, Y:-208.16, Z:-19.76 [[ 7.40088057e-01 6.70262940e-01 5.49295850e-02 2.74445540e+02] [-6.68477313e-01 7.42123513e-01 -4.88955413e-02 -2.08159385e+02] [-7.35374059e-02 -5.32175247e-04 9.97292318e-01 -1.97565304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864000000003 meters 0.027955568160339103 Centerline is valid? [True, True] Translation: X:274.47, Y:-208.18, Z:-19.76 [[ 7.40557609e-01 6.69757109e-01 5.47708120e-02 2.74469083e+02] [-6.67976629e-01 7.42580109e-01 -4.88057822e-02 -2.08182544e+02] [-7.33597352e-02 -4.42129020e-04 9.97305447e-01 -1.97587728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95864 meters 0.0280793156592678 Centerline is valid? [True, True] Translation: X:274.49, Y:-208.21, Z:-19.76 [[ 7.41397917e-01 6.68790276e-01 5.52149923e-02 2.74491829e+02] [-6.66974209e-01 7.43451055e-01 -4.92537742e-02 -2.08206455e+02] [-7.39900895e-02 -3.10330213e-04 9.97258928e-01 -1.97619719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters 0.027965199779172882 Centerline is valid? [True, True] Translation: X:274.51, Y:-208.23, Z:-19.76 [[ 7.43929950e-01 6.65991897e-01 5.49820202e-02 2.74513947e+02] [-6.64179666e-01 7.45958976e-01 -4.90976379e-02 -2.08231620e+02] [-7.37129605e-02 7.26349392e-06 9.97279499e-01 -1.97625019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01864 meters 0.02783071411973552 Centerline is valid? [True, True] Translation: X:274.54, Y:-208.25, Z:-19.77 [[ 7.43829943e-01 6.66093492e-01 5.51042318e-02 2.74537914e+02] [-6.64269590e-01 7.45868258e-01 -4.92590463e-02 -2.08253856e+02] [-7.39116276e-02 3.62881607e-05 9.97264794e-01 -1.97652786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters 0.027876249865115155 Centerline is valid? [True, True] Translation: X:274.56, Y:-208.28, Z:-19.77 [[ 7.40970436e-01 6.69373840e-01 5.38653487e-02 2.74558693e+02] [-6.67636251e-01 7.42925704e-01 -4.81999460e-02 -2.08278829e+02] [-7.22817350e-02 -2.47724454e-04 9.97384224e-01 -1.97665582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07864 meters 0.027659865414664152 Centerline is valid? [True, True] Translation: X:274.58, Y:-208.30, Z:-19.77 [[ 7.39242236e-01 6.71320717e-01 5.33798721e-02 2.74580407e+02] [-6.69616701e-01 7.41166870e-01 -4.78031765e-02 -2.08303422e+02] [-7.16546555e-02 -4.05926801e-04 9.97429419e-01 -1.97681559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters 0.027986963143526482 Centerline is valid? [True, True] Translation: X:274.60, Y:-208.33, Z:-19.77 [[ 7.36841828e-01 6.73966641e-01 5.32267594e-02 2.74603151e+02] [-6.72277137e-01 7.38761504e-01 -4.76958277e-02 -2.08328032e+02] [-7.14672776e-02 -6.38852597e-04 9.97442740e-01 -1.97692831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13864 meters 0.027790560884393203 Centerline is valid? [True, True] Translation: X:274.63, Y:-208.35, Z:-19.77 [[ 7.34992106e-01 6.76031575e-01 5.26109592e-02 2.74626650e+02] [-6.74382723e-01 7.36872228e-01 -4.71938749e-02 -2.08351257e+02] [-7.06721043e-02 -7.92796467e-04 9.97499286e-01 -1.97709255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters 0.02771504959157398 Centerline is valid? [True, True] Translation: X:274.65, Y:-208.37, Z:-19.77 [[ 7.34708648e-01 6.76329459e-01 5.27415032e-02 2.74651555e+02] [-6.74669565e-01 7.36598836e-01 -4.73617135e-02 -2.08373590e+02] [-7.08814519e-02 -7.86026557e-04 9.97484437e-01 -1.97729045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19864 meters 0.027497777637256682 Centerline is valid? [True, True] Translation: X:274.68, Y:-208.40, Z:-19.78 [[ 7.34762526e-01 6.76207339e-01 5.35505877e-02 2.74675826e+02] [-6.74491993e-01 7.36710985e-01 -4.81401684e-02 -2.08396063e+02] [-7.20040414e-02 -7.47850936e-04 9.97404060e-01 -1.97750428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters 0.027328136206156987 Centerline is valid? [True, True] Translation: X:274.70, Y:-208.42, Z:-19.78 [[ 7.34268534e-01 6.76797012e-01 5.28727141e-02 2.74700069e+02] [-6.75122809e-01 7.36169294e-01 -4.75811241e-02 -2.08417987e+02] [-7.11260312e-02 -7.58253021e-04 9.97467048e-01 -1.97776681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25864 meters 0.027272926379291563 Centerline is valid? [True, True] Translation: X:274.72, Y:-208.44, Z:-19.78 [[ 7.34258551e-01 6.76895722e-01 5.17355019e-02 2.74724188e+02] [-6.75289809e-01 7.36078575e-01 -4.66047755e-02 -2.08438855e+02] [-6.96279677e-02 -7.16502308e-04 9.97572771e-01 -1.97791189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters 0.02692939838205785 Centerline is valid? [True, True] Translation: X:274.75, Y:-208.46, Z:-19.78 [[ 7.34583713e-01 6.76565371e-01 5.14399426e-02 2.74749152e+02] [-6.74973866e-01 7.36382291e-01 -4.63832007e-02 -2.08460649e+02] [-6.92607302e-02 -6.48273169e-04 9.97598382e-01 -1.97803990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31864 meters 0.026863768379152057 Centerline is valid? [True, True] Translation: X:274.77, Y:-208.48, Z:-19.78 [[ 7.34410367e-01 6.76672858e-01 5.24905441e-02 2.74773527e+02] [-6.75012201e-01 7.36283534e-01 -4.73823477e-02 -2.08482304e+02] [-7.07102719e-02 -6.33670358e-04 9.97496695e-01 -1.97817494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters 0.026975124981433167 Centerline is valid? [True, True] Translation: X:274.80, Y:-208.50, Z:-19.78 [[ 7.34335561e-01 6.76593517e-01 5.45206106e-02 2.74796662e+02] [-6.74797675e-01 7.36356461e-01 -4.92672300e-02 -2.08504552e+02] [-7.34804923e-02 -6.11702315e-04 9.97296467e-01 -1.97835946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37864 meters 0.026749443376309436 Centerline is valid? [True, True] Translation: X:274.82, Y:-208.53, Z:-19.79 [[ 7.34020456e-01 6.76937757e-01 5.44907665e-02 2.74821511e+02] [-6.75141306e-01 7.36040013e-01 -4.92880990e-02 -2.08526339e+02] [-7.34723597e-02 -6.10494362e-04 9.97297067e-01 -1.97851251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters 0.026815289241541244 Centerline is valid? [True, True] Translation: X:274.85, Y:-208.55, Z:-19.79 [[ 7.33489076e-01 6.77452082e-01 5.52489982e-02 2.74845549e+02] [-6.75602830e-01 7.35566636e-01 -5.00253986e-02 -2.08547513e+02] [-7.45291302e-02 -6.33296155e-04 9.97218636e-01 -1.97875231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43864 meters 0.026656300776342488 Centerline is valid? [True, True] Translation: X:274.87, Y:-208.57, Z:-19.79 [[ 7.31894983e-01 6.79261313e-01 5.41645888e-02 2.74868197e+02] [-6.77485554e-01 7.33896097e-01 -4.90901455e-02 -2.08572029e+02] [-7.30962170e-02 -7.66895233e-04 9.97324599e-01 -1.97884332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46864 meters 0.026633665092910576 Centerline is valid? [True, True] Translation: X:274.89, Y:-208.60, Z:-19.79 [[ 7.31369643e-01 6.79844876e-01 5.39387622e-02 2.74890706e+02] [-6.78081706e-01 7.33355528e-01 -4.89373938e-02 -2.08595877e+02] [-7.28261259e-02 -7.83563643e-04 9.97344344e-01 -1.97893688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49864 meters 0.026676086823639228 Centerline is valid? [True, True] Translation: X:274.91, Y:-208.62, Z:-19.79 [[ 7.31097220e-01 6.80001285e-01 5.56336928e-02 2.74913830e+02] [-6.78121881e-01 7.33210499e-01 -5.05280060e-02 -2.08618752e+02] [-7.51503166e-02 -7.85539722e-04 9.97171907e-01 -1.97912631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52864 meters 0.026746996348634665 Centerline is valid? [True, True] Translation: X:274.94, Y:-208.64, Z:-19.79 [[ 7.30447340e-01 6.80646020e-01 5.62821424e-02 2.74938354e+02] [-6.78720706e-01 7.32611980e-01 -5.11653282e-02 -2.08638850e+02] [-7.60584487e-02 -8.26277511e-04 9.97103019e-01 -1.97937253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55864 meters 0.026795446524411945 Centerline is valid? [True, True] Translation: X:274.96, Y:-208.66, Z:-19.80 [[ 7.28805228e-01 6.82513293e-01 5.49412744e-02 2.74963227e+02] [-6.80680449e-01 7.30872547e-01 -4.99944660e-02 -2.08661125e+02] [-7.42769568e-02 -9.61223113e-04 9.97237188e-01 -1.97957208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58864 meters 0.026899944897306488 Centerline is valid? [True, True] Translation: X:274.99, Y:-208.68, Z:-19.80 [[ 7.27062633e-01 6.84650303e-01 5.13214434e-02 2.74985894e+02] [-6.83053412e-01 7.28870923e-01 -4.67462758e-02 -2.08684643e+02] [-6.94115597e-02 -1.06781668e-03 9.97587538e-01 -1.97970273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61864 meters 0.02683588628613291 Centerline is valid? [True, True] Translation: X:275.01, Y:-208.71, Z:-19.80 [[ 7.26301403e-01 6.85518915e-01 5.04984010e-02 2.75010305e+02] [-6.83971981e-01 7.28053986e-01 -4.60404424e-02 -2.08706918e+02] [-6.83271563e-02 -1.10025347e-03 9.97662362e-01 -1.97971231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64864 meters 0.02691022028971058 Centerline is valid? [True, True] Translation: X:275.04, Y:-208.73, Z:-19.80 [[ 7.27212574e-01 6.84435813e-01 5.20527608e-02 2.75036697e+02] [-6.82785621e-01 7.29072449e-01 -4.75095813e-02 -2.08727075e+02] [-7.04674926e-02 -9.91311695e-04 9.97513584e-01 -1.97990721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67864000000003 meters 0.02676336759486359 Centerline is valid? [True, True] Translation: X:275.06, Y:-208.75, Z:-19.80 [[ 7.28017720e-01 6.83524026e-01 5.27740974e-02 2.75061926e+02] [-6.81821568e-01 7.29927487e-01 -4.82204617e-02 -2.08748727e+02] [-7.14811084e-02 -8.77167207e-04 9.97441568e-01 -1.98015365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70864 meters 0.026724973195631857 Centerline is valid? [True, True] Translation: X:275.09, Y:-208.77, Z:-19.80 [[ 7.29364518e-01 6.82045448e-01 5.33048555e-02 2.75085978e+02] [-6.80300726e-01 7.31309453e-01 -4.87586479e-02 -2.08771022e+02] [-7.22379586e-02 -7.00504163e-04 9.97387180e-01 -1.98039056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73864 meters 0.026515647781844117 Centerline is valid? [True, True] Translation: X:275.11, Y:-208.79, Z:-19.81 [[ 7.33269581e-01 6.77926723e-01 5.22597366e-02 2.75108765e+02] [-6.76235833e-01 7.35129441e-01 -4.78518816e-02 -2.08794157e+02] [-7.08577402e-02 -2.51577316e-04 9.97486400e-01 -1.98075189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76864 meters 0.026547677448933694 Centerline is valid? [True, True] Translation: X:275.13, Y:-208.82, Z:-19.81 [[ 7.33747262e-01 6.77487306e-01 5.12435896e-02 2.75132234e+02] [-6.75857528e-01 7.35534446e-01 -4.69646817e-02 -2.08816092e+02] [-6.95094009e-02 -1.73159218e-04 9.97581282e-01 -1.98092817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79864 meters 0.02638727756954955 Centerline is valid? [True, True] Translation: X:275.16, Y:-208.84, Z:-19.81 [[ 7.34594238e-01 6.76563982e-01 5.13077461e-02 2.75157329e+02] [-6.74924688e-01 7.36383851e-01 -4.70689858e-02 -2.08837386e+02] [-6.96273761e-02 -5.22588276e-05 9.97573068e-01 -1.98104888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82864 meters 0.026364890414018346 Centerline is valid? [True, True] Translation: X:275.18, Y:-208.86, Z:-19.81 [[ 7.34003130e-01 6.77240107e-01 5.08452817e-02 2.75181789e+02] [-6.75628465e-01 7.35762075e-01 -4.66941773e-02 -2.08859048e+02] [-6.90331996e-02 -7.88473327e-05 9.97614360e-01 -1.98123619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85864 meters 0.026444263278848475 Centerline is valid? [True, True] Translation: X:275.20, Y:-208.88, Z:-19.81 [[ 7.29863522e-01 6.81794940e-01 4.95469377e-02 2.75204761e+02] [-6.80272275e-01 7.31543193e-01 -4.55432593e-02 -2.08882801e+02] [-6.72968888e-02 -4.65044421e-04 9.97732886e-01 -1.98123059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88864 meters 0.026429857914160727 Centerline is valid? [True, True] Translation: X:275.23, Y:-208.91, Z:-19.81 [[ 7.26996422e-01 6.84906459e-01 4.87785340e-02 2.75228786e+02] [-6.83435922e-01 7.28630648e-01 -4.48633369e-02 -2.08905397e+02] [-6.62687241e-02 -7.21516923e-04 9.97801551e-01 -1.98125982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91864 meters 0.02685939733969269 Centerline is valid? [True, True] Translation: X:275.25, Y:-208.93, Z:-19.82 [[ 7.24847539e-01 6.87099782e-01 4.98992537e-02 2.75252904e+02] [-6.85562694e-01 7.26562500e-01 -4.59426469e-02 -2.08927116e+02] [-6.78221092e-02 -9.07652191e-04 9.97697017e-01 -1.98157706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94864 meters 0.02712615235034616 Centerline is valid? [True, True] Translation: X:275.28, Y:-208.95, Z:-19.82 [[ 7.22094608e-01 6.90052376e-01 4.90621646e-02 2.75276629e+02] [-6.88570475e-01 7.23758545e-01 -4.52136020e-02 -2.08949167e+02] [-6.67089144e-02 -1.13425974e-03 9.97771835e-01 -1.98171376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97864 meters 0.02737260245034366 Centerline is valid? [True, True] Translation: X:275.30, Y:-208.97, Z:-19.82 [[ 7.20176255e-01 6.92050787e-01 4.91107871e-02 2.75300366e+02] [-6.90567742e-01 7.21847660e-01 -4.53006630e-02 -2.08971450e+02] [-6.68008663e-02 -1.28986347e-03 9.97765494e-01 -1.98194683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00864 meters 0.027452806685341523 Centerline is valid? [True, True] Translation: X:275.33, Y:-208.99, Z:-19.82 [[ 7.18378882e-01 6.93984426e-01 4.81393568e-02 2.75327606e+02] [-6.92561162e-01 7.19988629e-01 -4.44455998e-02 -2.08989654e+02] [-6.55043436e-02 -1.41066860e-03 9.97851287e-01 -1.98197926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03864 meters 0.02755303227128082 Centerline is valid? [True, True] Translation: X:275.35, Y:-209.01, Z:-19.82 [[ 7.17800762e-01 6.94542493e-01 4.87113101e-02 2.75354893e+02] [-6.93083558e-01 7.19450227e-01 -4.50172463e-02 -2.09009019e+02] [-6.63117536e-02 -1.44759445e-03 9.97797903e-01 -1.98216144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06864 meters 0.02770893340728269 Centerline is valid? [True, True] Translation: X:275.38, Y:-209.03, Z:-19.82 [[ 7.16705890e-01 6.95632934e-01 4.92695493e-02 2.75380161e+02] [-6.94139672e-01 7.18395765e-01 -4.55811566e-02 -2.09028596e+02] [-6.71027893e-02 -1.53166533e-03 9.97744892e-01 -1.98242617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09864 meters 0.02754888520924666 Centerline is valid? [True, True] Translation: X:275.41, Y:-209.05, Z:-19.83 [[ 7.16385888e-01 6.95909511e-01 5.00121195e-02 2.75405952e+02] [-6.94368429e-01 7.18127812e-01 -4.63133870e-02 -2.09048853e+02] [-6.81450205e-02 -1.54857994e-03 9.97674224e-01 -1.98256201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12864 meters 0.02768433611133101 Centerline is valid? [True, True] Translation: X:275.43, Y:-209.07, Z:-19.83 [[ 7.15254382e-01 6.96955271e-01 5.16189740e-02 2.75431851e+02] [-6.95312595e-01 7.17112667e-01 -4.78520386e-02 -2.09068186e+02] [-7.03673507e-02 -1.66494242e-03 9.97519756e-01 -1.98279634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15864 meters 0.027611286342965995 Centerline is valid? [True, True] Translation: X:275.46, Y:-209.09, Z:-19.83 [[ 7.15056550e-01 6.97091328e-01 5.25148536e-02 2.75460703e+02] [-6.95387998e-01 7.16980391e-01 -4.87303970e-02 -2.09085242e+02] [-7.16216574e-02 -1.67320930e-03 9.97430468e-01 -1.98300426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18864 meters 0.02785247858748699 Centerline is valid? [True, True] Translation: X:275.48, Y:-209.11, Z:-19.83 [[ 7.15914069e-01 6.96245224e-01 5.20541511e-02 2.75484662e+02] [-6.94565931e-01 7.17802355e-01 -4.83523198e-02 -2.09107036e+02] [-7.10296639e-02 -1.53893394e-03 9.97473016e-01 -1.98338652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21864 meters 0.027496394908121825 Centerline is valid? [True, True] Translation: X:275.51, Y:-209.13, Z:-19.83 [[ 7.19304354e-01 6.92736048e-01 5.21345674e-02 2.75508345e+02] [-6.91039083e-01 7.21190280e-01 -4.84723127e-02 -2.09128704e+02] [-7.11774616e-02 -1.16067803e-03 9.97462993e-01 -1.98347952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24864 meters 0.02725908311837421 Centerline is valid? [True, True] Translation: X:275.53, Y:-209.15, Z:-19.84 [[ 7.20763309e-01 6.91185010e-01 5.25693247e-02 2.75533864e+02] [-6.89452156e-01 7.22677187e-01 -4.89224748e-02 -2.09149146e+02] [-7.18051329e-02 -9.82509401e-04 9.97418196e-01 -1.98353116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27864 meters 0.02703681701099744 Centerline is valid? [True, True] Translation: X:275.56, Y:-209.17, Z:-19.84 [[ 7.21998048e-01 6.89834804e-01 5.33550463e-02 2.75559538e+02] [-6.88042459e-01 7.23966340e-01 -4.97022504e-02 -2.09169556e+02] [-7.29135997e-02 -8.25609492e-04 9.97337919e-01 -1.98368882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30864 meters 0.026870818378297204 Centerline is valid? [True, True] Translation: X:275.58, Y:-209.19, Z:-19.84 [[ 7.25025776e-01 6.86644743e-01 5.34473699e-02 2.75580540e+02] [-6.84833749e-01 7.26992970e-01 -4.98393222e-02 -2.09193456e+02] [-7.30777708e-02 -4.67769426e-04 9.97326136e-01 -1.98416817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33864 meters 0.026775343689427588 Centerline is valid? [True, True] Translation: X:275.60, Y:-209.22, Z:-19.84 [[ 7.25505587e-01 6.86157239e-01 5.31966728e-02 2.75602217e+02] [-6.84358428e-01 7.27453158e-01 -4.96532411e-02 -2.09218192e+02] [-7.27680184e-02 -3.81887533e-04 9.97348820e-01 -1.98426292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36864 meters 0.02680920330799191 Centerline is valid? [True, True] Translation: X:275.63, Y:-209.24, Z:-19.84 [[ 7.24920291e-01 6.86806551e-01 5.27952072e-02 2.75626103e+02] [-6.85032771e-01 7.26840146e-01 -4.93305763e-02 -2.09241272e+02] [-7.22542391e-02 -4.05711316e-04 9.97386164e-01 -1.98427598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39864 meters 0.0264281578098265 Centerline is valid? [True, True] Translation: X:275.65, Y:-209.26, Z:-19.84 [[ 7.24213333e-01 6.87518442e-01 5.32300712e-02 2.75649919e+02] [-6.85713311e-01 7.26166783e-01 -4.97901508e-02 -2.09263739e+02] [-7.28855564e-02 -4.41877293e-04 9.97340213e-01 -1.98431867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864000000003 meters 0.026645809559240813 Centerline is valid? [True, True] Translation: X:275.67, Y:-209.29, Z:-19.85 [[ 7.23822983e-01 6.87958636e-01 5.28507682e-02 2.75672200e+02] [-6.86176541e-01 7.25749762e-01 -4.94877569e-02 -2.09288112e+02] [-7.24019622e-02 -4.44581480e-04 9.97375435e-01 -1.98462904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45864 meters 0.026787205141296736 Centerline is valid? [True, True] Translation: X:275.69, Y:-209.32, Z:-19.85 [[ 7.22625170e-01 6.89176528e-01 5.33720617e-02 2.75691821e+02] [-6.87358436e-01 7.24593286e-01 -5.00294957e-02 -2.09315003e+02] [-7.31521917e-02 -5.33164016e-04 9.97320647e-01 -1.98476880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters 0.026857386670445727 Centerline is valid? [True, True] Translation: X:275.72, Y:-209.34, Z:-19.85 [[ 7.21883732e-01 6.90019153e-01 5.25113844e-02 2.75715277e+02] [-6.88257946e-01 7.23790882e-01 -4.92723017e-02 -2.09337483e+02] [-7.20060931e-02 -5.72504559e-04 9.97404028e-01 -1.98498525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51864 meters 0.026711792753715564 Centerline is valid? [True, True] Translation: X:275.74, Y:-209.36, Z:-19.85 [[ 7.21805175e-01 6.90064018e-01 5.29994436e-02 2.75739643e+02] [-6.88266476e-01 7.23748128e-01 -4.97785724e-02 -2.09359782e+02] [-7.27086497e-02 -5.47309078e-04 9.97353073e-01 -1.98511781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters 0.026501876091854327 Centerline is valid? [True, True] Translation: X:275.76, Y:-209.38, Z:-19.85 [[ 7.22714819e-01 6.89144806e-01 5.25616436e-02 2.75762074e+02] [-6.87370789e-01 7.24623533e-01 -4.94179569e-02 -2.09382628e+02] [-7.21435322e-02 -4.14248643e-04 9.97394174e-01 -1.98520951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57864 meters 0.026596448988676403 Centerline is valid? [True, True] Translation: X:275.78, Y:-209.41, Z:-19.85 [[ 7.22971892e-01 6.88863870e-01 5.27087480e-02 2.75784806e+02] [-6.87075640e-01 7.24890644e-01 -4.96046362e-02 -2.09406903e+02] [-7.23789199e-02 -3.52139084e-04 9.97377144e-01 -1.98542360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters 0.026534752642008805 Centerline is valid? [True, True] Translation: X:275.81, Y:-209.43, Z:-19.86 [[ 7.23307195e-01 6.88374663e-01 5.44704000e-02 2.75808131e+02] [-6.86459286e-01 7.25355257e-01 -5.13166675e-02 -2.09428854e+02] [-7.48354847e-02 -2.73997052e-04 9.97195856e-01 -1.98565324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63864 meters 0.02640254679496295 Centerline is valid? [True, True] Translation: X:275.83, Y:-209.45, Z:-19.86 [[ 7.22954576e-01 6.88920470e-01 5.22041031e-02 2.75831261e+02] [-6.87159599e-01 7.24836882e-01 -4.92258068e-02 -2.09451130e+02] [-7.17521253e-02 -2.84528260e-04 9.97422454e-01 -1.98591845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters 0.02640254679496295 Centerline is valid? [True, True] Translation: X:275.86, Y:-209.47, Z:-19.86 [[ 7.22591448e-01 6.89303120e-01 5.21805336e-02 2.75855137e+02] [-6.87541443e-01 7.24472998e-01 -4.92507816e-02 -2.09473203e+02] [-7.17521051e-02 -2.88085754e-04 9.97422454e-01 -1.98608819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69864 meters 0.026413595641670243 Centerline is valid? [True, True] Translation: X:275.88, Y:-209.50, Z:-19.86 [[ 7.21600008e-01 6.90320953e-01 5.24443573e-02 2.75877911e+02] [-6.88540270e-01 7.23503184e-01 -4.95523954e-02 -2.09496922e+02] [-7.21507163e-02 -3.53043052e-04 9.97393678e-01 -1.98631913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters 0.026539570099105847 Centerline is valid? [True, True] Translation: X:275.90, Y:-209.52, Z:-19.86 [[ 7.20844914e-01 6.91057645e-01 5.31219496e-02 2.75901351e+02] [-6.89228649e-01 7.22799541e-01 -5.02463113e-02 -2.09520476e+02] [-7.31196184e-02 -3.93371606e-04 9.97323100e-01 -1.98648738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75864 meters 0.026507368844560286 Centerline is valid? [True, True] Translation: X:275.93, Y:-209.54, Z:-19.87 [[ 7.19842833e-01 6.92062055e-01 5.36321574e-02 2.75925258e+02] [-6.90196467e-01 7.21837863e-01 -5.07832373e-02 -2.09543491e+02] [-7.38588735e-02 -4.60776164e-04 9.97268597e-01 -1.98657112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters 0.02657862391395083 Centerline is valid? [True, True] Translation: X:275.95, Y:-209.56, Z:-19.87 [[ 7.19446379e-01 6.92414565e-01 5.43964939e-02 2.75949172e+02] [-6.90492361e-01 7.21499726e-01 -5.15601206e-02 -2.09564529e+02] [-7.49480339e-02 -4.65621467e-04 9.97187332e-01 -1.98672610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81864 meters 0.026649704882258308 Centerline is valid? [True, True] Translation: X:275.97, Y:-209.59, Z:-19.87 [[ 7.18679929e-01 6.93261620e-01 5.37353390e-02 2.75973495e+02] [-6.91384652e-01 7.20685829e-01 -5.09823330e-02 -2.09586707e+02] [-7.40703921e-02 -5.11809170e-04 9.97252884e-01 -1.98698160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters 0.026555774173445578 Centerline is valid? [True, True] Translation: X:276.00, Y:-209.61, Z:-19.87 [[ 7.19053988e-01 6.92849034e-01 5.40516341e-02 2.75996888e+02] [-6.90944628e-01 7.21082540e-01 -5.13370327e-02 -2.09609357e+02] [-7.45445031e-02 -4.32588186e-04 9.97217594e-01 -1.98716565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87864 meters 0.026649647427324744 Centerline is valid? [True, True] Translation: X:276.02, Y:-209.63, Z:-19.87 [[ 7.19117163e-01 6.92722359e-01 5.48291775e-02 2.76020231e+02] [-6.90758098e-01 7.21204260e-01 -5.21312340e-02 -2.09632058e+02] [-7.56555078e-02 -3.85233194e-04 9.97133941e-01 -1.98744179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters 0.026579498538648695 Centerline is valid? [True, True] Translation: X:276.04, Y:-209.65, Z:-19.88 [[ 7.19892685e-01 6.91702935e-01 5.74593056e-02 2.76044412e+02] [-6.89537611e-01 7.22182101e-01 -5.46890810e-02 -2.09653631e+02] [-7.93246799e-02 -2.50082975e-04 9.96848801e-01 -1.98765312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93864 meters 0.026711584610812196 Centerline is valid? [True, True] Translation: X:276.07, Y:-209.68, Z:-19.88 [[ 7.20423542e-01 6.91126279e-01 5.77441478e-02 2.76069119e+02] [-6.88933271e-01 7.22734007e-01 -5.50136628e-02 -2.09675566e+02] [-7.97550473e-02 -1.48726809e-04 9.96814481e-01 -1.98795882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96864 meters 0.02661677164598821 Centerline is valid? [True, True] Translation: X:276.09, Y:-209.70, Z:-19.88 [[ 7.20220440e-01 6.91475357e-01 5.60744818e-02 2.76092269e+02] [-6.89405038e-01 7.22400033e-01 -5.34685453e-02 -2.09698728e+02] [-7.74803890e-02 -1.48891021e-04 9.96993865e-01 -1.98800258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99864 meters 0.02662502352383648 Centerline is valid? [True, True] Translation: X:276.12, Y:-209.72, Z:-19.88 [[ 7.19374363e-01 6.92478912e-01 5.45296452e-02 2.76115324e+02] [-6.90521690e-01 7.21438081e-01 -5.20277877e-02 -2.09721429e+02] [-7.53679084e-02 -2.26446100e-04 9.97155769e-01 -1.98812021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02864 meters 0.02657720175865022 Centerline is valid? [True, True] Translation: X:276.14, Y:-209.74, Z:-19.88 [[ 7.17980586e-01 6.93945171e-01 5.42584339e-02 2.76139047e+02] [-6.92007834e-01 7.20027765e-01 -5.18186775e-02 -2.09743968e+02] [-7.50268999e-02 -3.42456833e-04 9.97181451e-01 -1.98829168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05864 meters 0.026745720909741665 Centerline is valid? [True, True] Translation: X:276.16, Y:-209.76, Z:-19.88 [[ 7.15622738e-01 6.96480926e-01 5.29000564e-02 2.76163460e+02] [-6.94642702e-01 7.17575090e-01 -5.05717955e-02 -2.09764849e+02] [-7.31820537e-02 -5.56311345e-04 9.97318443e-01 -1.98837290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08864 meters 0.02678198863958289 Centerline is valid? [True, True] Translation: X:276.19, Y:-209.79, Z:-19.89 [[ 7.13936931e-01 6.98266791e-01 5.21301017e-02 2.76188599e+02] [-6.96483070e-01 7.15837276e-01 -4.98831267e-02 -2.09786858e+02] [-7.21484008e-02 -6.94326918e-04 9.97393667e-01 -1.98854279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11864 meters 0.02711372936677109 Centerline is valid? [True, True] Translation: X:276.21, Y:-209.81, Z:-19.89 [[ 7.11463338e-01 7.00758774e-01 5.25077115e-02 2.76213990e+02] [-6.98952079e-01 7.13397716e-01 -5.02960230e-02 -2.09806538e+02] [-7.27042608e-02 -9.16597777e-04 9.97353122e-01 -1.98875460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14864 meters 0.02722283353721465 Centerline is valid? [True, True] Translation: X:276.24, Y:-209.83, Z:-19.89 [[ 7.10574686e-01 7.01630106e-01 5.29037802e-02 2.76238920e+02] [-6.99794820e-01 7.12540691e-01 -5.07244848e-02 -2.09828444e+02] [-7.32859217e-02 -9.78256480e-04 9.97310492e-01 -1.98905922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17864000000003 meters 0.027231599978743727 Centerline is valid? [True, True] Translation: X:276.26, Y:-209.85, Z:-19.89 [[ 7.10273224e-01 7.01973200e-01 5.23982277e-02 2.76263897e+02] [-7.00169921e-01 7.12202705e-01 -5.02930253e-02 -2.09849466e+02] [-7.26225154e-02 -9.65873777e-04 9.97359031e-01 -1.98914378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20864 meters 0.027446073000697322 Centerline is valid? [True, True] Translation: X:276.29, Y:-209.87, Z:-19.89 [[ 7.09092263e-01 7.03137529e-01 5.27804689e-02 2.76289762e+02] [-7.01307280e-01 7.11053091e-01 -5.07109485e-02 -2.09868222e+02] [-7.31864866e-02 -1.05658589e-03 9.97317714e-01 -1.98939856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23864 meters 0.027722181784138707 Centerline is valid? [True, True] Translation: X:276.31, Y:-209.89, Z:-19.90 [[ 7.07733300e-01 7.04469183e-01 5.32611212e-02 2.76314567e+02] [-7.02605805e-01 7.09733609e-01 -5.12180345e-02 -2.09888257e+02] [-7.38827346e-02 -1.17286438e-03 9.97266246e-01 -1.98954327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26864 meters 0.02789568656197793 Centerline is valid? [True, True] Translation: X:276.34, Y:-209.91, Z:-19.90 [[ 7.05723507e-01 7.06458077e-01 5.35846750e-02 2.76341959e+02] [-7.04574106e-01 7.07753593e-01 -5.15769365e-02 -2.09906736e+02] [-7.43616896e-02 -1.35531799e-03 9.97230416e-01 -1.98969941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29864 meters 0.027931848100713592 Centerline is valid? [True, True] Translation: X:276.37, Y:-209.93, Z:-19.90 [[ 7.04434087e-01 7.07768453e-01 5.32581836e-02 2.76367765e+02] [-7.05907495e-01 7.06443003e-01 -5.13117161e-02 -2.09927161e+02] [-7.39406851e-02 -1.44962911e-03 9.97261587e-01 -1.98982634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32864 meters 0.028200949794650494 Centerline is valid? [True, True] Translation: X:276.40, Y:-209.94, Z:-19.90 [[ 7.03385165e-01 7.08836237e-01 5.29197458e-02 2.76397091e+02] [-7.06997951e-01 7.05371461e-01 -5.10391904e-02 -2.09944258e+02] [-7.35065061e-02 -1.51394250e-03 9.97293588e-01 -1.99007406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35864 meters 0.028433798398769115 Centerline is valid? [True, True] Translation: X:276.42, Y:-209.96, Z:-19.90 [[ 7.02785680e-01 7.09275228e-01 5.49630706e-02 2.76423294e+02] [-7.07289143e-01 7.04929890e-01 -5.30652275e-02 -2.09963717e+02] [-7.63829627e-02 -1.58130111e-03 9.97077300e-01 -1.99032335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38864 meters 0.028215503293896167 Centerline is valid? [True, True] Translation: X:276.45, Y:-209.98, Z:-19.91 [[ 7.03601289e-01 7.08441894e-01 5.52748496e-02 2.76448751e+02] [-7.06426804e-01 7.05767623e-01 -5.34156613e-02 -2.09984013e+02] [-7.68530915e-02 -1.46430725e-03 9.97041352e-01 -1.99056872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41864 meters 0.02815468279507467 Centerline is valid? [True, True] Translation: X:276.48, Y:-210.00, Z:-19.91 [[ 7.04935336e-01 7.07138993e-01 5.49601388e-02 2.76475434e+02] [-7.05139094e-01 7.07073410e-01 -5.31606179e-02 -2.10002685e+02] [-7.64527986e-02 -1.27974443e-03 9.97072380e-01 -1.99073961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44864 meters 0.027942345053767078 Centerline is valid? [True, True] Translation: X:276.50, Y:-210.02, Z:-19.91 [[ 7.07346137e-01 7.04689721e-01 5.54422226e-02 2.76504904e+02] [-7.02643136e-01 7.09514920e-01 -5.36768288e-02 -2.10018279e+02] [-7.71625936e-02 -9.87999702e-04 9.97018033e-01 -1.99091140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47864 meters 0.027985060058781135 Centerline is valid? [True, True] Translation: X:276.53, Y:-210.04, Z:-19.91 [[ 7.08605681e-01 7.03479465e-01 5.47232161e-02 2.76530855e+02] [-7.01478397e-01 7.10715122e-01 -5.30289963e-02 -2.10037913e+02] [-7.61974272e-02 -8.10505850e-04 9.97092421e-01 -1.99110785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50864 meters 0.027920282131640942 Centerline is valid? [True, True] Translation: X:276.56, Y:-210.06, Z:-19.91 [[ 7.09506988e-01 7.02528967e-01 5.52529210e-02 2.76555846e+02] [-7.00482039e-01 7.11654826e-01 -5.35940551e-02 -2.10059065e+02] [-7.69723840e-02 -6.78322194e-04 9.97032994e-01 -1.99119614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53864 meters 0.02796034489109446 Centerline is valid? [True, True] Translation: X:276.58, Y:-210.08, Z:-19.91 [[ 7.10761423e-01 7.01211431e-01 5.58634843e-02 2.76581360e+02] [-6.99110402e-01 7.12953209e-01 -5.42435922e-02 -2.10080430e+02] [-7.78642774e-02 -5.00490172e-04 9.96963843e-01 -1.99140072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56864 meters 0.027872343552284597 Centerline is valid? [True, True] Translation: X:276.61, Y:-210.10, Z:-19.92 [[ 7.13072032e-01 6.98864943e-01 5.58217622e-02 2.76609640e+02] [-6.96755422e-01 7.15253627e-01 -5.42598537e-02 -2.10099198e+02] [-7.78470274e-02 -2.02931378e-04 9.96965295e-01 -1.99157381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59864 meters 0.027611460260248594 Centerline is valid? [True, True] Translation: X:276.64, Y:-210.12, Z:-19.92 [[ 7.13693179e-01 6.98235807e-01 5.57566503e-02 2.76636168e+02] [-6.96124899e-01 7.15867829e-01 -5.42528899e-02 -2.10118988e+02] [-7.77957026e-02 -9.36750991e-05 9.96969317e-01 -1.99170108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62864 meters 0.02777865096693891 Centerline is valid? [True, True] Translation: X:276.66, Y:-210.14, Z:-19.92 [[ 7.13385569e-01 6.98591336e-01 5.52374471e-02 2.76660606e+02] [-6.96516385e-01 7.15520885e-01 -5.38032297e-02 -2.10141094e+02] [-7.71100172e-02 -9.13393060e-05 9.97022586e-01 -1.99179073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65864 meters 0.027706045225983317 Centerline is valid? [True, True] Translation: X:276.69, Y:-210.16, Z:-19.92 [[ 7.13407321e-01 6.98531015e-01 5.57172817e-02 2.76685311e+02] [-6.96415164e-01 7.15579779e-01 -5.43277101e-02 -2.10162500e+02] [-7.78197505e-02 -4.45736987e-05 9.96967444e-01 -1.99196510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68864 meters 0.027758419678249262 Centerline is valid? [True, True] Translation: X:276.71, Y:-210.18, Z:-19.92 [[ 7.14036947e-01 6.97796213e-01 5.68478985e-02 2.76710721e+02] [-6.95586704e-01 7.16296335e-01 -5.54860085e-02 -2.10182392e+02] [-7.94378680e-02 7.64177705e-05 9.96839816e-01 -1.99218506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71864 meters 0.0278352417713328 Centerline is valid? [True, True] Translation: X:276.73, Y:-210.20, Z:-19.92 [[ 7.14932072e-01 6.96878155e-01 5.68592040e-02 2.76734185e+02] [-6.94660666e-01 7.17189508e-01 -5.55496970e-02 -2.10204954e+02] [-7.94901950e-02 2.16407440e-04 9.96835624e-01 -1.99238902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74864 meters 0.027776214443481086 Centerline is valid? [True, True] Translation: X:276.76, Y:-210.23, Z:-19.92 [[ 7.17167442e-01 6.94675264e-01 5.56519302e-02 2.76757423e+02] [-6.92540290e-01 7.19323319e-01 -5.44234245e-02 -2.10227926e+02] [-7.78383379e-02 4.89504243e-04 9.96965874e-01 -1.99247985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77864 meters 0.027747327165283525 Centerline is valid? [True, True] Translation: X:276.78, Y:-210.25, Z:-19.93 [[ 7.18569207e-01 6.93254462e-01 5.52860278e-02 2.76781049e+02] [-6.91139470e-01 7.20692580e-01 -5.41150514e-02 -2.10250339e+02] [-7.73597309e-02 6.75053680e-04 9.97003017e-01 -1.99260027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80864 meters 0.027989892139565993 Centerline is valid? [True, True] Translation: X:276.80, Y:-210.27, Z:-19.93 [[ 7.20388354e-01 6.91371592e-01 5.51900428e-02 2.76803939e+02] [-6.89254497e-01 7.22498781e-01 -5.40717155e-02 -2.10272383e+02] [-7.72583867e-02 9.12648958e-04 9.97010686e-01 -1.99282612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83864 meters 0.02820525791589275 Centerline is valid? [True, True] Translation: X:276.83, Y:-210.30, Z:-19.93 [[ 7.23400195e-01 6.88269909e-01 5.45590521e-02 2.76826559e+02] [-6.86188559e-01 7.25453605e-01 -5.35007384e-02 -2.10295638e+02] [-7.64030094e-02 1.26464728e-03 9.97076216e-01 -1.99289444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86864 meters 0.0284842409975115 Centerline is valid? [True, True] Translation: X:276.85, Y:-210.32, Z:-19.93 [[ 7.25141025e-01 6.86457945e-01 5.42769171e-02 2.76850032e+02] [-6.84389450e-01 7.27167995e-01 -5.32708884e-02 -2.10318258e+02] [-7.60366615e-02 1.48235714e-03 9.97103921e-01 -1.99310354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89864 meters 0.028651845415941228 Centerline is valid? [True, True] Translation: X:276.87, Y:-210.34, Z:-19.93 [[ 7.27694648e-01 6.83826117e-01 5.33136109e-02 2.76870145e+02] [-6.81820057e-01 7.29642889e-01 -5.23704488e-02 -2.10343962e+02] [-7.47121778e-02 1.75940601e-03 9.97203588e-01 -1.99329801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864000000003 meters 0.028806643369788224 Centerline is valid? [True, True] Translation: X:276.89, Y:-210.37, Z:-19.94 [[ 7.27918611e-01 6.83611711e-01 5.30049374e-02 2.76891048e+02] [-6.81624790e-01 7.29843661e-01 -5.21140797e-02 -2.10369290e+02] [-7.43111127e-02 1.80532920e-03 9.97233473e-01 -1.99352812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95864 meters 0.028940544396589104 Centerline is valid? [True, True] Translation: X:276.91, Y:-210.39, Z:-19.94 [[ 7.27853059e-01 6.83633540e-01 5.36200363e-02 2.76911394e+02] [-6.81596389e-01 7.29823074e-01 -5.27697216e-02 -2.10394156e+02] [-7.52082913e-02 1.86138020e-03 9.97166109e-01 -1.99369328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters 0.028820729973078257 Centerline is valid? [True, True] Translation: X:276.93, Y:-210.42, Z:-19.94 [[ 7.27909584e-01 6.83571808e-01 5.36397355e-02 2.76931111e+02] [-6.81529401e-01 7.29880785e-01 -5.28366819e-02 -2.10420837e+02] [-7.52682784e-02 1.90327031e-03 9.97161503e-01 -1.99362826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01864 meters 0.028837317167922368 Centerline is valid? [True, True] Translation: X:276.95, Y:-210.45, Z:-19.94 [[ 7.27940777e-01 6.83595435e-01 5.29103566e-02 2.76953626e+02] [-6.81604541e-01 7.29858634e-01 -5.21691931e-02 -2.10445377e+02] [-7.42797028e-02 1.91214360e-03 9.97235614e-01 -1.99362442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters 0.02919050297254728 Centerline is valid? [True, True] Translation: X:276.97, Y:-210.47, Z:-19.94 [[ 7.29431860e-01 6.82057794e-01 5.22142517e-02 2.76971216e+02] [-6.80111506e-01 7.31295324e-01 -5.15314307e-02 -2.10473428e+02] [-7.33314520e-02 2.07715401e-03 9.97305462e-01 -1.99400664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07864 meters 0.029006977328201313 Centerline is valid? [True, True] Translation: X:276.99, Y:-210.50, Z:-19.94 [[ 7.28742320e-01 6.82815703e-01 5.19359919e-02 2.76991033e+02] [-6.80888840e-01 7.30587863e-01 -5.13006956e-02 -2.10498816e+02] [-7.29727259e-02 2.02235067e-03 9.97331886e-01 -1.99412600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters 0.028467450965630844 Centerline is valid? [True, True] Translation: X:277.01, Y:-210.53, Z:-19.94 [[ 7.26569742e-01 6.85137400e-01 5.17991597e-02 2.77009863e+02] [-6.83223355e-01 7.28411588e-01 -5.12094315e-02 -2.10525693e+02] [-7.28166049e-02 1.81682777e-03 9.97343693e-01 -1.99432025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13864 meters 0.028188262956251223 Centerline is valid? [True, True] Translation: X:277.03, Y:-210.55, Z:-19.94 [[ 7.25101667e-01 6.86746380e-01 5.10586082e-02 2.77031173e+02] [-6.84888164e-01 7.26895221e-01 -5.05127772e-02 -2.10550584e+02] [-7.18037252e-02 1.65746252e-03 9.97417404e-01 -1.99436058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters 0.027449626850565536 Centerline is valid? [True, True] Translation: X:277.05, Y:-210.58, Z:-19.94 [[ 7.21990664e-01 6.90083156e-01 5.01469693e-02 2.77049194e+02] [-6.88297197e-01 7.23728885e-01 -4.96333537e-02 -2.10578643e+02] [-7.05439515e-02 1.31879956e-03 9.97507800e-01 -1.99447833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19864 meters 0.026973928659637617 Centerline is valid? [True, True] Translation: X:277.07, Y:-210.60, Z:-19.95 [[ 7.20355120e-01 6.91852656e-01 4.92788300e-02 2.77069371e+02] [-6.90129270e-01 7.22037786e-01 -4.88162439e-02 -2.10604298e+02] [-6.93548254e-02 1.15626826e-03 9.97591385e-01 -1.99453172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters 0.027006997004380594 Centerline is valid? [True, True] Translation: X:277.09, Y:-210.63, Z:-19.95 [[ 7.18498667e-01 6.93795705e-01 4.90630867e-02 2.77089709e+02] [-6.92088931e-01 7.20171180e-01 -4.86454813e-02 -2.10629875e+02] [-6.90838470e-02 9.95694197e-04 9.97610360e-01 -1.99476313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25864 meters 0.026618969674977122 Centerline is valid? [True, True] Translation: X:277.11, Y:-210.66, Z:-19.95 [[ 7.14619536e-01 6.97610552e-01 5.15600285e-02 2.77109711e+02] [-6.95731659e-01 7.16476821e-01 -5.11705489e-02 -2.10657164e+02] [-7.26386801e-02 6.95529729e-04 9.97358079e-01 -1.99492342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters 0.02668830378987827 Centerline is valid? [True, True] Translation: X:277.13, Y:-210.68, Z:-19.95 [[ 7.12123341e-01 7.00133125e-01 5.19033165e-02 2.77131688e+02] [-6.98231846e-01 7.14012168e-01 -5.15646501e-02 -2.10681223e+02] [-7.31617192e-02 4.79842409e-04 9.97319975e-01 -1.99511555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31864 meters 0.026460869111068652 Centerline is valid? [True, True] Translation: X:277.15, Y:-210.71, Z:-19.95 [[ 7.08451448e-01 7.03983025e-01 5.00444417e-02 2.77151220e+02] [-7.02222290e-01 7.10216790e-01 -4.97590922e-02 -2.10707684e+02] [-7.05719589e-02 1.09578482e-04 9.97506685e-01 -1.99516962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters 0.026268149443027182 Centerline is valid? [True, True] Translation: X:277.17, Y:-210.73, Z:-19.95 [[ 7.06245668e-01 7.06310351e-01 4.84018968e-02 2.77172273e+02] [-7.04667351e-01 7.07902307e-01 -4.81481821e-02 -2.10732558e+02] [-6.82713738e-02 -1.02791372e-04 9.97666783e-01 -1.99532382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37864 meters 0.026298815843047208 Centerline is valid? [True, True] Translation: X:277.19, Y:-210.76, Z:-19.96 [[ 7.04903266e-01 7.07640158e-01 4.85468064e-02 2.77194479e+02] [-7.05987234e-01 7.06572973e-01 -4.83390000e-02 -2.10757526e+02] [-6.85084790e-02 -1.99106595e-04 9.97650514e-01 -1.99561289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters 0.02624735366638412 Centerline is valid? [True, True] Translation: X:277.22, Y:-210.78, Z:-19.96 [[ 7.04158067e-01 7.08357970e-01 4.88917511e-02 2.77216380e+02] [-7.06679569e-01 7.05853336e-01 -4.87345338e-02 -2.10782028e+02] [-6.90319011e-02 -2.33986485e-04 9.97614425e-01 -1.99569096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43864 meters 0.026186470734764593 Centerline is valid? [True, True] Translation: X:277.24, Y:-210.81, Z:-19.96 [[ 7.04315465e-01 7.08106738e-01 5.02451396e-02 2.77239182e+02] [-7.06329639e-01 7.06105386e-01 -5.01360653e-02 -2.10805265e+02] [-7.09800494e-02 -1.78025180e-04 9.97477720e-01 -1.99583895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46864 meters 0.026699381635215572 Centerline is valid? [True, True] Translation: X:277.26, Y:-210.83, Z:-19.96 [[ 7.05161130e-01 7.07033691e-01 5.33960672e-02 2.77261759e+02] [-7.05019395e-01 7.07179862e-01 -5.33319258e-02 -2.10828443e+02] [-7.54680918e-02 -3.76619585e-05 9.97148217e-01 -1.99610576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49864 meters 0.0265556564997201 Centerline is valid? [True, True] Translation: X:277.29, Y:-210.85, Z:-19.96 [[ 7.05704806e-01 7.06523420e-01 5.29658682e-02 2.77285142e+02] [-7.04536229e-01 7.07689659e-01 -5.29532618e-02 -2.10851086e+02] [-7.48961169e-02 5.29983221e-05 9.97191340e-01 -1.99621878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52864 meters 0.026510190504422937 Centerline is valid? [True, True] Translation: X:277.28, Y:-211.01, Z:-18.36 [[ 7.54519526e-01 -6.55970448e-01 -2.00762794e-02 2.77282170e+02] [-6.55600195e-01 -7.54777517e-01 2.23446733e-02 -2.11005891e+02] [-2.98105696e-02 -3.69747967e-03 -9.99548727e-01 -1.83556209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55864 meters 0.026497146946559226 Centerline is valid? [True, True] Translation: X:277.31, Y:-210.89, Z:-19.96 [[ 7.55027884e-01 6.53367179e-01 5.51744878e-02 2.77309535e+02] [-6.51616420e-01 7.57041155e-01 -4.77988500e-02 -2.10894716e+02] [-7.29995577e-02 1.36862377e-04 9.97331964e-01 -1.99649677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58864 meters 0.026497146946559226 Centerline is valid? [True, True] Translation: X:277.33, Y:-210.92, Z:-19.97 [[ 7.54684785e-01 6.53765388e-01 5.51515478e-02 2.77334317e+02] [-6.52013758e-01 7.56697297e-01 -4.78253078e-02 -2.10915757e+02] [-7.29995581e-02 1.33464181e-04 9.97331964e-01 -1.99666607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61864 meters 0.026472034965337756 Centerline is valid? [True, True] Translation: X:277.36, Y:-210.94, Z:-19.97 [[ 7.54434157e-01 6.54037839e-01 5.53498712e-02 2.77358888e+02] [-6.52270540e-01 7.56461819e-01 -4.80485100e-02 -2.10938318e+02] [-7.32956079e-02 1.46346769e-04 9.97310249e-01 -1.99681719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64864 meters 0.026356351118065335 Centerline is valid? [True, True] Translation: X:277.38, Y:-210.96, Z:-19.97 [[ 7.55100914e-01 6.53389265e-01 5.38987735e-02 2.77383836e+02] [-6.51708508e-01 7.57022067e-01 -4.68359977e-02 -2.10959222e+02] [-7.14046991e-02 2.39615443e-04 9.97447398e-01 -1.99699073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67864000000003 meters 0.026396668253794525 Centerline is valid? [True, True] Translation: X:277.41, Y:-210.98, Z:-19.97 [[ 7.55077981e-01 6.53466149e-01 5.32844709e-02 2.77408686e+02] [-6.51820581e-01 7.56955694e-01 -4.63465955e-02 -2.10980794e+02] [-7.06199149e-02 2.63378966e-04 9.97503262e-01 -1.99722487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70864 meters 0.026398567146772335 Centerline is valid? [True, True] Translation: X:277.43, Y:-211.00, Z:-19.97 [[ 7.55503171e-01 6.53000032e-01 5.29709037e-02 2.77433184e+02] [-6.51369199e-01 7.57357803e-01 -4.61229383e-02 -2.11002263e+02] [-7.02362074e-02 3.42411066e-04 9.97530329e-01 -1.99740533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73864 meters 0.026389040065911272 Centerline is valid? [True, True] Translation: X:277.46, Y:-211.02, Z:-19.98 [[ 7.55646403e-01 6.52821719e-01 5.31254889e-02 2.77457839e+02] [-6.51177415e-01 7.57511482e-01 -4.63069002e-02 -2.11023579e+02] [-7.04733180e-02 3.97524102e-04 9.97513586e-01 -1.99750465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76864 meters 0.0264636112216973 Centerline is valid? [True, True] Translation: X:277.48, Y:-211.04, Z:-19.98 [[ 7.55088225e-01 6.53399511e-01 5.39523016e-02 2.77483670e+02] [-6.51701425e-01 7.57013163e-01 -4.70778422e-02 -2.11044577e+02] [-7.16032416e-02 3.87132435e-04 9.97433119e-01 -1.99766280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79864 meters 0.02638835583631965 Centerline is valid? [True, True] Translation: X:277.51, Y:-211.06, Z:-19.98 [[ 7.54566088e-01 6.54032585e-01 5.35854148e-02 2.77510176e+02] [-6.52355642e-01 7.56466289e-01 -4.68067330e-02 -2.11064758e+02] [-7.11486885e-02 3.62025780e-04 9.97465655e-01 -1.99777328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82864 meters 0.026425767584410453 Centerline is valid? [True, True] Translation: X:277.54, Y:-211.09, Z:-19.98 [[ 7.53952193e-01 6.54696001e-01 5.41224320e-02 2.77535653e+02] [-6.52983326e-01 7.55892208e-01 -4.73259496e-02 -2.11086149e+02] [-7.18948346e-02 3.40457810e-04 9.97412160e-01 -1.99806433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85864 meters 0.026432219493887712 Centerline is valid? [True, True] Translation: X:277.56, Y:-211.11, Z:-19.98 [[ 7.53763135e-01 6.54953982e-01 5.36322502e-02 2.77560970e+02] [-6.53269360e-01 7.55668683e-01 -4.69466116e-02 -2.11107807e+02] [-7.12760821e-02 3.50319297e-04 9.97456564e-01 -1.99826294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88864 meters 0.026344215703265086 Centerline is valid? [True, True] Translation: X:277.59, Y:-211.13, Z:-19.98 [[ 7.53780135e-01 6.55000012e-01 5.28251092e-02 2.77586668e+02] [-6.53362469e-01 7.55628773e-01 -4.62886822e-02 -2.11128802e+02] [-7.02352598e-02 3.77545321e-04 9.97530383e-01 -1.99847353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91864 meters 0.026571702984962343 Centerline is valid? [True, True] Translation: X:277.61, Y:-211.15, Z:-19.99 [[ 7.53797822e-01 6.54784125e-01 5.51959510e-02 2.77610454e+02] [-6.52991728e-01 7.55815813e-01 -4.84175638e-02 -2.11150488e+02] [-7.34210247e-02 4.54554721e-04 9.97300931e-01 -1.99864194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94864 meters 0.026711552299150385 Centerline is valid? [True, True] Translation: X:277.63, Y:-211.17, Z:-19.99 [[ 7.53785263e-01 6.54740925e-01 5.58757331e-02 2.77634450e+02] [-6.52900513e-01 7.55853208e-01 -4.90596393e-02 -2.11172257e+02] [-7.43552057e-02 4.99138299e-04 9.97231695e-01 -1.99880956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97864 meters 0.026644531656515556 Centerline is valid? [True, True] Translation: X:277.66, Y:-211.19, Z:-19.99 [[ 7.53078690e-01 6.55434421e-01 5.72556155e-02 2.77658702e+02] [-6.53500250e-01 7.55251939e-01 -5.03183013e-02 -2.11192784e+02] [-7.62227613e-02 4.77081340e-04 9.97090700e-01 -1.99892447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00864 meters 0.026785009475032224 Centerline is valid? [True, True] Translation: X:277.68, Y:-211.21, Z:-19.99 [[ 7.49430479e-01 6.59702601e-01 5.60930842e-02 2.77683630e+02] [-6.57854813e-01 7.51526760e-01 -4.93413920e-02 -2.11213406e+02] [-7.47060986e-02 7.68376119e-05 9.97205592e-01 -1.99897390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03864 meters 0.02675271540830501 Centerline is valid? [True, True] Translation: X:277.71, Y:-211.24, Z:-19.99 [[ 7.46710782e-01 6.62799094e-01 5.58602600e-02 2.77708192e+02] [-6.60971722e-01 7.48797251e-01 -4.91839436e-02 -2.11235944e+02] [-7.44270824e-02 -1.95871293e-04 9.97226439e-01 -1.99918090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06864 meters 0.02701040211446439 Centerline is valid? [True, True] Translation: X:277.73, Y:-211.26, Z:-19.99 [[ 7.43478703e-01 6.66380791e-01 5.63565384e-02 2.77730766e+02] [-6.64527151e-01 7.45611407e-01 -4.96718831e-02 -2.11258690e+02] [-7.51204666e-02 -5.20462652e-04 9.97174330e-01 -1.99933426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09864 meters 0.027080234217364475 Centerline is valid? [True, True] Translation: X:277.76, Y:-211.28, Z:-19.99 [[ 7.42699489e-01 6.67199774e-01 5.69379603e-02 2.77756123e+02] [-6.65306285e-01 7.44878603e-01 -5.02335835e-02 -2.11280490e+02] [-7.59277039e-02 -5.72726067e-04 9.97113161e-01 -1.99941379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12864 meters 0.026994045022412382 Centerline is valid? [True, True] Translation: X:277.78, Y:-211.30, Z:-20.00 [[ 7.42566527e-01 6.67385194e-01 5.64973959e-02 2.77781366e+02] [-6.65517465e-01 7.44712497e-01 -4.98979104e-02 -2.11301826e+02] [-7.53754434e-02 -5.47485680e-04 9.97155075e-01 -1.99959831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15864 meters 0.02696785454805987 Centerline is valid? [True, True] Translation: X:277.80, Y:-211.33, Z:-20.00 [[ 7.42170462e-01 6.67872339e-01 5.59423308e-02 2.77803978e+02] [-6.66038631e-01 7.44275644e-01 -4.94601602e-02 -2.11325352e+02] [-7.46695872e-02 -5.51883457e-04 9.97208177e-01 -1.99982270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18864 meters 0.02706888576764299 Centerline is valid? [True, True] Translation: X:277.83, Y:-211.35, Z:-20.00 [[ 7.42161950e-01 6.67903247e-01 5.56856689e-02 2.77828428e+02] [-6.66082513e-01 7.44247936e-01 -4.92858558e-02 -2.11347815e+02] [-7.43621272e-02 -5.13163424e-04 9.97231172e-01 -2.00003016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21864 meters 0.027298324826074916 Centerline is valid? [True, True] Translation: X:277.86, Y:-211.37, Z:-20.00 [[ 7.41856045e-01 6.68274614e-01 5.53050453e-02 2.77855013e+02] [-6.66475875e-01 7.43914499e-01 -4.90012836e-02 -2.11367590e+02] [-7.38885390e-02 -5.07580019e-04 9.97266377e-01 -2.00016160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24864 meters 0.027224799711595058 Centerline is valid? [True, True] Translation: X:277.88, Y:-211.39, Z:-20.00 [[ 7.42054402e-01 6.68084248e-01 5.49427175e-02 2.77880670e+02] [-6.66304686e-01 7.44085505e-01 -4.87322040e-02 -2.11388865e+02] [-7.34392976e-02 -4.46643640e-04 9.97299589e-01 -2.00038602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27864 meters 0.02737949902859562 Centerline is valid? [True, True] Translation: X:277.91, Y:-211.41, Z:-20.01 [[ 7.41940272e-01 6.68071183e-01 5.66173746e-02 2.77905032e+02] [-6.66177294e-01 7.44097250e-01 -5.02702226e-02 -2.11409778e+02] [-7.57129198e-02 -4.19706771e-04 9.97129569e-01 -2.00060783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30864 meters 0.027481389842454622 Centerline is valid? [True, True] Translation: X:277.93, Y:-211.43, Z:-20.01 [[ 7.42003939e-01 6.67947585e-01 5.72379073e-02 2.77931539e+02] [-6.66007704e-01 7.44208226e-01 -5.08709612e-02 -2.11429914e+02] [-7.65760571e-02 -3.74433577e-04 9.97063673e-01 -2.00062960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33864 meters 0.027771118256357398 Centerline is valid? [True, True] Translation: X:277.96, Y:-211.45, Z:-20.01 [[ 7.40919866e-01 6.69164128e-01 5.70712101e-02 2.77959701e+02] [-6.67235005e-01 7.43114500e-01 -5.07768427e-02 -2.11448314e+02] [-7.63884855e-02 -4.58337700e-04 9.97078026e-01 -2.00088933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36864 meters 0.02781033220729067 Centerline is valid? [True, True] Translation: X:277.99, Y:-211.47, Z:-20.01 [[ 7.41132647e-01 6.68884492e-01 5.75841659e-02 2.77985334e+02] [-6.66915399e-01 7.43366250e-01 -5.12880856e-02 -2.11468769e+02] [-7.71119306e-02 -3.92492402e-04 9.97022365e-01 -2.00119675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39864 meters 0.02802556568781097 Centerline is valid? [True, True] Translation: X:278.01, Y:-211.49, Z:-20.01 [[ 7.41269840e-01 6.68710322e-01 5.78405619e-02 2.78011072e+02] [-6.66718826e-01 7.43522961e-01 -5.15714483e-02 -2.11489510e+02] [-7.74921456e-02 -3.35032322e-04 9.96992906e-01 -2.00141597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864000000003 meters 0.028300448106019713 Centerline is valid? [True, True] Translation: X:278.04, Y:-211.51, Z:-20.02 [[ 7.43205359e-01 6.66550161e-01 5.79368401e-02 2.78039195e+02] [-6.64541164e-01 7.45460179e-01 -5.17123119e-02 -2.11506789e+02] [-7.76584570e-02 -6.85478153e-05 9.96980020e-01 -2.00168651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45864 meters 0.028308992794103056 Centerline is valid? [True, True] Translation: X:278.07, Y:-211.53, Z:-20.02 [[ 7.44315093e-01 6.65279406e-01 5.82954037e-02 2.78066109e+02] [-6.63237164e-01 7.46594469e-01 -5.20880387e-02 -2.11526594e+02] [-7.81761253e-02 1.06235193e-04 9.96939558e-01 -2.00192873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters 0.028357008365710708 Centerline is valid? [True, True] Translation: X:278.09, Y:-211.54, Z:-20.02 [[ 7.46723205e-01 6.62671588e-01 5.71910947e-02 2.78093875e+02] [-6.60695048e-01 7.48910009e-01 -5.11454038e-02 -2.11544702e+02] [-7.67235892e-02 4.05586837e-04 9.97052319e-01 -2.00185760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51864 meters 0.028430956828112145 Centerline is valid? [True, True] Translation: X:278.12, Y:-211.56, Z:-20.02 [[ 7.47227868e-01 6.62120456e-01 5.69825885e-02 2.78119566e+02] [-6.60154096e-01 7.49397268e-01 -5.09931783e-02 -2.11564830e+02] [-7.64662226e-02 4.86234707e-04 9.97072054e-01 -2.00208243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters 0.028717694910187604 Centerline is valid? [True, True] Translation: X:278.15, Y:-211.58, Z:-20.02 [[ 7.48029898e-01 6.61146585e-01 5.77621417e-02 2.78145291e+02] [-6.59118998e-01 7.50256484e-01 -5.17431641e-02 -2.11583977e+02] [-7.75462376e-02 6.33308760e-04 9.96988556e-01 -2.00237983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57864 meters 0.029033871723228254 Centerline is valid? [True, True] Translation: X:278.17, Y:-211.60, Z:-20.03 [[ 7.49422945e-01 6.59637758e-01 5.69497812e-02 2.78171735e+02] [-6.57658810e-01 7.51583239e-01 -5.10639293e-02 -2.11604513e+02] [-7.64861968e-02 8.14954989e-04 9.97070307e-01 -2.00271022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters 0.02902603070851843 Centerline is valid? [True, True] Translation: X:278.20, Y:-211.63, Z:-20.03 [[ 7.50365437e-01 6.58635053e-01 5.61389200e-02 2.78196622e+02] [-6.56705436e-01 7.52461945e-01 -5.03884133e-02 -2.11626798e+02] [-7.54299761e-02 9.42989873e-04 9.97150655e-01 -2.00282923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63864 meters 0.0288257397009665 Centerline is valid? [True, True] Translation: X:278.22, Y:-211.65, Z:-20.03 [[ 7.50843752e-01 6.58134323e-01 5.56136037e-02 2.78221720e+02] [-6.56235519e-01 7.52899839e-01 -4.99677449e-02 -2.11649031e+02] [-7.47569612e-02 1.02234698e-03 9.97201259e-01 -2.00274859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters 0.02886484144038182 Centerline is valid? [True, True] Translation: X:278.25, Y:-211.67, Z:-20.03 [[ 7.50362703e-01 6.58653891e-01 5.59541413e-02 2.78245827e+02] [-6.56729262e-01 7.52445360e-01 -5.03255002e-02 -2.11670908e+02] [-7.52495205e-02 1.01565646e-03 9.97164218e-01 -2.00295019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69864 meters 0.028921789167124002 Centerline is valid? [True, True] Translation: X:278.27, Y:-211.69, Z:-20.03 [[ 7.50051748e-01 6.58962420e-01 5.64880897e-02 2.78269907e+02] [-6.56997722e-01 7.52175153e-01 -5.08579622e-02 -2.11693221e+02] [-7.60024233e-02 1.03355716e-03 9.97107097e-01 -2.00313533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters 0.029229233835531887 Centerline is valid? [True, True] Translation: X:278.29, Y:-211.72, Z:-20.03 [[ 7.51090280e-01 6.57888534e-01 5.51911907e-02 2.78292730e+02] [-6.56006504e-01 7.53114430e-01 -4.97405412e-02 -2.11716547e+02] [-7.42890139e-02 1.15385689e-03 9.97236086e-01 -2.00344264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75864 meters 0.029346328853512096 Centerline is valid? [True, True] Translation: X:278.32, Y:-211.74, Z:-20.03 [[ 7.52631700e-01 6.56243677e-01 5.37564932e-02 2.78315896e+02] [-6.54450612e-01 7.54547876e-01 -4.84963842e-02 -2.11740441e+02] [-7.23872932e-02 1.31894614e-03 9.97375727e-01 -2.00341695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters 0.029470528611290535 Centerline is valid? [True, True] Translation: X:278.34, Y:-211.76, Z:-20.04 [[ 7.53689204e-01 6.55034382e-01 5.36893078e-02 2.78339098e+02] [-6.53239302e-01 7.55597644e-01 -4.84831496e-02 -2.11763315e+02] [-7.23256444e-02 1.46926044e-03 9.97379989e-01 -2.00361203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81864 meters 0.029382979549119215 Centerline is valid? [True, True] Translation: X:278.36, Y:-211.79, Z:-20.04 [[ 7.53859701e-01 6.54934616e-01 5.24995349e-02 2.78361042e+02] [-6.53215150e-01 7.55684106e-01 -4.74499805e-02 -2.11786661e+02] [-7.07496988e-02 1.47713652e-03 9.97493007e-01 -2.00367891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters 0.029605880324104578 Centerline is valid? [True, True] Translation: X:278.38, Y:-211.81, Z:-20.04 [[ 7.54247888e-01 6.54459633e-01 5.28461240e-02 2.78383182e+02] [-6.52713170e-01 7.56095327e-01 -4.78055949e-02 -2.11810475e+02] [-7.12435395e-02 1.56390791e-03 9.97457725e-01 -2.00386548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87864 meters 0.029628218587099495 Centerline is valid? [True, True] Translation: X:278.40, Y:-211.84, Z:-20.04 [[ 7.54216015e-01 6.54395469e-01 5.40811803e-02 2.78404154e+02] [-6.52562925e-01 7.56150700e-01 -4.89668097e-02 -2.11835691e+02] [-7.29371806e-02 1.64017885e-03 9.97335188e-01 -2.00401682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters 0.029519044529027583 Centerline is valid? [True, True] Translation: X:278.43, Y:-211.86, Z:-20.04 [[ 7.53825668e-01 6.54878641e-01 5.36733403e-02 2.78425782e+02] [-6.53071674e-01 7.55732332e-01 -4.86418709e-02 -2.11860513e+02] [-7.24172009e-02 1.61495266e-03 9.97373120e-01 -2.00414227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93864 meters 0.029295907682560594 Centerline is valid? [True, True] Translation: X:278.45, Y:-211.88, Z:-20.04 [[ 7.53053934e-01 6.55779726e-01 5.35044338e-02 2.78447302e+02] [-6.53982985e-01 7.54950674e-01 -4.85359093e-02 -2.11884841e+02] [-7.22220736e-02 1.55916807e-03 9.97387358e-01 -2.00436331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96864 meters 0.0292018538195377 Centerline is valid? [True, True] Translation: X:278.47, Y:-211.91, Z:-20.05 [[ 7.52177515e-01 6.56830290e-01 5.29429467e-02 2.78468336e+02] [-6.55070687e-01 7.54036999e-01 -4.80686936e-02 -2.11909198e+02] [-7.14939146e-02 1.47481804e-03 9.97439946e-01 -2.00453444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99864 meters 0.029011993564965075 Centerline is valid? [True, True] Translation: X:278.49, Y:-211.93, Z:-20.05 [[ 7.50622796e-01 6.58636577e-01 5.25668923e-02 2.78489613e+02] [-6.56903327e-01 7.52460034e-01 -4.77694080e-02 -2.11934094e+02] [-7.10171650e-02 1.32544014e-03 9.97474213e-01 -2.00464881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02864 meters 0.028574601817032683 Centerline is valid? [True, True] Translation: X:278.51, Y:-211.96, Z:-20.05 [[ 7.46745548e-01 6.62991868e-01 5.30364890e-02 2.78508716e+02] [-6.61235263e-01 7.48625991e-01 -4.82395346e-02 -2.11960670e+02] [-7.16869133e-02 9.53060998e-04 9.97426728e-01 -2.00464327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05864 meters 0.02819628394761444 Centerline is valid? [True, True] Translation: X:278.53, Y:-211.99, Z:-20.05 [[ 7.41417876e-01 6.68939390e-01 5.31001471e-02 2.78529662e+02] [-6.67191098e-01 7.43316841e-01 -4.83333508e-02 -2.11986129e+02] [-7.18023159e-02 4.07264871e-04 9.97418800e-01 -2.00480081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08864 meters 0.028182432518115173 Centerline is valid? [True, True] Translation: X:278.55, Y:-212.01, Z:-20.05 [[ 7.38115504e-01 6.72634395e-01 5.24258909e-02 2.78551811e+02] [-6.70937894e-01 7.39974977e-01 -4.77428097e-02 -2.12009779e+02] [-7.09073034e-02 6.51912112e-05 9.97482907e-01 -2.00498534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11864 meters 0.028014454958546556 Centerline is valid? [True, True] Translation: X:278.57, Y:-212.03, Z:-20.05 [[ 7.34823436e-01 6.76342981e-01 5.09380985e-02 2.78573877e+02] [-6.74747457e-01 7.36586797e-01 -4.64301633e-02 -2.12033446e+02] [-6.89230459e-02 -2.52380298e-04 9.97621947e-01 -2.00510077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14864 meters 0.028415089829746897 Centerline is valid? [True, True] Translation: X:278.60, Y:-212.06, Z:-20.05 [[ 7.29265208e-01 6.82380946e-01 5.02842042e-02 2.78595072e+02] [-6.80837501e-01 7.30996332e-01 -4.58765735e-02 -2.12057990e+02] [-6.80628685e-02 -7.79182997e-04 9.97680730e-01 -2.00517403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17864000000003 meters 0.028593099215662984 Centerline is valid? [True, True] Translation: X:278.62, Y:-212.08, Z:-20.05 [[ 7.26326936e-01 6.85436363e-01 5.12462212e-02 2.78618287e+02] [-6.83837710e-01 7.28131777e-01 -4.67985300e-02 -2.12080379e+02] [-6.93914163e-02 -1.05306570e-03 9.97588955e-01 -2.00535312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20864 meters 0.029005417721116897 Centerline is valid? [True, True] Translation: X:278.64, Y:-212.10, Z:-20.05 [[ 7.21836728e-01 6.90180776e-01 5.10120912e-02 2.78641275e+02] [-6.88605458e-01 7.23635500e-01 -4.66281703e-02 -2.12103359e+02] [-6.90960269e-02 -1.46927852e-03 9.97608932e-01 -2.00543275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23864 meters 0.029294840261199065 Centerline is valid? [True, True] Translation: X:278.67, Y:-212.12, Z:-20.06 [[ 7.19545260e-01 6.92577428e-01 5.09030854e-02 2.78665067e+02] [-6.91011813e-01 7.21341623e-01 -4.65718514e-02 -2.12124516e+02] [-6.89731273e-02 -1.66407834e-03 9.97617130e-01 -2.00557206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26864 meters 0.029755816512779986 Centerline is valid? [True, True] Translation: X:278.69, Y:-212.15, Z:-20.06 [[ 7.17071661e-01 6.95161724e-01 5.05807373e-02 2.78689080e+02] [-6.93619409e-01 7.18850945e-01 -4.63188255e-02 -2.12145063e+02] [-6.85590854e-02 -1.86986401e-03 9.97645305e-01 -2.00575833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29864 meters 0.030507308447193578 Centerline is valid? [True, True] Translation: X:278.71, Y:-212.16, Z:-20.06 [[ 7.12150937e-01 7.00289979e-01 4.93456016e-02 2.78714916e+02] [-6.98832200e-01 7.13854847e-01 -4.52196151e-02 -2.12164370e+02] [-6.68924402e-02 -2.28110400e-03 9.97757585e-01 -2.00582259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32864 meters 0.030913839880812647 Centerline is valid? [True, True] Translation: X:278.74, Y:-212.18, Z:-20.06 [[ 7.09916899e-01 7.02480072e-01 5.03958869e-02 2.78740838e+02] [-7.00963674e-01 7.11698929e-01 -4.62013319e-02 -2.12184277e+02] [-6.83222136e-02 -2.52657974e-03 9.97660108e-01 -2.00593189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35864 meters 0.03102233352370734 Centerline is valid? [True, True] Translation: X:278.77, Y:-212.20, Z:-20.06 [[ 7.08897083e-01 7.03533594e-01 5.00540468e-02 2.78768590e+02] [-7.02037539e-01 7.10657316e-01 -4.59289926e-02 -2.12201304e+02] [-6.78838638e-02 -2.58089101e-03 9.97689892e-01 -2.00606062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38864 meters 0.030685008851748963 Centerline is valid? [True, True] Translation: X:278.79, Y:-212.22, Z:-20.06 [[ 7.09505005e-01 7.03011633e-01 4.87574851e-02 2.78794574e+02] [-7.01588323e-01 7.11174173e-01 -4.47785733e-02 -2.12220607e+02] [-6.61549221e-02 -2.43706031e-03 9.97806388e-01 -2.00629094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41864 meters 0.03024975534946305 Centerline is valid? [True, True] Translation: X:278.82, Y:-212.24, Z:-20.06 [[ 7.11287515e-01 7.01235291e-01 4.83646404e-02 2.78820305e+02] [-6.99828138e-01 7.12926445e-01 -4.44574024e-02 -2.12240220e+02] [-6.56555306e-02 -2.22494103e-03 9.97839867e-01 -2.00649234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44864 meters 0.029583133667992225 Centerline is valid? [True, True] Translation: X:278.85, Y:-212.26, Z:-20.07 [[ 7.15860482e-01 6.96429397e-01 5.02977606e-02 2.78847655e+02] [-6.94893114e-01 7.17622984e-01 -4.62689128e-02 -2.12256276e+02] [-6.83178601e-02 -1.82948130e-03 9.97661928e-01 -2.00677276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47864 meters 0.029583133667992225 Centerline is valid? [True, True] Translation: X:278.87, Y:-212.28, Z:-20.07 [[ 7.15497155e-01 6.96803251e-01 5.02896737e-02 2.78871778e+02] [-6.95267272e-01 7.17259922e-01 -4.62776996e-02 -2.12278074e+02] [-6.83172190e-02 -1.85320187e-03 9.97661928e-01 -2.00694218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50864 meters 0.029221491313403958 Centerline is valid? [True, True] Translation: X:278.90, Y:-212.30, Z:-20.07 [[ 7.17885042e-01 6.94277115e-01 5.11893840e-02 2.78897603e+02] [-6.92676299e-01 7.19705975e-01 -4.71471633e-02 -2.12297558e+02] [-6.95745021e-02 -1.61142973e-03 9.97575457e-01 -2.00710896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53864 meters 0.028565991780967283 Centerline is valid? [True, True] Translation: X:278.92, Y:-212.32, Z:-20.07 [[ 7.21526494e-01 6.90454448e-01 5.16930713e-02 2.78923333e+02] [-6.88810452e-01 7.23374816e-01 -4.76344112e-02 -2.12317563e+02] [-7.02828570e-02 -1.23723807e-03 9.97526335e-01 -2.00726294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56864 meters 0.02849741070320367 Centerline is valid? [True, True] Translation: X:278.95, Y:-212.34, Z:-20.07 [[ 7.23059372e-01 6.88862891e-01 5.15078853e-02 2.78947549e+02] [-6.87223504e-01 7.24890904e-01 -4.75082420e-02 -2.12338040e+02] [-7.00642625e-02 -1.04614981e-03 9.97541931e-01 -2.00747479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59864 meters 0.027954944701977853 Centerline is valid? [True, True] Translation: X:278.97, Y:-212.36, Z:-20.08 [[ 7.25403146e-01 6.86380906e-01 5.16868206e-02 2.78973426e+02] [-6.84720620e-01 7.27241809e-01 -4.77181588e-02 -2.12358034e+02] [-7.03416500e-02 -7.76129374e-04 9.97522656e-01 -2.00766403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62864 meters 0.027794257461293697 Centerline is valid? [True, True] Translation: X:279.00, Y:-212.38, Z:-20.08 [[ 7.26799135e-01 6.84892016e-01 5.18260884e-02 2.78996744e+02] [-6.83215792e-01 7.28644334e-01 -4.78917128e-02 -2.12380540e+02] [-7.05634373e-02 -6.00746570e-04 9.97507113e-01 -2.00786245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65864 meters 0.0276993938341639 Centerline is valid? [True, True] Translation: X:279.02, Y:-212.40, Z:-20.08 [[ 7.27665223e-01 6.83868192e-01 5.31753733e-02 2.79019407e+02] [-6.82097165e-01 7.29605419e-01 -4.91872997e-02 -2.12404484e+02] [-7.24346702e-02 -4.78883950e-04 9.97373044e-01 -2.00813974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68864 meters 0.027324655174357972 Centerline is valid? [True, True] Translation: X:279.04, Y:-212.43, Z:-20.08 [[ 7.29441760e-01 6.81986813e-01 5.29972213e-02 2.79041419e+02] [-6.80219022e-01 7.31364425e-01 -4.90730100e-02 -2.12428453e+02] [-7.22274279e-02 -2.53815208e-04 9.97388156e-01 -2.00834434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71864 meters 0.026776952612009894 Centerline is valid? [True, True] Translation: X:279.06, Y:-212.45, Z:-20.08 [[ 7.31692535e-01 6.79737850e-01 5.08182073e-02 2.79064442e+02] [-6.78104210e-01 7.33455149e-01 -4.70980408e-02 -2.12451163e+02] [-6.92871968e-02 1.24455488e-06 9.97596754e-01 -2.00847082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74864 meters 0.026852349787874426 Centerline is valid? [True, True] Translation: X:279.09, Y:-212.48, Z:-20.09 [[ 7.33041500e-01 6.78255724e-01 5.11794045e-02 2.79086962e+02] [-6.76591894e-01 7.34825926e-01 -4.74791236e-02 -2.12475542e+02] [-6.98109407e-02 1.76597792e-04 9.97560224e-01 -2.00877250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77864 meters 0.026990768043200067 Centerline is valid? [True, True] Translation: X:279.11, Y:-212.50, Z:-20.09 [[ 7.34786636e-01 6.76415049e-01 5.05102079e-02 2.79108965e+02] [-6.74786736e-01 7.36520559e-01 -4.69076381e-02 -2.12500922e+02] [-6.89308389e-02 3.83487235e-04 9.97621367e-01 -2.00895002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80864 meters 0.027278982868627386 Centerline is valid? [True, True] Translation: X:279.13, Y:-212.53, Z:-20.09 [[ 7.36371892e-01 6.74519594e-01 5.27233694e-02 2.79128212e+02] [-6.72736749e-01 7.38256682e-01 -4.90136476e-02 -2.12526861e+02] [-7.19840455e-02 6.23324320e-04 9.97405589e-01 -2.00908883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83864 meters 0.02735223050581424 Centerline is valid? [True, True] Translation: X:279.15, Y:-212.55, Z:-20.09 [[ 7.36388985e-01 6.74452316e-01 5.33416988e-02 2.79151205e+02] [-6.72623861e-01 7.38318104e-01 -4.96338372e-02 -2.12550073e+02] [-7.28587984e-02 6.70911603e-04 9.97342040e-01 -2.00923459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86864 meters 0.026946998294613143 Centerline is valid? [True, True] Translation: X:279.17, Y:-212.58, Z:-20.09 [[ 7.35573984e-01 6.75475160e-01 5.16160981e-02 2.79170706e+02] [-6.73762376e-01 7.37382509e-01 -4.80759432e-02 -2.12576356e+02] [-7.05349133e-02 5.86428161e-04 9.97509139e-01 -2.00937265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89864 meters 0.026951430967297747 Centerline is valid? [True, True] Translation: X:279.19, Y:-212.60, Z:-20.10 [[ 7.34033166e-01 6.77184229e-01 5.11549758e-02 2.79191470e+02] [-6.75503046e-01 7.35813371e-01 -4.76898021e-02 -2.12601448e+02] [-6.99352971e-02 4.50554359e-04 9.97551428e-01 -2.00959138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864000000003 meters 0.02680888963241032 Centerline is valid? [True, True] Translation: X:279.21, Y:-212.63, Z:-20.10 [[ 7.32662163e-01 6.78723543e-01 5.04034460e-02 2.79212622e+02] [-6.77092126e-01 7.34393793e-01 -4.70320098e-02 -2.12625829e+02] [-6.89377102e-02 3.30797632e-04 9.97620911e-01 -2.00960292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95864 meters 0.026874415520039663 Centerline is valid? [True, True] Translation: X:279.23, Y:-212.65, Z:-20.10 [[ 7.28280553e-01 6.83311429e-01 5.18934227e-02 2.79233469e+02] [-6.81590203e-01 7.30127034e-01 -4.84696801e-02 -2.12651675e+02] [-7.10086772e-02 -7.05230679e-05 9.97475695e-01 -2.00968869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters 0.026907015502030944 Centerline is valid? [True, True] Translation: X:279.26, Y:-212.68, Z:-20.10 [[ 7.26153647e-01 6.85616701e-01 5.12895739e-02 2.79255844e+02] [-6.83937504e-01 7.27962687e-01 -4.79563979e-02 -2.12675334e+02] [-7.02166034e-02 -2.55149914e-04 9.97531736e-01 -2.00985251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01864 meters 0.026823667305565325 Centerline is valid? [True, True] Translation: X:279.28, Y:-212.70, Z:-20.10 [[ 7.24415426e-01 6.87483110e-01 5.08848123e-02 2.79276877e+02] [-6.85831366e-01 7.26200259e-01 -4.76289885e-02 -2.12701325e+02] [-6.96966891e-02 -3.95226397e-04 9.97568151e-01 -2.01005144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters 0.026903239602342865 Centerline is valid? [True, True] Translation: X:279.30, Y:-212.72, Z:-20.10 [[ 7.24425103e-01 6.87448474e-01 5.12139206e-02 2.79299817e+02] [-6.85771523e-01 7.26233068e-01 -4.79890632e-02 -2.12724564e+02] [-7.01832509e-02 -3.56566296e-04 9.97534052e-01 -2.01019149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07864 meters 0.026888862884380887 Centerline is valid? [True, True] Translation: X:279.32, Y:-212.75, Z:-20.10 [[ 7.24513868e-01 6.87285347e-01 5.21393064e-02 2.79323402e+02] [-6.85542908e-01 7.26387471e-01 -4.89097525e-02 -2.12747875e+02] [-7.14882951e-02 -3.07937771e-04 9.97441391e-01 -2.01039055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters 0.02679052328092187 Centerline is valid? [True, True] Translation: X:279.35, Y:-212.77, Z:-20.11 [[ 7.26070002e-01 6.85675477e-01 5.16864797e-02 2.79345683e+02] [-6.83955425e-01 7.27907362e-01 -4.85370858e-02 -2.12771784e+02] [-7.09036585e-02 -1.09926195e-04 9.97483162e-01 -2.01051038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13864 meters 0.026696552569218858 Centerline is valid? [True, True] Translation: X:279.37, Y:-212.80, Z:-20.11 [[ 7.26148991e-01 6.85666725e-01 5.06831863e-02 2.79367504e+02] [-6.84009435e-01 7.27915612e-01 -4.76440447e-02 -2.12795082e+02] [-6.95610187e-02 -7.11026598e-05 9.97577696e-01 -2.01056494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters 0.026678507777963986 Centerline is valid? [True, True] Translation: X:279.39, Y:-212.82, Z:-20.11 [[ 7.26353935e-01 6.85526941e-01 4.96263419e-02 2.79389031e+02] [-6.83934837e-01 7.28047259e-01 -4.66939652e-02 -2.12818806e+02] [-6.81402933e-02 -2.48386936e-05 9.97675749e-01 -2.01060394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19864 meters 0.026587430535642772 Centerline is valid? [True, True] Translation: X:279.41, Y:-212.84, Z:-20.11 [[ 7.25269071e-01 6.86669995e-01 4.96899739e-02 2.79412611e+02] [-6.85073364e-01 7.26969263e-01 -4.67993338e-02 -2.12842034e+02] [-6.82587820e-02 -9.91681748e-05 9.97667645e-01 -2.01080854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters 0.026448952980816245 Centerline is valid? [True, True] Translation: X:279.43, Y:-212.87, Z:-20.11 [[ 7.22316516e-01 6.89854963e-01 4.85693437e-02 2.79434623e+02] [-6.88334014e-01 7.23947512e-01 -4.57852050e-02 -2.12865771e+02] [-6.67468064e-02 -3.60521524e-04 9.97769880e-01 -2.01074196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25864 meters 0.026503822584847653 Centerline is valid? [True, True] Translation: X:279.46, Y:-212.89, Z:-20.11 [[ 7.20556156e-01 6.91672103e-01 4.88725817e-02 2.79458118e+02] [-6.90134676e-01 7.22211491e-01 -4.60943781e-02 -2.12889396e+02] [-6.71785354e-02 -5.15075470e-04 9.97740838e-01 -2.01091346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters 0.026535659843974543 Centerline is valid? [True, True] Translation: X:279.48, Y:-212.91, Z:-20.11 [[ 7.18315497e-01 6.94005795e-01 4.87729687e-02 2.79482029e+02] [-6.92476634e-01 7.19969078e-01 -4.60503958e-02 -2.12912237e+02] [-6.70742709e-02 -6.95428234e-04 9.97747743e-01 -2.01103453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31864 meters 0.02662477257265789 Centerline is valid? [True, True] Translation: X:279.51, Y:-212.93, Z:-20.11 [[ 7.15188661e-01 6.97117866e-01 5.03175995e-02 2.79505540e+02] [-6.95494295e-01 7.16955869e-01 -4.75601404e-02 -2.12933982e+02] [-6.92305218e-02 -9.81130294e-04 9.97600207e-01 -2.01106031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters 0.026660934292029762 Centerline is valid? [True, True] Translation: X:279.53, Y:-212.96, Z:-20.11 [[ 7.13758043e-01 6.98633854e-01 4.96003516e-02 2.79529376e+02] [-6.97056846e-01 7.15478562e-01 -4.69273972e-02 -2.12956512e+02] [-6.82730566e-02 -1.07945743e-03 9.97666089e-01 -2.01118791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37864 meters 0.026754788541261808 Centerline is valid? [True, True] Translation: X:279.55, Y:-212.98, Z:-20.11 [[ 7.13174395e-01 6.99187739e-01 5.01875194e-02 2.79553705e+02] [-6.97570947e-01 7.14937253e-01 -4.75341850e-02 -2.12978827e+02] [-6.91162466e-02 -1.10919178e-03 9.97607996e-01 -2.01131906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40864 meters 0.026745032267269018 Centerline is valid? [True, True] Translation: X:279.58, Y:-213.00, Z:-20.11 [[ 7.12656098e-01 6.99712603e-01 5.02350309e-02 2.79578662e+02] [-6.98090511e-01 7.14423549e-01 -4.76301536e-02 -2.13000702e+02] [-6.92165079e-02 -1.12467895e-03 9.97601028e-01 -2.01147584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43864 meters 0.026672447696175734 Centerline is valid? [True, True] Translation: X:279.61, Y:-213.02, Z:-20.12 [[ 7.12157229e-01 7.00180898e-01 5.07818018e-02 2.79605643e+02] [-6.98520808e-01 7.13964563e-01 -4.82004442e-02 -2.13020827e+02] [-7.00054372e-02 -1.14585050e-03 9.97545952e-01 -2.01168699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46864 meters 0.02663648369907996 Centerline is valid? [True, True] Translation: X:279.63, Y:-213.04, Z:-20.12 [[ 7.12376264e-01 6.99932753e-01 5.11292451e-02 2.79630140e+02] [-6.98245528e-01 7.14207917e-01 -4.85822391e-02 -2.13043106e+02] [-7.05212120e-02 -1.09193270e-03 9.97509682e-01 -2.01184993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49864 meters 0.026441526050547292 Centerline is valid? [True, True] Translation: X:279.65, Y:-213.07, Z:-20.12 [[ 7.13120668e-01 6.99168059e-01 5.12146306e-02 2.79653125e+02] [-6.97469659e-01 7.14956685e-01 -4.87135873e-02 -2.13065229e+02] [-7.06752268e-02 -9.81984991e-04 9.97498896e-01 -2.01200206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52864 meters 0.026157881277733337 Centerline is valid? [True, True] Translation: X:279.68, Y:-213.09, Z:-20.12 [[ 7.15214422e-01 6.96998766e-01 5.15853788e-02 2.79676802e+02] [-6.95266737e-01 7.17071944e-01 -4.91120356e-02 -2.13087129e+02] [-7.12214561e-02 -7.39961893e-04 9.97460253e-01 -2.01211594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55864 meters 0.026099119172547085 Centerline is valid? [True, True] Translation: X:279.70, Y:-213.11, Z:-20.12 [[ 7.16637895e-01 6.95490541e-01 5.21827130e-02 2.79702013e+02] [-6.93710580e-01 7.18535032e-01 -4.97296635e-02 -2.13109118e+02] [-7.20816179e-02 -5.61538787e-04 9.97398579e-01 -2.01223673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58864 meters 0.02591519368295541 Centerline is valid? [True, True] Translation: X:279.72, Y:-213.13, Z:-20.13 [[ 7.18792537e-01 6.93241113e-01 5.24790330e-02 2.79724487e+02] [-6.91430903e-01 7.20705675e-01 -5.00663153e-02 -2.13133520e+02] [-7.25299651e-02 -2.98331404e-04 9.97366189e-01 -2.01253905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61864 meters 0.025878790351959998 Centerline is valid? [True, True] Translation: X:279.75, Y:-213.16, Z:-20.13 [[ 7.18865700e-01 6.93238313e-01 5.15048309e-02 2.79747196e+02] [-6.91491143e-01 7.20708385e-01 -4.91876235e-02 -2.13156941e+02] [-7.12187086e-02 -2.55839043e-04 9.97460691e-01 -2.01260438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64864 meters 0.02578405027353186 Centerline is valid? [True, True] Translation: X:279.77, Y:-213.18, Z:-20.13 [[ 7.16181041e-01 6.96020193e-01 5.13868397e-02 2.79771431e+02] [-6.94284729e-01 7.18022036e-01 -4.91230110e-02 -2.13179047e+02] [-7.10874909e-02 -4.96128927e-04 9.97469961e-01 -2.01264269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67864000000003 meters 0.0256411445222272 Centerline is valid? [True, True] Translation: X:279.79, Y:-213.20, Z:-20.13 [[ 7.13705434e-01 6.98508698e-01 5.20591236e-02 2.79794804e+02] [-6.96730278e-01 7.15601206e-01 -4.98180020e-02 -2.13200847e+02] [-7.20518794e-02 -7.15788958e-04 9.97400629e-01 -2.01279203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70864 meters 0.025767583440167947 Centerline is valid? [True, True] Translation: X:279.82, Y:-213.22, Z:-20.13 [[ 7.11679119e-01 7.00512512e-01 5.28682433e-02 2.79817295e+02] [-6.98680334e-01 7.13639553e-01 -5.06396937e-02 -2.13223191e+02] [-7.32026086e-02 -8.98789307e-04 9.97316685e-01 -2.01288922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73864 meters 0.02621132173296883 Centerline is valid? [True, True] Translation: X:279.84, Y:-213.25, Z:-20.13 [[ 7.08702643e-01 7.03527474e-01 5.28172000e-02 2.79839172e+02] [-7.01703861e-01 7.10667088e-01 -5.06357707e-02 -2.13246859e+02] [-7.31591015e-02 -1.17632862e-03 9.97319589e-01 -2.01298131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76864 meters 0.02627379930212607 Centerline is valid? [True, True] Translation: X:279.86, Y:-213.27, Z:-20.13 [[ 7.06958761e-01 7.05258637e-01 5.30995818e-02 2.79864152e+02] [-7.03416796e-01 7.08948863e-01 -5.09541069e-02 -2.13267749e+02] [-7.35807121e-02 -1.32868542e-03 9.97288380e-01 -2.01333012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79864 meters 0.026529553660487603 Centerline is valid? [True, True] Translation: X:279.89, Y:-213.28, Z:-20.13 [[ 7.04850526e-01 7.07383951e-01 5.28553012e-02 2.79892335e+02] [-7.05561553e-01 7.06827890e-01 -5.07664196e-02 -2.13284887e+02] [-7.32709514e-02 -1.50993083e-03 9.97310928e-01 -2.01348829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82864 meters 0.026494997369645973 Centerline is valid? [True, True] Translation: X:279.92, Y:-213.31, Z:-20.14 [[ 7.03644811e-01 7.08589802e-01 5.27681046e-02 2.79918010e+02] [-7.06773238e-01 7.05618834e-01 -5.07311643e-02 -2.13306266e+02] [-7.31817540e-02 -1.59836365e-03 9.97317340e-01 -2.01355819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85864 meters 0.026814670898639644 Centerline is valid? [True, True] Translation: X:279.94, Y:-213.33, Z:-20.14 [[ 7.01690689e-01 7.10555948e-01 5.23490431e-02 2.79944283e+02] [-7.08769894e-01 7.03638524e-01 -5.03792058e-02 -2.13325008e+02] [-7.26320478e-02 -1.75280613e-03 9.97357265e-01 -2.01364140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88864 meters 0.026835447208876883 Centerline is valid? [True, True] Translation: X:279.97, Y:-213.34, Z:-20.14 [[ 7.00609048e-01 7.11684838e-01 5.14942014e-02 2.79972053e+02] [-7.09956396e-01 7.02496569e-01 -4.96032978e-02 -2.13344119e+02] [-7.14764147e-02 -1.80611838e-03 9.97440655e-01 -2.01380370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91864 meters 0.027091270911653958 Centerline is valid? [True, True] Translation: X:280.00, Y:-213.36, Z:-20.14 [[ 6.98732171e-01 7.13577669e-01 5.07962947e-02 2.80002794e+02] [-7.11897334e-01 7.00573447e-01 -4.89798974e-02 -2.13357899e+02] [-7.05374963e-02 -1.93791676e-03 9.97507246e-01 -2.01415285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94864 meters 0.026991814538317636 Centerline is valid? [True, True] Translation: X:280.03, Y:-213.38, Z:-20.14 [[ 6.98848665e-01 7.13471350e-01 5.06870488e-02 2.80028333e+02] [-7.11794830e-01 7.00681849e-01 -4.89189794e-02 -2.13377181e+02] [-7.04177854e-02 -1.89181583e-03 9.97515793e-01 -2.01431947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97864 meters 0.0266684659270031 Centerline is valid? [True, True] Translation: X:280.05, Y:-213.40, Z:-20.14 [[ 6.99329963e-01 7.12983296e-01 5.09158446e-02 2.80054522e+02] [-7.11287104e-01 7.01178658e-01 -4.91848182e-02 -2.13397026e+02] [-7.07690573e-02 -1.81936652e-03 9.97491068e-01 -2.01442403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00864 meters 0.026276697547418522 Centerline is valid? [True, True] Translation: X:280.08, Y:-213.41, Z:-20.14 [[ 7.01258943e-01 7.11035162e-01 5.16226045e-02 2.80084409e+02] [-7.09282891e-01 7.03154605e-01 -4.99137398e-02 -2.13412014e+02] [-7.17890961e-02 -1.61257374e-03 9.97418531e-01 -2.01442108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03864 meters 0.02613946445185166 Centerline is valid? [True, True] Translation: X:280.11, Y:-213.43, Z:-20.15 [[ 7.02230743e-01 7.10044023e-01 5.20525533e-02 2.80111552e+02] [-7.08256283e-01 7.04155709e-01 -5.03763338e-02 -2.13430551e+02] [-7.24225173e-02 -1.49073754e-03 9.97372928e-01 -2.01458635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06864 meters 0.025867016211301525 Centerline is valid? [True, True] Translation: X:280.14, Y:-213.45, Z:-20.15 [[ 7.04788837e-01 7.07569577e-01 5.11662993e-02 2.80139664e+02] [-7.05832489e-01 7.06642693e-01 -4.95641112e-02 -2.13447913e+02] [-7.12263487e-02 -1.18260414e-03 9.97459477e-01 -2.01468419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09864 meters 0.025738179152133167 Centerline is valid? [True, True] Translation: X:280.17, Y:-213.47, Z:-20.15 [[ 7.06157039e-01 7.06168084e-01 5.16611374e-02 2.80165402e+02] [-7.04390048e-01 7.08043502e-01 -5.00905051e-02 -2.13467065e+02] [-7.19506487e-02 -1.01782829e-03 9.97407674e-01 -2.01493215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12864 meters 0.025527145005607193 Centerline is valid? [True, True] Translation: X:280.19, Y:-213.49, Z:-20.15 [[ 7.07610372e-01 7.04745537e-01 5.11985290e-02 2.80191879e+02] [-7.02992208e-01 7.09459679e-01 -4.96882358e-02 -2.13485657e+02] [-7.13408543e-02 -8.32255868e-04 9.97451648e-01 -2.01509821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15864 meters 0.025392906210029972 Centerline is valid? [True, True] Translation: X:280.22, Y:-213.50, Z:-20.15 [[ 7.10537063e-01 7.01802659e-01 5.10892303e-02 2.80221768e+02] [-7.00045898e-01 7.12371234e-01 -4.96282702e-02 -2.13501189e+02] [-7.12237500e-02 -5.02080807e-04 9.97460238e-01 -2.01522163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18864 meters 0.02543879806233042 Centerline is valid? [True, True] Translation: X:280.25, Y:-213.52, Z:-20.15 [[ 7.12529451e-01 6.99805430e-01 5.07359921e-02 2.80248371e+02] [-6.98064593e-01 7.14333457e-01 -4.93308770e-02 -2.13520261e+02] [-7.07644323e-02 -2.67296944e-04 9.97493019e-01 -2.01534303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21864 meters 0.02559238512652646 Centerline is valid? [True, True] Translation: X:280.27, Y:-213.54, Z:-20.16 [[ 7.12767788e-01 6.99488511e-01 5.17484766e-02 2.80272867e+02] [-6.97673134e-01 7.14643814e-01 -5.03628506e-02 -2.13540746e+02] [-7.22099640e-02 -2.06504266e-04 9.97389432e-01 -2.01554136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24864 meters 0.025437598812275475 Centerline is valid? [True, True] Translation: X:280.30, Y:-213.56, Z:-20.16 [[ 7.12867194e-01 6.99389735e-01 5.17142327e-02 2.80298841e+02] [-6.97572996e-01 7.14740493e-01 -5.03780054e-02 -2.13561409e+02] [-7.21961160e-02 -1.61624935e-04 9.97390442e-01 -2.01578505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27864 meters 0.025518347144189567 Centerline is valid? [True, True] Translation: X:280.33, Y:-213.58, Z:-20.16 [[ 7.12907369e-01 6.99383896e-01 5.12371939e-02 2.80326221e+02] [-6.97596793e-01 7.14746215e-01 -4.99656086e-02 -2.13580010e+02] [-7.15667324e-02 -1.22051568e-04 9.97435806e-01 -2.01599682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30864 meters 0.025494507788811658 Centerline is valid? [True, True] Translation: X:280.35, Y:-213.60, Z:-20.16 [[ 7.12645899e-01 6.99647847e-01 5.12709834e-02 2.80351120e+02] [-6.97855264e-01 7.14487843e-01 -5.00515013e-02 -2.13601675e+02] [-7.16509195e-02 -1.10728489e-04 9.97429764e-01 -2.01617983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33864 meters 0.02580546550188194 Centerline is valid? [True, True] Translation: X:280.38, Y:-213.62, Z:-20.16 [[ 7.13657513e-01 6.98572634e-01 5.18577814e-02 2.80376216e+02] [-6.96731935e-01 7.15539149e-01 -5.06787613e-02 -2.13623132e+02] [-7.25090686e-02 3.63063283e-05 9.97367752e-01 -2.01646081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36864 meters 0.025822197885088865 Centerline is valid? [True, True] Translation: X:280.40, Y:-213.65, Z:-20.17 [[ 7.13847103e-01 6.98353932e-01 5.21929005e-02 2.80400870e+02] [-6.96484762e-01 7.15752594e-01 -5.10607580e-02 -2.13645679e+02] [-7.30156850e-02 9.80143394e-05 9.97330788e-01 -2.01668277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39864 meters 0.025822197885088865 Centerline is valid? [True, True] Translation: X:280.42, Y:-213.67, Z:-20.17 [[ 7.13481529e-01 6.98729428e-01 5.21660287e-02 2.80424346e+02] [-6.96859253e-01 7.15386034e-01 -5.10882008e-02 -2.13668191e+02] [-7.30156777e-02 9.81078124e-05 9.97330788e-01 -2.01685205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864000000003 meters 0.025904264779326624 Centerline is valid? [True, True] Translation: X:280.45, Y:-213.69, Z:-20.17 [[ 7.13826383e-01 6.98340170e-01 5.26583433e-02 2.80448133e+02] [-6.96429393e-01 7.15766006e-01 -5.16248618e-02 -2.13691362e+02] [-7.37427668e-02 1.78370395e-04 9.97277280e-01 -2.01710233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45864 meters 0.026184949271817623 Centerline is valid? [True, True] Translation: X:280.47, Y:-213.71, Z:-20.17 [[ 7.16430937e-01 6.95661616e-01 5.27411460e-02 2.80470814e+02] [-6.93733669e-01 7.18369454e-01 -5.17583240e-02 -2.13713939e+02] [-7.38939076e-02 4.92955842e-04 9.97265986e-01 -2.01738025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters 0.026261843282635082 Centerline is valid? [True, True] Translation: X:280.49, Y:-213.74, Z:-20.18 [[ 7.17834672e-01 6.94190720e-01 5.30342147e-02 2.80493537e+02] [-6.92233696e-01 7.19790788e-01 -5.20935001e-02 -2.13735992e+02] [-7.43363635e-02 6.82450161e-04 9.97232992e-01 -2.01765893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51864 meters 0.02640640663793702 Centerline is valid? [True, True] Translation: X:280.51, Y:-213.76, Z:-20.18 [[ 7.21054848e-01 6.90910069e-01 5.21841139e-02 2.80514792e+02] [-6.89003427e-01 7.22939969e-01 -5.13037860e-02 -2.13760481e+02] [-7.31722840e-02 1.03781036e-03 9.97318775e-01 -2.01778645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters 0.026910030174807028 Centerline is valid? [True, True] Translation: X:280.54, Y:-213.78, Z:-20.18 [[ 7.22662257e-01 6.89215105e-01 5.23622134e-02 2.80536414e+02] [-6.87287558e-01 7.24555715e-01 -5.15250345e-02 -2.13784613e+02] [-7.34511730e-02 1.24729991e-03 9.97298034e-01 -2.01809203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57864 meters 0.027303719954003745 Centerline is valid? [True, True] Translation: X:280.56, Y:-213.81, Z:-20.18 [[ 7.24948941e-01 6.86892167e-01 5.12658196e-02 2.80556649e+02] [-6.85035595e-01 7.26757834e-01 -5.04904423e-02 -2.13810323e+02] [-7.19393253e-02 1.48408144e-03 9.97407906e-01 -2.01823284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters 0.02731703238035318 Centerline is valid? [True, True] Translation: X:280.58, Y:-213.83, Z:-20.18 [[ 7.24735682e-01 6.87126010e-01 5.11472241e-02 2.80578498e+02] [-6.85275296e-01 7.26536732e-01 -5.04196891e-02 -2.13834853e+02] [-7.18050168e-02 1.49101861e-03 9.97417574e-01 -2.01846123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63864 meters 0.027406135589339166 Centerline is valid? [True, True] Translation: X:280.60, Y:-213.86, Z:-20.19 [[ 7.24559448e-01 6.87364591e-01 5.04333845e-02 2.80600216e+02] [-6.85562299e-01 7.26311036e-01 -4.97655872e-02 -2.13860004e+02] [-7.08374262e-02 1.48289931e-03 9.97486772e-01 -2.01853653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters 0.02706249941528846 Centerline is valid? [True, True] Translation: X:280.62, Y:-213.89, Z:-20.19 [[ 7.22631552e-01 6.89349159e-01 5.10036946e-02 2.80618387e+02] [-6.87507219e-01 7.24428012e-01 -5.03773628e-02 -2.13887492e+02] [-7.16760977e-02 1.33886365e-03 9.97427062e-01 -2.01862801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69864 meters 0.027046772707604097 Centerline is valid? [True, True] Translation: X:280.64, Y:-213.91, Z:-20.19 [[ 7.20963502e-01 6.91071582e-01 5.13000652e-02 2.80640741e+02] [-6.89209258e-01 7.22785315e-01 -5.07147643e-02 -2.13911140e+02] [-7.21264662e-02 1.20701421e-03 9.97394764e-01 -2.01885006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters 0.026652291153951874 Centerline is valid? [True, True] Translation: X:280.66, Y:-213.94, Z:-20.19 [[ 7.17860456e-01 6.94249489e-01 5.19038732e-02 2.80662310e+02] [-6.92347906e-01 7.19733824e-01 -5.13575608e-02 -2.13935513e+02] [-7.30119335e-02 9.32024055e-04 9.97330632e-01 -2.01901010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75864 meters 0.026782503630740476 Centerline is valid? [True, True] Translation: X:280.68, Y:-213.96, Z:-20.19 [[ 7.15951102e-01 6.96185160e-01 5.23473207e-02 2.80684400e+02] [-6.94253265e-01 7.17861848e-01 -5.18340716e-02 -2.13959438e+02] [-7.36642558e-02 7.68362395e-04 9.97282802e-01 -2.01937015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters 0.02661386318526253 Centerline is valid? [True, True] Translation: X:280.71, Y:-213.98, Z:-20.20 [[ 7.14423401e-01 6.97829212e-01 5.13185669e-02 2.80706780e+02] [-6.95975065e-01 7.16263935e-01 -5.08397864e-02 -2.13982727e+02] [-7.22351267e-02 6.04690204e-04 9.97387448e-01 -2.01953792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81864 meters 0.02642274614758661 Centerline is valid? [True, True] Translation: X:280.73, Y:-214.00, Z:-20.20 [[ 7.12209526e-01 7.00085220e-01 5.13641406e-02 2.80730887e+02] [-6.98230285e-01 7.14059183e-01 -5.09308578e-02 -2.14003863e+02] [-7.23329770e-02 4.09443539e-04 9.97380455e-01 -2.01973639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters 0.02657307312814138 Centerline is valid? [True, True] Translation: X:280.76, Y:-214.03, Z:-20.20 [[ 7.11285210e-01 7.01027804e-01 5.13163568e-02 2.80756244e+02] [-6.99175282e-01 7.13133856e-01 -5.09316023e-02 -2.14025272e+02] [-7.22999008e-02 3.47767250e-04 9.97382877e-01 -2.01989203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87864 meters 0.026625198169943826 Centerline is valid? [True, True] Translation: X:280.78, Y:-214.05, Z:-20.20 [[ 7.11363654e-01 7.00955915e-01 5.12109088e-02 2.80780631e+02] [-6.99106969e-01 7.13204495e-01 -5.08801968e-02 -2.14047851e+02] [-7.21886252e-02 3.92419534e-04 9.97390921e-01 -2.02020176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90864 meters 0.026628104422695545 Centerline is valid? [True, True] Translation: X:280.80, Y:-214.07, Z:-20.20 [[ 7.11830531e-01 7.00540501e-01 5.04014057e-02 2.80804729e+02] [-6.98744899e-01 7.13612494e-01 -5.01275854e-02 -2.14069809e+02] [-7.10834766e-02 4.64620569e-04 9.97470262e-01 -2.02039215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93864 meters 0.026915630812260997 Centerline is valid? [True, True] Translation: X:280.83, Y:-214.09, Z:-20.21 [[ 7.13992628e-01 6.98307698e-01 5.08024292e-02 2.80829818e+02] [-6.96474048e-01 7.15797337e-01 -5.05773931e-02 -2.14090698e+02] [-7.16828265e-02 7.29312238e-04 9.97427211e-01 -2.02072329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96864 meters 0.027212707984136907 Centerline is valid? [True, True] Translation: X:280.85, Y:-214.11, Z:-20.21 [[ 7.15337929e-01 6.96934703e-01 5.07313266e-02 2.80853581e+02] [-6.95099448e-01 7.17134026e-01 -5.05523995e-02 -2.14112643e+02] [-7.16128820e-02 8.98731606e-04 9.97432097e-01 -2.02084365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99864 meters 0.027608553649495673 Centerline is valid? [True, True] Translation: X:280.88, Y:-214.13, Z:-20.21 [[ 7.18895357e-01 6.93299458e-01 5.02526325e-02 2.80876860e+02] [-6.91486640e-01 7.20648471e-01 -5.01199432e-02 -2.14134942e+02] [-7.09626122e-02 1.28197050e-03 9.97478152e-01 -2.02094445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02864 meters 0.02782296528073054 Centerline is valid? [True, True] Translation: X:280.90, Y:-214.16, Z:-20.21 [[ 7.20066037e-01 6.92165051e-01 4.91166537e-02 2.80900396e+02] [-6.90427656e-01 7.21737902e-01 -4.90311366e-02 -2.14158269e+02] [-6.93869898e-02 1.39416011e-03 9.97588844e-01 -2.02103600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05864 meters 0.02789261522597754 Centerline is valid? [True, True] Translation: X:280.92, Y:-214.18, Z:-20.21 [[ 7.19956431e-01 6.92230755e-01 4.97927586e-02 2.80923007e+02] [-6.90441819e-01 7.21674789e-01 -4.97553440e-02 -2.14181452e+02] [-7.03763579e-02 1.44267708e-03 9.97519467e-01 -2.02128137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08864 meters 0.027851419372906527 Centerline is valid? [True, True] Translation: X:280.94, Y:-214.21, Z:-20.21 [[ 7.19532287e-01 6.92725688e-01 4.90347750e-02 2.80943438e+02] [-6.90989043e-01 7.21199799e-01 -4.90407175e-02 -2.14206972e+02] [-6.93356346e-02 1.40388734e-03 9.97592401e-01 -2.02133218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11864 meters 0.027873232681788707 Centerline is valid? [True, True] Translation: X:280.93, Y:-214.36, Z:-18.62 [[ 7.41353152e-01 -6.70709148e-01 -2.33397062e-02 2.80931704e+02] [-6.70244003e-01 -7.41714370e-01 2.51549224e-02 -2.14363101e+02] [-3.41830320e-02 -3.00538290e-03 -9.99411071e-01 -1.86212346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14864 meters 0.027846427049262462 Centerline is valid? [True, True] Translation: X:280.96, Y:-214.25, Z:-20.22 [[ 7.65860638e-01 6.40805566e-01 5.31574035e-02 2.80963741e+02] [-6.39146223e-01 7.67702055e-01 -4.61048786e-02 -2.14250725e+02] [-7.03533107e-02 1.33455799e-03 9.97521243e-01 -2.02151333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17864000000003 meters 0.02782352738208767 Centerline is valid? [True, True] Translation: X:280.99, Y:-214.27, Z:-20.22 [[ 7.64663197e-01 6.42138558e-01 5.42979514e-02 2.80988367e+02] [-6.40406984e-01 7.66587533e-01 -4.71428656e-02 -2.14273159e+02] [-7.18963843e-02 1.27562703e-03 9.97411291e-01 -2.02171039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20864 meters 0.027649858303394708 Centerline is valid? [True, True] Translation: X:281.01, Y:-214.30, Z:-20.22 [[ 7.64455421e-01 6.42458987e-01 5.34262047e-02 2.81009452e+02] [-6.40780713e-01 7.66319043e-01 -4.64241523e-02 -2.14298555e+02] [-7.07671319e-02 1.25471336e-03 9.97492075e-01 -2.02196690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23864 meters 0.027718649104118465 Centerline is valid? [True, True] Translation: X:281.03, Y:-214.32, Z:-20.22 [[ 7.65022464e-01 6.41744040e-01 5.39000599e-02 2.81031358e+02] [-6.40032446e-01 7.66917704e-01 -4.68583244e-02 -2.14321917e+02] [-7.14079606e-02 1.34988362e-03 9.97446280e-01 -2.02215291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26864 meters 0.027896222237307994 Centerline is valid? [True, True] Translation: X:281.05, Y:-214.35, Z:-20.22 [[ 7.65659656e-01 6.41043938e-01 5.31785772e-02 2.81054208e+02] [-6.39373721e-01 7.67502862e-01 -4.62666430e-02 -2.14345471e+02] [-7.04736612e-02 1.42351724e-03 9.97512625e-01 -2.02228783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29864 meters 0.028323905735184656 Centerline is valid? [True, True] Translation: X:281.08, Y:-214.37, Z:-20.22 [[ 7.66789539e-01 6.39695700e-01 5.31339319e-02 2.81077116e+02] [-6.38023183e-01 7.68626670e-01 -4.62543047e-02 -2.14368021e+02] [-7.04288369e-02 1.56663656e-03 9.97515576e-01 -2.02248808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32864 meters 0.02830397512885571 Centerline is valid? [True, True] Translation: X:281.10, Y:-214.39, Z:-20.23 [[ 7.65989818e-01 6.40651895e-01 5.31483499e-02 2.81101066e+02] [-6.38977695e-01 7.67829969e-01 -4.63103093e-02 -2.14390584e+02] [-7.04776833e-02 1.51261532e-03 9.97512210e-01 -2.02263107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35864 meters 0.027786814774390003 Centerline is valid? [True, True] Translation: X:281.12, Y:-214.41, Z:-20.23 [[ 7.63458598e-01 6.43701231e-01 5.27227990e-02 2.81124691e+02] [-6.42057835e-01 7.65275863e-01 -4.59846669e-02 -2.14412852e+02] [-6.99478722e-02 1.25630309e-03 9.97549857e-01 -2.02265194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38864 meters 0.02760577037821848 Centerline is valid? [True, True] Translation: X:281.15, Y:-214.43, Z:-20.23 [[ 7.62094111e-01 6.45333683e-01 5.25071787e-02 2.81149236e+02] [-6.43704700e-01 7.63899963e-01 -4.58378285e-02 -2.14434130e+02] [-6.96909266e-02 1.13362148e-03 9.97567988e-01 -2.02281969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41864 meters 0.027461074137300864 Centerline is valid? [True, True] Translation: X:281.17, Y:-214.46, Z:-20.23 [[ 7.59482093e-01 6.48456236e-01 5.18792857e-02 2.81173683e+02] [-6.46870452e-01 7.61251440e-01 -4.53305995e-02 -2.14455492e+02] [-6.88880909e-02 8.68601530e-04 9.97624016e-01 -2.02300625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44864 meters 0.027440883659314963 Centerline is valid? [True, True] Translation: X:281.20, Y:-214.48, Z:-20.23 [[ 7.58634942e-01 6.49450893e-01 5.18320510e-02 2.81197790e+02] [-6.47867359e-01 7.60403104e-01 -4.53321569e-02 -2.14477447e+02] [-6.88542623e-02 8.10264210e-04 9.97626400e-01 -2.02315450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47864 meters 0.02755053275793237 Centerline is valid? [True, True] Translation: X:281.22, Y:-214.50, Z:-20.23 [[ 7.58647148e-01 6.49345785e-01 5.29580635e-02 2.81221255e+02] [-6.47688992e-01 7.60492793e-01 -4.63646589e-02 -2.14499698e+02] [-7.03809215e-02 8.74061503e-04 9.97519805e-01 -2.02322464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50864 meters 0.02762479754578511 Centerline is valid? [True, True] Translation: X:281.25, Y:-214.52, Z:-20.23 [[ 7.59385425e-01 6.48502192e-01 5.27132144e-02 2.81247614e+02] [-6.46855591e-01 7.61212154e-01 -4.61941600e-02 -2.14520373e+02] [-7.00829535e-02 9.81334388e-04 9.97540684e-01 -2.02333531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53864 meters 0.027790405355288633 Centerline is valid? [True, True] Translation: X:281.27, Y:-214.54, Z:-20.24 [[ 7.59521270e-01 6.48311767e-01 5.30970123e-02 2.81274741e+02] [-6.46637133e-01 7.61374259e-01 -4.65795543e-02 -2.14539617e+02] [-7.06247716e-02 1.04366242e-03 9.97502407e-01 -2.02353732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56864 meters 0.028068860292217473 Centerline is valid? [True, True] Translation: X:281.30, Y:-214.56, Z:-20.24 [[ 7.61864255e-01 6.45548075e-01 5.32028080e-02 2.81301243e+02] [-6.43856676e-01 7.63718463e-01 -4.67192711e-02 -2.14558188e+02] [-7.07915023e-02 1.33875953e-03 9.97490236e-01 -2.02386277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59864 meters 0.028880276964932332 Centerline is valid? [True, True] Translation: X:281.32, Y:-214.58, Z:-20.24 [[ 7.66399584e-01 6.40237121e-01 5.22312734e-02 2.81324660e+02] [-6.38592176e-01 7.68175176e-01 -4.59013347e-02 -2.14579598e+02] [-6.95105061e-02 1.82428131e-03 9.97579552e-01 -2.02398150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62864 meters 0.029210109185254053 Centerline is valid? [True, True] Translation: X:281.35, Y:-214.60, Z:-20.24 [[ 7.67755234e-01 6.38660482e-01 5.16206235e-02 2.81348897e+02] [-6.37048627e-01 7.69486151e-01 -4.53884308e-02 -2.14600165e+02] [-6.87091520e-02 1.96235799e-03 9.97634804e-01 -2.02402538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65864 meters 0.02945751425511079 Centerline is valid? [True, True] Translation: X:281.37, Y:-214.62, Z:-20.24 [[ 7.68772158e-01 6.37455466e-01 5.13799298e-02 2.81373052e+02] [-6.35853418e-01 7.70484371e-01 -4.52135525e-02 -2.14620586e+02] [-6.84090590e-02 2.08881632e-03 9.97655170e-01 -2.02417757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68864 meters 0.029836427268710067 Centerline is valid? [True, True] Translation: X:281.40, Y:-214.64, Z:-20.25 [[ 7.69423754e-01 6.36584066e-01 5.24195908e-02 2.81395527e+02] [-6.34911708e-01 7.71204064e-01 -4.61672472e-02 -2.14643341e+02] [-6.98155354e-02 2.24036474e-03 9.97557403e-01 -2.02450614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71864 meters 0.030012115565930836 Centerline is valid? [True, True] Translation: X:281.42, Y:-214.67, Z:-20.25 [[ 7.69114240e-01 6.36949080e-01 5.25276611e-02 2.81419735e+02] [-6.35267705e-01 7.70902609e-01 -4.63045439e-02 -2.14666199e+02] [-6.99873476e-02 2.24435739e-03 9.97545354e-01 -2.02470919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74864 meters 0.029563135160365295 Centerline is valid? [True, True] Translation: X:281.44, Y:-214.69, Z:-20.25 [[ 7.67822127e-01 6.38508132e-01 5.25028288e-02 2.81443781e+02] [-6.36828844e-01 7.69612113e-01 -4.63273064e-02 -2.14688187e+02] [-6.99871748e-02 2.13581522e-03 9.97545605e-01 -2.02481995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77864 meters 0.02947679662421529 Centerline is valid? [True, True] Translation: X:281.47, Y:-214.71, Z:-20.25 [[ 7.66945682e-01 6.39580315e-01 5.22622455e-02 2.81467815e+02] [-6.37916084e-01 7.68721523e-01 -4.61550642e-02 -2.14710171e+02] [-6.96949834e-02 2.05950017e-03 9.97566222e-01 -2.02506716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80864 meters 0.029590445374585155 Centerline is valid? [True, True] Translation: X:281.49, Y:-214.73, Z:-20.25 [[ 7.66888349e-01 6.39630118e-01 5.24935551e-02 2.81490935e+02] [-6.37948248e-01 7.68679983e-01 -4.64016936e-02 -2.14734184e+02] [-7.00306658e-02 2.09674673e-03 9.97542635e-01 -2.02530460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83864 meters 0.029675441093690833 Centerline is valid? [True, True] Translation: X:281.51, Y:-214.76, Z:-20.25 [[ 7.66955258e-01 6.39575952e-01 5.21750382e-02 2.81513917e+02] [-6.37911115e-01 7.68724976e-01 -4.61662256e-02 -2.14758343e+02] [-6.96350626e-02 2.12439268e-03 9.97570271e-01 -2.02549733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86864 meters 0.03006353045824984 Centerline is valid? [True, True] Translation: X:281.54, Y:-214.78, Z:-20.26 [[ 7.68243166e-01 6.38136786e-01 5.08318835e-02 2.81537196e+02] [-6.36550597e-01 7.69919781e-01 -4.50207491e-02 -2.14780003e+02] [-6.78658688e-02 2.22981700e-03 9.97691962e-01 -2.02551064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89864 meters 0.030211216870741752 Centerline is valid? [True, True] Translation: X:281.56, Y:-214.80, Z:-20.26 [[ 7.68865747e-01 6.37451809e-01 5.00065316e-02 2.81561213e+02] [-6.35912756e-01 7.70486846e-01 -4.43281690e-02 -2.14800954e+02] [-6.67864463e-02 2.28261944e-03 9.97764682e-01 -2.02567468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters 0.030643009980392186 Centerline is valid? [True, True] Translation: X:281.58, Y:-214.82, Z:-20.26 [[ 7.70092000e-01 6.36003243e-01 4.95801042e-02 2.81583456e+02] [-6.34484850e-01 7.71682599e-01 -4.39879751e-02 -2.14823786e+02] [-6.62365985e-02 2.41696267e-03 9.97801018e-01 -2.02591681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95864 meters 0.03049228231301882 Centerline is valid? [True, True] Translation: X:281.61, Y:-214.85, Z:-20.26 [[ 7.69837487e-01 6.36269768e-01 5.01101349e-02 2.81606047e+02] [-6.34716573e-01 7.71462751e-01 -4.44982638e-02 -2.14847575e+02] [-6.69710025e-02 2.45069842e-03 9.97751913e-01 -2.02615941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters 0.030708022026691224 Centerline is valid? [True, True] Translation: X:281.63, Y:-214.87, Z:-20.26 [[ 7.69967716e-01 6.36155104e-01 4.95620928e-02 2.81628771e+02] [-6.34632627e-01 7.71557255e-01 -4.40548742e-02 -2.14871551e+02] [-6.62657253e-02 2.46710967e-03 9.97798961e-01 -2.02631411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01864 meters 0.030591483950751383 Centerline is valid? [True, True] Translation: X:281.65, Y:-214.90, Z:-20.26 [[ 7.69683500e-01 6.36454055e-01 5.01352732e-02 2.81650067e+02] [-6.34893749e-01 7.71310550e-01 -4.46090001e-02 -2.14897755e+02] [-6.70614441e-02 2.50423972e-03 9.97745705e-01 -2.02630338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters 0.03042977270652294 Centerline is valid? [True, True] Translation: X:281.67, Y:-214.92, Z:-20.26 [[ 7.68722756e-01 6.37619870e-01 5.00622128e-02 2.81672389e+02] [-6.36063701e-01 7.70347315e-01 -4.45868004e-02 -2.14920898e+02] [-6.69947211e-02 2.43213175e-03 9.97750366e-01 -2.02632816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07864 meters 0.029566916054258933 Centerline is valid? [True, True] Translation: X:281.69, Y:-214.95, Z:-20.26 [[ 7.65279514e-01 6.41770227e-01 4.97819373e-02 2.81690660e+02] [-6.40238089e-01 7.66894153e-01 -4.43683216e-02 -2.14947055e+02] [-6.66517445e-02 2.08187516e-03 9.97774128e-01 -2.02641492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters 0.02927374211950381 Centerline is valid? [True, True] Translation: X:281.71, Y:-214.97, Z:-20.27 [[ 7.63133266e-01 6.44255682e-01 5.06185225e-02 2.81711685e+02] [-6.42676052e-01 7.64807805e-01 -4.51277498e-02 -2.14971483e+02] [-6.77872503e-02 1.90717489e-03 9.97697976e-01 -2.02664275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13864 meters 0.028585646910693572 Centerline is valid? [True, True] Translation: X:281.73, Y:-215.00, Z:-20.27 [[ 7.59083726e-01 6.48894534e-01 5.22281524e-02 2.81732710e+02] [-6.47221132e-01 7.60876746e-01 -4.65981155e-02 -2.14996700e+02] [-6.99764491e-02 1.56870725e-03 9.97547410e-01 -2.02679329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters 0.02826750586240844 Centerline is valid? [True, True] Translation: X:281.76, Y:-215.02, Z:-20.27 [[ 7.56854272e-01 6.51554032e-01 5.14679992e-02 2.81756218e+02] [-6.49933691e-01 7.58601082e-01 -4.59412165e-02 -2.15019063e+02] [-6.89768647e-02 1.32001928e-03 9.97617386e-01 -2.02687879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19864 meters 0.028083485382325354 Centerline is valid? [True, True] Translation: X:281.78, Y:-215.04, Z:-20.27 [[ 7.54273622e-01 6.54483613e-01 5.21776127e-02 2.81778495e+02] [-6.52822195e-01 7.56075387e-01 -4.66174877e-02 -2.15041770e+02] [-6.99605905e-02 1.09963757e-03 9.97549150e-01 -2.02714035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters 0.027620636503136595 Centerline is valid? [True, True] Translation: X:281.80, Y:-215.07, Z:-20.27 [[ 7.50111593e-01 6.59393220e-01 5.03307010e-02 2.81797860e+02] [-6.57855761e-01 7.51797951e-01 -4.50070893e-02 -2.15068172e+02] [-6.75158874e-02 6.49997822e-04 9.97717987e-01 -2.02725151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25864 meters 0.027448166307877195 Centerline is valid? [True, True] Translation: X:281.82, Y:-215.09, Z:-20.27 [[ 7.45800237e-01 6.64318787e-01 4.96241454e-02 2.81820209e+02] [-6.62832364e-01 7.47449327e-01 -4.44157786e-02 -2.15091895e+02] [-6.65977702e-02 2.32808593e-04 9.97779877e-01 -2.02728158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters 0.027448166307877195 Centerline is valid? [True, True] Translation: X:281.84, Y:-215.11, Z:-20.27 [[ 7.45441337e-01 6.64723087e-01 4.96027279e-02 2.81844606e+02] [-6.63235968e-01 7.47089797e-01 -4.44396869e-02 -2.15113316e+02] [-6.65977778e-02 2.28866402e-04 9.97779877e-01 -2.02745040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31864 meters 0.027138672075901975 Centerline is valid? [True, True] Translation: X:281.87, Y:-215.14, Z:-20.28 [[ 7.43010816e-01 6.67443719e-01 4.95359414e-02 2.81869092e+02] [-6.65963401e-01 7.44660246e-01 -4.44282139e-02 -2.15135536e+02] [-6.65407786e-02 2.15194342e-05 9.97783706e-01 -2.02754563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters 0.02733452060187653 Centerline is valid? [True, True] Translation: X:281.89, Y:-215.16, Z:-20.28 [[ 7.40700801e-01 6.69983000e-01 4.98508015e-02 2.81893194e+02] [-6.68486206e-01 7.42376421e-01 -4.47598231e-02 -2.15158067e+02] [-6.69963802e-02 -1.70936350e-04 9.97753204e-01 -2.02784268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37864 meters 0.027464014214915237 Centerline is valid? [True, True] Translation: X:281.92, Y:-215.18, Z:-20.28 [[ 7.38318691e-01 6.72598252e-01 4.99710205e-02 2.81915191e+02] [-6.71096854e-01 7.40007739e-01 -4.49172479e-02 -2.15182419e+02] [-6.71902043e-02 -3.72151028e-04 9.97740115e-01 -2.02814811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40864 meters 0.027640772118702167 Centerline is valid? [True, True] Translation: X:281.94, Y:-215.21, Z:-20.28 [[ 7.37058641e-01 6.74034742e-01 4.92110485e-02 2.81939235e+02] [-6.72578708e-01 7.38699503e-01 -4.42823387e-02 -2.15205536e+02] [-6.62000118e-02 -4.59623092e-04 9.97806267e-01 -2.02819729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43864 meters 0.027626866367895443 Centerline is valid? [True, True] Translation: X:281.96, Y:-215.23, Z:-20.28 [[ 7.35599345e-01 6.75554795e-01 5.01928540e-02 2.81963847e+02] [-6.74040222e-01 7.37309563e-01 -4.52148914e-02 -2.15226779e+02] [-6.75528080e-02 -5.71957937e-04 9.97715536e-01 -2.02831784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46864 meters 0.02777185674643014 Centerline is valid? [True, True] Translation: X:281.99, Y:-215.25, Z:-20.29 [[ 7.34240013e-01 6.76986134e-01 5.08072565e-02 2.81988152e+02] [-6.75434581e-01 7.35995457e-01 -4.58128186e-02 -2.15248100e+02] [-6.84085529e-02 -6.79373444e-04 9.97657160e-01 -2.02853146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49864 meters 0.027881554464749755 Centerline is valid? [True, True] Translation: X:282.01, Y:-215.27, Z:-20.29 [[ 7.31335059e-01 6.80115768e-01 5.09075053e-02 2.82011432e+02] [-6.78562607e-01 7.33104124e-01 -4.59470500e-02 -2.15270872e+02] [-6.85698152e-02 -9.41240967e-04 9.97645876e-01 -2.02865268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52864 meters 0.02789779986163876 Centerline is valid? [True, True] Translation: X:282.04, Y:-215.29, Z:-20.29 [[ 7.29717597e-01 6.81837235e-01 5.10902519e-02 2.82035190e+02] [-6.80274069e-01 7.31503130e-01 -4.61558422e-02 -2.15293071e+02] [-6.88434511e-02 -1.07464327e-03 9.97626896e-01 -2.02885656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55864 meters 0.02844739948640314 Centerline is valid? [True, True] Translation: X:282.06, Y:-215.31, Z:-20.29 [[ 7.25553959e-01 6.86288720e-01 5.07862768e-02 2.82060679e+02] [-6.84751984e-01 7.27327763e-01 -4.59243464e-02 -2.15313371e+02] [-6.84556300e-02 -1.45541254e-03 9.97653100e-01 -2.02904992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58864 meters 0.028555246578033832 Centerline is valid? [True, True] Translation: X:282.09, Y:-215.33, Z:-20.29 [[ 7.23426994e-01 6.88552554e-01 5.04852932e-02 2.82086489e+02] [-6.87036597e-01 7.25184616e-01 -4.56944996e-02 -2.15332236e+02] [-6.80742224e-02 -1.62860956e-03 9.97678930e-01 -2.02912940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61864 meters 0.029004897747786557 Centerline is valid? [True, True] Translation: X:282.11, Y:-215.35, Z:-20.29 [[ 7.19750361e-01 6.92430634e-01 4.99923510e-02 2.82114934e+02] [-6.90950659e-01 7.21481832e-01 -4.52896627e-02 -2.15348408e+02] [-6.74285228e-02 -1.94499675e-03 9.97722212e-01 -2.02925186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64864 meters 0.02915249921588837 Centerline is valid? [True, True] Translation: X:282.14, Y:-215.37, Z:-20.29 [[ 7.18199965e-01 6.94009696e-01 5.03919891e-02 2.82141196e+02] [-6.92506932e-01 7.19962650e-01 -4.56938911e-02 -2.15367051e+02] [-6.79923535e-02 -2.07945076e-03 9.97683675e-01 -2.02947122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67864 meters 0.029302757530693117 Centerline is valid? [True, True] Translation: X:282.17, Y:-215.39, Z:-20.30 [[ 7.17288790e-01 6.95038920e-01 4.91700354e-02 2.82167442e+02] [-6.93607884e-01 7.18969064e-01 -4.46272173e-02 -2.15386982e+02] [-6.63693873e-02 -2.09412152e-03 9.97792924e-01 -2.02964232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70864 meters 0.02895407056030547 Centerline is valid? [True, True] Translation: X:282.20, Y:-215.40, Z:-20.30 [[ 7.17995209e-01 6.94360218e-01 4.84434492e-02 2.82196475e+02] [-6.92967103e-01 7.19624899e-01 -4.40067997e-02 -2.15402409e+02] [-6.54176833e-02 -1.97304531e-03 9.97856019e-01 -2.02976013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73864 meters 0.02830313784402335 Centerline is valid? [True, True] Translation: X:282.23, Y:-215.42, Z:-20.30 [[ 7.21914544e-01 6.90233378e-01 4.91657810e-02 2.82226685e+02] [-6.88787788e-01 7.23585024e-01 -4.46776936e-02 -2.15417509e+02] [-6.64136582e-02 -1.61131272e-03 9.97790875e-01 -2.02992768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76864 meters 0.027887223758036754 Centerline is valid? [True, True] Translation: X:282.25, Y:-215.44, Z:-20.30 [[ 7.23872601e-01 6.88134853e-01 4.97883606e-02 2.82253012e+02] [-6.86645974e-01 7.25581425e-01 -4.52648034e-02 -2.15436839e+02] [-6.72737985e-02 -1.42102632e-03 9.97733540e-01 -2.03003610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79864 meters 0.027685789068479842 Centerline is valid? [True, True] Translation: X:282.28, Y:-215.46, Z:-20.30 [[ 7.26581424e-01 6.85172357e-01 5.11690903e-02 2.82278671e+02] [-6.83589213e-01 7.28380072e-01 -4.65645589e-02 -2.15456293e+02] [-6.91752942e-02 -1.14569464e-03 9.97603862e-01 -2.03040733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82864 meters 0.027218614216517834 Centerline is valid? [True, True] Translation: X:282.31, Y:-215.47, Z:-20.31 [[ 7.31548960e-01 6.80000564e-01 4.93492790e-02 2.82306077e+02] [-6.78513961e-01 7.33211338e-01 -4.49437335e-02 -2.15474590e+02] [-6.67452150e-02 -6.05633261e-04 9.97769868e-01 -2.03072388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85864 meters 0.027013335181105148 Centerline is valid? [True, True] Translation: X:282.33, Y:-215.49, Z:-20.31 [[ 7.32782309e-01 6.78807019e-01 4.74459564e-02 2.82331632e+02] [-6.77429248e-01 7.34316564e-01 -4.32295955e-02 -2.15493834e+02] [-6.41849045e-02 -4.63395784e-04 9.97937916e-01 -2.03079332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88864 meters 0.02697084844933466 Centerline is valid? [True, True] Translation: X:282.36, Y:-215.52, Z:-20.31 [[ 7.32669524e-01 6.78918928e-01 4.75863084e-02 2.82357395e+02] [-6.77530489e-01 7.34213111e-01 -4.33998222e-02 -2.15515094e+02] [-6.44034523e-02 -4.43447664e-04 9.97923844e-01 -2.03093173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91864 meters 0.026953423115306872 Centerline is valid? [True, True] Translation: X:282.38, Y:-215.54, Z:-20.31 [[ 7.32079205e-01 6.79548580e-01 4.76840171e-02 2.82381616e+02] [-6.78152672e-01 7.33630364e-01 -4.35366741e-02 -2.15537504e+02] [-6.45677279e-02 -4.64749889e-04 9.97913219e-01 -2.03093847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94864 meters 0.027002896154546152 Centerline is valid? [True, True] Translation: X:282.40, Y:-215.56, Z:-20.31 [[ 7.31144569e-01 6.80335641e-01 5.07053791e-02 2.82404490e+02] [-6.78755386e-01 7.32900494e-01 -4.63464335e-02 -2.15559980e+02] [-6.86931279e-02 -5.30606027e-04 9.97637696e-01 -2.03131230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97864 meters 0.026903804593828927 Centerline is valid? [True, True] Translation: X:282.43, Y:-215.58, Z:-20.32 [[ 7.30744840e-01 6.80690652e-01 5.16934762e-02 2.82428762e+02] [-6.79045717e-01 7.32570778e-01 -4.72966098e-02 -2.15582179e+02] [-7.00634902e-02 -5.40480123e-04 9.97542388e-01 -2.03153725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00864 meters 0.026977912174304685 Centerline is valid? [True, True] Translation: X:282.45, Y:-215.61, Z:-20.32 [[ 7.30056838e-01 6.81371996e-01 5.24329612e-02 2.82451767e+02] [-6.79677680e-01 7.31937067e-01 -4.80248041e-02 -2.15605056e+02] [-7.11003845e-02 -5.76676753e-04 9.97468998e-01 -2.03187551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03864 meters 0.02703829724388624 Centerline is valid? [True, True] Translation: X:282.48, Y:-215.63, Z:-20.32 [[ 7.28511720e-01 6.83095165e-01 5.14943686e-02 2.82475239e+02] [-6.81461960e-01 7.30329043e-01 -4.72131993e-02 -2.15628539e+02] [-6.98589411e-02 -6.96084378e-04 9.97556637e-01 -2.03204632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06864 meters 0.027125581959938593 Centerline is valid? [True, True] Translation: X:282.50, Y:-215.65, Z:-20.32 [[ 7.25826207e-01 6.86034880e-01 5.03235655e-02 2.82502557e+02] [-6.84478869e-01 7.27568070e-01 -4.61885473e-02 -2.15647680e+02] [-6.83007739e-02 -9.20559025e-04 9.97664351e-01 -2.03212539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09864 meters 0.02701571862521178 Centerline is valid? [True, True] Translation: X:282.53, Y:-215.67, Z:-20.32 [[ 7.24537990e-01 6.87441785e-01 4.96839405e-02 2.82528552e+02] [-6.85925125e-01 7.26238793e-01 -4.56501706e-02 -2.15667651e+02] [-6.74642397e-02 -1.00418025e-03 9.97721188e-01 -2.03224358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12864 meters 0.027131554436502486 Centerline is valid? [True, True] Translation: X:282.55, Y:-215.69, Z:-20.32 [[ 7.23527807e-01 6.88565846e-01 4.88322503e-02 2.82554012e+02] [-6.87100168e-01 7.25173057e-01 -4.49154351e-02 -2.15689364e+02] [-6.63390668e-02 -1.05508117e-03 9.97796580e-01 -2.03240757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15864 meters 0.027198184879830584 Centerline is valid? [True, True] Translation: X:282.58, Y:-215.71, Z:-20.33 [[ 7.21899258e-01 6.90341591e-01 4.78534183e-02 2.82579327e+02] [-6.88934959e-01 7.23482649e-01 -4.40622148e-02 -2.15711109e+02] [-6.50390973e-02 -1.15941260e-03 9.97882043e-01 -2.03259278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18864 meters 0.027233431542649567 Centerline is valid? [True, True] Translation: X:282.60, Y:-215.73, Z:-20.33 [[ 7.21186327e-01 6.91027786e-01 4.86916871e-02 2.82604561e+02] [-6.89569775e-01 7.22827185e-01 -4.48819104e-02 -2.15731573e+02] [-6.62103223e-02 -1.20809555e-03 9.97804958e-01 -2.03286126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21864 meters 0.027279024290729103 Centerline is valid? [True, True] Translation: X:282.63, Y:-215.75, Z:-20.33 [[ 7.20168040e-01 6.91984109e-01 5.01596186e-02 2.82631165e+02] [-6.90436067e-01 7.21911556e-01 -4.62789663e-02 -2.15749454e+02] [-6.82351176e-02 -1.30337732e-03 9.97668417e-01 -2.03301592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24864 meters 0.027349689079224363 Centerline is valid? [True, True] Translation: X:282.66, Y:-215.77, Z:-20.33 [[ 7.19458177e-01 6.92732117e-01 5.00214662e-02 2.82656908e+02] [-6.91191488e-01 7.21193747e-01 -4.61942261e-02 -2.15770306e+02] [-6.80753926e-02 -1.33959798e-03 9.97679280e-01 -2.03319550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27864 meters 0.027213401019523704 Centerline is valid? [True, True] Translation: X:282.68, Y:-215.79, Z:-20.33 [[ 7.20551492e-01 6.91663631e-01 4.90608737e-02 2.82683721e+02] [-6.90176053e-01 7.22218822e-01 -4.53540434e-02 -2.15789096e+02] [-6.68024288e-02 -1.18071657e-03 9.97765524e-01 -2.03331228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30864 meters 0.02720223855483355 Centerline is valid? [True, True] Translation: X:282.71, Y:-215.81, Z:-20.34 [[ 7.21452223e-01 6.90719228e-01 4.91287869e-02 2.82709030e+02] [-6.89222465e-01 7.23122269e-01 -4.54596323e-02 -2.15809016e+02] [-6.69259620e-02 -1.06371084e-03 9.97757377e-01 -2.03352538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33864 meters 0.02698347774372134 Centerline is valid? [True, True] Translation: X:282.74, Y:-215.83, Z:-20.34 [[ 7.21422869e-01 6.90790230e-01 4.85582377e-02 2.82735205e+02] [-6.89325349e-01 7.23054496e-01 -4.49750896e-02 -2.15829540e+02] [-6.61786046e-02 -1.02636601e-03 9.97807265e-01 -2.03352409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36864 meters 0.026982472315027532 Centerline is valid? [True, True] Translation: X:282.76, Y:-215.85, Z:-20.34 [[ 7.20292696e-01 6.91917658e-01 4.92786638e-02 2.82759353e+02] [-6.90408306e-01 7.21975567e-01 -4.56908255e-02 -2.15851037e+02] [-6.71922802e-02 -1.11163096e-03 9.97739426e-01 -2.03377784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39864 meters 0.027325057726091402 Centerline is valid? [True, True] Translation: X:282.78, Y:-215.87, Z:-20.34 [[ 7.18891075e-01 6.93338903e-01 4.97673304e-02 2.82783527e+02] [-6.91799829e-01 7.20610619e-01 -4.61880119e-02 -2.15872427e+02] [-6.78868123e-02 -1.22488115e-03 9.97692277e-01 -2.03400639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters 0.027445515917864143 Centerline is valid? [True, True] Translation: X:282.81, Y:-215.89, Z:-20.34 [[ 7.16928099e-01 6.95318263e-01 5.04639841e-02 2.82808992e+02] [-6.93737532e-01 7.18700601e-01 -4.68794398e-02 -2.15892749e+02] [-6.88646263e-02 -1.39957215e-03 9.97625032e-01 -2.03420588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45864 meters 0.02768138289006596 Centerline is valid? [True, True] Translation: X:282.83, Y:-215.91, Z:-20.34 [[ 7.15577211e-01 6.96671229e-01 5.09750282e-02 2.82833711e+02] [-6.95058573e-01 7.17388952e-01 -4.73990565e-02 -2.15912785e+02] [-6.95904810e-02 -1.51294573e-03 9.97574496e-01 -2.03449798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters 0.027768886761967034 Centerline is valid? [True, True] Translation: X:282.86, Y:-215.93, Z:-20.35 [[ 7.13800570e-01 6.98611023e-01 4.93090677e-02 2.82860195e+02] [-6.97103844e-01 7.15499847e-01 -4.58933542e-02 -2.15932269e+02] [-6.73422335e-02 -1.61483820e-03 9.97728628e-01 -2.03457741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51864 meters 0.02777509604177928 Centerline is valid? [True, True] Translation: X:282.89, Y:-215.95, Z:-20.35 [[ 7.12588197e-01 6.99875933e-01 4.89054058e-02 2.82885656e+02] [-6.98393077e-01 7.14262443e-01 -4.55661276e-02 -2.15952988e+02] [-6.68219307e-02 -1.68531214e-03 9.97763494e-01 -2.03472473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters 0.028329205535799453 Centerline is valid? [True, True] Translation: X:282.91, Y:-215.97, Z:-20.35 [[ 7.09800839e-01 7.02639763e-01 4.98009362e-02 2.82911102e+02] [-7.01105521e-01 7.11543094e-01 -4.64486167e-02 -2.15971965e+02] [-6.80721572e-02 -1.94644419e-03 9.97678502e-01 -2.03499886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57864 meters 0.028397879532431773 Centerline is valid? [True, True] Translation: X:282.94, Y:-215.99, Z:-20.35 [[ 7.08896737e-01 7.03539552e-01 4.99751507e-02 2.82936431e+02] [-7.01993942e-01 7.10653261e-01 -4.66524202e-02 -2.15992586e+02] [-6.83368266e-02 -2.01050462e-03 9.97660281e-01 -2.03516363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters 0.028594950695718994 Centerline is valid? [True, True] Translation: X:282.96, Y:-216.01, Z:-20.35 [[ 7.06944205e-01 7.05543938e-01 4.93724949e-02 2.82963759e+02] [-7.04037409e-01 7.08662925e-01 -4.61322587e-02 -2.16010913e+02] [-6.75367921e-02 -2.14715042e-03 9.97714474e-01 -2.03530598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63864 meters 0.028805980924074562 Centerline is valid? [True, True] Translation: X:282.99, Y:-216.03, Z:-20.35 [[ 7.06714841e-01 7.05747960e-01 4.97388284e-02 2.82990078e+02] [-7.04216438e-01 7.08459730e-01 -4.65190264e-02 -2.16031332e+02] [-6.80686649e-02 -2.15121423e-03 9.97678319e-01 -2.03549917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters 0.028777895828736706 Centerline is valid? [True, True] Translation: X:283.02, Y:-216.05, Z:-20.36 [[ 7.05766493e-01 7.06752362e-01 4.89362461e-02 2.83016728e+02] [-7.05269129e-01 7.07457671e-01 -4.58159343e-02 -2.16051660e+02] [-6.70008424e-02 -2.17787239e-03 9.97750542e-01 -2.03560975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69864 meters 0.028500915130935157 Centerline is valid? [True, True] Translation: X:283.05, Y:-216.07, Z:-20.36 [[ 7.05447412e-01 7.07056299e-01 4.91460894e-02 2.83045303e+02] [-7.05557767e-01 7.07153894e-01 -4.60609233e-02 -2.16069384e+02] [-6.73215145e-02 -2.18184597e-03 9.97728948e-01 -2.03562997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters 0.028335574031903978 Centerline is valid? [True, True] Translation: X:283.07, Y:-216.09, Z:-20.36 [[ 7.06038971e-01 7.06440622e-01 4.95037279e-02 2.83072470e+02] [-7.04915415e-01 7.07769184e-01 -4.64439324e-02 -2.16087026e+02] [-6.78470936e-02 -2.10471466e-03 9.97693511e-01 -2.03582845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75864 meters 0.02824784921888598 Centerline is valid? [True, True] Translation: X:283.10, Y:-216.11, Z:-20.36 [[ 7.06810778e-01 7.05665475e-01 4.95455508e-02 2.83096604e+02] [-7.04132844e-01 7.08542329e-01 -4.65263986e-02 -2.16107794e+02] [-6.79371932e-02 -2.00128957e-03 9.97687593e-01 -2.03613516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters 0.028071802633452558 Centerline is valid? [True, True] Translation: X:283.12, Y:-216.13, Z:-20.36 [[ 7.07641665e-01 7.04915510e-01 4.83466509e-02 2.83121126e+02] [-7.03451720e-01 7.09288863e-01 -4.54421184e-02 -2.16129180e+02] [-6.63245951e-02 -1.85279841e-03 9.97796380e-01 -2.03630042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81864 meters 0.027546430152272823 Centerline is valid? [True, True] Translation: X:283.15, Y:-216.15, Z:-20.36 [[ 7.10348171e-01 7.02283974e-01 4.69328785e-02 2.83146838e+02] [-7.00896295e-01 7.11895270e-01 -4.41532285e-02 -2.16148813e+02] [-6.44193990e-02 -1.53091554e-03 9.97921739e-01 -2.03643502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters 0.027242478992734104 Centerline is valid? [True, True] Translation: X:283.17, Y:-216.17, Z:-20.37 [[ 7.11489526e-01 7.01112304e-01 4.71613429e-02 2.83171105e+02] [-6.99705790e-01 7.13049488e-01 -4.44098574e-02 -2.16169555e+02] [-6.47646688e-02 -1.40191625e-03 9.97899580e-01 -2.03661342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87864 meters 0.02686719372162188 Centerline is valid? [True, True] Translation: X:283.20, Y:-216.19, Z:-20.37 [[ 7.13024309e-01 6.99449328e-01 4.86515494e-02 2.83195664e+02] [-6.97945602e-01 7.14681085e-01 -4.58572040e-02 -2.16191134e+02] [-6.68451326e-02 -1.25883378e-03 9.97762569e-01 -2.03671086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90864 meters 0.026956987865870446 Centerline is valid? [True, True] Translation: X:283.22, Y:-216.21, Z:-20.37 [[ 7.13602706e-01 6.98847047e-01 4.88260422e-02 2.83219197e+02] [-6.97328186e-01 7.15270174e-01 -4.60649361e-02 -2.16212498e+02] [-6.71161563e-02 -1.17571244e-03 9.97744476e-01 -2.03676323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93864 meters 0.026975387276918426 Centerline is valid? [True, True] Translation: X:283.24, Y:-216.23, Z:-20.37 [[ 7.12046695e-01 7.00401380e-01 4.92687701e-02 2.83242442e+02] [-6.98855550e-01 7.13748002e-01 -4.65264403e-02 -2.16234112e+02] [-6.77526692e-02 -1.30275543e-03 9.97701297e-01 -2.03706855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96864 meters 0.027166963202748345 Centerline is valid? [True, True] Translation: X:283.27, Y:-216.26, Z:-20.37 [[ 7.10801853e-01 7.01672313e-01 4.91598565e-02 2.83266011e+02] [-7.00133317e-01 7.12498447e-01 -4.64682742e-02 -2.16256670e+02] [-6.76318228e-02 -1.38871798e-03 9.97709381e-01 -2.03722680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99864 meters 0.0272322891617254 Centerline is valid? [True, True] Translation: X:283.29, Y:-216.28, Z:-20.37 [[ 7.10185346e-01 7.02259308e-01 4.96853923e-02 2.83290636e+02] [-7.00685168e-01 7.11919824e-01 -4.70155230e-02 -2.16279185e+02] [-6.83891043e-02 -1.42408197e-03 9.97657708e-01 -2.03739325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02864 meters 0.027254149187622728 Centerline is valid? [True, True] Translation: X:283.32, Y:-216.30, Z:-20.38 [[ 7.09504620e-01 7.02900831e-01 5.03350407e-02 2.83315553e+02] [-7.01283383e-01 7.11286342e-01 -4.76797255e-02 -2.16300270e+02] [-6.93167457e-02 -1.47014206e-03 9.97593618e-01 -2.03753378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05864 meters 0.027249086103413735 Centerline is valid? [True, True] Translation: X:283.34, Y:-216.32, Z:-20.38 [[ 7.09104682e-01 7.03313090e-01 5.02120294e-02 2.83340430e+02] [-7.01701399e-01 7.10878699e-01 -4.76090439e-02 -2.16321710e+02] [-6.91787259e-02 -1.47405536e-03 9.97603193e-01 -2.03768889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08864 meters 0.027292610203985018 Centerline is valid? [True, True] Translation: X:283.37, Y:-216.34, Z:-20.38 [[ 7.08590969e-01 7.03768197e-01 5.10799853e-02 2.83366128e+02] [-7.02097715e-01 7.10428077e-01 -4.84844919e-02 -2.16342345e+02] [-7.04104992e-02 -1.50746791e-03 9.97516962e-01 -2.03785584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11864 meters 0.02754879528343504 Centerline is valid? [True, True] Translation: X:283.39, Y:-216.36, Z:-20.38 [[ 7.07737622e-01 7.04538805e-01 5.22736116e-02 2.83390200e+02] [-7.02787587e-01 7.09663696e-01 -4.96693736e-02 -2.16363276e+02] [-7.20906855e-02 -1.58436105e-03 9.97396823e-01 -2.03806814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14864 meters 0.02758195111726101 Centerline is valid? [True, True] Translation: X:283.42, Y:-216.38, Z:-20.38 [[ 7.06836899e-01 7.05388296e-01 5.29995279e-02 2.83415355e+02] [-7.03586953e-01 7.08819155e-01 -5.04064025e-02 -2.16384136e+02] [-7.31231669e-02 -1.66067108e-03 9.97321535e-01 -2.03827051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17864 meters 0.02758195111726101 Centerline is valid? [True, True] Translation: X:283.44, Y:-216.41, Z:-20.38 [[ 7.06465865e-01 7.05761714e-01 5.29753287e-02 2.83439137e+02] [-7.03959514e-01 7.08447341e-01 -5.04318257e-02 -2.16406344e+02] [-7.31230824e-02 -1.66412328e-03 9.97321536e-01 -2.03843943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20864 meters 0.027564784259422482 Centerline is valid? [True, True] Translation: X:283.47, Y:-216.43, Z:-20.39 [[ 7.05790059e-01 7.06508862e-01 5.20155767e-02 2.83466431e+02] [-7.04769756e-01 7.07702217e-01 -4.95697823e-02 -2.16425182e+02] [-7.18330295e-02 -1.67314569e-03 9.97415268e-01 -2.03858519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23864 meters 0.02745681914146574 Centerline is valid? [True, True] Translation: X:283.50, Y:-216.44, Z:-20.39 [[ 7.05821828e-01 7.06579597e-01 5.06045595e-02 2.83495878e+02] [-7.04930471e-01 7.07631763e-01 -4.82733692e-02 -2.16440519e+02] [-6.99183714e-02 -1.60029825e-03 9.97551432e-01 -2.03860984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26864 meters 0.027588867319073614 Centerline is valid? [True, True] Translation: X:283.52, Y:-216.46, Z:-20.39 [[ 7.05542971e-01 7.06782364e-01 5.16507990e-02 2.83522689e+02] [-7.05061358e-01 7.07429194e-01 -4.93195347e-02 -2.16459866e+02] [-7.13974605e-02 -1.61993143e-03 9.97446629e-01 -2.03884743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29864 meters 0.02732485699778306 Centerline is valid? [True, True] Translation: X:283.55, Y:-216.48, Z:-20.39 [[ 7.05686110e-01 7.06655796e-01 5.14266532e-02 2.83548707e+02] [-7.04945788e-01 7.07555749e-01 -4.91558481e-02 -2.16479231e+02] [-7.11234891e-02 -1.56440336e-03 9.97466291e-01 -2.03897741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32864 meters 0.027195759771178975 Centerline is valid? [True, True] Translation: X:283.58, Y:-216.50, Z:-20.39 [[ 7.06940474e-01 7.05530756e-01 4.96136993e-02 2.83577237e+02] [-7.03933631e-01 7.08677978e-01 -4.74654217e-02 -2.16495559e+02] [-6.86484509e-02 -1.36952384e-03 9.97639972e-01 -2.03919702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35864 meters 0.026981253938946344 Centerline is valid? [True, True] Translation: X:283.60, Y:-216.51, Z:-20.39 [[ 7.08223939e-01 7.04305340e-01 4.87118035e-02 2.83603664e+02] [-7.02760049e-01 7.09896157e-01 -4.66450458e-02 -2.16514000e+02] [-6.74326769e-02 -1.19757136e-03 9.97723108e-01 -2.03944588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38864 meters 0.026602664592000048 Centerline is valid? [True, True] Translation: X:283.63, Y:-216.53, Z:-20.40 [[ 7.11895766e-01 7.00604897e-01 4.85509670e-02 2.83632483e+02] [-6.99058703e-01 7.13548955e-01 -4.65276113e-02 -2.16531194e+02] [-6.72409641e-02 -8.17166558e-04 9.97736431e-01 -2.03961641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41864 meters 0.026372457030305572 Centerline is valid? [True, True] Translation: X:283.66, Y:-216.55, Z:-20.40 [[ 7.14032048e-01 6.98479535e-01 4.77972140e-02 2.83658045e+02] [-6.96974871e-01 7.15629784e-01 -4.58262094e-02 -2.16550601e+02] [-6.62137795e-02 -5.92074923e-04 9.97805284e-01 -2.03970143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44864 meters 0.026108639832479352 Centerline is valid? [True, True] Translation: X:283.69, Y:-216.57, Z:-20.40 [[ 7.17984738e-01 6.94436975e-01 4.74889743e-02 2.83687061e+02] [-6.92940440e-01 7.19553508e-01 -4.55663823e-02 -2.16566296e+02] [-6.58138387e-02 -1.91063637e-04 9.97831901e-01 -2.03991949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47864 meters 0.025999369515336167 Centerline is valid? [True, True] Translation: X:283.71, Y:-216.59, Z:-20.40 [[ 7.19424165e-01 6.92894148e-01 4.82345438e-02 2.83712114e+02] [-6.91345898e-01 7.21039318e-01 -4.62941792e-02 -2.16586090e+02] [-6.68559684e-02 -4.16028200e-05 9.97762636e-01 -2.04011064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50864 meters 0.02616231410974528 Centerline is valid? [True, True] Translation: X:283.74, Y:-216.61, Z:-20.40 [[ 7.23564181e-01 6.88472484e-01 4.96035812e-02 2.83738022e+02] [-6.86823671e-01 7.25262358e-01 -4.76209636e-02 -2.16605589e+02] [-6.87613334e-02 3.87909700e-04 9.97633063e-01 -2.04023769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53864 meters 0.026384229616442545 Centerline is valid? [True, True] Translation: X:283.76, Y:-216.63, Z:-20.40 [[ 7.26131112e-01 6.85735030e-01 5.00107808e-02 2.83763359e+02] [-6.84051619e-01 7.27850968e-01 -4.80244888e-02 -2.16626170e+02] [-6.93324694e-02 6.62119857e-04 9.97593389e-01 -2.04037720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56864 meters 0.026461244693059972 Centerline is valid? [True, True] Translation: X:283.79, Y:-216.65, Z:-20.41 [[ 7.28347589e-01 6.83327813e-01 5.07236618e-02 2.83787453e+02] [-6.81589324e-01 7.30111133e-01 -4.87209194e-02 -2.16646771e+02] [-7.03262695e-02 9.13057777e-04 9.97523625e-01 -2.04062243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59864 meters 0.027085664093843574 Centerline is valid? [True, True] Translation: X:283.81, Y:-216.67, Z:-20.41 [[ 7.33296331e-01 6.78193229e-01 4.82745743e-02 2.83811242e+02] [-6.76606959e-01 7.34882394e-01 -4.63776959e-02 -2.16668854e+02] [-6.69291741e-02 1.34568129e-03 9.97756822e-01 -2.04098794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62864 meters 0.027465394199780908 Centerline is valid? [True, True] Translation: X:283.83, Y:-216.69, Z:-20.41 [[ 7.35168611e-01 6.76087935e-01 4.93175142e-02 2.83833955e+02] [-6.74426727e-01 7.36819251e-01 -4.73917858e-02 -2.16691146e+02] [-6.83791084e-02 1.57990364e-03 9.97658159e-01 -2.04116893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65864 meters 0.028276693664662813 Centerline is valid? [True, True] Translation: X:283.86, Y:-216.71, Z:-20.41 [[ 7.39217244e-01 6.71642989e-01 4.95334458e-02 2.83857177e+02] [-6.69956225e-01 7.40872223e-01 -4.76130880e-02 -2.16712749e+02] [-6.86769509e-02 2.01117537e-03 9.97636924e-01 -2.04101239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68864 meters 0.028971035544580814 Centerline is valid? [True, True] Translation: X:283.88, Y:-216.74, Z:-20.41 [[ 7.40660882e-01 6.69947501e-01 5.09097711e-02 2.83879939e+02] [-6.68160267e-01 7.42405089e-01 -4.89544872e-02 -2.16735860e+02] [-7.05926095e-02 2.24278749e-03 9.97502708e-01 -2.04134466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71864 meters 0.029429622374711934 Centerline is valid? [True, True] Translation: X:283.90, Y:-216.76, Z:-20.42 [[ 7.42983881e-01 6.67329646e-01 5.14402142e-02 2.83897348e+02] [-6.65497782e-01 7.44758187e-01 -4.94767064e-02 -2.16763617e+02] [-7.13277937e-02 2.52704689e-03 9.97449728e-01 -2.04160232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74864 meters 0.029644652222712196 Centerline is valid? [True, True] Translation: X:283.92, Y:-216.79, Z:-20.42 [[ 7.43790191e-01 6.66510832e-01 5.03930796e-02 2.83918183e+02] [-6.64749684e-01 7.45490928e-01 -4.84885015e-02 -2.16788688e+02] [-6.98856952e-02 2.56648808e-03 9.97551704e-01 -2.04170413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77864 meters 0.029619522483423144 Centerline is valid? [True, True] Translation: X:283.94, Y:-216.82, Z:-20.42 [[ 7.44630887e-01 6.65700492e-01 4.86589965e-02 2.83937998e+02] [-6.64054198e-01 7.46214577e-01 -4.68596571e-02 -2.16815096e+02] [-6.75045493e-02 2.58093712e-03 9.97715628e-01 -2.04186095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80864 meters 0.02987339339572994 Centerline is valid? [True, True] Translation: X:283.96, Y:-216.84, Z:-20.42 [[ 7.44379863e-01 6.65991950e-01 4.85112602e-02 2.83959434e+02] [-6.64353227e-01 7.45954465e-01 -4.67624398e-02 -2.16840070e+02] [-6.73305996e-02 2.58040623e-03 9.97727384e-01 -2.04208259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83864 meters 0.03001739667798935 Centerline is valid? [True, True] Translation: X:283.98, Y:-216.87, Z:-20.42 [[ 7.43930054e-01 6.66478740e-01 4.87253902e-02 2.83980073e+02] [-6.64823438e-01 7.45519566e-01 -4.70145967e-02 -2.16866311e+02] [-6.76599609e-02 2.58179006e-03 9.97705099e-01 -2.04231052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86864 meters 0.029268539663817223 Centerline is valid? [True, True] Translation: X:284.00, Y:-216.90, Z:-20.42 [[ 7.42554758e-01 6.67992538e-01 4.89734753e-02 2.83996683e+02] [-6.66320864e-01 7.44163818e-01 -4.72939560e-02 -2.16895218e+02] [-6.80362980e-02 2.48630367e-03 9.97679748e-01 -2.04237358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89864 meters 0.029282699969170937 Centerline is valid? [True, True] Translation: X:284.02, Y:-216.92, Z:-20.43 [[ 7.41471402e-01 6.69203996e-01 4.88484685e-02 2.84018531e+02] [-6.67542110e-01 7.43074915e-01 -4.71932516e-02 -2.16919516e+02] [-6.78799841e-02 2.38403668e-03 9.97690646e-01 -2.04257714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters 0.02829748559054627 Centerline is valid? [True, True] Translation: X:284.04, Y:-216.95, Z:-20.43 [[ 7.38883160e-01 6.72166465e-01 4.73700292e-02 2.84035795e+02] [-6.70609027e-01 7.40397199e-01 -4.57768539e-02 -2.16946337e+02] [-6.58423030e-02 2.05697720e-03 9.97827921e-01 -2.04276231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95864 meters 0.02813395143074734 Centerline is valid? [True, True] Translation: X:284.06, Y:-216.97, Z:-20.43 [[ 7.36982699e-01 6.74234626e-01 4.75833089e-02 2.84057857e+02] [-6.72666541e-01 7.38514790e-01 -4.59959713e-02 -2.16970350e+02] [-6.61530539e-02 1.89053526e-03 9.97807697e-01 -2.04299832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters 0.0275454673410963 Centerline is valid? [True, True] Translation: X:284.08, Y:-216.99, Z:-20.43 [[ 7.34789363e-01 6.76580968e-01 4.81952775e-02 2.84080185e+02] [-6.74974924e-01 7.36366221e-01 -4.66223210e-02 -2.16993488e+02] [-6.70331495e-02 1.72698178e-03 9.97749254e-01 -2.04305151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01864 meters 0.026966152539193964 Centerline is valid? [True, True] Translation: X:284.10, Y:-217.02, Z:-20.43 [[ 7.30318788e-01 6.81367977e-01 4.87046960e-02 2.84103318e+02] [-6.79736892e-01 7.31939849e-01 -4.71361343e-02 -2.17015602e+02] [-6.77659603e-02 1.31802577e-03 9.97700375e-01 -2.04302614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters 0.026444259773639008 Centerline is valid? [True, True] Translation: X:284.13, Y:-217.04, Z:-20.43 [[ 7.26036842e-01 6.85934778e-01 4.86208185e-02 2.84125619e+02] [-6.84317086e-01 7.27662449e-01 -4.70901896e-02 -2.17039508e+02] [-6.76803426e-02 9.17155692e-04 9.97706635e-01 -2.04322899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07864 meters 0.026378606454211705 Centerline is valid? [True, True] Translation: X:284.15, Y:-217.06, Z:-20.44 [[ 7.23472606e-01 6.88639147e-01 4.86159799e-02 2.84149099e+02] [-6.87026414e-01 7.25103898e-01 -4.71067294e-02 -2.17061789e+02] [-6.76911745e-02 6.79965977e-04 9.97706090e-01 -2.04352871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters 0.026243269008034045 Centerline is valid? [True, True] Translation: X:284.17, Y:-217.08, Z:-20.44 [[ 7.21559697e-01 6.90706977e-01 4.77019458e-02 2.84173091e+02] [-6.89156161e-01 7.23134576e-01 -4.62619891e-02 -2.17083403e+02] [-6.64484050e-02 5.06696960e-04 9.97789734e-01 -2.04373021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13864 meters 0.02621863260560535 Centerline is valid? [True, True] Translation: X:284.20, Y:-217.10, Z:-20.44 [[ 7.19213117e-01 6.93137297e-01 4.78871562e-02 2.84198990e+02] [-6.91576850e-01 7.20805513e-01 -4.64851919e-02 -2.17104591e+02] [-6.67379465e-02 3.15111100e-04 9.97770488e-01 -2.04393741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters 0.026109555125558473 Centerline is valid? [True, True] Translation: X:284.22, Y:-217.13, Z:-20.44 [[ 7.19313663e-01 6.93018288e-01 4.80989228e-02 2.84224140e+02] [-6.91440450e-01 7.20919913e-01 -4.67395335e-02 -2.17126102e+02] [-6.70668228e-02 3.62844218e-04 9.97748420e-01 -2.04409671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19864 meters 0.026159760394237376 Centerline is valid? [True, True] Translation: X:284.25, Y:-217.15, Z:-20.44 [[ 7.20370235e-01 6.91839130e-01 4.92477727e-02 2.84249564e+02] [-6.90178781e-01 7.22051486e-01 -4.79051400e-02 -2.17145973e+02] [-6.87020779e-02 5.19669216e-04 9.97637086e-01 -2.04422864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters 0.02629939050494802 Centerline is valid? [True, True] Translation: X:284.27, Y:-217.17, Z:-20.45 [[ 7.21408347e-01 6.90699595e-01 5.00406551e-02 2.84273494e+02] [-6.88979438e-01 7.23141494e-01 -4.87207711e-02 -2.17167124e+02] [-6.98378910e-02 6.70588451e-04 9.97558128e-01 -2.04450596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25864 meters 0.02635795892106745 Centerline is valid? [True, True] Translation: X:284.30, Y:-217.19, Z:-20.45 [[ 7.21990204e-01 6.90017174e-01 5.10533563e-02 2.84296794e+02] [-6.88221660e-01 7.23792570e-01 -4.97520023e-02 -2.17188933e+02] [-7.12817759e-02 7.84432680e-04 9.97455910e-01 -2.04475490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters 0.026550976068484992 Centerline is valid? [True, True] Translation: X:284.32, Y:-217.21, Z:-20.45 [[ 7.22696590e-01 6.89220762e-01 5.18110039e-02 2.84320799e+02] [-6.87366130e-01 7.24550837e-01 -5.05360092e-02 -2.17210962e+02] [-7.23701730e-02 9.09072257e-04 9.97377427e-01 -2.04495486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31864 meters 0.026811510417370007 Centerline is valid? [True, True] Translation: X:284.35, Y:-217.23, Z:-20.45 [[ 7.25151084e-01 6.86750273e-01 5.02987808e-02 2.84345057e+02] [-6.84993376e-01 7.26892515e-01 -4.91054548e-02 -2.17233440e+02] [-7.02849918e-02 1.15454210e-03 9.97526284e-01 -2.04512371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters 0.026848335282970207 Centerline is valid? [True, True] Translation: X:284.37, Y:-217.26, Z:-20.45 [[ 7.26183113e-01 6.85720003e-01 4.94587076e-02 2.84368182e+02] [-6.84015631e-01 7.27864320e-01 -4.83337147e-02 -2.17256652e+02] [-6.91426235e-02 1.26859832e-03 9.97605978e-01 -2.04518957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37864 meters 0.026978190807933483 Centerline is valid? [True, True] Translation: X:284.39, Y:-217.28, Z:-20.45 [[ 7.26922013e-01 6.84932557e-01 4.95154430e-02 2.84390760e+02] [-6.83219155e-01 7.28605167e-01 -4.84365347e-02 -2.17279649e+02] [-6.92529672e-02 1.37968424e-03 9.97598177e-01 -2.04543287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40864 meters 0.02704165794441549 Centerline is valid? [True, True] Translation: X:284.41, Y:-217.30, Z:-20.45 [[ 7.26576973e-01 6.85345752e-01 4.88579824e-02 2.84414661e+02] [-6.83675565e-01 7.28216566e-01 -4.78367482e-02 -2.17302800e+02] [-6.83639044e-02 1.35407099e-03 9.97659533e-01 -2.04544984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43864 meters 0.026679841833587847 Centerline is valid? [True, True] Translation: X:284.44, Y:-217.33, Z:-20.46 [[ 7.25272348e-01 6.86742616e-01 4.86271517e-02 2.84437676e+02] [-6.85088144e-01 7.26899591e-01 -4.76573122e-02 -2.17325116e+02] [-6.80753639e-02 1.25064565e-03 9.97679398e-01 -2.04561757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46864 meters 0.026519091306321838 Centerline is valid? [True, True] Translation: X:284.46, Y:-217.35, Z:-20.46 [[ 7.23036478e-01 6.89044204e-01 4.93592583e-02 2.84461097e+02] [-6.87341827e-01 7.24718508e-01 -4.84179366e-02 -2.17347338e+02] [-6.91336666e-02 1.08125151e-03 9.97606820e-01 -2.04592973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49864 meters 0.026307650354645225 Centerline is valid? [True, True] Translation: X:284.48, Y:-217.37, Z:-20.46 [[ 7.21650570e-01 6.90613450e-01 4.76814258e-02 2.84484444e+02] [-6.89025688e-01 7.23223479e-01 -4.68124030e-02 -2.17369593e+02] [-6.68136018e-02 9.28470095e-04 9.97765043e-01 -2.04601022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52864 meters 0.026121554703355785 Centerline is valid? [True, True] Translation: X:284.51, Y:-217.39, Z:-20.46 [[ 7.20335988e-01 6.92011738e-01 4.72844508e-02 2.84508965e+02] [-6.90450631e-01 7.21885780e-01 -4.64633825e-02 -2.17391128e+02] [-6.62871787e-02 8.21667586e-04 9.97800248e-01 -2.04616247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55864 meters 0.026304637607835205 Centerline is valid? [True, True] Translation: X:284.53, Y:-217.41, Z:-20.46 [[ 7.19764209e-01 6.92546202e-01 4.81585081e-02 2.84533337e+02] [-6.90925007e-01 7.21373058e-01 -4.73660905e-02 -2.17414018e+02] [-6.75434563e-02 8.18499144e-04 9.97715997e-01 -2.04639986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58864 meters 0.026282144543493716 Centerline is valid? [True, True] Translation: X:284.56, Y:-217.44, Z:-20.46 [[ 7.19952524e-01 6.92304049e-01 4.88207611e-02 2.84556880e+02] [-6.90634062e-01 7.21605374e-01 -4.80653361e-02 -2.17435894e+02] [-6.85051503e-02 8.87479463e-04 9.97650368e-01 -2.04645903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61864 meters 0.026390216614572058 Centerline is valid? [True, True] Translation: X:284.58, Y:-217.46, Z:-20.47 [[ 7.20353814e-01 6.91779325e-01 5.03164801e-02 2.84580134e+02] [-6.90001225e-01 7.22108285e-01 -4.95775629e-02 -2.17457375e+02] [-7.06306801e-02 9.94953642e-04 9.97502039e-01 -2.04670154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64864 meters 0.026453258643518558 Centerline is valid? [True, True] Translation: X:284.60, Y:-217.48, Z:-20.47 [[ 7.21025016e-01 6.91110273e-01 4.98950652e-02 2.84604472e+02] [-6.89358135e-01 7.22748530e-01 -4.91927220e-02 -2.17479339e+02] [-7.00591806e-02 1.07361409e-03 9.97542259e-01 -2.04682294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67864 meters 0.02670965725203893 Centerline is valid? [True, True] Translation: X:284.63, Y:-217.50, Z:-20.47 [[ 7.22013193e-01 6.90079868e-01 4.98670811e-02 2.84628875e+02] [-6.88323855e-01 7.23732214e-01 -4.92133474e-02 -2.17500814e+02] [-7.00515533e-02 1.20798460e-03 9.97542641e-01 -2.04710568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70864 meters 0.02677250645738748 Centerline is valid? [True, True] Translation: X:284.65, Y:-217.52, Z:-20.47 [[ 7.22044521e-01 6.90037716e-01 4.99966072e-02 2.84652361e+02] [-6.88269268e-01 7.23772335e-01 -4.93864565e-02 -2.17524275e+02] [-7.02646788e-02 1.24809205e-03 9.97527602e-01 -2.04731792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73864 meters 0.0269760678504889 Centerline is valid? [True, True] Translation: X:284.67, Y:-217.55, Z:-20.48 [[ 7.22243754e-01 6.89764668e-01 5.08788946e-02 2.84674216e+02] [-6.87928938e-01 7.24032406e-01 -5.03075707e-02 -2.17547392e+02] [-7.15383532e-02 1.33326480e-03 9.97436959e-01 -2.04756463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76864 meters 0.026819719576902216 Centerline is valid? [True, True] Translation: X:284.70, Y:-217.57, Z:-20.48 [[ 7.22069008e-01 6.89954859e-01 5.07803021e-02 2.84697310e+02] [-6.88123440e-01 7.23851147e-01 -5.02558366e-02 -2.17571638e+02] [-7.14316386e-02 1.34506595e-03 9.97444591e-01 -2.04768273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79864 meters 0.026654093381986675 Centerline is valid? [True, True] Translation: X:284.72, Y:-217.60, Z:-20.48 [[ 7.20762050e-01 6.91362044e-01 5.02054843e-02 2.84718187e+02] [-6.89571934e-01 7.22507453e-01 -4.97345820e-02 -2.17596355e+02] [-7.06584388e-02 1.22650646e-03 9.97499815e-01 -2.04782503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82864 meters 0.0266423430189374 Centerline is valid? [True, True] Translation: X:284.74, Y:-217.62, Z:-20.48 [[ 7.19805273e-01 6.92371594e-01 5.00194460e-02 2.84740751e+02] [-6.90594091e-01 7.21540187e-01 -4.95939461e-02 -2.17619083e+02] [-7.04284800e-02 1.15485001e-03 9.97516163e-01 -2.04800027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85864 meters 0.02659715764813859 Centerline is valid? [True, True] Translation: X:284.76, Y:-217.64, Z:-20.48 [[ 7.19210904e-01 6.92919325e-01 5.09753333e-02 2.84764878e+02] [-6.91071128e-01 7.21014197e-01 -5.05887834e-02 -2.17642156e+02] [-7.18078846e-02 1.15642361e-03 9.97417811e-01 -2.04820800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88864 meters 0.0265226990736437 Centerline is valid? [True, True] Translation: X:284.79, Y:-217.67, Z:-20.48 [[ 7.17168922e-01 6.94937978e-01 5.22488659e-02 2.84788064e+02] [-6.92997546e-01 7.19068962e-01 -5.19059696e-02 -2.17665228e+02] [-7.36419673e-02 1.01701244e-03 9.97284225e-01 -2.04843803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91864 meters 0.026499543861563724 Centerline is valid? [True, True] Translation: X:284.81, Y:-217.69, Z:-20.49 [[ 7.15761763e-01 6.96378958e-01 5.23588198e-02 2.84810461e+02] [-6.94430260e-01 7.17673687e-01 -5.20681552e-02 -2.17689487e+02] [-7.38357149e-02 9.08845691e-04 9.97270004e-01 -2.04857403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94864 meters 0.026290819651034282 Centerline is valid? [True, True] Translation: X:284.83, Y:-217.71, Z:-20.49 [[ 7.14821512e-01 6.97528764e-01 4.98380413e-02 2.84832923e+02] [-6.95763395e-01 7.16556358e-01 -4.96012481e-02 -2.17713279e+02] [-7.03100626e-02 7.80554371e-04 9.97524880e-01 -2.04861870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97864 meters 0.026401038428659623 Centerline is valid? [True, True] Translation: X:284.86, Y:-217.74, Z:-20.49 [[ 7.14607505e-01 6.97765088e-01 4.95983406e-02 2.84856524e+02] [-6.96015508e-01 7.16326243e-01 -4.93875128e-02 -2.17736408e+02] [-6.99894753e-02 7.71473088e-04 9.97547432e-01 -2.04888412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00864 meters 0.026420043953756175 Centerline is valid? [True, True] Translation: X:284.88, Y:-217.76, Z:-20.49 [[ 7.14991330e-01 6.97369328e-01 4.96328441e-02 2.84877564e+02] [-6.95612796e-01 7.16711450e-01 -4.94725631e-02 -2.17762286e+02] [-7.00730757e-02 8.47212210e-04 9.97541501e-01 -2.04914501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03864 meters 0.026505593421142896 Centerline is valid? [True, True] Translation: X:284.90, Y:-217.79, Z:-20.49 [[ 7.15567353e-01 6.96785582e-01 4.95299394e-02 2.84899484e+02] [-6.95031405e-01 7.17278865e-01 -4.94203925e-02 -2.17787035e+02] [-6.99621957e-02 9.38756112e-04 9.97549202e-01 -2.04930180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06864 meters 0.026543623593624124 Centerline is valid? [True, True] Translation: X:284.92, Y:-217.81, Z:-20.49 [[ 7.15213557e-01 6.97125077e-01 4.98617607e-02 2.84922267e+02] [-6.95344496e-01 7.16948901e-01 -4.98026667e-02 -2.17811732e+02] [-7.04670225e-02 9.48441547e-04 9.97513659e-01 -2.04936165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09864 meters 0.026543623593624124 Centerline is valid? [True, True] Translation: X:284.95, Y:-217.83, Z:-20.50 [[ 7.14860940e-01 6.97488475e-01 4.98363646e-02 2.84945514e+02] [-6.95707005e-01 7.16595372e-01 -4.98280706e-02 -2.17834496e+02] [-7.04670132e-02 9.48633445e-04 9.97513659e-01 -2.04953050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12864 meters 0.026333998601591878 Centerline is valid? [True, True] Translation: X:284.87, Y:-218.05, Z:-18.90 [[ 7.46811904e-01 -6.64649318e-01 -2.26553643e-02 2.84866867e+02] [-6.64204226e-01 -7.47148267e-01 2.45400328e-02 -2.18053591e+02] [-3.32374322e-02 -3.27899985e-03 -9.99442105e-01 -1.89019954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15864 meters 0.026172599888325626 Centerline is valid? [True, True] Translation: X:284.96, Y:-217.87, Z:-20.50 [[ 7.60171639e-01 6.47521524e-01 5.34317793e-02 2.84962634e+02] [-6.45860899e-01 7.62046817e-01 -4.63502726e-02 -2.17868131e+02] [-7.07303164e-02 7.24665659e-04 9.97495212e-01 -2.04970273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18864 meters 0.02590819614950199 Centerline is valid? [True, True] Translation: X:284.98, Y:-217.89, Z:-20.50 [[ 7.55140919e-01 6.53363768e-01 5.36468023e-02 2.84984909e+02] [-6.51701025e-01 7.57044081e-01 -4.65836161e-02 -2.17891993e+02] [-7.10490411e-02 2.15518602e-04 9.97472800e-01 -2.05002052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21864 meters 0.02592228260254973 Centerline is valid? [True, True] Translation: X:285.01, Y:-217.91, Z:-20.50 [[ 7.52064299e-01 6.56956344e-01 5.29872902e-02 2.85008023e+02] [-6.55340218e-01 7.53928613e-01 -4.60526240e-02 -2.17913927e+02] [-7.02031977e-02 -9.01679674e-05 9.97532708e-01 -2.05018861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24864 meters 0.02598277174209808 Centerline is valid? [True, True] Translation: X:285.03, Y:-217.94, Z:-20.50 [[ 7.49402652e-01 6.60069965e-01 5.19933318e-02 2.85032995e+02] [-6.58518495e-01 7.51204049e-01 -4.52312718e-02 -2.17935644e+02] [-6.89134054e-02 -3.42135588e-04 9.97622587e-01 -2.05027757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27864 meters 0.026183841997051326 Centerline is valid? [True, True] Translation: X:285.06, Y:-217.96, Z:-20.50 [[ 7.45098339e-01 6.64897496e-01 5.23429454e-02 2.85057920e+02] [-6.63333683e-01 7.46934230e-01 -4.55815758e-02 -2.17955414e+02] [-6.94038133e-02 -7.58082355e-04 9.97588360e-01 -2.05035840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30864 meters 0.02613054530608798 Centerline is valid? [True, True] Translation: X:285.08, Y:-217.98, Z:-20.50 [[ 7.45182719e-01 6.64735518e-01 5.31921699e-02 2.85083483e+02] [-6.63117042e-01 7.47078422e-01 -4.63639999e-02 -2.17975726e+02] [-7.05585199e-02 -7.22982858e-04 9.97507380e-01 -2.05046949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33864 meters 0.025986426872876348 Centerline is valid? [True, True] Translation: X:285.11, Y:-218.00, Z:-20.51 [[ 7.45871363e-01 6.63930767e-01 5.35896101e-02 2.85109328e+02] [-6.62282313e-01 7.47793795e-01 -4.67608638e-02 -2.17996936e+02] [-7.11199540e-02 -6.13861696e-04 9.97467581e-01 -2.05065613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36864 meters 0.02587075019891273 Centerline is valid? [True, True] Translation: X:285.14, Y:-218.02, Z:-20.51 [[ 7.46944614e-01 6.62651918e-01 5.44626436e-02 2.85135525e+02] [-6.60942079e-01 7.48927381e-01 -4.75746350e-02 -2.18017411e+02] [-7.23139882e-02 -4.61035504e-04 9.97381810e-01 -2.05088598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39864 meters 0.025717611070763112 Centerline is valid? [True, True] Translation: X:285.16, Y:-218.04, Z:-20.51 [[ 7.48331554e-01 6.61076919e-01 5.45636589e-02 2.85160982e+02] [-6.59352836e-01 7.50318089e-01 -4.77137667e-02 -2.18039110e+02] [-7.24825701e-02 -2.70986014e-04 9.97369642e-01 -2.05112613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters 0.02575404933418516 Centerline is valid? [True, True] Translation: X:285.18, Y:-218.06, Z:-20.51 [[ 7.48166630e-01 6.61216862e-01 5.51267210e-02 2.85184981e+02] [-6.59453553e-01 7.50194774e-01 -4.82577697e-02 -2.18062119e+02] [-7.32646291e-02 -2.48659075e-04 9.97312505e-01 -2.05134542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45864 meters 0.025809741307896927 Centerline is valid? [True, True] Translation: X:285.21, Y:-218.09, Z:-20.51 [[ 7.47694059e-01 6.61731942e-01 5.53572998e-02 2.85207686e+02] [-6.59951440e-01 7.49740467e-01 -4.85111177e-02 -2.18086565e+02] [-7.36049639e-02 -2.61655229e-04 9.97287441e-01 -2.05145135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters 0.025887602095294792 Centerline is valid? [True, True] Translation: X:285.23, Y:-218.11, Z:-20.52 [[ 7.46605693e-01 6.63042273e-01 5.43588434e-02 2.85231749e+02] [-6.61325485e-01 7.48581875e-01 -4.76841565e-02 -2.18108560e+02] [-7.23086564e-02 -3.47625713e-04 9.97382242e-01 -2.05156205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51864 meters 0.025907120627685357 Centerline is valid? [True, True] Translation: X:285.25, Y:-218.13, Z:-20.52 [[ 7.43636041e-01 6.66398876e-01 5.40182982e-02 2.85254599e+02] [-6.64709091e-01 7.45595155e-01 -4.74308919e-02 -2.18132934e+02] [-7.18836745e-02 -6.35133201e-04 9.97412820e-01 -2.05173384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters 0.02614012990472392 Centerline is valid? [True, True] Translation: X:285.28, Y:-218.16, Z:-20.52 [[ 7.41458797e-01 6.68783262e-01 5.44775242e-02 2.85277014e+02] [-6.67067484e-01 7.43456957e-01 -4.78824106e-02 -2.18155422e+02] [-7.25246492e-02 -8.37350427e-04 9.97366269e-01 -2.05182714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57864 meters 0.026190282432693942 Centerline is valid? [True, True] Translation: X:285.30, Y:-218.18, Z:-20.52 [[ 7.39777059e-01 6.70623467e-01 5.47180842e-02 2.85300244e+02] [-6.68894394e-01 7.41797267e-01 -4.81363246e-02 -2.18177946e+02] [-7.28710742e-02 -9.90471108e-04 9.97340877e-01 -2.05189451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters 0.02639853808089344 Centerline is valid? [True, True] Translation: X:285.32, Y:-218.20, Z:-20.52 [[ 7.37373722e-01 6.73195162e-01 5.55721867e-02 2.85324173e+02] [-6.71415478e-01 7.39463834e-01 -4.89335569e-02 -2.18200000e+02] [-7.40354560e-02 -1.22970730e-03 9.97254852e-01 -2.05211317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63864 meters 0.026190311396768046 Centerline is valid? [True, True] Translation: X:285.35, Y:-218.22, Z:-20.52 [[ 7.38276592e-01 6.72291242e-01 5.45175171e-02 2.85347096e+02] [-6.70572890e-01 7.40285965e-01 -4.80488262e-02 -2.18222001e+02] [-7.26613578e-02 -1.08464529e-03 9.97356080e-01 -2.05229275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters 0.026188704866097694 Centerline is valid? [True, True] Translation: X:285.37, Y:-218.24, Z:-20.52 [[ 7.39354604e-01 6.71135882e-01 5.41423900e-02 2.85370566e+02] [-6.69434825e-01 7.41333772e-01 -4.77624843e-02 -2.18243718e+02] [-7.21926992e-02 -9.31388717e-04 9.97390268e-01 -2.05241726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69864 meters 0.026105397919738878 Centerline is valid? [True, True] Translation: X:285.39, Y:-218.27, Z:-20.53 [[ 7.40923831e-01 6.69409215e-01 5.40664344e-02 2.85394354e+02] [-6.67705694e-01 7.42893507e-01 -4.77319916e-02 -2.18266034e+02] [-7.21178381e-02 -7.34696011e-04 9.97395848e-01 -2.05260646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters 0.025864864168130705 Centerline is valid? [True, True] Translation: X:285.42, Y:-218.29, Z:-20.53 [[ 7.44673918e-01 6.65201113e-01 5.44815021e-02 2.85416565e+02] [-6.63458219e-01 7.46664170e-01 -4.81228551e-02 -2.18289214e+02] [-7.26907623e-02 -3.10365289e-04 9.97354479e-01 -2.05292500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75864 meters 0.02592268176709855 Centerline is valid? [True, True] Translation: X:285.44, Y:-218.31, Z:-20.53 [[ 7.45629593e-01 6.64216547e-01 5.34124471e-02 2.85437544e+02] [-6.62535845e-01 7.47540198e-01 -4.72218898e-02 -2.18314348e+02] [-7.12935118e-02 -1.77622317e-04 9.97455364e-01 -2.05311668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters 0.02611321563092295 Centerline is valid? [True, True] Translation: X:285.46, Y:-218.34, Z:-20.53 [[ 7.45773397e-01 6.64126878e-01 5.25121853e-02 2.85460944e+02] [-6.62499181e-01 7.47619871e-01 -4.64689579e-02 -2.18336204e+02] [-7.01204371e-02 -1.33967207e-04 9.97538524e-01 -2.05324110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81864 meters 0.025805738278286125 Centerline is valid? [True, True] Translation: X:285.49, Y:-218.36, Z:-20.53 [[ 7.45965088e-01 6.63931432e-01 5.22603214e-02 2.85485227e+02] [-6.62315727e-01 7.47793452e-01 -4.62907194e-02 -2.18359093e+02] [-6.98137898e-02 -8.15721366e-05 9.97560037e-01 -2.05335911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters 0.025994418419442743 Centerline is valid? [True, True] Translation: X:285.51, Y:-218.39, Z:-20.54 [[ 7.45793572e-01 6.64064392e-01 5.30134964e-02 2.85505790e+02] [-6.62398447e-01 7.47675384e-01 -4.70086885e-02 -2.18385472e+02] [-7.08536824e-02 -5.72799293e-05 9.97486718e-01 -2.05352705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87864 meters 0.026092402873798805 Centerline is valid? [True, True] Translation: X:285.53, Y:-218.41, Z:-20.54 [[ 7.45335474e-01 6.64537655e-01 5.35232298e-02 2.85527918e+02] [-6.62837026e-01 7.47254777e-01 -4.75118499e-02 -2.18410473e+02] [-7.15689024e-02 -6.49112917e-05 9.97435656e-01 -2.05373849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90864 meters 0.026075903245687343 Centerline is valid? [True, True] Translation: X:285.55, Y:-218.44, Z:-20.54 [[ 7.43514005e-01 6.66674327e-01 5.22710931e-02 2.85547572e+02] [-6.65054901e-01 7.45349104e-01 -4.64401949e-02 -2.18436193e+02] [-6.99206981e-02 -2.34211397e-04 9.97552526e-01 -2.05374197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93864 meters 0.02611629135303666 Centerline is valid? [True, True] Translation: X:285.57, Y:-218.46, Z:-20.54 [[ 7.41486243e-01 6.68869626e-01 5.30242847e-02 2.85570160e+02] [-6.67207052e-01 7.43379606e-01 -4.71329092e-02 -2.18458855e+02] [-7.09429432e-02 -4.29772918e-04 9.97480283e-01 -2.05392437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96864 meters 0.02648760704556683 Centerline is valid? [True, True] Translation: X:285.59, Y:-218.48, Z:-20.54 [[ 7.35952590e-01 6.74821755e-01 5.46752663e-02 2.85591766e+02] [-6.73066770e-01 7.37980083e-01 -4.86468975e-02 -2.18482603e+02] [-7.31772424e-02 -9.98294684e-04 9.97318452e-01 -2.05404494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99864 meters 0.026592834903357798 Centerline is valid? [True, True] Translation: X:285.62, Y:-218.50, Z:-20.54 [[ 7.33576670e-01 6.77421259e-01 5.44583052e-02 2.85615350e+02] [-6.75684045e-01 7.35594284e-01 -4.84986593e-02 -2.18504328e+02] [-7.29132409e-02 -1.21912298e-03 9.97337542e-01 -2.05416611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02864 meters 0.026700311709027678 Centerline is valid? [True, True] Translation: X:285.64, Y:-218.53, Z:-20.54 [[ 7.30966661e-01 6.80288466e-01 5.38083950e-02 2.85639407e+02] [-6.78597040e-01 7.32943033e-01 -4.79642337e-02 -2.18525865e+02] [-7.20680032e-02 -1.45396186e-03 9.97398661e-01 -2.05440393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05864 meters 0.02738944804770455 Centerline is valid? [True, True] Translation: X:285.66, Y:-218.55, Z:-20.55 [[ 7.27856625e-01 6.83701847e-01 5.26926691e-02 2.85663696e+02] [-6.82085749e-01 7.29759425e-01 -4.70128984e-02 -2.18547422e+02] [-7.05957774e-02 -1.72226912e-03 9.97503519e-01 -2.05450980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08864 meters 0.027323288033679945 Centerline is valid? [True, True] Translation: X:285.69, Y:-218.57, Z:-20.55 [[ 7.27003715e-01 6.84556211e-01 5.33703249e-02 2.85688625e+02] [-6.82897300e-01 7.28957865e-01 -4.76624472e-02 -2.18568425e+02] [-7.15323424e-02 -1.79567460e-03 9.97436664e-01 -2.05465125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11864 meters 0.027177174969266693 Centerline is valid? [True, True] Translation: X:285.71, Y:-218.59, Z:-20.55 [[ 7.27827917e-01 6.83617628e-01 5.41614407e-02 2.85714497e+02] [-6.81903194e-01 7.29838382e-01 -4.84145668e-02 -2.18587821e+02] [-7.26261496e-02 -1.69538607e-03 9.97357793e-01 -2.05474072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14864 meters 0.027004822881167276 Centerline is valid? [True, True] Translation: X:285.74, Y:-218.61, Z:-20.55 [[ 7.28129914e-01 6.83214716e-01 5.51768112e-02 2.85739528e+02] [-6.81430550e-01 7.30215672e-01 -4.93708305e-02 -2.18608770e+02] [-7.40218502e-02 -1.65078621e-03 9.97255254e-01 -2.05487106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17864 meters 0.02706597288033678 Centerline is valid? [True, True] Translation: X:285.76, Y:-218.63, Z:-20.55 [[ 7.28786922e-01 6.82544253e-01 5.47993258e-02 2.85764356e+02] [-6.80778843e-01 7.30842656e-01 -4.90833972e-02 -2.18628604e+02] [-7.35512754e-02 -1.53488365e-03 9.97290256e-01 -2.05509901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20864 meters 0.026959346489060454 Centerline is valid? [True, True] Translation: X:285.79, Y:-218.65, Z:-20.55 [[ 7.27816543e-01 6.83681150e-01 5.35085527e-02 2.85790403e+02] [-6.81997777e-01 7.29779144e-01 -4.79732556e-02 -2.18648921e+02] [-7.18478363e-02 -1.57698491e-03 9.97414358e-01 -2.05515963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23864 meters 0.027194751989137577 Centerline is valid? [True, True] Translation: X:285.82, Y:-218.67, Z:-20.55 [[ 7.26234102e-01 6.85477648e-01 5.20040573e-02 2.85819464e+02] [-6.83888884e-01 7.28091757e-01 -4.66732010e-02 -2.18666189e+02] [-6.98571615e-02 -1.66932645e-03 9.97555608e-01 -2.05544771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26864 meters 0.027163418277705857 Centerline is valid? [True, True] Translation: X:285.85, Y:-218.69, Z:-20.56 [[ 7.24935837e-01 6.86856286e-01 5.19275931e-02 2.85845321e+02] [-6.85272342e-01 7.26791118e-01 -4.66528372e-02 -2.18686197e+02] [-6.97843080e-02 -1.76422974e-03 9.97560543e-01 -2.05559357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29864 meters 0.027335486730247615 Centerline is valid? [True, True] Translation: X:285.87, Y:-218.71, Z:-20.56 [[ 7.25260542e-01 6.86463415e-01 5.25844740e-02 2.85871403e+02] [-6.84834786e-01 7.27162321e-01 -4.72892738e-02 -2.18705875e+02] [-7.06998045e-02 -1.71463270e-03 9.97496164e-01 -2.05576188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32864 meters 0.027098750592317995 Centerline is valid? [True, True] Translation: X:285.90, Y:-218.73, Z:-20.56 [[ 7.25595797e-01 6.86137234e-01 5.22152794e-02 2.85897479e+02] [-6.84527172e-01 7.27470288e-01 -4.70056440e-02 -2.18725759e+02] [-7.02373869e-02 -1.63567981e-03 9.97528964e-01 -2.05579529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35864 meters 0.027242406094136196 Centerline is valid? [True, True] Translation: X:285.92, Y:-218.75, Z:-20.56 [[ 7.26244447e-01 6.85394726e-01 5.29440499e-02 2.85924078e+02] [-6.83734041e-01 7.28170077e-01 -4.77084856e-02 -2.18746067e+02] [-7.12514174e-02 -1.55162647e-03 9.97457181e-01 -2.05601542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38864 meters 0.026979261652415126 Centerline is valid? [True, True] Translation: X:285.95, Y:-218.76, Z:-20.56 [[ 7.28495665e-01 6.83049621e-01 5.23190311e-02 2.85950421e+02] [-6.81418483e-01 7.30370865e-01 -4.71937602e-02 -2.18764812e+02] [-7.04479760e-02 -1.27070505e-03 9.97514646e-01 -2.05632666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41864 meters 0.026963941575022736 Centerline is valid? [True, True] Translation: X:285.98, Y:-218.78, Z:-20.56 [[ 7.29702865e-01 6.81812889e-01 5.16227877e-02 2.85975495e+02] [-6.80218834e-01 7.31525779e-01 -4.66087219e-02 -2.18784751e+02] [-6.95418273e-02 -1.10427451e-03 9.97578425e-01 -2.05647051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44864 meters 0.026606885222225846 Centerline is valid? [True, True] Translation: X:286.00, Y:-218.80, Z:-20.57 [[ 7.33437870e-01 6.77713675e-01 5.26599099e-02 2.86003608e+02] [-6.76041017e-01 7.35325568e-01 -4.75904591e-02 -2.18801613e+02] [-7.09748831e-02 -6.95614121e-04 9.97477860e-01 -2.05666863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47864 meters 0.02655264920748929 Centerline is valid? [True, True] Translation: X:286.03, Y:-218.82, Z:-20.57 [[ 7.34708204e-01 6.76350469e-01 5.24775964e-02 2.86029170e+02] [-6.74682762e-01 7.36579774e-01 -4.74700730e-02 -2.18821556e+02] [-7.07603422e-02 -5.29077614e-04 9.97493205e-01 -2.05691911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50864 meters 0.026657198087654353 Centerline is valid? [True, True] Translation: X:286.05, Y:-218.84, Z:-20.57 [[ 7.36280526e-01 6.74664559e-01 5.21413524e-02 2.86053330e+02] [-6.73010866e-01 7.38124395e-01 -4.72096508e-02 -2.18842556e+02] [-7.03374824e-02 -3.32150303e-04 9.97523197e-01 -2.05713593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53864 meters 0.026747100815300646 Centerline is valid? [True, True] Translation: X:286.08, Y:-218.87, Z:-20.57 [[ 7.39798031e-01 6.70799848e-01 5.22153053e-02 2.86077744e+02] [-6.69128564e-01 7.41638429e-01 -4.73223637e-02 -2.18865302e+02] [-7.04687113e-02 7.02392553e-05 9.97513988e-01 -2.05735907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56864 meters 0.0267940415586065 Centerline is valid? [True, True] Translation: X:286.10, Y:-218.89, Z:-20.58 [[ 7.41718470e-01 6.68614779e-01 5.29904615e-02 2.86101851e+02] [-6.66884269e-01 7.43608886e-01 -4.80749005e-02 -2.18886293e+02] [-7.15477670e-02 3.19536385e-04 9.97437123e-01 -2.05761524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59864 meters 0.0270550152508265 Centerline is valid? [True, True] Translation: X:286.12, Y:-218.91, Z:-20.58 [[ 7.44682841e-01 6.65323258e-01 5.28434368e-02 2.86124615e+02] [-6.63590872e-01 7.46555099e-01 -4.79858180e-02 -2.18908406e+02] [-7.13766180e-02 6.67793033e-04 9.97449213e-01 -2.05779523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62864 meters 0.027131947460720077 Centerline is valid? [True, True] Translation: X:286.15, Y:-218.93, Z:-20.58 [[ 7.45621046e-01 6.64323874e-01 5.21828091e-02 2.86148012e+02] [-6.62628985e-01 7.47444426e-01 -4.74305606e-02 -2.18932152e+02] [-7.05130036e-02 7.87382357e-04 9.97510550e-01 -2.05796421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65864 meters 0.02748937951110647 Centerline is valid? [True, True] Translation: X:286.17, Y:-218.96, Z:-20.58 [[ 7.47568231e-01 6.62126331e-01 5.22538344e-02 2.86168760e+02] [-6.60418061e-01 7.49391525e-01 -4.75429061e-02 -2.18956507e+02] [-7.06379906e-02 1.03219025e-03 9.97501483e-01 -2.05815749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68864 meters 0.027487436129346617 Centerline is valid? [True, True] Translation: X:286.19, Y:-218.98, Z:-20.58 [[ 7.47431543e-01 6.62254271e-01 5.25867798e-02 2.86192313e+02] [-6.60521255e-01 7.49278424e-01 -4.78906643e-02 -2.18979314e+02] [-7.11179365e-02 1.06030732e-03 9.97467350e-01 -2.05826100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71864 meters 0.02739953063094993 Centerline is valid? [True, True] Translation: X:286.21, Y:-219.00, Z:-20.58 [[ 7.46542066e-01 6.63295315e-01 5.20986411e-02 2.86214507e+02] [-6.61593583e-01 7.48357101e-01 -4.74929581e-02 -2.19003309e+02] [-7.04902447e-02 9.87364434e-04 9.97511980e-01 -2.05835447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74864 meters 0.027502841174783847 Centerline is valid? [True, True] Translation: X:286.24, Y:-219.03, Z:-20.59 [[ 7.45654443e-01 6.64353528e-01 5.13209674e-02 2.86236907e+02] [-6.62701890e-01 7.47417936e-01 -4.68255731e-02 -2.19025806e+02] [-6.94669462e-02 9.05194477e-04 9.97583843e-01 -2.05855698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77864 meters 0.027518174032978727 Centerline is valid? [True, True] Translation: X:286.26, Y:-219.05, Z:-20.59 [[ 7.43197135e-01 6.66899219e-01 5.38836832e-02 2.86258510e+02] [-6.65081644e-01 7.45147564e-01 -4.92088802e-02 -2.19049026e+02] [-7.29686591e-02 7.34850150e-04 9.97333964e-01 -2.05878849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80864 meters 0.027570532415187154 Centerline is valid? [True, True] Translation: X:286.28, Y:-219.07, Z:-20.59 [[ 7.41510911e-01 6.68729155e-01 5.44324033e-02 2.86283194e+02] [-6.66875904e-01 7.43505860e-01 -4.97550409e-02 -2.19071225e+02] [-7.37434573e-02 5.94247475e-04 9.97277068e-01 -2.05891056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83864 meters 0.027505751171788117 Centerline is valid? [True, True] Translation: X:286.31, Y:-219.09, Z:-20.59 [[ 7.39447613e-01 6.71065955e-01 5.37374309e-02 2.86306559e+02] [-6.69262380e-01 7.41397552e-01 -4.91684558e-02 -2.19092727e+02] [-7.28360764e-02 3.93056445e-04 9.97343848e-01 -2.05906054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86864 meters 0.027619388257686794 Centerline is valid? [True, True] Translation: X:286.33, Y:-219.12, Z:-20.59 [[ 7.36488716e-01 6.74308237e-01 5.37844972e-02 2.86330945e+02] [-6.72506673e-01 7.38449991e-01 -4.92583515e-02 -2.19115566e+02] [-7.29324736e-02 1.07786802e-04 9.97336875e-01 -2.05930005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89864 meters 0.02768834929131443 Centerline is valid? [True, True] Translation: X:286.36, Y:-219.14, Z:-20.59 [[ 7.33267166e-01 6.77837277e-01 5.34405245e-02 2.86356217e+02] [-6.76064291e-01 7.35211932e-01 -4.89947900e-02 -2.19136609e+02] [-7.25006063e-02 -2.02959467e-04 9.97368348e-01 -2.05945798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters 0.027727411148518333 Centerline is valid? [True, True] Translation: X:286.38, Y:-219.16, Z:-20.60 [[ 7.30489964e-01 6.80831235e-01 5.34157460e-02 2.86381297e+02] [-6.79064077e-01 7.32440180e-01 -4.90240919e-02 -2.19158034e+02] [-7.25009716e-02 -4.61107179e-04 9.97368235e-01 -2.05958063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95864 meters 0.027820018032453438 Centerline is valid? [True, True] Translation: X:286.41, Y:-219.18, Z:-20.60 [[ 7.28207344e-01 6.83333565e-01 5.26241599e-02 2.86406573e+02] [-6.81621321e-01 7.30106020e-01 -4.83484717e-02 -2.19179594e+02] [-7.14593495e-02 -6.62037215e-04 9.97443293e-01 -2.05959971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters 0.027820018032453438 Centerline is valid? [True, True] Translation: X:286.43, Y:-219.20, Z:-20.60 [[ 7.27846701e-01 6.83719667e-01 5.25984492e-02 2.86430731e+02] [-6.82006409e-01 7.29744461e-01 -4.83764305e-02 -2.19201362e+02] [-7.14593439e-02 -6.61854165e-04 9.97443294e-01 -2.05976812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01864 meters 0.028355826335065875 Centerline is valid? [True, True] Translation: X:286.46, Y:-219.22, Z:-20.60 [[ 7.23177766e-01 6.88657153e-01 5.25855856e-02 2.86456620e+02] [-6.86954137e-01 7.25086263e-01 -4.84141027e-02 -2.19221211e+02] [-7.14698039e-02 -1.11188293e-03 9.97442144e-01 -2.06001185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters 0.02836829740490105 Centerline is valid? [True, True] Translation: X:286.48, Y:-219.24, Z:-20.60 [[ 7.21090205e-01 6.90944953e-01 5.12248766e-02 2.86482680e+02] [-6.89331681e-01 7.22906257e-01 -4.72056996e-02 -2.19241627e+02] [-6.96473237e-02 -1.27136260e-03 9.97570867e-01 -2.06005792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07864 meters 0.028970123346377438 Centerline is valid? [True, True] Translation: X:286.51, Y:-219.26, Z:-20.60 [[ 7.17092955e-01 6.95113616e-01 5.09387384e-02 2.86508627e+02] [-6.93525485e-01 7.18898045e-01 -4.69893879e-02 -2.19260121e+02] [-6.92827228e-02 -1.63155426e-03 9.97595731e-01 -2.06022967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters 0.029151056102106474 Centerline is valid? [True, True] Translation: X:286.53, Y:-219.28, Z:-20.60 [[ 7.14758782e-01 6.97499139e-01 5.11354534e-02 2.86533289e+02] [-6.95901876e-01 7.16583259e-01 -4.72124186e-02 -2.19280340e+02] [-6.95734311e-02 -1.83976716e-03 9.97575137e-01 -2.06035633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13864 meters 0.029627544878725404 Centerline is valid? [True, True] Translation: X:286.56, Y:-219.30, Z:-20.60 [[ 7.12221242e-01 7.00086041e-01 5.11902196e-02 2.86560475e+02] [-6.98488942e-01 7.14055516e-01 -4.73066481e-02 -2.19297789e+02] [-6.96713826e-02 -2.06300268e-03 9.97567864e-01 -2.06047080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters 0.029541288374945244 Centerline is valid? [True, True] Translation: X:286.59, Y:-219.32, Z:-20.61 [[ 7.11684572e-01 7.00645256e-01 5.10028992e-02 2.86587504e+02] [-6.99058131e-01 7.13506769e-01 -4.71785969e-02 -2.19317433e+02] [-6.94463739e-02 -2.07771187e-03 9.97583522e-01 -2.06062732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19864 meters 0.029342424805633226 Centerline is valid? [True, True] Translation: X:286.62, Y:-219.33, Z:-20.61 [[ 7.11933873e-01 7.00300206e-01 5.22473105e-02 2.86616364e+02] [-6.98629947e-01 7.13845495e-01 -4.83818846e-02 -2.19334770e+02] [-7.11783510e-02 -2.05683326e-03 9.97461484e-01 -2.06077839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters 0.029255468915999963 Centerline is valid? [True, True] Translation: X:286.64, Y:-219.35, Z:-20.61 [[ 7.12730205e-01 6.99446727e-01 5.28198025e-02 2.86641757e+02] [-6.97733645e-01 7.14682059e-01 -4.89623835e-02 -2.19354327e+02] [-7.19959441e-02 -1.95718371e-03 9.97403005e-01 -2.06090666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25864 meters 0.02904953599246583 Centerline is valid? [True, True] Translation: X:286.67, Y:-219.37, Z:-20.61 [[ 7.13890737e-01 6.98290098e-01 5.24495382e-02 2.86667843e+02] [-6.96594641e-01 7.15812626e-01 -4.86640534e-02 -2.19373831e+02] [-7.15256683e-02 -1.79525024e-03 9.97437144e-01 -2.06095408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters 0.02886243794718368 Centerline is valid? [True, True] Translation: X:286.70, Y:-219.39, Z:-20.61 [[ 7.16604528e-01 6.95501274e-01 5.24969303e-02 2.86697555e+02] [-6.93792001e-01 7.18523327e-01 -4.87533377e-02 -2.19389470e+02] [-7.16282775e-02 -1.48508773e-03 9.97430291e-01 -2.06114923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31864 meters 0.028544804154767546 Centerline is valid? [True, True] Translation: X:286.73, Y:-219.41, Z:-20.61 [[ 7.19540153e-01 6.92462266e-01 5.25164522e-02 2.86726448e+02] [-6.90740340e-01 7.21453178e-01 -4.88169409e-02 -2.19406048e+02] [-7.16920508e-02 -1.14948292e-03 9.97426152e-01 -2.06127224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters 0.02839077599738581 Centerline is valid? [True, True] Translation: X:286.75, Y:-219.43, Z:-20.61 [[ 7.20306497e-01 6.91687036e-01 5.22263854e-02 2.86752036e+02] [-6.89978850e-01 7.22196632e-01 -4.85922922e-02 -2.19425460e+02] [-7.13283782e-02 -1.03375759e-03 9.97452352e-01 -2.06143257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37864 meters 0.028295994619935764 Centerline is valid? [True, True] Translation: X:286.78, Y:-219.44, Z:-20.62 [[ 7.21142993e-01 6.90846490e-01 5.18064706e-02 2.86777831e+02] [-6.89160382e-01 7.23000897e-01 -4.82459352e-02 -2.19444546e+02] [-7.07866597e-02 -9.10748972e-04 9.97491062e-01 -2.06150599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40864 meters 0.028175005374784047 Centerline is valid? [True, True] Translation: X:286.81, Y:-219.46, Z:-20.62 [[ 7.22136774e-01 6.89754931e-01 5.25034715e-02 2.86805485e+02] [-6.88016814e-01 7.24042489e-01 -4.89421857e-02 -2.19462653e+02] [-7.17728581e-02 -7.80319092e-04 9.97420698e-01 -2.06178322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43864 meters 0.02804232529009599 Centerline is valid? [True, True] Translation: X:286.83, Y:-219.48, Z:-20.62 [[ 7.24325912e-01 6.87411416e-01 5.30802958e-02 2.86833138e+02] [-6.85624726e-01 7.26268049e-01 -4.95323830e-02 -2.19480911e+02] [-7.25996484e-02 -5.15574774e-04 9.97361031e-01 -2.06201971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46864 meters 0.02801810762354399 Centerline is valid? [True, True] Translation: X:286.86, Y:-219.50, Z:-20.62 [[ 7.24828230e-01 6.86867499e-01 5.32641985e-02 2.86859397e+02] [-6.85063086e-01 7.26782538e-01 -4.97565027e-02 -2.19501371e+02] [-7.28876140e-02 -4.24418377e-04 9.97340070e-01 -2.06209199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49864 meters 0.02781514595939271 Centerline is valid? [True, True] Translation: X:286.89, Y:-219.52, Z:-20.62 [[ 7.25410616e-01 6.86213994e-01 5.37568016e-02 2.86885948e+02] [-6.84370288e-01 7.27399650e-01 -5.02698629e-02 -2.19521855e+02] [-7.35985620e-02 -3.23265575e-04 9.97287896e-01 -2.06224974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52864 meters 0.02781436438269804 Centerline is valid? [True, True] Translation: X:286.91, Y:-219.54, Z:-20.62 [[ 7.27349071e-01 6.84170803e-01 5.36063598e-02 2.86913486e+02] [-6.82327986e-01 7.29321813e-01 -5.01817934e-02 -2.19540822e+02] [-7.34292054e-02 -7.74387328e-05 9.97300429e-01 -2.06238074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55864 meters 0.028040919132227424 Centerline is valid? [True, True] Translation: X:286.94, Y:-219.56, Z:-20.63 [[ 7.27867601e-01 6.83629495e-01 5.34740066e-02 2.86938676e+02] [-6.81790441e-01 7.29829236e-01 -5.01106916e-02 -2.19562546e+02] [-7.32840401e-02 1.58823260e-05 9.97311110e-01 -2.06261307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58864 meters 0.027926935317781284 Centerline is valid? [True, True] Translation: X:286.96, Y:-219.58, Z:-20.63 [[ 7.28294671e-01 6.83239164e-01 5.26414097e-02 2.86962656e+02] [-6.81452454e-01 7.30194657e-01 -4.93792996e-02 -2.19583526e+02] [-7.21763475e-02 9.00629193e-05 9.97391882e-01 -2.06277368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61864 meters 0.027779273665748158 Centerline is valid? [True, True] Translation: X:286.99, Y:-219.61, Z:-20.63 [[ 7.28091054e-01 6.83498046e-01 5.20945121e-02 2.86987774e+02] [-6.81745700e-01 7.29952335e-01 -4.89120602e-02 -2.19605798e+02] [-7.14578084e-02 9.72238663e-05 9.97443619e-01 -2.06279260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64864 meters 0.02788405586861854 Centerline is valid? [True, True] Translation: X:287.01, Y:-219.63, Z:-20.63 [[ 7.27938596e-01 6.83626215e-01 5.25414065e-02 2.87011517e+02] [-6.81841019e-01 7.29832299e-01 -4.93724635e-02 -2.19627379e+02] [-7.20987258e-02 1.15235607e-04 9.97397494e-01 -2.06305444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67864 meters 0.02783058199191801 Centerline is valid? [True, True] Translation: X:287.03, Y:-219.65, Z:-20.63 [[ 7.26657007e-01 6.84882437e-01 5.39040129e-02 2.87034919e+02] [-6.83005113e-01 7.28653586e-01 -5.06751222e-02 -2.19648843e+02] [-7.39838535e-02 6.71624482e-06 9.97259439e-01 -2.06320617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70864 meters 0.02777026359015811 Centerline is valid? [True, True] Translation: X:287.06, Y:-219.67, Z:-20.63 [[ 7.25745670e-01 6.85802029e-01 5.44866896e-02 2.87058810e+02] [-6.83882951e-01 7.27788138e-01 -5.12692523e-02 -2.19671117e+02] [-7.48153236e-02 -5.40801546e-05 9.97197405e-01 -2.06336930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73864 meters 0.027707930807828428 Centerline is valid? [True, True] Translation: X:287.08, Y:-219.69, Z:-20.63 [[ 7.24228611e-01 6.87451785e-01 5.38791419e-02 2.87084535e+02] [-6.85575997e-01 7.26229997e-01 -5.07498036e-02 -2.19692432e+02] [-7.40166921e-02 -1.83786671e-04 9.97256986e-01 -2.06344136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76864 meters 0.02778447216607954 Centerline is valid? [True, True] Translation: X:287.11, Y:-219.71, Z:-20.64 [[ 7.23362805e-01 6.88398515e-01 5.34203822e-02 2.87109395e+02] [-6.86553338e-01 7.25332632e-01 -5.03695094e-02 -2.19713682e+02] [-7.34218418e-02 -2.40512138e-04 9.97300945e-01 -2.06354643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79864 meters 0.02779663501851327 Centerline is valid? [True, True] Translation: X:287.13, Y:-219.73, Z:-20.64 [[ 7.21933281e-01 6.89911826e-01 5.32354254e-02 2.87134776e+02] [-6.88080396e-01 7.23893322e-01 -5.02377040e-02 -2.19734895e+02] [-7.31963550e-02 -3.61982063e-04 9.97317483e-01 -2.06368901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82864 meters 0.027962268810000846 Centerline is valid? [True, True] Translation: X:287.16, Y:-219.76, Z:-20.64 [[ 7.20630067e-01 6.91265783e-01 5.33284553e-02 2.87159044e+02] [-6.89430313e-01 7.22600429e-01 -5.03434601e-02 -2.19756354e+02] [-7.33358760e-02 -4.87242669e-04 9.97307180e-01 -2.06390521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85864 meters 0.027732274780526322 Centerline is valid? [True, True] Translation: X:287.19, Y:-219.78, Z:-20.64 [[ 7.18808938e-01 6.93245156e-01 5.22002314e-02 2.87185340e+02] [-6.91490905e-01 7.20701541e-01 -4.92911475e-02 -2.19775043e+02] [-7.17916364e-02 -6.65067887e-04 9.97419430e-01 -2.06408616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88864 meters 0.027728448576278257 Centerline is valid? [True, True] Translation: X:287.21, Y:-219.80, Z:-20.64 [[ 7.17127872e-01 6.94972248e-01 5.23563670e-02 2.87210105e+02] [-6.93211120e-01 7.19036080e-01 -4.94515882e-02 -2.19795844e+02] [-7.20135983e-02 -8.30903499e-04 9.97403304e-01 -2.06427553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91864 meters 0.027758410807977415 Centerline is valid? [True, True] Translation: X:287.24, Y:-219.81, Z:-20.64 [[ 7.16209038e-01 6.95830632e-01 5.35195783e-02 2.87236299e+02] [-6.93991669e-01 7.18205312e-01 -5.05637593e-02 -2.19814411e+02] [-7.36218580e-02 -9.27919995e-04 9.97285797e-01 -2.06434797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94864 meters 0.027726211976480238 Centerline is valid? [True, True] Translation: X:287.26, Y:-219.83, Z:-20.64 [[ 7.16118070e-01 6.95850255e-01 5.44732202e-02 2.87261844e+02] [-6.93944108e-01 7.18186289e-01 -5.14784464e-02 -2.19834252e+02] [-7.49432099e-02 -9.36724530e-04 9.97187363e-01 -2.06449375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97864 meters 0.027658915968327268 Centerline is valid? [True, True] Translation: X:287.29, Y:-219.85, Z:-20.65 [[ 7.16726536e-01 6.95163237e-01 5.52371787e-02 2.87287947e+02] [-6.93200086e-01 7.18851390e-01 -5.22141657e-02 -2.19853891e+02] [-7.60046912e-02 -8.67138916e-04 9.97107083e-01 -2.06463487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00864 meters 0.027939856269242596 Centerline is valid? [True, True] Translation: X:287.31, Y:-219.87, Z:-20.65 [[ 7.17147021e-01 6.94593429e-01 5.69220363e-02 2.87314374e+02] [-6.92505580e-01 7.19402039e-01 -5.38212604e-02 -2.19873105e+02] [-7.83337228e-02 -8.21071177e-04 9.96926855e-01 -2.06505872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03864 meters 0.027967818818427418 Centerline is valid? [True, True] Translation: X:287.34, Y:-219.89, Z:-20.65 [[ 7.17357572e-01 6.94347493e-01 5.72684228e-02 2.87339406e+02] [-6.92232204e-01 7.19639449e-01 -5.41630840e-02 -2.19893477e+02] [-7.88206178e-02 -7.88748029e-04 9.96888503e-01 -2.06527522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06864 meters 0.02772614112857214 Centerline is valid? [True, True] Translation: X:287.37, Y:-219.91, Z:-20.65 [[ 7.18430985e-01 6.93313529e-01 5.63317873e-02 2.87368862e+02] [-6.91262636e-01 7.20635777e-01 -5.32920653e-02 -2.19909841e+02] [-7.75428112e-02 -6.53388814e-04 9.96988809e-01 -2.06541814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09864 meters 0.027644863420265006 Centerline is valid? [True, True] Translation: X:287.39, Y:-219.93, Z:-20.66 [[ 7.19453707e-01 6.92275158e-01 5.60488058e-02 2.87394361e+02] [-6.90240641e-01 7.21633443e-01 -5.30380280e-02 -2.19928989e+02] [-7.71636019e-02 -5.28757796e-04 9.97018304e-01 -2.06559028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12864 meters 0.027390105421345564 Centerline is valid? [True, True] Translation: X:287.42, Y:-219.95, Z:-20.66 [[ 7.22277278e-01 6.89335782e-01 5.59617166e-02 2.87418746e+02] [-6.87298396e-01 7.24441948e-01 -5.29601701e-02 -2.19947731e+02] [-7.70483552e-02 -2.10470535e-04 9.97027335e-01 -2.06577496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15864 meters 0.02740387532643738 Centerline is valid? [True, True] Translation: X:287.44, Y:-219.97, Z:-20.66 [[ 7.24104711e-01 6.87395364e-01 5.62137118e-02 2.87442533e+02] [-6.85333707e-01 7.26283425e-01 -5.31986494e-02 -2.19966897e+02] [-7.73955921e-02 -3.75891357e-06 9.97000463e-01 -2.06600070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18864 meters 0.027525669557278098 Centerline is valid? [True, True] Translation: X:287.47, Y:-219.98, Z:-20.66 [[ 7.25697095e-01 6.85704732e-01 5.63271491e-02 2.87466623e+02] [-6.83629812e-01 7.27879791e-01 -5.33037497e-02 -2.19984102e+02] [-7.75500269e-02 1.75457885e-04 9.96988447e-01 -2.06608731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21864 meters 0.027665983235786874 Centerline is valid? [True, True] Translation: X:287.49, Y:-220.00, Z:-20.66 [[ 7.28489734e-01 6.82700273e-01 5.67718727e-02 2.87491207e+02] [-6.80584890e-01 7.30698367e-01 -5.37038608e-02 -2.19999349e+02] [-7.81467551e-02 4.84632537e-04 9.96941748e-01 -2.06640956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24864 meters 0.027771607626968182 Centerline is valid? [True, True] Translation: X:287.51, Y:-220.02, Z:-20.67 [[ 7.29962502e-01 6.81098722e-01 5.70900786e-02 2.87512578e+02] [-6.78958421e-01 7.32191328e-01 -5.39566577e-02 -2.20018988e+02] [-7.85506711e-02 6.24547233e-04 9.96909927e-01 -2.06662209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27864 meters 0.027902368385080128 Centerline is valid? [True, True] Translation: X:287.53, Y:-220.04, Z:-20.67 [[ 7.31010321e-01 6.79961433e-01 5.72395011e-02 2.87533322e+02] [-6.77810382e-01 7.33247532e-01 -5.40476055e-02 -2.20037759e+02] [-7.87210102e-02 7.11829385e-04 9.96896432e-01 -2.06670835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30864 meters 0.028521888068819837 Centerline is valid? [True, True] Translation: X:287.56, Y:-220.06, Z:-20.67 [[ 7.34229144e-01 6.76482437e-01 5.72632200e-02 2.87555987e+02] [-6.74323118e-01 7.36458020e-01 -5.40177537e-02 -2.20055357e+02] [-7.87140193e-02 1.04749600e-03 9.96896688e-01 -2.06681388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33864 meters 0.028705045097823314 Centerline is valid? [True, True] Translation: X:287.58, Y:-220.08, Z:-20.67 [[ 7.36325392e-01 6.74232190e-01 5.68847186e-02 2.87576816e+02] [-6.72098315e-01 7.38518384e-01 -5.36139005e-02 -2.20075449e+02] [-7.81586280e-02 1.24515282e-03 9.96940158e-01 -2.06691204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36864 meters 0.029052398916422674 Centerline is valid? [True, True] Translation: X:287.60, Y:-220.10, Z:-20.67 [[ 7.38749061e-01 6.71554219e-01 5.71380502e-02 2.87597246e+02] [-6.69396912e-01 7.40953897e-01 -5.38060989e-02 -2.20095942e+02] [-7.84703737e-02 1.50117069e-03 9.96915316e-01 -2.06704511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39864 meters 0.030054312369626152 Centerline is valid? [True, True] Translation: X:287.62, Y:-220.12, Z:-20.67 [[ 7.43354859e-01 6.66413330e-01 5.75918964e-02 2.87617772e+02] [-6.64208688e-01 7.45579723e-01 -5.42005182e-02 -2.20117642e+02] [-7.90592980e-02 2.03718059e-03 9.96867833e-01 -2.06713671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters 0.03120663043240253 Centerline is valid? [True, True] Translation: X:287.64, Y:-220.14, Z:-20.67 [[ 7.48669335e-01 6.60499726e-01 5.68712445e-02 2.87636623e+02] [-6.58333460e-01 7.50821698e-01 -5.35147909e-02 -2.20140086e+02] [-7.80466691e-02 2.62463969e-03 9.96946252e-01 -2.06719194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45864 meters 0.031994219723953936 Centerline is valid? [True, True] Translation: X:287.66, Y:-220.16, Z:-20.67 [[ 7.51243858e-01 6.57564838e-01 5.69310956e-02 2.87655602e+02] [-6.55386445e-01 7.53392281e-01 -5.35600464e-02 -2.20162283e+02] [-7.81106512e-02 2.92478753e-03 9.96940405e-01 -2.06744052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters 0.033048795514648274 Centerline is valid? [True, True] Translation: X:287.68, Y:-220.19, Z:-20.68 [[ 7.54201252e-01 6.54188562e-01 5.67256333e-02 2.87675865e+02] [-6.52016896e-01 7.56324475e-01 -5.33596873e-02 -2.20186403e+02] [-7.78102820e-02 3.25787161e-03 9.96962861e-01 -2.06764294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51864 meters 0.03457933623000663 Centerline is valid? [True, True] Translation: X:287.69, Y:-220.21, Z:-20.68 [[ 7.57973004e-01 6.49769025e-01 5.72463053e-02 2.87694477e+02] [-6.47544142e-01 7.60122449e-01 -5.38557919e-02 -2.20212592e+02] [-7.85080272e-02 3.75172673e-03 9.96906422e-01 -2.06775529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters 0.034691292377474946 Centerline is valid? [True, True] Translation: X:287.72, Y:-220.24, Z:-20.68 [[ 7.58763316e-01 6.48878486e-01 5.68765330e-02 2.87715350e+02] [-6.46679166e-01 7.60882434e-01 -5.35161581e-02 -2.20238088e+02] [-7.80018385e-02 3.82522865e-03 9.96945877e-01 -2.06776612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57864 meters 0.03403534161233433 Centerline is valid? [True, True] Translation: X:287.73, Y:-220.27, Z:-20.68 [[ 7.56787150e-01 6.51262239e-01 5.59527018e-02 2.87730816e+02] [-6.49139511e-01 7.58844540e-01 -5.26579390e-02 -2.20268162e+02] [-7.67535296e-02 3.52974213e-03 9.97043849e-01 -2.06794741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters 0.03301870301610978 Centerline is valid? [True, True] Translation: X:287.75, Y:-220.29, Z:-20.68 [[ 7.54430234e-01 6.54047017e-01 5.52948669e-02 2.87750020e+02] [-6.51980721e-01 7.56447065e-01 -5.20478428e-02 -2.20294198e+02] [-7.58693760e-02 3.21527907e-03 9.97112581e-01 -2.06799989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63864 meters 0.031502639071360354 Centerline is valid? [True, True] Translation: X:287.77, Y:-220.32, Z:-20.68 [[ 7.49542298e-01 6.59679892e-01 5.48523761e-02 2.87765504e+02] [-6.57660970e-01 7.51542093e-01 -5.16384605e-02 -2.20321850e+02] [-7.52887236e-02 2.63094350e-03 9.97158306e-01 -2.06820346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters 0.030724010748425915 Centerline is valid? [True, True] Translation: X:287.78, Y:-220.35, Z:-20.68 [[ 7.46578476e-01 6.63001524e-01 5.52228025e-02 2.87784850e+02] [-6.60963678e-01 7.48614459e-01 -5.19943113e-02 -2.20348726e+02] [-7.58128960e-02 2.31756698e-03 9.97119368e-01 -2.06844035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69864 meters 0.02992883263123356 Centerline is valid? [True, True] Translation: X:287.80, Y:-220.38, Z:-20.69 [[ 7.42757552e-01 6.67256957e-01 5.54920906e-02 2.87800821e+02] [-6.65209799e-01 7.44825164e-01 -5.22627839e-02 -2.20378143e+02] [-7.62046117e-02 1.90469499e-03 9.97090382e-01 -2.06851334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters 0.02965506072020122 Centerline is valid? [True, True] Translation: X:287.82, Y:-220.40, Z:-20.69 [[ 7.41314445e-01 6.68895635e-01 5.50592631e-02 2.87822514e+02] [-6.66883797e-01 7.43354307e-01 -5.18688282e-02 -2.20402604e+02] [-7.56233731e-02 1.73298117e-03 9.97134947e-01 -2.06872578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75864 meters 0.029430472742754746 Centerline is valid? [True, True] Translation: X:287.84, Y:-220.43, Z:-20.69 [[ 7.38002623e-01 6.72493101e-01 5.57239364e-02 2.87843114e+02] [-6.70440516e-01 7.40102064e-01 -5.25209382e-02 -2.20427163e+02] [-7.65613690e-02 1.40100547e-03 9.97063887e-01 -2.06911433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters 0.02934534976160858 Centerline is valid? [True, True] Translation: X:287.87, Y:-220.45, Z:-20.69 [[ 7.36299010e-01 6.74241425e-01 5.71162737e-02 2.87865187e+02] [-6.72086106e-01 7.38509880e-01 -5.38834114e-02 -2.20451976e+02] [-7.85113605e-02 1.28724841e-03 9.96912388e-01 -2.06936476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81864 meters 0.029244347812483543 Centerline is valid? [True, True] Translation: X:287.89, Y:-220.48, Z:-20.69 [[ 7.33868520e-01 6.76816858e-01 5.79304376e-02 2.87887279e+02] [-6.74603122e-01 7.36150665e-01 -5.47067269e-02 -2.20477002e+02] [-7.96719651e-02 1.06749062e-03 9.96820565e-01 -2.06938031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters 0.029188045723476403 Centerline is valid? [True, True] Translation: X:287.91, Y:-220.50, Z:-20.69 [[ 7.33058076e-01 6.77711507e-01 5.77318946e-02 2.87912515e+02] [-6.75511359e-01 7.35327206e-01 -5.45738404e-02 -2.20499095e+02] [-7.94371523e-02 1.00724389e-03 9.96839367e-01 -2.06943917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87864 meters 0.029161514451073463 Centerline is valid? [True, True] Translation: X:287.94, Y:-220.52, Z:-20.70 [[ 7.32517339e-01 6.78338593e-01 5.72285025e-02 2.87936066e+02] [-6.76175365e-01 7.34748820e-01 -5.41391442e-02 -2.20521123e+02] [-7.87732456e-02 9.61358271e-04 9.96892096e-01 -2.06959135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90864 meters 0.029161514451073463 Centerline is valid? [True, True] Translation: X:287.96, Y:-220.54, Z:-20.70 [[ 7.32171738e-01 6.78712878e-01 5.72134246e-02 2.87959932e+02] [-6.76549546e-01 7.34403118e-01 -5.41550741e-02 -2.20543264e+02] [-7.87734637e-02 9.43098300e-04 9.96892096e-01 -2.06976004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93864 meters 0.029301548012008877 Centerline is valid? [True, True] Translation: X:287.98, Y:-220.57, Z:-20.70 [[ 7.32306975e-01 6.78671890e-01 5.59549823e-02 2.87981568e+02] [-6.76598752e-01 7.34440968e-01 -5.30150211e-02 -2.20566576e+02] [-7.70754360e-02 9.64198569e-04 9.97024798e-01 -2.07010483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96864 meters 0.029406303816800747 Centerline is valid? [True, True] Translation: X:288.00, Y:-220.59, Z:-20.70 [[ 7.34521130e-01 6.76272733e-01 5.59812444e-02 2.88004493e+02] [-6.74187117e-01 7.36650274e-01 -5.30858265e-02 -2.20588409e+02] [-7.71390959e-02 1.25082749e-03 9.97019556e-01 -2.07041229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99864 meters 0.029704235175274405 Centerline is valid? [True, True] Translation: X:288.03, Y:-220.61, Z:-20.71 [[ 7.36185774e-01 6.74499421e-01 5.55071041e-02 2.88028521e+02] [-6.72440663e-01 7.38273939e-01 -5.26796531e-02 -2.20609693e+02] [-7.65118440e-02 1.45677731e-03 9.97067608e-01 -2.07053245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02864 meters 0.030040063836158856 Centerline is valid? [True, True] Translation: X:288.05, Y:-220.63, Z:-20.71 [[ 7.37786747e-01 6.72733647e-01 5.56790504e-02 2.88051264e+02] [-6.70653526e-01 7.39882842e-01 -5.28888199e-02 -2.20631995e+02] [-7.67760628e-02 1.67931894e-03 9.97046948e-01 -2.07075774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05864 meters 0.03059204178297156 Centerline is valid? [True, True] Translation: X:288.07, Y:-220.66, Z:-20.71 [[ 7.41141433e-01 6.69014719e-01 5.59346298e-02 2.88070785e+02] [-6.66901345e-01 7.43246164e-01 -5.31764549e-02 -2.20657266e+02] [-7.71490301e-02 2.10839411e-03 9.97017343e-01 -2.07096011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08864 meters 0.030972492659741033 Centerline is valid? [True, True] Translation: X:288.09, Y:-220.68, Z:-20.71 [[ 7.41818830e-01 6.68238891e-01 5.62281891e-02 2.88092560e+02] [-6.66097608e-01 7.43943410e-01 -5.34993460e-02 -2.20680396e+02] [-7.75809344e-02 2.23335993e-03 9.96983556e-01 -2.07122944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11864 meters 0.031433514945161445 Centerline is valid? [True, True] Translation: X:288.11, Y:-220.71, Z:-20.72 [[ 7.41602700e-01 6.68288069e-01 5.84507626e-02 2.88112928e+02] [-6.65970074e-01 7.43898864e-01 -5.56627432e-02 -2.20706019e+02] [-8.06802030e-02 2.35318200e-03 9.96737261e-01 -2.07158869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14864 meters 0.03124830493870811 Centerline is valid? [True, True] Translation: X:288.13, Y:-220.73, Z:-20.72 [[ 7.41021495e-01 6.69053353e-01 5.70504596e-02 2.88133819e+02] [-6.66843947e-01 7.43210974e-01 -5.43746128e-02 -2.20731269e+02] [-7.87800447e-02 2.24900318e-03 9.96889486e-01 -2.07160981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17864 meters 0.03100888643927974 Centerline is valid? [True, True] Translation: X:288.15, Y:-220.76, Z:-20.72 [[ 7.40099113e-01 6.70150037e-01 5.61447336e-02 2.88150892e+02] [-6.68009974e-01 7.42222597e-01 -5.35564293e-02 -2.20760188e+02] [-7.75627331e-02 2.13182379e-03 9.96985194e-01 -2.07168396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20864 meters 0.03119164759923406 Centerline is valid? [True, True] Translation: X:288.17, Y:-220.79, Z:-20.72 [[ 7.40271158e-01 6.69964740e-01 5.60879633e-02 2.88171792e+02] [-6.67824743e-01 7.42389704e-01 -5.35503439e-02 -2.20785489e+02] [-7.75159688e-02 2.18484540e-03 9.96988717e-01 -2.07188383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23864 meters 0.031018607707733778 Centerline is valid? [True, True] Translation: X:288.19, Y:-220.81, Z:-20.72 [[ 7.39928982e-01 6.70362451e-01 5.58505700e-02 2.88192728e+02] [-6.68237650e-01 7.42030635e-01 -5.33758377e-02 -2.20811394e+02] [-7.72239913e-02 2.17287554e-03 9.97011401e-01 -2.07195414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26864 meters 0.03101441042024265 Centerline is valid? [True, True] Translation: X:288.21, Y:-220.84, Z:-20.72 [[ 7.39779241e-01 6.70557132e-01 5.54960057e-02 2.88209519e+02] [-6.68455825e-01 7.41854697e-01 -5.30887824e-02 -2.20841915e+02] [-7.67690342e-02 2.17735097e-03 9.97046526e-01 -2.07230707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29864 meters 0.030761645106756816 Centerline is valid? [True, True] Translation: X:288.23, Y:-220.87, Z:-20.72 [[ 7.39669502e-01 6.70737497e-01 5.47744404e-02 2.88228609e+02] [-6.68688027e-01 7.41691678e-01 -5.24383267e-02 -2.20868062e+02] [-7.57980985e-02 2.16001849e-03 9.97120847e-01 -2.07248135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32864 meters 0.03079847788726922 Centerline is valid? [True, True] Translation: X:288.25, Y:-220.90, Z:-20.73 [[ 7.38786798e-01 6.71694509e-01 5.49595722e-02 2.88245681e+02] [-6.69631817e-01 7.40825302e-01 -5.26412619e-02 -2.20897375e+02] [-7.60742882e-02 2.08799114e-03 9.97099966e-01 -2.07263011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35864 meters 0.03066410593880498 Centerline is valid? [True, True] Translation: X:288.27, Y:-220.92, Z:-20.73 [[ 7.37492018e-01 6.73133102e-01 5.47480534e-02 2.88265696e+02] [-6.71086768e-01 7.39518736e-01 -5.24841723e-02 -2.20923071e+02] [-7.58160450e-02 1.96596391e-03 9.97119884e-01 -2.07267673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38864 meters 0.03007045642261414 Centerline is valid? [True, True] Translation: X:288.28, Y:-220.95, Z:-20.73 [[ 7.33596512e-01 6.77338497e-01 5.52151984e-02 2.88282676e+02] [-6.75266045e-01 7.35669822e-01 -5.29686842e-02 -2.20951932e+02] [-7.64978841e-02 1.57269332e-03 9.97068503e-01 -2.07255660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41864 meters 0.02989359942105844 Centerline is valid? [True, True] Translation: X:288.30, Y:-220.98, Z:-20.73 [[ 7.30707038e-01 6.80403139e-01 5.58461635e-02 2.88303680e+02] [-6.78289764e-01 7.32836894e-01 -5.36011570e-02 -2.20976749e+02] [-7.73965244e-02 1.28686161e-03 9.96999560e-01 -2.07271147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44864 meters 0.02936218851328382 Centerline is valid? [True, True] Translation: X:288.32, Y:-221.00, Z:-20.73 [[ 7.24971505e-01 6.86442431e-01 5.66842600e-02 2.88322277e+02] [-6.84279933e-01 7.27183827e-01 -5.44486370e-02 -2.21004432e+02] [-7.85957319e-02 6.85808695e-04 9.96906335e-01 -2.07306330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47864 meters 0.029257126479236523 Centerline is valid? [True, True] Translation: X:288.34, Y:-221.03, Z:-20.73 [[ 7.21342019e-01 6.90315139e-01 5.59526690e-02 2.88343691e+02] [-6.88216903e-01 7.23508760e-01 -5.37825984e-02 -2.21028674e+02] [-7.76091881e-02 2.88075478e-04 9.96983817e-01 -2.07323762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50864 meters 0.028873477255781477 Centerline is valid? [True, True] Translation: X:288.37, Y:-221.05, Z:-20.73 [[ 7.16151082e-01 6.95827005e-01 5.43360521e-02 2.88367244e+02] [-6.93861344e-01 7.18209374e-01 -5.22659577e-02 -2.21050906e+02] [-7.53927268e-02 -2.71363994e-04 9.97153881e-01 -2.07297383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53864 meters 0.02894481942978556 Centerline is valid? [True, True] Translation: X:288.39, Y:-221.07, Z:-20.73 [[ 7.14405060e-01 6.97563282e-01 5.50534118e-02 2.88390712e+02] [-6.95548296e-01 7.16523045e-01 -5.29839037e-02 -2.21072341e+02] [-7.64066641e-02 -4.40337887e-04 9.97076641e-01 -2.07313078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56864 meters 0.02943005282064962 Centerline is valid? [True, True] Translation: X:288.41, Y:-221.10, Z:-20.73 [[ 7.13232547e-01 6.98603817e-01 5.70266634e-02 2.88412563e+02] [-6.96440728e-01 7.15508506e-01 -5.49353332e-02 -2.21095448e+02] [-7.91810962e-02 -5.34023339e-04 9.96860105e-01 -2.07338306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59864 meters 0.029485281579414355 Centerline is valid? [True, True] Translation: X:288.44, Y:-221.12, Z:-20.74 [[ 7.13280590e-01 6.98561558e-01 5.69433849e-02 2.88435782e+02] [-6.96400416e-01 7.15549795e-01 -5.49085688e-02 -2.21118216e+02] [-7.91028428e-02 -4.90180666e-04 9.96866340e-01 -2.07353100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62864 meters 0.02950447878157591 Centerline is valid? [True, True] Translation: X:288.46, Y:-221.14, Z:-20.74 [[ 7.14647784e-01 6.97074260e-01 5.80174118e-02 2.88461863e+02] [-6.94821139e-01 7.16998878e-01 -5.60017269e-02 -2.21137261e+02] [-8.06357815e-02 -2.90214113e-04 9.96743591e-01 -2.07375853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65864 meters 0.029332133689917207 Centerline is valid? [True, True] Translation: X:288.49, Y:-221.16, Z:-20.74 [[ 7.14263518e-01 6.97499777e-01 5.76340858e-02 2.88487370e+02] [-6.95273400e-01 7.16584937e-01 -5.56859684e-02 -2.21158588e+02] [-8.01406683e-02 -2.96991096e-04 9.96783520e-01 -2.07396084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68864 meters 0.029271278862892762 Centerline is valid? [True, True] Translation: X:288.51, Y:-221.18, Z:-20.74 [[ 7.13783937e-01 6.98007444e-01 5.74290876e-02 2.88511887e+02] [-6.95793829e-01 7.16090435e-01 -5.55466949e-02 -2.21180903e+02] [-7.98964269e-02 -3.10466211e-04 9.96803122e-01 -2.07424081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71864 meters 0.029001774669513494 Centerline is valid? [True, True] Translation: X:288.54, Y:-221.20, Z:-20.74 [[ 7.13775384e-01 6.98154316e-01 5.57247908e-02 2.88535211e+02] [-6.96066625e-01 7.15947256e-01 -5.39516482e-02 -2.21203291e+02] [-7.75625871e-02 -2.78808732e-04 9.96987446e-01 -2.07444715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74864 meters 0.028874079195649535 Centerline is valid? [True, True] Translation: X:288.56, Y:-221.23, Z:-20.75 [[ 7.14127687e-01 6.97780985e-01 5.58868896e-02 2.88559854e+02] [-6.95675870e-01 7.16311145e-01 -5.41611272e-02 -2.21225098e+02] [-7.78250066e-02 -2.01200017e-04 9.96967014e-01 -2.07474481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77864 meters 0.028752872192269973 Centerline is valid? [True, True] Translation: X:288.58, Y:-221.25, Z:-20.75 [[ 7.15012430e-01 6.96956612e-01 5.48516770e-02 2.88583167e+02] [-6.94922342e-01 7.17113294e-01 -5.32114955e-02 -2.21247771e+02] [-7.64209703e-02 -7.07751596e-05 9.97075639e-01 -2.07492199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80864 meters 0.028843884908710586 Centerline is valid? [True, True] Translation: X:288.61, Y:-221.27, Z:-20.75 [[ 7.16147867e-01 6.95834238e-01 5.42857843e-02 2.88606607e+02] [-6.93834729e-01 7.18202413e-01 -5.27130284e-02 -2.21270977e+02] [-7.56677112e-02 8.49603754e-05 9.97133086e-01 -2.07513093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83864 meters 0.028960396730267957 Centerline is valid? [True, True] Translation: X:288.63, Y:-221.29, Z:-20.75 [[ 7.19329571e-01 6.92552010e-01 5.41911710e-02 2.88630218e+02] [-6.90545918e-01 7.21367793e-01 -5.26767705e-02 -2.21294055e+02] [-7.55731687e-02 4.70466742e-04 9.97140148e-01 -2.07534752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86864 meters 0.02940295076811975 Centerline is valid? [True, True] Translation: X:288.65, Y:-221.32, Z:-20.75 [[ 7.22109394e-01 6.89523849e-01 5.58111559e-02 2.88652185e+02] [-6.87382446e-01 7.24262477e-01 -5.43068805e-02 -2.21317681e+02] [-7.78678153e-02 8.51899618e-04 9.96963328e-01 -2.07548386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89864 meters 0.029378189226957965 Centerline is valid? [True, True] Translation: X:288.67, Y:-221.34, Z:-20.76 [[ 7.22763850e-01 6.88805102e-01 5.62134125e-02 2.88673561e+02] [-6.86626594e-01 7.24945919e-01 -5.47479205e-02 -2.21341520e+02] [-7.84623310e-02 9.72193896e-04 9.96916605e-01 -2.07567662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters 0.029471137518410736 Centerline is valid? [True, True] Translation: X:288.70, Y:-221.37, Z:-20.76 [[ 7.22704174e-01 6.88864613e-01 5.62514212e-02 2.88695657e+02] [-6.86679245e-01 7.24889328e-01 -5.48368276e-02 -2.21366063e+02] [-7.85512049e-02 1.00412075e-03 9.96909575e-01 -2.07581906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95864 meters 0.029318423998062962 Centerline is valid? [True, True] Translation: X:288.72, Y:-221.39, Z:-20.76 [[ 7.22492262e-01 6.89134640e-01 5.56630809e-02 2.88717421e+02] [-6.86991478e-01 7.24632625e-01 -5.43163616e-02 -2.21390187e+02] [-7.77665707e-02 1.00308875e-03 9.96971090e-01 -2.07596289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters 0.02902772310684905 Centerline is valid? [True, True] Translation: X:288.74, Y:-221.41, Z:-20.76 [[ 7.22132553e-01 6.89654274e-01 5.38661129e-02 2.88738476e+02] [-6.87645393e-01 7.24138164e-01 -5.26092538e-02 -2.21414470e+02] [-7.52887048e-02 9.50070407e-04 9.97161325e-01 -2.07617097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01864 meters 0.028992781670893336 Centerline is valid? [True, True] Translation: X:288.76, Y:-221.44, Z:-20.76 [[ 7.22101034e-01 6.89693617e-01 5.37848602e-02 2.88761617e+02] [-6.87687169e-01 7.24100652e-01 -5.25795088e-02 -2.21438310e+02] [-7.52094039e-02 9.80559429e-04 9.97167280e-01 -2.07634761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters 0.02892328958071402 Centerline is valid? [True, True] Translation: X:288.78, Y:-221.46, Z:-20.76 [[ 7.22011142e-01 6.89796658e-01 5.36701172e-02 2.88784867e+02] [-6.87794960e-01 7.24002456e-01 -5.25217772e-02 -2.21461496e+02] [-7.50866431e-02 1.00727223e-03 9.97176505e-01 -2.07639522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07864 meters 0.02888246580154813 Centerline is valid? [True, True] Translation: X:288.81, Y:-221.48, Z:-20.76 [[ 7.21602700e-01 6.90171137e-01 5.43446971e-02 2.88809133e+02] [-6.88115557e-01 7.23645466e-01 -5.32373950e-02 -2.21484474e+02] [-7.60692071e-02 1.02081643e-03 9.97102018e-01 -2.07648577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters 0.029021379739256857 Centerline is valid? [True, True] Translation: X:288.83, Y:-221.51, Z:-20.77 [[ 7.21290478e-01 6.90451346e-01 5.49270880e-02 2.88831888e+02] [-6.88347870e-01 7.23378084e-01 -5.38642550e-02 -2.21508143e+02] [-7.69236990e-02 1.04283020e-03 9.97036437e-01 -2.07665301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13864 meters 0.0292046033229426 Centerline is valid? [True, True] Translation: X:288.85, Y:-221.53, Z:-20.77 [[ 7.21609197e-01 6.90068461e-01 5.55489461e-02 2.88851558e+02] [-6.87911622e-01 7.23743207e-01 -5.45286250e-02 -2.21533784e+02] [-7.78316567e-02 1.13559174e-03 9.96965869e-01 -2.07689071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters 0.028939777619872983 Centerline is valid? [True, True] Translation: X:288.87, Y:-221.56, Z:-20.77 [[ 7.20682500e-01 6.91024226e-01 5.56978747e-02 2.88873245e+02] [-6.88854558e-01 7.22830802e-01 -5.47268639e-02 -2.21558930e+02] [-7.80777282e-02 1.07295821e-03 9.96946697e-01 -2.07717039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19864 meters 0.02881615567045698 Centerline is valid? [True, True] Translation: X:288.90, Y:-221.58, Z:-20.77 [[ 7.19317573e-01 6.92547235e-01 5.44109865e-02 2.88895413e+02] [-6.90477178e-01 7.21371938e-01 -5.35144318e-02 -2.21582100e+02] [-7.63118306e-02 9.24326796e-04 9.97083572e-01 -2.07730379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters 0.028718066990490888 Centerline is valid? [True, True] Translation: X:288.92, Y:-221.61, Z:-20.78 [[ 7.18142670e-01 6.93799882e-01 5.39706320e-02 2.88917524e+02] [-6.91763147e-01 7.20167378e-01 -5.31290583e-02 -2.21605272e+02] [-7.57288229e-02 8.19349554e-04 9.97128113e-01 -2.07751915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25864 meters 0.028498339288672674 Centerline is valid? [True, True] Translation: X:288.94, Y:-221.63, Z:-20.78 [[ 7.14271021e-01 6.97828752e-01 5.34035739e-02 2.88939207e+02] [-6.95842977e-01 7.16264518e-01 -5.26088459e-02 -2.21629831e+02] [-7.49630503e-02 4.16472219e-04 9.97186225e-01 -2.07755288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters 0.028333968385193684 Centerline is valid? [True, True] Translation: X:288.96, Y:-221.65, Z:-20.78 [[ 7.11521857e-01 7.00653583e-01 5.31149967e-02 2.88961860e+02] [-6.98695082e-01 7.13501603e-01 -5.23511760e-02 -2.21652094e+02] [-7.45776743e-02 1.37818984e-04 9.97215198e-01 -2.07764915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31864 meters 0.028512155701088587 Centerline is valid? [True, True] Translation: X:288.99, Y:-221.67, Z:-20.78 [[ 7.06036807e-01 7.06106298e-01 5.40918030e-02 2.88985426e+02] [-7.04087815e-01 7.08105729e-01 -5.33537763e-02 -2.21674484e+02] [-7.59761530e-02 -4.15649516e-04 9.97109548e-01 -2.07767353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters 0.02871337974241245 Centerline is valid? [True, True] Translation: X:289.01, Y:-221.70, Z:-20.78 [[ 7.03476318e-01 7.08618486e-01 5.45977217e-02 2.89008887e+02] [-7.06567333e-01 7.05591517e-01 -5.38814998e-02 -2.21696760e+02] [-7.67051161e-02 -6.72607477e-04 9.97053596e-01 -2.07788283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37864 meters 0.029125912358906998 Centerline is valid? [True, True] Translation: X:289.04, Y:-221.72, Z:-20.78 [[ 6.98695106e-01 7.13319745e-01 5.47730792e-02 2.89035036e+02] [-7.11265775e-01 7.00837789e-01 -5.41053631e-02 -2.21716276e+02] [-7.69814676e-02 -1.15506426e-03 9.97031855e-01 -2.07798409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40864 meters 0.029211096352638365 Centerline is valid? [True, True] Translation: X:289.06, Y:-221.74, Z:-20.78 [[ 6.96789766e-01 7.15218726e-01 5.42788760e-02 2.89062265e+02] [-7.13203465e-01 6.98899451e-01 -5.36691218e-02 -2.21736222e+02] [-7.63206376e-02 -1.31578762e-03 9.97082458e-01 -2.07805648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43864 meters 0.029167894656212667 Centerline is valid? [True, True] Translation: X:289.09, Y:-221.75, Z:-20.78 [[ 6.94128736e-01 7.17901401e-01 5.29422001e-02 2.89091623e+02] [-7.15987978e-01 6.96143111e-01 -5.24021499e-02 -2.21753763e+02] [-7.44749247e-02 -1.53214075e-03 9.97221710e-01 -2.07831514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46864 meters 0.029080277722258317 Centerline is valid? [True, True] Translation: X:289.12, Y:-221.77, Z:-20.79 [[ 6.93811480e-01 7.18224533e-01 5.27176493e-02 2.89116991e+02] [-7.16324144e-01 6.95809748e-01 -5.22351937e-02 -2.21774833e+02] [-7.41980519e-02 -1.52154792e-03 9.97242365e-01 -2.07853265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49864 meters 0.02853236829415438 Centerline is valid? [True, True] Translation: X:289.15, Y:-221.79, Z:-20.78 [[ 6.95950887e-01 7.16177387e-01 5.23671050e-02 2.89145728e+02] [-7.14292505e-01 6.97917166e-01 -5.19408060e-02 -2.21791507e+02] [-7.37467322e-02 -1.25718058e-03 9.97276210e-01 -2.07849820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52864 meters 0.028209129053564805 Centerline is valid? [True, True] Translation: X:289.17, Y:-221.81, Z:-20.79 [[ 6.97692513e-01 7.14406403e-01 5.33727327e-02 2.89172371e+02] [-7.12439222e-01 6.99730220e-01 -5.29903127e-02 -2.21811554e+02] [-7.52031327e-02 -1.05388371e-03 9.97167678e-01 -2.07873289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55864 meters 0.02829167119382836 Centerline is valid? [True, True] Translation: X:289.20, Y:-221.83, Z:-20.79 [[ 7.03172212e-01 7.08884138e-01 5.50646798e-02 2.89198260e+02] [-7.06768568e-01 7.05324811e-01 -5.47275242e-02 -2.21830962e+02] [-7.76339588e-02 -4.35110668e-04 9.96981835e-01 -2.07898463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58864 meters 0.028305964067347453 Centerline is valid? [True, True] Translation: X:289.22, Y:-221.85, Z:-20.79 [[ 7.06157369e-01 7.05741283e-01 5.71927671e-02 2.89222869e+02] [-7.03444000e-01 7.08469646e-01 -5.68972751e-02 -2.21851742e+02] [-8.06740953e-02 -5.34787506e-05 9.96740532e-01 -2.07934331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61864 meters 0.02833408291892942 Centerline is valid? [True, True] Translation: X:289.25, Y:-221.87, Z:-20.80 [[ 7.08832307e-01 7.03018404e-01 5.76357875e-02 2.89248222e+02] [-7.00671944e-01 7.11171593e-01 -5.73915596e-02 -2.21871318e+02] [-8.13362575e-02 2.97212301e-04 9.96686673e-01 -2.07963895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64864 meters 0.028308638320367122 Centerline is valid? [True, True] Translation: X:289.28, Y:-221.89, Z:-20.80 [[ 7.12692979e-01 6.99215079e-01 5.62760316e-02 2.89275916e+02] [-6.96962088e-01 7.14910978e-01 -5.60904802e-02 -2.21890007e+02] [-7.94516624e-02 7.53030935e-04 9.96838435e-01 -2.07976544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67864 meters 0.02854167144966159 Centerline is valid? [True, True] Translation: X:289.30, Y:-221.91, Z:-20.80 [[ 7.16974932e-01 6.94839047e-01 5.60860659e-02 2.89298000e+02] [-6.92583455e-01 7.19164150e-01 -5.59560936e-02 -2.21913374e+02] [-7.92155667e-02 1.27483509e-03 9.96856694e-01 -2.07993807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70864 meters 0.02875191152219434 Centerline is valid? [True, True] Translation: X:289.32, Y:-221.94, Z:-20.80 [[ 7.19657323e-01 6.92063230e-01 5.60519691e-02 2.89321115e+02] [-6.89798001e-01 7.21835075e-01 -5.59718024e-02 -2.21936217e+02] [-7.91963036e-02 1.61598129e-03 9.96857730e-01 -2.08008041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73864 meters 0.02950375082717814 Centerline is valid? [True, True] Translation: X:289.34, Y:-221.96, Z:-20.80 [[ 7.24207307e-01 6.87219478e-01 5.70365205e-02 2.89344629e+02] [-6.84855712e-01 7.26446483e-01 -5.69926382e-02 -2.21958062e+02] [-8.06004309e-02 2.21269818e-03 9.96744037e-01 -2.08038830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76864 meters 0.030022625139856454 Centerline is valid? [True, True] Translation: X:289.37, Y:-221.98, Z:-20.81 [[ 7.26130477e-01 6.85154255e-01 5.74297708e-02 2.89366756e+02] [-6.82749065e-01 7.28393782e-01 -5.74126490e-02 -2.21981278e+02] [-8.11680087e-02 2.47895183e-03 9.96697351e-01 -2.08054360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79864 meters 0.030022625139856454 Centerline is valid? [True, True] Translation: X:289.35, Y:-222.14, Z:-19.22 [[ 7.35149296e-01 -6.77753765e-01 -1.43299470e-02 2.89351617e+02] [-6.77539124e-01 -7.35282723e-01 1.73220327e-02 -2.22141933e+02] [-2.22766353e-02 -3.02518039e-03 -9.99747268e-01 -1.92194910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82864 meters 0.030863617364172855 Centerline is valid? [True, True] Translation: X:289.39, Y:-222.02, Z:-20.81 [[ 7.75964043e-01 6.27683119e-01 6.23995718e-02 2.89387633e+02] [-6.25358045e-01 7.78463461e-01 -5.40551126e-02 -2.22023815e+02] [-8.25052683e-02 2.92274948e-03 9.96586343e-01 -2.08068699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85864 meters 0.03125655412352549 Centerline is valid? [True, True] Translation: X:289.41, Y:-222.05, Z:-20.81 [[ 7.76435283e-01 6.27034743e-01 6.30530151e-02 2.89412164e+02] [-6.24654687e-01 7.78985286e-01 -5.46666864e-02 -2.22045202e+02] [-8.33952826e-02 3.05878272e-03 9.96511852e-01 -2.08087058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88864 meters 0.03121373803452431 Centerline is valid? [True, True] Translation: X:289.44, Y:-222.07, Z:-20.81 [[ 7.76826194e-01 6.26512298e-01 6.34303160e-02 2.89435715e+02] [-6.24097882e-01 7.79405085e-01 -5.50413182e-02 -2.22066835e+02] [-8.39219735e-02 3.17081185e-03 9.96467284e-01 -2.08103174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91864 meters 0.031791706610418906 Centerline is valid? [True, True] Translation: X:289.46, Y:-222.09, Z:-20.81 [[ 7.78137938e-01 6.24888518e-01 6.33694723e-02 2.89456024e+02] [-6.22469421e-01 7.80706679e-01 -5.50354537e-02 -2.22091947e+02] [-8.38639934e-02 3.37961566e-03 9.96471479e-01 -2.08128612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94864 meters 0.03146906047989398 Centerline is valid? [True, True] Translation: X:289.48, Y:-222.12, Z:-20.82 [[ 7.78143230e-01 6.24943879e-01 6.27555635e-02 2.89476089e+02] [-6.22567638e-01 7.80662367e-01 -5.45509405e-02 -2.22118426e+02] [-8.30821831e-02 3.37886217e-03 9.96536971e-01 -2.08156055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97864 meters 0.03153374511540127 Centerline is valid? [True, True] Translation: X:289.50, Y:-222.14, Z:-20.82 [[ 7.78221049e-01 6.25009517e-01 6.11154866e-02 2.89498810e+02] [-6.22752350e-01 7.80610065e-01 -5.31736501e-02 -2.22140713e+02] [-8.09414014e-02 3.32104086e-03 9.96713329e-01 -2.08173933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00864 meters 0.031161383422814815 Centerline is valid? [True, True] Translation: X:289.52, Y:-222.16, Z:-20.82 [[ 7.76684422e-01 6.26856790e-01 6.17403690e-02 2.89520785e+02] [-6.24555177e-01 7.79127939e-01 -5.37632364e-02 -2.22164704e+02] [-8.18054962e-02 3.19680116e-03 9.96643187e-01 -2.08198310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03864 meters 0.030153219979772106 Centerline is valid? [True, True] Translation: X:289.54, Y:-222.19, Z:-20.82 [[ 7.73599405e-01 6.30664109e-01 6.16988057e-02 2.89538355e+02] [-6.28375063e-01 7.76050800e-01 -5.37581181e-02 -2.22191935e+02] [-8.17847232e-02 2.81725720e-03 9.96646037e-01 -2.08198992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06864 meters 0.029305961253005296 Centerline is valid? [True, True] Translation: X:289.56, Y:-222.22, Z:-20.82 [[ 7.69940333e-01 6.35149454e-01 6.14577455e-02 2.89558030e+02] [-6.32891921e-01 7.72385723e-01 -5.35547463e-02 -2.22217067e+02] [-8.14843531e-02 2.33784853e-03 9.96671879e-01 -2.08204961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09864 meters 0.028825929343849026 Centerline is valid? [True, True] Translation: X:289.58, Y:-222.24, Z:-20.82 [[ 7.67779689e-01 6.37870855e-01 6.02919772e-02 2.89581163e+02] [-6.35704993e-01 7.70140680e-01 -5.25594360e-02 -2.22239360e+02] [-7.99594367e-02 2.02615646e-03 9.96796059e-01 -2.08221468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12864 meters 0.02839618696629956 Centerline is valid? [True, True] Translation: X:289.60, Y:-222.27, Z:-20.82 [[ 7.64122990e-01 6.42291734e-01 5.98112497e-02 2.89601532e+02] [-6.40170964e-01 7.66458632e-01 -5.21756878e-02 -2.22265450e+02] [-7.93548616e-02 1.57921721e-03 9.96845180e-01 -2.08247654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15864 meters 0.028208889406668564 Centerline is valid? [True, True] Translation: X:289.62, Y:-222.29, Z:-20.83 [[ 7.62553324e-01 6.44137496e-01 5.99942853e-02 2.89624165e+02] [-6.42008059e-01 7.64908435e-01 -5.23520670e-02 -2.22289155e+02] [-7.96120642e-02 1.40442800e-03 9.96824933e-01 -2.08265914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18864 meters 0.02766726924305672 Centerline is valid? [True, True] Translation: X:289.65, Y:-222.31, Z:-20.83 [[ 7.59745473e-01 6.47514929e-01 5.92556535e-02 2.89646660e+02] [-6.45445778e-01 7.62052030e-01 -5.17344351e-02 -2.22311937e+02] [-7.86547101e-02 1.05869149e-03 9.96901357e-01 -2.08284129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21864 meters 0.02728742325646354 Centerline is valid? [True, True] Translation: X:289.67, Y:-222.33, Z:-20.83 [[ 7.58391945e-01 6.49203054e-01 5.81124051e-02 2.89670735e+02] [-6.47214945e-01 7.60614613e-01 -5.07762351e-02 -2.22333990e+02] [-7.71652315e-02 8.97070652e-04 9.97017915e-01 -2.08300449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24864 meters 0.027277491029083143 Centerline is valid? [True, True] Translation: X:289.69, Y:-222.36, Z:-20.83 [[ 7.57556629e-01 6.50237678e-01 5.74361873e-02 2.89692968e+02] [-6.48295960e-01 7.59730418e-01 -5.02199228e-02 -2.22356923e+02] [-7.62909046e-02 8.08787242e-04 9.97085274e-01 -2.08318422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27864 meters 0.027280012156482167 Centerline is valid? [True, True] Translation: X:289.72, Y:-222.38, Z:-20.83 [[ 7.57419407e-01 6.50292035e-01 5.86183564e-02 2.89715973e+02] [-6.48265859e-01 7.59683839e-01 -5.13014687e-02 -2.22379052e+02] [-7.78923545e-02 8.56448845e-04 9.96961407e-01 -2.08346197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30864 meters 0.02741151331299314 Centerline is valid? [True, True] Translation: X:289.74, Y:-222.40, Z:-20.84 [[ 7.57164924e-01 6.50586349e-01 5.86402643e-02 2.89738944e+02] [-6.48555672e-01 7.59431798e-01 -5.13700744e-02 -2.22403017e+02] [-7.79539505e-02 8.64142446e-04 9.96956586e-01 -2.08361570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33864 meters 0.027204788384146663 Centerline is valid? [True, True] Translation: X:289.76, Y:-222.43, Z:-20.84 [[ 7.56397639e-01 6.51513354e-01 5.82491272e-02 2.89761999e+02] [-6.49508469e-01 7.58636741e-01 -5.10788009e-02 -2.22425569e+02] [-7.74684490e-02 8.02583032e-04 9.96994481e-01 -2.08361827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36864 meters 0.0273543007450674 Centerline is valid? [True, True] Translation: X:289.78, Y:-222.45, Z:-20.84 [[ 7.55811601e-01 6.52083547e-01 5.94631875e-02 2.89784850e+02] [-6.49991973e-01 7.58146696e-01 -5.21921759e-02 -2.22448459e+02] [-7.91154784e-02 7.96857507e-04 9.96865139e-01 -2.08380788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39864 meters 0.027506445805029762 Centerline is valid? [True, True] Translation: X:289.81, Y:-222.47, Z:-20.84 [[ 7.55406408e-01 6.52607915e-01 5.88563327e-02 2.89809408e+02] [-6.50556745e-01 7.57695398e-01 -5.17069216e-02 -2.22469662e+02] [-7.83395187e-02 7.70355623e-04 9.96926440e-01 -2.08392452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters 0.027192893923970046 Centerline is valid? [True, True] Translation: X:289.83, Y:-222.49, Z:-20.84 [[ 7.53018348e-01 6.55384932e-01 5.85999938e-02 2.89834262e+02] [-6.53356274e-01 7.55294860e-01 -5.15291542e-02 -2.22490126e+02] [-7.80317053e-02 5.15724925e-04 9.96950745e-01 -2.08409154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45864 meters 0.026826060246736744 Centerline is valid? [True, True] Translation: X:289.86, Y:-222.51, Z:-20.84 [[ 7.48764479e-01 6.60215661e-01 5.88815428e-02 2.89858798e+02] [-6.58178272e-01 7.51076081e-01 -5.18274390e-02 -2.22512035e+02] [-7.84418053e-02 5.19932240e-05 9.96918693e-01 -2.08420920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters 0.02677198648068657 Centerline is valid? [True, True] Translation: X:289.88, Y:-222.53, Z:-20.84 [[ 7.47034406e-01 6.62253376e-01 5.79660411e-02 2.89883272e+02] [-6.60281037e-01 7.49279956e-01 -5.10734860e-02 -2.22533482e+02] [-7.72563812e-02 -1.20226415e-04 9.97011252e-01 -2.08442567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51864 meters 0.02673574925124762 Centerline is valid? [True, True] Translation: X:289.91, Y:-222.56, Z:-20.85 [[ 7.44963164e-01 6.64524292e-01 5.86289094e-02 2.89906969e+02] [-6.62509674e-01 7.47266593e-01 -5.17065896e-02 -2.22555437e+02] [-7.81717103e-02 -3.22715066e-04 9.96939858e-01 -2.08463147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters 0.02682236366872758 Centerline is valid? [True, True] Translation: X:289.93, Y:-222.58, Z:-20.85 [[ 7.44358463e-01 6.65238629e-01 5.82069074e-02 2.89931878e+02] [-6.63251180e-01 7.46630725e-01 -5.13851499e-02 -2.22576527e+02] [-7.76424522e-02 -3.56828754e-04 9.96981205e-01 -2.08478635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57864 meters 0.0269860380918504 Centerline is valid? [True, True] Translation: X:289.96, Y:-222.60, Z:-20.85 [[ 7.44362264e-01 6.65322020e-01 5.71964139e-02 2.89956902e+02] [-6.63399313e-01 7.46556433e-01 -5.05454556e-02 -2.22596635e+02] [-7.63293553e-02 -3.19931958e-04 9.97082608e-01 -2.08484886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters 0.026795274210222132 Centerline is valid? [True, True] Translation: X:289.98, Y:-222.62, Z:-20.85 [[ 7.45182702e-01 6.64388526e-01 5.73639951e-02 2.89983117e+02] [-6.62447850e-01 7.47387351e-01 -5.07444039e-02 -2.22616035e+02] [-7.65871240e-02 -1.86803226e-04 9.97062875e-01 -2.08507925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63864 meters 0.027063853047742947 Centerline is valid? [True, True] Translation: X:290.01, Y:-222.64, Z:-20.85 [[ 7.45522015e-01 6.63988067e-01 5.75914342e-02 2.90007783e+02] [-6.62026471e-01 7.47743162e-01 -5.10011302e-02 -2.22637693e+02] [-7.69277430e-02 -1.04588645e-04 9.97036665e-01 -2.08531186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters 0.026664018787007755 Centerline is valid? [True, True] Translation: X:290.03, Y:-222.66, Z:-20.86 [[ 7.45997561e-01 6.63540522e-01 5.65828120e-02 2.90030920e+02] [-6.61642662e-01 7.48140344e-01 -5.01499002e-02 -2.22659701e+02] [-7.56083755e-02 -2.58991647e-05 9.97137590e-01 -2.08557186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69864 meters 0.026647550719481227 Centerline is valid? [True, True] Translation: X:290.06, Y:-222.68, Z:-20.86 [[ 7.45792441e-01 6.63920197e-01 5.48051703e-02 2.90055029e+02] [-6.62139059e-01 7.47803430e-01 -4.85993553e-02 -2.22681516e+02] [-7.32495879e-02 -4.36120557e-05 9.97313640e-01 -2.08573651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters 0.026394983673863646 Centerline is valid? [True, True] Translation: X:290.08, Y:-222.70, Z:-20.86 [[ 7.46204855e-01 6.63619754e-01 5.27933413e-02 2.90077554e+02] [-6.61963309e-01 7.48070065e-01 -4.68588909e-02 -2.22704078e+02] [-7.05896039e-02 1.90769990e-05 9.97505442e-01 -2.08584678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75864 meters 0.026303065519674488 Centerline is valid? [True, True] Translation: X:290.10, Y:-222.73, Z:-20.86 [[ 7.46429413e-01 6.63435647e-01 5.19256501e-02 2.90100539e+02] [-6.61829830e-01 7.48233344e-01 -4.61317517e-02 -2.22726885e+02] [-6.94579514e-02 6.81522457e-05 9.97584878e-01 -2.08594456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters 0.026420278209765256 Centerline is valid? [True, True] Translation: X:290.12, Y:-222.75, Z:-20.86 [[ 7.46294566e-01 6.63494702e-01 5.30961574e-02 2.90122778e+02] [-6.61812493e-01 7.48180975e-01 -4.72170823e-02 -2.22749545e+02] [-7.10538187e-02 9.81516031e-05 9.97472478e-01 -2.08627403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81864 meters 0.026319729622647437 Centerline is valid? [True, True] Translation: X:290.15, Y:-222.77, Z:-20.86 [[ 7.45867711e-01 6.63984995e-01 5.29649407e-02 2.90147801e+02] [-6.62309036e-01 7.47745892e-01 -4.71468074e-02 -2.22771190e+02] [-7.09090895e-02 8.61224158e-05 9.97482779e-01 -2.08638870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters 0.026348815983458417 Centerline is valid? [True, True] Translation: X:290.17, Y:-222.79, Z:-20.86 [[ 7.43880344e-01 6.66262043e-01 5.23156180e-02 2.90170503e+02] [-6.64629079e-01 7.45717696e-01 -4.66187307e-02 -2.22794690e+02] [-7.00729729e-02 -9.17235890e-05 9.97541864e-01 -2.08646253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87864 meters 0.026414509405030883 Centerline is valid? [True, True] Translation: X:290.19, Y:-222.82, Z:-20.87 [[ 7.42706852e-01 6.67507125e-01 5.31109325e-02 2.90193353e+02] [-6.65823544e-01 7.44603390e-01 -4.73793193e-02 -2.22818035e+02] [-7.11726136e-02 -1.73564205e-04 9.97463999e-01 -2.08660060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90864 meters 0.026530237170351616 Centerline is valid? [True, True] Translation: X:290.22, Y:-222.84, Z:-20.87 [[ 7.39973321e-01 6.70417923e-01 5.45828960e-02 2.90216957e+02] [-6.68643644e-01 7.41983576e-01 -4.87447462e-02 -2.22840309e+02] [-7.31789638e-02 -4.26694722e-04 9.97318734e-01 -2.08669508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93864 meters 0.026676197688884712 Centerline is valid? [True, True] Translation: X:290.24, Y:-222.86, Z:-20.87 [[ 7.38534276e-01 6.71971183e-01 5.49713834e-02 2.90242648e+02] [-6.70172194e-01 7.40577092e-01 -4.91406300e-02 -2.22860941e+02] [-7.37316346e-02 -5.48253007e-04 9.97277968e-01 -2.08689162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96864 meters 0.026659784832642853 Centerline is valid? [True, True] Translation: X:290.27, Y:-222.88, Z:-20.87 [[ 7.36849547e-01 6.73924518e-01 5.36515619e-02 2.90267717e+02] [-6.72212573e-01 7.38799885e-01 -4.80102826e-02 -2.22881659e+02] [-7.19930743e-02 -6.88899494e-04 9.97404894e-01 -2.08712592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99864 meters 0.0267899525430709 Centerline is valid? [True, True] Translation: X:290.29, Y:-222.90, Z:-20.87 [[ 7.33990301e-01 6.77174319e-01 5.18958515e-02 2.90292668e+02] [-6.75577673e-01 7.35822027e-01 -4.64838889e-02 -2.22903734e+02] [-6.96638065e-02 -9.40955014e-04 9.97570082e-01 -2.08729087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02864 meters 0.026882325962072268 Centerline is valid? [True, True] Translation: X:290.32, Y:-222.92, Z:-20.87 [[ 7.32284430e-01 6.78936871e-01 5.29550732e-02 2.90319321e+02] [-6.77275306e-01 7.34195838e-01 -4.74829567e-02 -2.22922552e+02] [-7.11173244e-02 -1.09413354e-03 9.97467357e-01 -2.08735583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05864 meters 0.026989179711946202 Centerline is valid? [True, True] Translation: X:290.35, Y:-222.94, Z:-20.88 [[ 7.30759273e-01 6.80529635e-01 5.35751943e-02 2.90345504e+02] [-6.78829865e-01 7.32719525e-01 -4.80844297e-02 -2.22941526e+02] [-7.19784703e-02 -1.23029899e-03 9.97405427e-01 -2.08757450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08864 meters 0.02728689912165605 Centerline is valid? [True, True] Translation: X:290.37, Y:-222.96, Z:-20.88 [[ 7.28625153e-01 6.82798034e-01 5.37794715e-02 2.90373351e+02] [-6.81088125e-01 7.30605783e-01 -4.83130984e-02 -2.22959022e+02] [-7.22796815e-02 -1.42642071e-03 9.97383383e-01 -2.08771383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11864 meters 0.027343645039658148 Centerline is valid? [True, True] Translation: X:290.40, Y:-222.98, Z:-20.88 [[ 7.28235794e-01 6.83236969e-01 5.34777779e-02 2.90399640e+02] [-6.81544051e-01 7.30195320e-01 -4.80884728e-02 -2.22978683e+02] [-7.19050455e-02 -1.42771427e-03 9.97410460e-01 -2.08788629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14864 meters 0.02730982674483705 Centerline is valid? [True, True] Translation: X:290.43, Y:-223.00, Z:-20.88 [[ 7.28302232e-01 6.83220216e-01 5.27825304e-02 2.90426333e+02] [-6.81567590e-01 7.30211103e-01 -4.75117429e-02 -2.22996893e+02] [-7.10033730e-02 -1.37195363e-03 9.97475132e-01 -2.08803621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17864 meters 0.026768526641265715 Centerline is valid? [True, True] Translation: X:290.46, Y:-223.01, Z:-20.88 [[ 7.29298207e-01 6.82294697e-01 5.09712839e-02 2.90456077e+02] [-6.80748555e-01 7.31076254e-01 -4.59229323e-02 -2.23011533e+02] [-6.85968685e-02 -1.20711565e-03 9.97643730e-01 -2.08812944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20864 meters 0.026686417943955085 Centerline is valid? [True, True] Translation: X:290.48, Y:-223.03, Z:-20.88 [[ 7.31703990e-01 6.79732803e-01 5.07206794e-02 2.90483134e+02] [-6.78192760e-01 7.33459236e-01 -4.57398030e-02 -2.23029651e+02] [-6.82923952e-02 -9.30401266e-04 9.97664915e-01 -2.08831211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23864 meters 0.026426574398885603 Centerline is valid? [True, True] Translation: X:290.51, Y:-223.05, Z:-20.88 [[ 7.32844948e-01 6.78474550e-01 5.10937161e-02 2.90509259e+02] [-6.76905548e-01 7.34623487e-01 -4.61217066e-02 -2.23049569e+02] [-6.88270480e-02 -7.85560198e-04 9.97628298e-01 -2.08849296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26864 meters 0.026042709014531252 Centerline is valid? [True, True] Translation: X:290.54, Y:-223.07, Z:-20.89 [[ 7.34588999e-01 6.76615410e-01 5.07009825e-02 2.90538170e+02] [-6.75063235e-01 7.36336373e-01 -4.58080187e-02 -2.23066271e+02] [-6.83273890e-02 -5.76302600e-04 9.97662787e-01 -2.08867658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29864 meters 0.025960746894121776 Centerline is valid? [True, True] Translation: X:290.56, Y:-223.09, Z:-20.89 [[ 7.35540191e-01 6.75635404e-01 4.99742758e-02 2.90563889e+02] [-6.74124167e-01 7.37235772e-01 -4.51666250e-02 -2.23085283e+02] [-6.73589947e-02 -4.66999113e-04 9.97728694e-01 -2.08884920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32864 meters 0.02604102666308927 Centerline is valid? [True, True] Translation: X:290.59, Y:-223.11, Z:-20.89 [[ 7.37075534e-01 6.73839255e-01 5.15782494e-02 2.90588690e+02] [-6.72223168e-01 7.38877915e-01 -4.66416162e-02 -2.23107455e+02] [-6.95389812e-02 -2.93700019e-04 9.97579192e-01 -2.08926657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35864 meters 0.025895029037119353 Centerline is valid? [True, True] Translation: X:290.61, Y:-223.13, Z:-20.89 [[ 7.38140286e-01 6.72690213e-01 5.13497276e-02 2.90613380e+02] [-6.71082125e-01 7.39924223e-01 -4.64857600e-02 -2.23129689e+02] [-6.92654230e-02 -1.46872138e-04 9.97598256e-01 -2.08940161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38864 meters 0.025891849496309367 Centerline is valid? [True, True] Translation: X:290.64, Y:-223.15, Z:-20.90 [[ 7.38781087e-01 6.71924470e-01 5.21537303e-02 2.90638344e+02] [-6.70260034e-01 7.40619676e-01 -4.72650239e-02 -2.23150751e+02] [-7.03846050e-02 -3.80552751e-05 9.97519928e-01 -2.08953063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41864 meters 0.025814063576175952 Centerline is valid? [True, True] Translation: X:290.66, Y:-223.17, Z:-20.90 [[ 7.40227069e-01 6.70359953e-01 5.17824257e-02 2.90664716e+02] [-6.68711812e-01 7.42036058e-01 -4.69787340e-02 -2.23171113e+02] [-6.99170890e-02 1.47410855e-04 9.97552795e-01 -2.08984597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44864 meters 0.026028987752539378 Centerline is valid? [True, True] Translation: X:290.69, Y:-223.19, Z:-20.90 [[ 7.42048876e-01 6.68344855e-01 5.17553888e-02 2.90687693e+02] [-6.66689998e-01 7.43851473e-01 -4.70045994e-02 -2.23194832e+02] [-6.99136044e-02 3.74910031e-04 9.97552980e-01 -2.08996531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47864 meters 0.026130642547275738 Centerline is valid? [True, True] Translation: X:290.71, Y:-223.22, Z:-20.90 [[ 7.42339285e-01 6.67964922e-01 5.24904688e-02 2.90710834e+02] [-6.66258188e-01 7.44192621e-01 -4.77217848e-02 -2.23217034e+02] [-7.09394978e-02 4.53550922e-04 9.97480517e-01 -2.09014066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50864 meters 0.025892382322134356 Centerline is valid? [True, True] Translation: X:290.73, Y:-223.24, Z:-20.90 [[ 7.43525096e-01 6.66830844e-01 5.00705237e-02 2.90734591e+02] [-6.65272699e-01 7.45208900e-01 -4.55623863e-02 -2.23238869e+02] [-6.76954044e-02 5.66225173e-04 9.97705874e-01 -2.09015482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53864 meters 0.025840461808709057 Centerline is valid? [True, True] Translation: X:290.76, Y:-223.26, Z:-20.90 [[ 7.42919621e-01 6.67491829e-01 5.02503327e-02 2.90758144e+02] [-6.65921248e-01 7.44616928e-01 -4.57659461e-02 -2.23262668e+02] [-6.79656434e-02 5.37655061e-04 9.97687517e-01 -2.09036233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56864 meters 0.025652756406668253 Centerline is valid? [True, True] Translation: X:290.78, Y:-223.29, Z:-20.91 [[ 7.41166704e-01 6.69390339e-01 5.08772131e-02 2.90779838e+02] [-6.67782112e-01 7.42910773e-01 -4.63749393e-02 -2.23288016e+02] [-6.88401661e-02 3.96668160e-04 9.97627623e-01 -2.09055820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59864 meters 0.025650601908671706 Centerline is valid? [True, True] Translation: X:290.80, Y:-223.31, Z:-20.91 [[ 7.39629204e-01 6.71056252e-01 5.13044520e-02 2.90803440e+02] [-6.69421353e-01 7.41406385e-01 -4.68147957e-02 -2.23310773e+02] [-6.94528096e-02 2.81294435e-04 9.97585198e-01 -2.09072235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62864 meters 0.02569798404042181 Centerline is valid? [True, True] Translation: X:290.83, Y:-223.33, Z:-20.91 [[ 7.35975412e-01 6.74957558e-01 5.26544184e-02 2.90826949e+02] [-6.73241669e-01 7.37856552e-01 -4.80974315e-02 -2.23333120e+02] [-7.13151325e-02 -5.06216024e-05 9.97453833e-01 -2.09101784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65864 meters 0.02578215362037289 Centerline is valid? [True, True] Translation: X:290.85, Y:-223.36, Z:-20.91 [[ 7.34529036e-01 6.76588799e-01 5.19104316e-02 2.90850838e+02] [-6.74921931e-01 7.36361031e-01 -4.74638819e-02 -2.23356007e+02] [-7.03383498e-02 -1.71889334e-04 9.97523176e-01 -2.09119940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68864 meters 0.025861474246360733 Centerline is valid? [True, True] Translation: X:290.87, Y:-223.38, Z:-20.91 [[ 7.32619886e-01 6.78677479e-01 5.16234682e-02 2.90873971e+02] [-6.77031140e-01 7.34436359e-01 -4.72447964e-02 -2.23379234e+02] [-6.99781313e-02 -3.38218188e-04 9.97548468e-01 -2.09138290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71864 meters 0.025861474246360733 Centerline is valid? [True, True] Translation: X:290.90, Y:-223.40, Z:-20.92 [[ 7.32247917e-01 6.79079939e-01 5.16083729e-02 2.90898142e+02] [-6.77433436e-01 7.34064242e-01 -4.72612808e-02 -2.23400944e+02] [-6.99780488e-02 -3.54262954e-04 9.97548469e-01 -2.09155089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74864 meters 0.025932855749485395 Centerline is valid? [True, True] Translation: X:290.92, Y:-223.42, Z:-20.92 [[ 7.29260555e-01 6.82307416e-01 5.13384202e-02 2.90921099e+02] [-6.80682466e-01 7.31065115e-01 -4.70656710e-02 -2.23424622e+02] [-6.96449844e-02 -6.22025118e-04 9.97571646e-01 -2.09167057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77864 meters 0.02605574153922988 Centerline is valid? [True, True] Translation: X:290.94, Y:-223.45, Z:-20.92 [[ 7.27082051e-01 6.84631202e-01 5.13011478e-02 2.90944470e+02] [-6.83010962e-01 7.28889199e-01 -4.70803742e-02 -2.23445976e+02] [-6.96255457e-02 -8.07951278e-04 9.97572870e-01 -2.09181100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80864 meters 0.026531587367252397 Centerline is valid? [True, True] Translation: X:290.97, Y:-223.47, Z:-20.92 [[ 7.22515086e-01 6.89407975e-01 5.18516570e-02 2.90969756e+02] [-6.87761920e-01 7.24372199e-01 -4.76283366e-02 -2.23466053e+02] [-7.03952539e-02 -1.24940350e-03 9.97518394e-01 -2.09199376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83864 meters 0.02696627581397979 Centerline is valid? [True, True] Translation: X:290.99, Y:-223.49, Z:-20.92 [[ 7.19581582e-01 6.92501465e-01 5.14205020e-02 2.90994457e+02] [-6.90887454e-01 7.21414896e-01 -4.72765745e-02 -2.23486691e+02] [-6.98346132e-02 -1.50642738e-03 9.97557446e-01 -2.09229783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86864 meters 0.027058800641581154 Centerline is valid? [True, True] Translation: X:291.02, Y:-223.51, Z:-20.93 [[ 7.17518282e-01 6.94673216e-01 5.09572195e-02 2.91020160e+02] [-6.93090631e-01 7.19323524e-01 -4.68939832e-02 -2.23506604e+02] [-6.92307208e-02 -1.67068121e-03 9.97599276e-01 -2.09250996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89864 meters 0.027162085554680696 Centerline is valid? [True, True] Translation: X:291.04, Y:-223.53, Z:-20.93 [[ 7.16621300e-01 6.95549856e-01 5.16169622e-02 2.91044120e+02] [-6.93925128e-01 7.18475712e-01 -4.75454332e-02 -2.23527516e+02] [-7.01557529e-02 -1.74623697e-03 9.97534521e-01 -2.09271405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters 0.027340102163114662 Centerline is valid? [True, True] Translation: X:291.07, Y:-223.55, Z:-20.93 [[ 7.16124163e-01 6.95941648e-01 5.32109559e-02 2.91068853e+02] [-6.94212600e-01 7.18096065e-01 -4.90602408e-02 -2.23548667e+02] [-7.23536429e-02 -1.80649220e-03 9.97377404e-01 -2.09293831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95864 meters 0.02704724324872033 Centerline is valid? [True, True] Translation: X:291.10, Y:-223.57, Z:-20.93 [[ 7.17870997e-01 6.94067426e-01 5.41446211e-02 2.91095800e+02] [-6.92268316e-01 7.19908195e-01 -4.99676797e-02 -2.23567165e+02] [-7.36600952e-02 -1.61225763e-03 9.97282102e-01 -2.09295588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters 0.0271413084609341 Centerline is valid? [True, True] Translation: X:291.12, Y:-223.59, Z:-20.93 [[ 7.17701032e-01 6.94258416e-01 5.39488742e-02 2.91121937e+02] [-6.92469334e-01 7.19724057e-01 -4.98347574e-02 -2.23587416e+02] [-7.34265024e-02 -1.59148419e-03 9.97299361e-01 -2.09317348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01864 meters 0.02713185434014862 Centerline is valid? [True, True] Translation: X:291.15, Y:-223.61, Z:-20.93 [[ 7.17202778e-01 6.94859630e-01 5.28230056e-02 2.91146281e+02] [-6.93142622e-01 7.19143650e-01 -4.88437975e-02 -2.23607947e+02] [-7.19269121e-02 -1.58296934e-03 9.97408649e-01 -2.09338287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters 0.027147368910262086 Centerline is valid? [True, True] Translation: X:291.17, Y:-223.63, Z:-20.94 [[ 7.16211656e-01 6.95949965e-01 5.19086818e-02 2.91171876e+02] [-6.94291570e-01 7.18088427e-01 -4.80439998e-02 -2.23629214e+02] [-7.07112436e-02 -1.63008753e-03 9.97495495e-01 -2.09351432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07864 meters 0.027133419520612136 Centerline is valid? [True, True] Translation: X:291.20, Y:-223.65, Z:-20.94 [[ 7.14071144e-01 6.98194265e-01 5.12559193e-02 2.91198626e+02] [-6.96579744e-01 7.15906104e-01 -4.74879975e-02 -2.23647393e+02] [-6.98502730e-02 -1.79402646e-03 9.97555874e-01 -2.09355847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters 0.027237185885996596 Centerline is valid? [True, True] Translation: X:291.22, Y:-223.67, Z:-20.94 [[ 7.12765447e-01 6.99445342e-01 5.23605956e-02 2.91222210e+02] [-6.97760510e-01 7.14683501e-01 -4.85568224e-02 -2.23669037e+02] [-7.13840970e-02 -1.92553069e-03 9.97447043e-01 -2.09374414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13864 meters 0.027459023513345164 Centerline is valid? [True, True] Translation: X:291.25, Y:-223.69, Z:-20.94 [[ 7.13285281e-01 6.98919966e-01 5.22971265e-02 2.91246541e+02] [-6.97235187e-01 7.15197511e-01 -4.85346695e-02 -2.23690891e+02] [-7.13246243e-02 -1.84433137e-03 9.97451451e-01 -2.09381455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters 0.027000902318054215 Centerline is valid? [True, True] Translation: X:291.27, Y:-223.71, Z:-20.94 [[ 7.14124287e-01 6.98079191e-01 5.20763514e-02 2.91271670e+02] [-6.96405095e-01 7.16018447e-01 -4.83479751e-02 -2.23710497e+02] [-7.10383435e-02 -1.73977325e-03 9.97472068e-01 -2.09399024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19864 meters 0.026909292490291545 Centerline is valid? [True, True] Translation: X:291.30, Y:-223.73, Z:-20.94 [[ 7.16135178e-01 6.96094688e-01 5.10156134e-02 2.91298733e+02] [-6.94481648e-01 7.17948430e-01 -4.73845123e-02 -2.23729333e+02] [-6.96106868e-02 -1.49569113e-03 9.97573113e-01 -2.09420007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters 0.026544520450003672 Centerline is valid? [True, True] Translation: X:291.32, Y:-223.75, Z:-20.94 [[ 7.17318814e-01 6.94851768e-01 5.13297244e-02 2.91322838e+02] [-6.93213946e-01 7.19151690e-01 -4.76997994e-02 -2.23750261e+02] [-7.00581479e-02 -1.36651731e-03 9.97541973e-01 -2.09435911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25864 meters 0.026594767081608735 Centerline is valid? [True, True] Translation: X:291.35, Y:-223.77, Z:-20.94 [[ 7.18697939e-01 6.93266117e-01 5.34356031e-02 2.91347519e+02] [-6.91482947e-01 7.20680643e-01 -4.97065883e-02 -2.23772568e+02] [-7.29698982e-02 -1.22578576e-03 9.97333390e-01 -2.09448601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters 0.026453614463968548 Centerline is valid? [True, True] Translation: X:291.37, Y:-223.79, Z:-20.95 [[ 7.19393352e-01 6.92594254e-01 5.27864029e-02 2.91372069e+02] [-6.90848740e-01 7.21326538e-01 -4.91532735e-02 -2.23793478e+02] [-7.21195080e-02 -1.10688169e-03 9.97395384e-01 -2.09455531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31864 meters 0.026396024575357918 Centerline is valid? [True, True] Translation: X:291.40, Y:-223.82, Z:-20.95 [[ 7.19289326e-01 6.92657433e-01 5.33717654e-02 2.91397084e+02] [-6.90869549e-01 7.21265895e-01 -4.97471167e-02 -2.23815526e+02] [-7.29529443e-02 -1.09035739e-03 9.97334788e-01 -2.09476710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34864 meters 0.02638808245479574 Centerline is valid? [True, True] Translation: X:291.42, Y:-223.84, Z:-20.95 [[ 7.18754233e-01 6.93272822e-01 5.25846522e-02 2.91421072e+02] [-6.91535245e-01 7.20674398e-01 -4.90654403e-02 -2.23838144e+02] [-7.19121488e-02 -1.09814736e-03 9.97410365e-01 -2.09498293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37864 meters 0.026511315239066063 Centerline is valid? [True, True] Translation: X:291.45, Y:-223.86, Z:-20.95 [[ 7.18043603e-01 6.94001909e-01 5.26757503e-02 2.91445854e+02] [-6.92256455e-01 7.19972265e-01 -4.92030367e-02 -2.23860327e+02] [-7.20720806e-02 -1.13520233e-03 9.97398780e-01 -2.09510089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40864 meters 0.026635164984344418 Centerline is valid? [True, True] Translation: X:291.47, Y:-223.88, Z:-20.95 [[ 7.17649594e-01 6.94468428e-01 5.18908795e-02 2.91470019e+02] [-6.92772348e-01 7.19522293e-01 -4.85195320e-02 -2.23880847e+02] [-7.10319277e-02 -1.12854396e-03 9.97473404e-01 -2.09531123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43864 meters 0.02671387551226504 Centerline is valid? [True, True] Translation: X:291.50, Y:-223.90, Z:-20.96 [[ 7.17132896e-01 6.95039926e-01 5.13800579e-02 2.91495095e+02] [-6.93375310e-01 7.18970237e-01 -4.80882321e-02 -2.23902642e+02] [-7.03639736e-02 -1.14001042e-03 9.97520732e-01 -2.09560889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46864 meters 0.02672190444469923 Centerline is valid? [True, True] Translation: X:291.52, Y:-223.92, Z:-20.96 [[ 7.16701312e-01 6.95470105e-01 5.15806321e-02 2.91518860e+02] [-6.93789867e-01 7.18554112e-01 -4.83281313e-02 -2.23924879e+02] [-7.06742459e-02 -1.14928478e-03 9.97498787e-01 -2.09571497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49864 meters 0.026794625219732335 Centerline is valid? [True, True] Translation: X:291.54, Y:-223.95, Z:-20.96 [[ 7.16692775e-01 6.95476732e-01 5.16098971e-02 2.91544273e+02] [-6.93790889e-01 7.18547755e-01 -4.84079199e-02 -2.23945835e+02] [-7.07507576e-02 -1.11286996e-03 9.97493404e-01 -2.09572319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52864 meters 0.026989521269862964 Centerline is valid? [True, True] Translation: X:291.57, Y:-223.97, Z:-20.96 [[ 7.16476184e-01 6.95675512e-01 5.19370731e-02 2.91568998e+02] [-6.93964942e-01 7.18355322e-01 -4.87677162e-02 -2.23967524e+02] [-7.12357788e-02 -1.10160067e-03 9.97458897e-01 -2.09587560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55864 meters 0.026969442534690267 Centerline is valid? [True, True] Translation: X:291.59, Y:-223.99, Z:-20.96 [[ 7.17073317e-01 6.95059102e-01 5.19490346e-02 2.91592985e+02] [-6.93342514e-01 7.18951901e-01 -4.88295248e-02 -2.23988814e+02] [-7.12882628e-02 -1.00412487e-03 9.97455250e-01 -2.09608907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58864 meters 0.027001537832394562 Centerline is valid? [True, True] Translation: X:291.62, Y:-224.01, Z:-20.96 [[ 7.17988677e-01 6.94023006e-01 5.31443923e-02 2.91616673e+02] [-6.92219968e-01 7.19952277e-01 -5.00023491e-02 -2.24011559e+02] [-7.29642069e-02 -8.86489044e-04 9.97334166e-01 -2.09635232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61864 meters 0.026831793158748483 Centerline is valid? [True, True] Translation: X:291.64, Y:-224.03, Z:-20.96 [[ 7.19445695e-01 6.92491494e-01 5.34174476e-02 2.91641335e+02] [-6.90661815e-01 7.21425703e-01 -5.03111492e-02 -2.24032655e+02] [-7.33767625e-02 -6.97251624e-04 9.97304048e-01 -2.09649890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64864 meters 0.026696337764896154 Centerline is valid? [True, True] Translation: X:291.67, Y:-224.05, Z:-20.97 [[ 7.19297653e-01 6.92681973e-01 5.29393131e-02 2.91666384e+02] [-6.90881943e-01 7.21242836e-01 -4.99090385e-02 -2.24054166e+02] [-7.27531915e-02 -6.75361256e-04 9.97349747e-01 -2.09658036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67864 meters 0.026773641572543107 Centerline is valid? [True, True] Translation: X:291.69, Y:-224.08, Z:-20.97 [[ 7.19167325e-01 6.92819034e-01 5.29164011e-02 2.91691068e+02] [-6.91017026e-01 7.21111201e-01 -4.99410263e-02 -2.24076738e+02] [-7.27587031e-02 -6.50179778e-04 9.97349361e-01 -2.09674487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70864 meters 0.026782103649625785 Centerline is valid? [True, True] Translation: X:291.71, Y:-224.10, Z:-20.97 [[ 7.19069216e-01 6.92956248e-01 5.24509427e-02 2.91713403e+02] [-6.91182370e-01 7.20979371e-01 -4.95547898e-02 -2.24100776e+02] [-7.21553489e-02 -6.19843125e-04 9.97393213e-01 -2.09681720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73864 meters 0.026965468065944742 Centerline is valid? [True, True] Translation: X:291.74, Y:-224.12, Z:-20.97 [[ 7.18457522e-01 6.93565724e-01 5.27766524e-02 2.91736857e+02] [-6.91767460e-01 7.20393065e-01 -4.99160563e-02 -2.24123722e+02] [-7.26400001e-02 -6.46604643e-04 9.97358016e-01 -2.09692452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76864 meters 0.02700470988448976 Centerline is valid? [True, True] Translation: X:291.76, Y:-224.15, Z:-20.97 [[ 7.17185499e-01 6.94859084e-01 5.30642404e-02 2.91760542e+02] [-6.93041523e-01 7.19145528e-01 -5.02310451e-02 -2.24145288e+02] [-7.30644091e-02 -7.50744842e-04 9.97326942e-01 -2.09716809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79864 meters 0.02668251314327584 Centerline is valid? [True, True] Translation: X:291.78, Y:-224.17, Z:-20.97 [[ 7.16118347e-01 6.96052011e-01 5.18277023e-02 2.91783281e+02] [-6.94319635e-01 7.17990879e-01 -4.90850496e-02 -2.24167950e+02] [-7.13775650e-02 -8.34286753e-04 9.97449020e-01 -2.09730811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82864 meters 0.026882268068431803 Centerline is valid? [True, True] Translation: X:291.80, Y:-224.19, Z:-20.97 [[ 7.14378287e-01 6.98037015e-01 4.90712596e-02 2.91804352e+02] [-6.96486018e-01 7.16061051e-01 -4.65166414e-02 -2.24192568e+02] [-6.76083553e-02 -9.46967592e-04 9.97711488e-01 -2.09744223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85864 meters 0.026929297518501184 Centerline is valid? [True, True] Translation: X:291.83, Y:-224.22, Z:-20.98 [[ 7.13341492e-01 6.99096425e-01 4.90724388e-02 2.91827477e+02] [-6.97545358e-01 7.15026675e-01 -4.65545713e-02 -2.24215522e+02] [-6.76342371e-02 -1.02094451e-03 9.97709661e-01 -2.09755396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88864 meters 0.02724608142339155 Centerline is valid? [True, True] Translation: X:291.85, Y:-224.24, Z:-20.98 [[ 7.11124057e-01 7.01305181e-01 4.97354931e-02 2.91850704e+02] [-6.99715649e-01 7.12860105e-01 -4.72067944e-02 -2.24237841e+02] [-6.85608183e-02 -1.23081569e-03 9.97646179e-01 -2.09777241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91864 meters 0.027361810542476914 Centerline is valid? [True, True] Translation: X:291.87, Y:-224.26, Z:-20.98 [[ 7.10253296e-01 7.02151235e-01 5.02384147e-02 2.91874462e+02] [-7.00528189e-01 7.12026666e-01 -4.77313603e-02 -2.24260313e+02] [-6.92857245e-02 -1.29206972e-03 9.97596020e-01 -2.09800888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94864 meters 0.02730586115412952 Centerline is valid? [True, True] Translation: X:291.90, Y:-224.28, Z:-20.98 [[ 7.09530978e-01 7.02982951e-01 4.87930490e-02 2.91897239e+02] [-7.01450828e-01 7.11205512e-01 -4.64053456e-02 -2.24283001e+02] [-6.73240522e-02 -1.29989432e-03 9.97730315e-01 -2.09801813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97864 meters 0.02706226980928745 Centerline is valid? [True, True] Translation: X:291.92, Y:-224.31, Z:-20.98 [[ 7.09727675e-01 7.02807267e-01 4.84620834e-02 2.91920283e+02] [-7.01292892e-01 7.11379217e-01 -4.61290414e-02 -2.24306212e+02] [-6.68947445e-02 -1.24705735e-03 9.97759259e-01 -2.09804843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00864 meters 0.02710617043477161 Centerline is valid? [True, True] Translation: X:291.94, Y:-224.33, Z:-20.98 [[ 7.09984031e-01 7.02484962e-01 4.93715957e-02 2.91943919e+02] [-7.00910263e-01 7.11697545e-01 -4.70255962e-02 -2.24328666e+02] [-6.81724176e-02 -1.21763580e-03 9.97672812e-01 -2.09823632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03864 meters 0.027078735822044734 Centerline is valid? [True, True] Translation: X:291.97, Y:-224.35, Z:-20.98 [[ 7.10710075e-01 7.01676254e-01 5.04145160e-02 2.91968162e+02] [-7.00028520e-01 7.12495028e-01 -4.80718783e-02 -2.24351123e+02] [-6.96509875e-02 -1.12643085e-03 9.97570785e-01 -2.09842908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06864 meters 0.026865660500730762 Centerline is valid? [True, True] Translation: X:291.99, Y:-224.37, Z:-20.99 [[ 7.11057338e-01 7.01383078e-01 4.95907192e-02 2.91991968e+02] [-6.99784729e-01 7.12783759e-01 -4.73354616e-02 -2.24372310e+02] [-6.85477510e-02 -1.04460070e-03 9.97647290e-01 -2.09858443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09864 meters 0.02687350035001305 Centerline is valid? [True, True] Translation: X:292.02, Y:-224.39, Z:-20.99 [[ 7.10853908e-01 7.01740616e-01 4.74007385e-02 2.92015361e+02] [-7.00278563e-01 7.12431824e-01 -4.52860903e-02 -2.24394826e+02] [-6.55488836e-02 -1.00192680e-03 9.97848856e-01 -2.09875078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12864 meters 0.026784574721178397 Centerline is valid? [True, True] Translation: X:292.04, Y:-224.42, Z:-20.99 [[ 7.11069155e-01 7.01496054e-01 4.77906200e-02 2.92039823e+02] [-7.00006317e-01 7.12672697e-01 -4.57031974e-02 -2.24417025e+02] [-6.61196827e-02 -9.55601956e-04 9.97811242e-01 -2.09893275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15864 meters 0.026722757007705582 Centerline is valid? [True, True] Translation: X:292.07, Y:-224.44, Z:-20.99 [[ 7.11066345e-01 7.01404762e-01 4.91529605e-02 2.92066067e+02] [-6.99825027e-01 7.12762570e-01 -4.70579405e-02 -2.24437981e+02] [-6.80410540e-02 -9.37154198e-04 9.97682082e-01 -2.09897405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18864 meters 0.02653431351834789 Centerline is valid? [True, True] Translation: X:292.09, Y:-224.46, Z:-20.99 [[ 7.11796229e-01 7.00617608e-01 4.98106030e-02 2.92090727e+02] [-6.98989737e-01 7.13536452e-01 -4.77397020e-02 -2.24460390e+02] [-6.89889568e-02 -8.36160472e-04 9.97617073e-01 -2.09911509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21864 meters 0.02648611220855576 Centerline is valid? [True, True] Translation: X:292.11, Y:-224.48, Z:-20.99 [[ 7.13172937e-01 6.99176296e-01 5.03673408e-02 2.92114793e+02] [-6.97504490e-01 7.14948994e-01 -4.83262187e-02 -2.24483317e+02] [-6.97986262e-02 -6.66494989e-04 9.97560879e-01 -2.09924040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24864 meters 0.026373556602650394 Centerline is valid? [True, True] Translation: X:292.14, Y:-224.51, Z:-20.99 [[ 7.13291357e-01 6.99036929e-01 5.06242189e-02 2.92139297e+02] [-6.97343935e-01 7.15085302e-01 -4.86255842e-02 -2.24505368e+02] [-7.01917139e-02 -6.18283108e-04 9.97533328e-01 -2.09939989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27864 meters 0.026260192830832235 Centerline is valid? [True, True] Translation: X:292.16, Y:-224.53, Z:-21.00 [[ 7.14700535e-01 6.97643780e-01 4.99630030e-02 2.92162972e+02] [-6.95987928e-01 7.16444669e-01 -4.80399848e-02 -2.24527367e+02] [-6.93105237e-02 -4.39444068e-04 9.97595037e-01 -2.09959506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30864 meters 0.02619816422983626 Centerline is valid? [True, True] Translation: X:292.19, Y:-224.55, Z:-21.00 [[ 7.15227818e-01 6.97131214e-01 4.95705468e-02 2.92186520e+02] [-6.95496889e-01 7.16943474e-01 -4.77088280e-02 -2.24551136e+02] [-6.87985932e-02 -3.53480161e-04 9.97630507e-01 -2.09972134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33864 meters 0.026101257052849925 Centerline is valid? [True, True] Translation: X:292.21, Y:-224.57, Z:-21.00 [[ 7.15520059e-01 6.96825170e-01 4.96561050e-02 2.92210151e+02] [-6.95180891e-01 7.17240964e-01 -4.78427517e-02 -2.24574760e+02] [-6.89534262e-02 -2.87526833e-04 9.97619839e-01 -2.09979750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36864 meters 0.026034605306884232 Centerline is valid? [True, True] Translation: X:292.24, Y:-224.60, Z:-21.00 [[ 7.15962619e-01 6.96362324e-01 4.97698920e-02 2.92235372e+02] [-6.94705800e-01 7.17690373e-01 -4.80039646e-02 -2.24596840e+02] [-6.91475247e-02 -2.06388433e-04 9.97606424e-01 -2.09986193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39864 meters 0.026113433992109678 Centerline is valid? [True, True] Translation: X:292.26, Y:-224.62, Z:-21.00 [[ 7.15303964e-01 6.96998001e-01 5.03391091e-02 2.92258862e+02] [-6.95301190e-01 7.17073031e-01 -4.86057901e-02 -2.24619293e+02] [-6.99749561e-02 -2.32928135e-04 9.97548721e-01 -2.10024769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters 0.025952948982325533 Centerline is valid? [True, True] Translation: X:292.28, Y:-224.64, Z:-21.00 [[ 7.15274783e-01 6.97101050e-01 4.93164359e-02 2.92281549e+02] [-6.95469465e-01 7.16972862e-01 -4.76669622e-02 -2.24642035e+02] [-6.85872356e-02 -2.03099247e-04 9.97645102e-01 -2.10044715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45864 meters 0.026043693159857245 Centerline is valid? [True, True] Translation: X:292.31, Y:-224.66, Z:-21.01 [[ 7.14445323e-01 6.97980498e-01 4.88989247e-02 2.92305307e+02] [-6.96375421e-01 7.16116723e-01 -4.73086881e-02 -2.24664843e+02] [-6.80378794e-02 -2.52538294e-04 9.97682707e-01 -2.10059882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters 0.026007586248018383 Centerline is valid? [True, True] Translation: X:292.33, Y:-224.68, Z:-21.01 [[ 7.13946847e-01 6.98558300e-01 4.79186970e-02 2.92330195e+02] [-6.97015130e-01 7.15553094e-01 -4.64077409e-02 -2.24684757e+02] [-6.67068845e-02 -2.67396544e-04 9.97772579e-01 -2.10067007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51864 meters 0.026019465540037753 Centerline is valid? [True, True] Translation: X:292.35, Y:-224.71, Z:-21.01 [[ 7.12895739e-01 6.99718560e-01 4.66219044e-02 2.92353649e+02] [-6.98257661e-01 7.14418522e-01 -4.51930857e-02 -2.24706868e+02] [-6.49299928e-02 -3.36143675e-04 9.97889765e-01 -2.10071216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters 0.025921171608287087 Centerline is valid? [True, True] Translation: X:292.38, Y:-224.73, Z:-21.01 [[ 7.12112573e-01 7.00546532e-01 4.61545122e-02 2.92377568e+02] [-6.99113783e-01 7.13606624e-01 -4.47828615e-02 -2.24728884e+02] [-6.43086439e-02 -3.76816873e-04 9.97929986e-01 -2.10093335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57864 meters 0.025839065352806494 Centerline is valid? [True, True] Translation: X:292.40, Y:-224.75, Z:-21.01 [[ 7.11235456e-01 7.01387596e-01 4.68995309e-02 2.92402088e+02] [-6.99906746e-01 7.12779952e-01 -4.55553238e-02 -2.24750855e+02] [-6.53809844e-02 -4.24736564e-04 9.97860284e-01 -2.10122331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters 0.025839065352806494 Centerline is valid? [True, True] Translation: X:292.43, Y:-224.77, Z:-21.01 [[ 7.10857337e-01 7.01772461e-01 4.68749328e-02 2.92425618e+02] [-7.00290779e-01 7.12401033e-01 -4.55806233e-02 -2.24773279e+02] [-6.53809767e-02 -4.24762685e-04 9.97860285e-01 -2.10139127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63864 meters 0.025826710917778 Centerline is valid? [True, True] Translation: X:292.45, Y:-224.79, Z:-21.02 [[ 7.11342469e-01 7.01270939e-01 4.70208733e-02 2.92450898e+02] [-6.99775650e-01 7.12894769e-01 -4.57721325e-02 -2.24794852e+02] [-6.56196009e-02 -3.44400428e-04 9.97844652e-01 -2.10151674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters 0.025793418613442715 Centerline is valid? [True, True] Translation: X:292.47, Y:-224.82, Z:-21.02 [[ 7.11062069e-01 7.01517548e-01 4.75800818e-02 2.92474856e+02] [-6.99983628e-01 7.12652102e-01 -4.63670369e-02 -2.24818133e+02] [-6.64353353e-02 -3.35437131e-04 9.97790676e-01 -2.10168730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69864 meters 0.025726644248362882 Centerline is valid? [True, True] Translation: X:292.50, Y:-224.84, Z:-21.02 [[ 7.10656686e-01 7.01847528e-01 4.87557368e-02 2.92498666e+02] [-7.00234128e-01 7.12327124e-01 -4.75629442e-02 -2.24840017e+02] [-6.81119686e-02 -3.39506504e-04 9.97677626e-01 -2.10187188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters 0.02575605254155876 Centerline is valid? [True, True] Translation: X:292.52, Y:-224.86, Z:-21.02 [[ 7.10055287e-01 7.02474906e-01 4.84819096e-02 2.92524315e+02] [-7.00877992e-01 7.11708419e-01 -4.73409642e-02 -2.24860348e+02] [-6.77608226e-02 -3.65201542e-04 9.97701527e-01 -2.10196904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75864 meters 0.025860609746382168 Centerline is valid? [True, True] Translation: X:292.55, Y:-224.88, Z:-21.02 [[ 7.09335089e-01 7.03245558e-01 4.78478591e-02 2.92548865e+02] [-7.01688642e-01 7.10946923e-01 -4.67709576e-02 -2.24882459e+02] [-6.69087563e-02 -3.98017884e-04 9.97759019e-01 -2.10205651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters 0.025759393420582637 Centerline is valid? [True, True] Translation: X:292.57, Y:-224.90, Z:-21.02 [[ 7.10237375e-01 7.02359455e-01 4.74770214e-02 2.92574518e+02] [-7.00821349e-01 7.11822393e-01 -4.64576877e-02 -2.24903670e+02] [-6.64252032e-02 -2.76924004e-04 9.97791369e-01 -2.10227046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81864 meters 0.025883768128070105 Centerline is valid? [True, True] Translation: X:292.60, Y:-224.93, Z:-21.03 [[ 7.10991459e-01 7.01530292e-01 4.84395868e-02 2.92599515e+02] [-6.99923659e-01 7.12639615e-01 -4.74515532e-02 -2.24925607e+02] [-6.78086705e-02 -1.66363846e-04 9.97698329e-01 -2.10255087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84864 meters 0.025737288176888515 Centerline is valid? [True, True] Translation: X:292.62, Y:-224.95, Z:-21.03 [[ 7.12476010e-01 6.99931245e-01 4.97412016e-02 2.92623591e+02] [-6.98229494e-01 7.14210229e-01 -4.87782923e-02 -2.24947445e+02] [-6.96671258e-02 2.25890049e-05 9.97570294e-01 -2.10276023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87864 meters 0.025798013737680325 Centerline is valid? [True, True] Translation: X:292.65, Y:-224.97, Z:-21.03 [[ 7.13503886e-01 6.98835369e-01 5.04116258e-02 2.92647196e+02] [-6.97081219e-01 7.15282532e-01 -4.94840772e-02 -2.24970608e+02] [-7.06397786e-02 1.66083812e-04 9.97501877e-01 -2.10295252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90864 meters 0.02584816428478694 Centerline is valid? [True, True] Translation: X:292.67, Y:-224.99, Z:-21.03 [[ 7.16431090e-01 6.95843379e-01 5.02840504e-02 2.92670810e+02] [-6.94087034e-01 7.18193389e-01 -4.94109852e-02 -2.24993164e+02] [-7.04959795e-02 4.98058613e-04 9.97511939e-01 -2.10304135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93864 meters 0.02585646211615405 Centerline is valid? [True, True] Translation: X:292.69, Y:-225.02, Z:-21.03 [[ 7.17276214e-01 6.94981856e-01 5.01502917e-02 2.92694986e+02] [-6.93229107e-01 7.19027007e-01 -4.93312160e-02 -2.25015645e+02] [-7.03437142e-02 6.18465951e-04 9.97522621e-01 -2.10315344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96864 meters 0.026016811306324543 Centerline is valid? [True, True] Translation: X:292.72, Y:-225.04, Z:-21.03 [[ 7.18108325e-01 6.94062271e-01 5.09705518e-02 2.92718157e+02] [-6.92245663e-01 7.19914572e-01 -5.01891523e-02 -2.25037449e+02] [-7.15288401e-02 7.57104665e-04 9.97438245e-01 -2.10337825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99864 meters 0.0260772291959613 Centerline is valid? [True, True] Translation: X:292.74, Y:-225.06, Z:-21.04 [[ 7.17223595e-01 6.95004832e-01 5.05825944e-02 2.92740303e+02] [-6.93214940e-01 7.19004734e-01 -4.98521812e-02 -2.25060721e+02] [-7.10166316e-02 6.90550443e-04 9.97474893e-01 -2.10352730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02864 meters 0.02604542624486898 Centerline is valid? [True, True] Translation: X:292.76, Y:-225.08, Z:-21.04 [[ 7.16630486e-01 6.95710989e-01 4.92642417e-02 2.92762255e+02] [-6.94011937e-01 7.18321526e-01 -4.85964638e-02 -2.25084387e+02] [-6.91966592e-02 6.35735680e-04 9.97602836e-01 -2.10357866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05864 meters 0.026150484148339006 Centerline is valid? [True, True] Translation: X:292.78, Y:-225.11, Z:-21.04 [[ 7.16209019e-01 6.96228788e-01 4.80636766e-02 2.92784831e+02] [-6.94609902e-01 7.17819694e-01 -4.74549417e-02 -2.25107473e+02] [-6.75405501e-02 6.02151516e-04 9.97716348e-01 -2.10368083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08864 meters 0.02603579297101694 Centerline is valid? [True, True] Translation: X:292.81, Y:-225.13, Z:-21.04 [[ 7.16205113e-01 6.96218510e-01 4.82703072e-02 2.92807876e+02] [-6.94582553e-01 7.17829631e-01 -4.77042820e-02 -2.25130860e+02] [-6.78624609e-02 6.38337440e-04 9.97694482e-01 -2.10386793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11864 meters 0.02600564069882997 Centerline is valid? [True, True] Translation: X:292.83, Y:-225.15, Z:-21.04 [[ 7.16340331e-01 6.95957281e-01 4.99999325e-02 2.92829243e+02] [-6.94197567e-01 7.18082822e-01 -4.94651354e-02 -2.25154492e+02] [-7.03297137e-02 7.24040002e-04 9.97523537e-01 -2.10400734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14864 meters 0.026117115458481898 Centerline is valid? [True, True] Translation: X:292.85, Y:-225.18, Z:-21.04 [[ 7.16283211e-01 6.95989049e-01 5.03746597e-02 2.92850311e+02] [-6.94199520e-01 7.18051994e-01 -4.98834723e-02 -2.25179995e+02] [-7.08899753e-02 7.60629123e-04 9.97483851e-01 -2.10430775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17864 meters 0.026132879907880494 Centerline is valid? [True, True] Translation: X:292.87, Y:-225.20, Z:-21.04 [[ 7.16644892e-01 6.95691628e-01 4.93280530e-02 2.92871479e+02] [-6.93971581e-01 7.18340102e-01 -4.88972552e-02 -2.25204930e+02] [-6.94517297e-02 8.09701168e-04 9.97584985e-01 -2.10449580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20864 meters 0.026276604548779444 Centerline is valid? [True, True] Translation: X:292.89, Y:-225.23, Z:-21.05 [[ 7.16889723e-01 6.95507200e-01 4.83617530e-02 2.92892328e+02] [-6.93850209e-01 7.18518627e-01 -4.79882254e-02 -2.25230447e+02] [-6.81249767e-02 8.46453176e-04 9.97676436e-01 -2.10466683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23864 meters 0.026261178926767974 Centerline is valid? [True, True] Translation: X:292.91, Y:-225.26, Z:-21.05 [[ 7.16527810e-01 6.96013296e-01 4.64046347e-02 2.92912372e+02] [-6.94485965e-01 7.18028450e-01 -4.60911022e-02 -2.25256566e+02] [-6.53998679e-02 7.98189023e-04 9.97858818e-01 -2.10468745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26864 meters 0.026069832256203428 Centerline is valid? [True, True] Translation: X:292.93, Y:-225.28, Z:-21.05 [[ 7.14890538e-01 6.97720848e-01 4.60123565e-02 2.92934174e+02] [-6.96220100e-01 7.16369440e-01 -4.57427386e-02 -2.25279939e+02] [-6.48775084e-02 6.66323626e-04 9.97893013e-01 -2.10475241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29864 meters 0.025803918126122705 Centerline is valid? [True, True] Translation: X:292.95, Y:-225.31, Z:-21.05 [[ 7.11145318e-01 7.01510093e-01 4.64319454e-02 2.92954276e+02] [-6.99987444e-01 7.12659432e-01 -4.61964508e-02 -2.25305994e+02] [-6.54974403e-02 3.50610912e-04 9.97852676e-01 -2.10487105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32864 meters 0.025761078301462282 Centerline is valid? [True, True] Translation: X:292.98, Y:-225.33, Z:-21.05 [[ 7.07937094e-01 7.04745496e-01 4.64635017e-02 2.92975740e+02] [-7.03226224e-01 7.09460205e-01 -4.62503641e-02 -2.25330836e+02] [-6.55587412e-02 6.79954802e-05 9.97848709e-01 -2.10498752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35864 meters 0.025872519489108573 Centerline is valid? [True, True] Translation: X:293.00, Y:-225.36, Z:-21.05 [[ 7.02058388e-01 7.10670702e-01 4.54001484e-02 2.92998002e+02] [-7.09229479e-01 7.03524670e-01 -4.52391909e-02 -2.25355355e+02] [-6.40902919e-02 -4.38570129e-04 9.97944008e-01 -2.10520148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38864 meters 0.026171515627715625 Centerline is valid? [True, True] Translation: X:293.02, Y:-225.38, Z:-21.05 [[ 6.98985760e-01 7.13703985e-01 4.52275162e-02 2.93021063e+02] [-7.12277035e-01 7.00447113e-01 -4.51139348e-02 -2.25377696e+02] [-6.38774782e-02 -6.80523149e-04 9.97957516e-01 -2.10544608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41864 meters 0.02639311954002998 Centerline is valid? [True, True] Translation: X:293.04, Y:-225.40, Z:-21.06 [[ 6.96661856e-01 7.15959293e-01 4.54373143e-02 2.93044949e+02] [-7.14521096e-01 6.98141497e-01 -4.53657719e-02 -2.25399866e+02] [-6.42017206e-02 -8.61316713e-04 9.97936570e-01 -2.10558251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44864 meters 0.026804756020340135 Centerline is valid? [True, True] Translation: X:293.07, Y:-225.42, Z:-21.06 [[ 6.93145311e-01 7.19251443e-01 4.71904672e-02 2.93071075e+02] [-7.17704537e-01 6.94748855e-01 -4.71616981e-02 -2.25419527e+02] [-6.67066424e-02 -1.17890252e-03 9.97771935e-01 -2.10556344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47864 meters 0.026878018886560412 Centerline is valid? [True, True] Translation: X:293.10, Y:-225.54, Z:-19.49 [[ 7.67642775e-01 -6.40442195e-01 -2.36297401e-02 2.93096191e+02] [-6.39954239e-01 -7.67994030e-01 2.53720484e-02 -2.25544255e+02] [-3.43968297e-02 -4.35471733e-03 -9.99398767e-01 -1.94934754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50864 meters 0.026951994692319778 Centerline is valid? [True, True] Translation: X:293.11, Y:-225.46, Z:-21.06 [[ 7.42212242e-01 6.68204604e-01 5.12210391e-02 2.93107342e+02] [-6.66734274e-01 7.43976500e-01 -4.43212877e-02 -2.25458249e+02] [-6.77229379e-02 -1.25501997e-03 9.97703377e-01 -2.10576868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53864 meters 0.026754995441323984 Centerline is valid? [True, True] Translation: X:293.13, Y:-225.48, Z:-21.06 [[ 7.42447672e-01 6.67952243e-01 5.11004512e-02 2.93134930e+02] [-6.66484988e-01 7.44203183e-01 -4.42649228e-02 -2.25477373e+02] [-6.75959729e-02 -1.19329477e-03 9.97712063e-01 -2.10604432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56864 meters 0.026703779919748965 Centerline is valid? [True, True] Translation: X:293.16, Y:-225.49, Z:-21.06 [[ 7.43200653e-01 6.67040694e-01 5.20528772e-02 2.93164361e+02] [-6.65512515e-01 7.45020480e-01 -4.51395359e-02 -2.25494301e+02] [-6.88903669e-02 -1.09410868e-03 9.97623637e-01 -2.10617552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59864 meters 0.026532882415666946 Centerline is valid? [True, True] Translation: X:293.19, Y:-225.51, Z:-21.06 [[ 7.43913520e-01 6.66224819e-01 5.23179247e-02 2.93190875e+02] [-6.64675571e-01 7.45750305e-01 -4.54188065e-02 -2.25513659e+02] [-6.92752444e-02 -9.86782217e-04 9.97597096e-01 -2.10623022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62864 meters 0.02637458031390095 Centerline is valid? [True, True] Translation: X:293.22, Y:-225.53, Z:-21.06 [[ 7.46952048e-01 6.62888834e-01 5.13909690e-02 2.93217269e+02] [-6.61382997e-01 7.48717568e-01 -4.46602122e-02 -2.25532395e+02] [-6.80820773e-02 -6.30076137e-04 9.97679525e-01 -2.10632934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65864 meters 0.02628370523522084 Centerline is valid? [True, True] Translation: X:293.24, Y:-225.55, Z:-21.07 [[ 7.48739281e-01 6.60847233e-01 5.16761351e-02 2.93243646e+02] [-6.59316695e-01 7.50520329e-01 -4.49525481e-02 -2.25552878e+02] [-6.84907570e-02 -4.13200069e-04 9.97651665e-01 -2.10660751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68864 meters 0.02629710290750956 Centerline is valid? [True, True] Translation: X:293.27, Y:-225.57, Z:-21.07 [[ 7.52312971e-01 6.56779741e-01 5.16291041e-02 2.93271113e+02] [-6.55239479e-01 7.54082470e-01 -4.49539138e-02 -2.25571091e+02] [-6.84574222e-02 -1.00148036e-05 9.97654039e-01 -2.10670929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71864 meters 0.02621178961162331 Centerline is valid? [True, True] Translation: X:293.30, Y:-225.59, Z:-21.07 [[ 7.53258935e-01 6.55695362e-01 5.16194626e-02 2.93297007e+02] [-6.54151112e-01 7.55025549e-01 -4.49749188e-02 -2.25592147e+02] [-6.84638587e-02 1.10830608e-04 9.97653591e-01 -2.10691483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74864 meters 0.026236486938530645 Centerline is valid? [True, True] Translation: X:293.32, Y:-225.61, Z:-21.07 [[ 7.54474036e-01 6.54330318e-01 5.11933948e-02 2.93321711e+02] [-6.52805101e-01 7.56208809e-01 -4.46512945e-02 -2.25613821e+02] [-6.79295918e-02 2.68933117e-04 9.97690081e-01 -2.10713146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77864 meters 0.02638943861666686 Centerline is valid? [True, True] Translation: X:293.35, Y:-225.64, Z:-21.07 [[ 7.55851554e-01 6.52739046e-01 5.11875654e-02 2.93345394e+02] [-6.51207255e-01 7.57582693e-01 -4.46942289e-02 -2.25636472e+02] [-6.79524820e-02 4.48488362e-04 9.97688458e-01 -2.10726505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80864 meters 0.02639456974055225 Centerline is valid? [True, True] Translation: X:293.37, Y:-225.66, Z:-21.07 [[ 7.55972825e-01 6.52586005e-01 5.13477724e-02 2.93370912e+02] [-6.51040966e-01 7.57714495e-01 -4.48821312e-02 -2.25657154e+02] [-6.81964021e-02 5.00168178e-04 9.97671790e-01 -2.10738837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83864 meters 0.026311411440035418 Centerline is valid? [True, True] Translation: X:293.40, Y:-225.68, Z:-21.08 [[ 7.55976921e-01 6.52653431e-01 5.04221494e-02 2.93397343e+02] [-6.51160711e-01 7.57656405e-01 -4.41191572e-02 -2.25677161e+02] [-6.69971838e-02 5.20142013e-04 9.97753029e-01 -2.10756540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86864 meters 0.02631516254092065 Centerline is valid? [True, True] Translation: X:293.42, Y:-225.70, Z:-21.08 [[ 7.56240021e-01 6.52408115e-01 4.96455754e-02 2.93421657e+02] [-6.50957548e-01 7.57867620e-01 -4.34849515e-02 -2.25698779e+02] [-6.59947093e-02 5.67898575e-04 9.97819811e-01 -2.10776971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89864 meters 0.026430632950755137 Centerline is valid? [True, True] Translation: X:293.44, Y:-225.72, Z:-21.08 [[ 7.55942317e-01 6.52758965e-01 4.95675987e-02 2.93444610e+02] [-6.51310666e-01 7.57565447e-01 -4.34627404e-02 -2.25723225e+02] [-6.59213936e-02 5.71419000e-04 9.97824656e-01 -2.10806275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters 0.026366355869919138 Centerline is valid? [True, True] Translation: X:293.47, Y:-225.75, Z:-21.08 [[ 7.55213022e-01 6.53568406e-01 5.00162911e-02 2.93469404e+02] [-6.52092390e-01 7.56867258e-01 -4.39029420e-02 -2.25745440e+02] [-6.65492689e-02 5.40830748e-04 9.97782994e-01 -2.10825950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95864 meters 0.026398777446571684 Centerline is valid? [True, True] Translation: X:293.49, Y:-225.77, Z:-21.08 [[ 7.54815863e-01 6.54131851e-01 4.86264772e-02 2.93494015e+02] [-6.52735178e-01 7.56380368e-01 -4.27261700e-02 -2.25765559e+02] [-6.47286614e-02 5.10178670e-04 9.97902771e-01 -2.10831929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters 0.026408464544318527 Centerline is valid? [True, True] Translation: X:293.52, Y:-225.79, Z:-21.08 [[ 7.54396029e-01 6.54662891e-01 4.79909434e-02 2.93518437e+02] [-6.53301075e-01 7.55920803e-01 -4.22071566e-02 -2.25788029e+02] [-6.39088116e-02 4.88376469e-04 9.97955623e-01 -2.10842636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01864 meters 0.026411298227129114 Centerline is valid? [True, True] Translation: X:293.54, Y:-225.81, Z:-21.08 [[ 7.53300871e-01 6.55922223e-01 4.79982849e-02 2.93540861e+02] [-6.54559682e-01 7.54828368e-01 -4.22582245e-02 -2.25812271e+02] [-6.39485756e-02 4.15415270e-04 9.97953109e-01 -2.10847651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters 0.026405524086150003 Centerline is valid? [True, True] Translation: X:293.57, Y:-225.83, Z:-21.09 [[ 7.53067665e-01 6.56169265e-01 4.82803074e-02 2.93566100e+02] [-6.54788221e-01 7.54613616e-01 -4.25520354e-02 -2.25833513e+02] [-6.43543152e-02 4.31185319e-04 9.97927020e-01 -2.10866068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07864 meters 0.026179553390070425 Centerline is valid? [True, True] Translation: X:293.59, Y:-225.85, Z:-21.09 [[ 7.51932085e-01 6.57473614e-01 4.82347114e-02 2.93592250e+02] [-6.56094934e-01 7.53477486e-01 -4.25572047e-02 -2.25853527e+02] [-6.43240082e-02 3.53577854e-04 9.97929004e-01 -2.10882385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters 0.026237865603467865 Centerline is valid? [True, True] Translation: X:293.62, Y:-225.87, Z:-21.09 [[ 7.51568847e-01 6.57891740e-01 4.81946755e-02 2.93617084e+02] [-6.56513303e-01 7.53112432e-01 -4.25669737e-02 -2.25874648e+02] [-6.43004697e-02 3.51565741e-04 9.97930522e-01 -2.10897583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13864 meters 0.026264695127534474 Centerline is valid? [True, True] Translation: X:293.64, Y:-225.89, Z:-21.09 [[ 7.50761673e-01 6.58786260e-01 4.85548527e-02 2.93643585e+02] [-6.57385985e-01 7.52330091e-01 -4.29313404e-02 -2.25894936e+02] [-6.48118539e-02 3.11925299e-04 9.97897453e-01 -2.10911099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters 0.02623219105527411 Centerline is valid? [True, True] Translation: X:293.67, Y:-225.92, Z:-21.09 [[ 7.49991401e-01 6.59631164e-01 4.89859793e-02 2.93670083e+02] [-6.58204618e-01 7.51589416e-01 -4.33593184e-02 -2.25915373e+02] [-6.54185012e-02 2.76318179e-04 9.97857877e-01 -2.10924346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19864 meters 0.026381802368712206 Centerline is valid? [True, True] Translation: X:293.70, Y:-225.94, Z:-21.09 [[ 7.49459017e-01 6.60251495e-01 4.87764850e-02 2.93696324e+02] [-6.58835453e-01 7.51044538e-01 -4.32197655e-02 -2.25935018e+02] [-6.51692275e-02 2.55765391e-04 9.97874194e-01 -2.10930531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters 0.02644881836201753 Centerline is valid? [True, True] Translation: X:293.72, Y:-225.95, Z:-21.09 [[ 7.49312663e-01 6.60437352e-01 4.85081073e-02 2.93724742e+02] [-6.59034285e-01 7.50881102e-01 -4.30276806e-02 -2.25952265e+02] [-6.48409085e-02 2.72680093e-04 9.97895577e-01 -2.10933587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25864 meters 0.02625758043124384 Centerline is valid? [True, True] Translation: X:293.75, Y:-225.97, Z:-21.09 [[ 7.49453293e-01 6.60257292e-01 4.87859565e-02 2.93751642e+02] [-6.58834675e-01 7.51039415e-01 -4.33205372e-02 -2.25972455e+02] [-6.52428768e-02 3.24839520e-04 9.97869361e-01 -2.10944882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters 0.026216005831665515 Centerline is valid? [True, True] Translation: X:293.78, Y:-225.99, Z:-21.09 [[ 7.51075014e-01 6.58404150e-01 4.88906897e-02 2.93779752e+02] [-6.56968457e-01 7.52664403e-01 -4.34596758e-02 -2.25990175e+02] [-6.54123127e-02 5.21835652e-04 9.97858185e-01 -2.10947573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31864 meters 0.026299330278811848 Centerline is valid? [True, True] Translation: X:293.81, Y:-226.01, Z:-21.10 [[ 7.51693200e-01 6.57733548e-01 4.84139827e-02 2.93806914e+02] [-6.56321435e-01 7.53250430e-01 -4.30808982e-02 -2.26009875e+02] [-6.48036053e-02 6.08483609e-04 9.97897852e-01 -2.10965356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34864 meters 0.026492150892386955 Centerline is valid? [True, True] Translation: X:293.83, Y:-226.03, Z:-21.10 [[ 7.53767514e-01 6.55449703e-01 4.71192264e-02 2.93834876e+02] [-6.54105001e-01 7.55238387e-01 -4.19717404e-02 -2.26027673e+02] [-6.30966133e-02 8.16012778e-04 9.98007090e-01 -2.10983104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37864 meters 0.02673882778728846 Centerline is valid? [True, True] Translation: X:293.86, Y:-226.05, Z:-21.10 [[ 7.55543580e-01 6.53426154e-01 4.67777789e-02 2.93860051e+02] [-6.52094343e-01 7.56989591e-01 -4.17100433e-02 -2.26047443e+02] [-6.26647249e-02 1.01023042e-03 9.98034124e-01 -2.10996428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40864 meters 0.02747856976976445 Centerline is valid? [True, True] Translation: X:293.89, Y:-226.07, Z:-21.10 [[ 7.59045458e-01 6.49232178e-01 4.84517402e-02 2.93885548e+02] [-6.47792094e-01 7.60588927e-01 -4.32421840e-02 -2.26066501e+02] [-6.49260744e-02 1.43612908e-03 9.97889043e-01 -2.11001664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43864 meters 0.027739048107662555 Centerline is valid? [True, True] Translation: X:293.91, Y:-226.09, Z:-21.10 [[ 7.60893526e-01 6.47013883e-01 4.91332533e-02 2.93910903e+02] [-6.45525863e-01 7.62476375e-01 -4.38877924e-02 -2.26086138e+02] [-6.58589558e-02 1.67715142e-03 9.97827533e-01 -2.11014949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46864 meters 0.02847820304669213 Centerline is valid? [True, True] Translation: X:293.94, Y:-226.11, Z:-21.10 [[ 7.64077641e-01 6.43355009e-01 4.77461108e-02 2.93936214e+02] [-6.41940399e-01 7.65565458e-01 -4.26855132e-02 -2.26106059e+02] [-6.40147120e-02 1.96488878e-03 9.97947021e-01 -2.11029561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49864 meters 0.028686901415041193 Centerline is valid? [True, True] Translation: X:293.96, Y:-226.13, Z:-21.10 [[ 7.65090417e-01 6.42239112e-01 4.65357598e-02 2.93959556e+02] [-6.40891101e-01 7.66501656e-01 -4.16390211e-02 -2.26127763e+02] [-6.24119449e-02 2.03326169e-03 9.98048403e-01 -2.11047788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52864 meters 0.028686901415041193 Centerline is valid? [True, True] Translation: X:293.98, Y:-226.15, Z:-21.11 [[ 7.64774408e-01 6.42616716e-01 4.65173203e-02 2.93984007e+02] [-6.41268152e-01 7.66185118e-01 -4.16596124e-02 -2.26149232e+02] [-6.24120419e-02 2.03012939e-03 9.98048403e-01 -2.11064551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55864 meters 0.028728408663480795 Centerline is valid? [True, True] Translation: X:294.01, Y:-226.17, Z:-21.11 [[ 7.65246390e-01 6.42249358e-01 4.37461405e-02 2.94008338e+02] [-6.41054062e-01 7.66493248e-01 -3.92146662e-02 -2.26172383e+02] [-5.87167155e-02 1.96524069e-03 9.98272751e-01 -2.11065369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58864 meters 0.028445410634543082 Centerline is valid? [True, True] Translation: X:294.03, Y:-226.19, Z:-21.11 [[ 7.64424999e-01 6.43184748e-01 4.43599015e-02 2.94032224e+02] [-6.41954875e-01 7.65708545e-01 -3.98040470e-02 -2.26193855e+02] [-5.95681116e-02 1.95015357e-03 9.98222338e-01 -2.11080297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61864 meters 0.027828001031358643 Centerline is valid? [True, True] Translation: X:294.05, Y:-226.22, Z:-21.11 [[ 7.62324806e-01 6.45610643e-01 4.52524904e-02 2.94054835e+02] [-6.44332799e-01 7.63664567e-01 -4.06407781e-02 -2.26217371e+02] [-6.07958423e-02 1.82380949e-03 9.98148556e-01 -2.11093916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64864 meters 0.02766535514948621 Centerline is valid? [True, True] Translation: X:294.08, Y:-226.24, Z:-21.11 [[ 7.61266713e-01 6.46842360e-01 4.54747483e-02 2.94077785e+02] [-6.45551909e-01 7.62621701e-01 -4.08763285e-02 -2.26239484e+02] [-6.11205707e-02 1.76147767e-03 9.98128836e-01 -2.11113649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67864 meters 0.0273087886616342 Centerline is valid? [True, True] Translation: X:294.10, Y:-226.26, Z:-21.11 [[ 7.59708101e-01 6.48610039e-01 4.63531967e-02 2.94100312e+02] [-6.47270130e-01 7.61119043e-01 -4.17034909e-02 -2.26262556e+02] [-6.23296035e-02 1.67944023e-03 9.98054207e-01 -2.11136341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70864 meters 0.027360224456232096 Centerline is valid? [True, True] Translation: X:294.12, Y:-226.28, Z:-21.11 [[ 7.59282723e-01 6.49147394e-01 4.57974566e-02 2.94124527e+02] [-6.47838152e-01 7.60660870e-01 -4.12403939e-02 -2.26284885e+02] [-6.16074274e-02 1.64377890e-03 9.98099105e-01 -2.11148795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73864 meters 0.02756215229506302 Centerline is valid? [True, True] Translation: X:294.15, Y:-226.31, Z:-21.12 [[ 7.60133427e-01 6.48211538e-01 4.49330085e-02 2.94147485e+02] [-6.46947279e-01 7.61458373e-01 -4.05014155e-02 -2.26307905e+02] [-6.04681003e-02 1.71719220e-03 9.98168653e-01 -2.11155942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76864 meters 0.027521129686560116 Centerline is valid? [True, True] Translation: X:294.17, Y:-226.33, Z:-21.12 [[ 7.60354960e-01 6.47930635e-01 4.52352475e-02 2.94170480e+02] [-6.46646608e-01 7.61697268e-01 -4.08097529e-02 -2.26330652e+02] [-6.08974536e-02 1.77867861e-03 9.98142443e-01 -2.11181404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79864 meters 0.027668980836640312 Centerline is valid? [True, True] Translation: X:294.19, Y:-226.35, Z:-21.12 [[ 7.61675220e-01 6.46367913e-01 4.53803962e-02 2.94192188e+02] [-6.45070653e-01 7.63023439e-01 -4.09766344e-02 -2.26354723e+02] [-6.11122877e-02 1.93732522e-03 9.98129017e-01 -2.11190131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82864 meters 0.027712443939237174 Centerline is valid? [True, True] Translation: X:294.22, Y:-226.38, Z:-21.12 [[ 7.61868301e-01 6.46188600e-01 4.46876466e-02 2.94215042e+02] [-6.44928225e-01 7.63175271e-01 -4.03867495e-02 -2.26379134e+02] [-6.02019639e-02 1.94905955e-03 9.98184314e-01 -2.11198526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85864 meters 0.028045731470860345 Centerline is valid? [True, True] Translation: X:294.24, Y:-226.41, Z:-21.12 [[ 7.62871170e-01 6.45034652e-01 4.42478940e-02 2.94235357e+02] [-6.43794723e-01 7.64150571e-01 -4.00282238e-02 -2.26405241e+02] [-5.96316449e-02 2.04981719e-03 9.98218345e-01 -2.11194624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88864 meters 0.02794933030294099 Centerline is valid? [True, True] Translation: X:294.26, Y:-226.43, Z:-21.12 [[ 7.63833354e-01 6.43925307e-01 4.38041791e-02 2.94256946e+02] [-6.42706305e-01 7.65085364e-01 -3.96609426e-02 -2.26428670e+02] [-5.90526210e-02 2.14112868e-03 9.98252575e-01 -2.11218631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91864 meters 0.028174948535331153 Centerline is valid? [True, True] Translation: X:294.28, Y:-226.45, Z:-21.12 [[ 7.63672044e-01 6.44110199e-01 4.38983044e-02 2.94278612e+02] [-6.42884165e-01 7.64929666e-01 -3.97813631e-02 -2.26453650e+02] [-5.92026970e-02 2.15839010e-03 9.98243649e-01 -2.11237859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94864 meters 0.028159950278170677 Centerline is valid? [True, True] Translation: X:294.29, Y:-226.48, Z:-21.13 [[ 7.63669944e-01 6.44046971e-01 4.48521549e-02 2.94294754e+02] [-6.42764458e-01 7.64982663e-01 -4.06863271e-02 -2.26482994e+02] [-6.05150266e-02 2.24155409e-03 9.98164769e-01 -2.11262901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97864 meters 0.027845672790280676 Centerline is valid? [True, True] Translation: X:294.32, Y:-226.51, Z:-21.13 [[ 7.62398060e-01 6.45551253e-01 4.48639951e-02 2.94315014e+02] [-6.44268527e-01 7.63713925e-01 -4.07321252e-02 -2.26508625e+02] [-6.05579323e-02 2.14963325e-03 9.98162370e-01 -2.11268771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00864 meters 0.02683032003554375 Centerline is valid? [True, True] Translation: X:294.33, Y:-226.54, Z:-21.13 [[ 7.59471090e-01 6.48972525e-01 4.51478217e-02 2.94331758e+02] [-6.47677487e-01 7.60809435e-01 -4.10228759e-02 -2.26537864e+02] [-6.09716081e-02 1.91446060e-03 9.98137665e-01 -2.11286143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03864 meters 0.02627600647881802 Centerline is valid? [True, True] Translation: X:294.35, Y:-226.56, Z:-21.13 [[ 7.56701961e-01 6.52180240e-01 4.54211040e-02 2.94352099e+02] [-6.50873811e-01 7.58062068e-01 -4.12938624e-02 -2.26563479e+02] [-6.13630571e-02 1.68373955e-03 9.98114092e-01 -2.11303683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06864 meters 0.025474023685747145 Centerline is valid? [True, True] Translation: X:294.37, Y:-226.59, Z:-21.13 [[ 7.52760435e-01 6.56704368e-01 4.57285564e-02 2.94368999e+02] [-6.55386156e-01 7.54146897e-01 -4.16106313e-02 -2.26592988e+02] [-6.18119323e-02 1.35297412e-03 9.98086897e-01 -2.11326902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09864 meters 0.025046257840203975 Centerline is valid? [True, True] Translation: X:294.39, Y:-226.62, Z:-21.14 [[ 7.51224845e-01 6.58438865e-01 4.60379674e-02 2.94389776e+02] [-6.57103620e-01 7.52633182e-01 -4.19300201e-02 -2.26617975e+02] [-6.22580567e-02 1.24715783e-03 9.98059306e-01 -2.11353991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12864 meters 0.024819382595651623 Centerline is valid? [True, True] Translation: X:294.41, Y:-226.64, Z:-21.14 [[ 7.48881458e-01 6.61048120e-01 4.68182113e-02 2.94409129e+02] [-6.59669780e-01 7.50342737e-01 -4.26797231e-02 -2.26644249e+02] [-6.33430555e-02 1.07749414e-03 9.97991231e-01 -2.11373229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15864 meters 0.024663406382752915 Centerline is valid? [True, True] Translation: X:294.43, Y:-226.67, Z:-21.14 [[ 7.48197379e-01 6.61815783e-01 4.69100437e-02 2.94431893e+02] [-6.60430981e-01 7.49665778e-01 -4.28035105e-02 -2.26668582e+02] [-6.34948932e-02 1.04462822e-03 9.97981617e-01 -2.11385585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18864 meters 0.024623882009910822 Centerline is valid? [True, True] Translation: X:294.45, Y:-226.70, Z:-21.14 [[ 7.47942106e-01 6.62078716e-01 4.72692323e-02 2.94451806e+02] [-6.60670209e-01 7.49433547e-01 -4.31767695e-02 -2.26695841e+02] [-6.40115685e-02 1.06435028e-03 9.97948589e-01 -2.11407309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21864 meters 0.02464808668622077 Centerline is valid? [True, True] Translation: X:294.47, Y:-226.72, Z:-21.14 [[ 7.47313277e-01 6.62765803e-01 4.75852598e-02 2.94474280e+02] [-6.61336792e-01 7.48826011e-01 -4.35115216e-02 -2.26719553e+02] [-6.44710288e-02 1.04685475e-03 9.97919030e-01 -2.11416924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24864 meters 0.02436484146725245 Centerline is valid? [True, True] Translation: X:294.50, Y:-226.74, Z:-21.15 [[ 7.44877859e-01 6.65444782e-01 4.83757816e-02 2.94496893e+02] [-6.63970457e-01 7.46446580e-01 -4.42801998e-02 -2.26741689e+02] [-6.55759646e-02 8.63250674e-04 9.97847207e-01 -2.11450357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27864 meters 0.024422311840904695 Centerline is valid? [True, True] Translation: X:294.52, Y:-226.76, Z:-21.15 [[ 7.43294154e-01 6.67162175e-01 4.90757875e-02 2.94520268e+02] [-6.65645641e-01 7.44912117e-01 -4.49646325e-02 -2.26764356e+02] [-6.65558508e-02 7.54864462e-04 9.97782416e-01 -2.11485199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30864 meters 0.024370478582049035 Centerline is valid? [True, True] Translation: X:294.54, Y:-226.79, Z:-21.15 [[ 7.41835936e-01 6.68785776e-01 4.90410985e-02 2.94542336e+02] [-6.67271811e-01 7.43454888e-01 -4.49795398e-02 -2.26787754e+02] [-6.65415208e-02 6.43696358e-04 9.97783449e-01 -2.11496808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33864 meters 0.024258520811493964 Centerline is valid? [True, True] Translation: X:294.56, Y:-226.81, Z:-21.15 [[ 7.39698746e-01 6.71165391e-01 4.88137492e-02 2.94561497e+02] [-6.69667850e-01 7.41307498e-01 -4.48125361e-02 -2.26814210e+02] [-6.62626217e-02 4.58778307e-04 9.97802112e-01 -2.11512951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36864 meters 0.024083099758793195 Centerline is valid? [True, True] Translation: X:294.58, Y:-226.84, Z:-21.15 [[ 7.38223818e-01 6.72725919e-01 4.96531279e-02 2.94584405e+02] [-6.71176851e-01 7.39891688e-01 -4.56281054e-02 -2.26838694e+02] [-6.74331458e-02 3.57724171e-04 9.97723731e-01 -2.11523373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39864 meters 0.024247365182180056 Centerline is valid? [True, True] Translation: X:294.61, Y:-226.86, Z:-21.16 [[ 7.37768836e-01 6.73138246e-01 5.08138424e-02 2.94607011e+02] [-6.71513330e-01 7.39516578e-01 -4.67448342e-02 -2.26861305e+02] [-6.90434145e-02 3.64709439e-04 9.97613589e-01 -2.11554151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters 0.024244721317335904 Centerline is valid? [True, True] Translation: X:294.63, Y:-226.89, Z:-21.16 [[ 7.37261750e-01 6.73716713e-01 5.05064565e-02 2.94629676e+02] [-6.72109652e-01 7.38989630e-01 -4.65074390e-02 -2.26885843e+02] [-6.86565865e-02 3.42278999e-04 9.97640294e-01 -2.11580428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45864 meters 0.024450358144191452 Centerline is valid? [True, True] Translation: X:294.65, Y:-226.91, Z:-21.16 [[ 7.35778829e-01 6.75332270e-01 5.05553257e-02 2.94650612e+02] [-6.73722414e-01 7.37513575e-01 -4.66029638e-02 -2.26911822e+02] [-6.87577243e-02 2.29218080e-04 9.97633361e-01 -2.11596612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters 0.024396003694578013 Centerline is valid? [True, True] Translation: X:294.67, Y:-226.93, Z:-21.16 [[ 7.34001422e-01 6.77280906e-01 5.03238115e-02 2.94674981e+02] [-6.75686892e-01 7.35724518e-01 -4.64398220e-02 -2.26934221e+02] [-6.84772667e-02 8.37556206e-05 9.97652674e-01 -2.11613689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51864 meters 0.02436471561408645 Centerline is valid? [True, True] Translation: X:294.70, Y:-226.96, Z:-21.16 [[ 7.29480962e-01 6.82223245e-01 4.92845837e-02 2.94698032e+02] [-6.80702353e-01 7.31143852e-01 -4.55299348e-02 -2.26957590e+02] [-6.70957002e-02 -3.34911419e-04 9.97746488e-01 -2.11636411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters 0.024348942983259597 Centerline is valid? [True, True] Translation: X:294.72, Y:-226.98, Z:-21.17 [[ 7.26798516e-01 6.85054392e-01 4.96427069e-02 2.94720473e+02] [-6.83514547e-01 7.28491704e-01 -4.59097158e-02 -2.26980572e+02] [-6.76149525e-02 -5.64399045e-04 9.97711331e-01 -2.11658050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57864 meters 0.02475108386654366 Centerline is valid? [True, True] Translation: X:294.74, Y:-227.00, Z:-21.17 [[ 7.22925579e-01 6.89036906e-01 5.10563418e-02 2.94744095e+02] [-6.87414673e-01 7.24725658e-01 -4.72629701e-02 -2.27001773e+02] [-6.95677716e-02 -9.29268472e-04 9.97576795e-01 -2.11681955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters 0.024938548425432597 Centerline is valid? [True, True] Translation: X:294.77, Y:-227.02, Z:-21.17 [[ 7.21142467e-01 6.90838553e-01 5.19195145e-02 2.94768511e+02] [-6.89162330e-01 7.23008236e-01 -4.81079387e-02 -2.27023135e+02] [-7.07730553e-02 -1.08829595e-03 9.97491850e-01 -2.11708397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63864 meters 0.02514321768458007 Centerline is valid? [True, True] Translation: X:294.79, Y:-227.05, Z:-21.17 [[ 7.19572090e-01 6.92532606e-01 5.11331381e-02 2.94792479e+02] [-6.90907894e-01 7.21385572e-01 -4.74250743e-02 -2.27046371e+02] [-6.97301184e-02 -1.20252896e-03 9.97565168e-01 -2.11731924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters 0.02536962718224848 Centerline is valid? [True, True] Translation: X:294.82, Y:-227.07, Z:-21.18 [[ 7.18398297e-01 6.93719182e-01 5.15517455e-02 2.94816251e+02] [-6.92067248e-01 7.20244421e-01 -4.78633342e-02 -2.27068167e+02] [-7.03335702e-02 -1.29233686e-03 9.97522691e-01 -2.11758085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69864 meters 0.02548561714492027 Centerline is valid? [True, True] Translation: X:294.84, Y:-227.09, Z:-21.18 [[ 7.16103157e-01 6.96167035e-01 5.04750293e-02 2.94841295e+02] [-6.94586539e-01 7.17878333e-01 -4.69067149e-02 -2.27088028e+02] [-6.88898385e-02 -1.46922928e-03 9.97623191e-01 -2.11768334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters 0.02573034142754147 Centerline is valid? [True, True] Translation: X:294.87, Y:-227.11, Z:-21.18 [[ 7.15000769e-01 6.97273620e-01 5.08271540e-02 2.94865073e+02] [-6.95670680e-01 7.16803377e-01 -4.72781488e-02 -2.27109114e+02] [-6.93988816e-02 -1.55504811e-03 9.97587779e-01 -2.11796756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75864 meters 0.02601925238422089 Centerline is valid? [True, True] Translation: X:294.89, Y:-227.13, Z:-21.18 [[ 7.13580195e-01 6.98686419e-01 5.13867100e-02 2.94888373e+02] [-6.97048468e-01 7.15426075e-01 -4.78431163e-02 -2.27131674e+02] [-7.01907279e-02 -1.67912722e-03 9.97532176e-01 -2.11823594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters 0.026319526557492475 Centerline is valid? [True, True] Translation: X:294.91, Y:-227.15, Z:-21.18 [[ 7.11487556e-01 7.00875913e-01 5.05807407e-02 2.94911268e+02] [-6.99291556e-01 7.13280862e-01 -4.71352468e-02 -2.27153760e+02] [-6.91142335e-02 -1.83454330e-03 9.97607066e-01 -2.11834026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81864 meters 0.026863060311841568 Centerline is valid? [True, True] Translation: X:294.94, Y:-227.17, Z:-21.19 [[ 7.09737749e-01 7.02548730e-01 5.19385174e-02 2.94935654e+02] [-7.00879336e-01 7.11632774e-01 -4.84453424e-02 -2.27174374e+02] [-7.09963650e-02 -2.01914528e-03 9.97474531e-01 -2.11859395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84864 meters 0.027031880358463108 Centerline is valid? [True, True] Translation: X:294.96, Y:-227.19, Z:-21.19 [[ 7.06989044e-01 7.05331934e-01 5.17044959e-02 2.94962622e+02] [-7.03681860e-01 7.08873593e-01 -4.82707872e-02 -2.27192058e+02] [-7.06988794e-02 -2.25659822e-03 9.97495151e-01 -2.11875893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87864 meters 0.027633326340964794 Centerline is valid? [True, True] Translation: X:294.99, Y:-227.21, Z:-21.19 [[ 7.04129737e-01 7.08134066e-01 5.24162105e-02 2.94988637e+02] [-7.06443155e-01 7.06073414e-01 -4.89734934e-02 -2.27210349e+02] [-7.16894917e-02 -2.54538011e-03 9.97423750e-01 -2.11900862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90864 meters 0.02818219623023268 Centerline is valid? [True, True] Translation: X:295.01, Y:-227.23, Z:-21.19 [[ 7.03236914e-01 7.08930455e-01 5.36232449e-02 2.95013272e+02] [-7.07160825e-01 7.05273350e-01 -5.01305255e-02 -2.27230411e+02] [-7.33581019e-02 -2.66662200e-03 9.97302100e-01 -2.11935519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93864 meters 0.027828000199648078 Centerline is valid? [True, True] Translation: X:295.04, Y:-227.25, Z:-21.19 [[ 7.03133028e-01 7.09001113e-01 5.40496678e-02 2.95039775e+02] [-7.07199892e-01 7.05202337e-01 -5.05764509e-02 -2.27250445e+02] [-7.39747120e-02 -2.66194616e-03 9.97256565e-01 -2.11944385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96864 meters 0.027675506627777614 Centerline is valid? [True, True] Translation: X:295.07, Y:-227.27, Z:-21.20 [[ 7.04578555e-01 7.07456617e-01 5.54454277e-02 2.95067044e+02] [-7.05552361e-01 7.06752251e-01 -5.19338255e-02 -2.27267909e+02] [-7.59271093e-02 -2.52819272e-03 9.97110166e-01 -2.11960789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99864 meters 0.02745435629307232 Centerline is valid? [True, True] Translation: X:295.09, Y:-227.29, Z:-21.20 [[ 7.05048210e-01 7.06992966e-01 5.53892405e-02 2.95092713e+02] [-7.05087622e-01 7.07216359e-01 -5.19275152e-02 -2.27286956e+02] [-7.58845650e-02 -2.44286628e-03 9.97113617e-01 -2.11972042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02864 meters 0.02736331254609927 Centerline is valid? [True, True] Translation: X:295.12, Y:-227.31, Z:-21.20 [[ 7.05322185e-01 7.06748783e-01 5.50161132e-02 2.95119698e+02] [-7.04864841e-01 7.07460637e-01 -5.16236792e-02 -2.27305499e+02] [-7.54067070e-02 -2.36759764e-03 9.97150050e-01 -2.12002664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05864 meters 0.02730891262900057 Centerline is valid? [True, True] Translation: X:295.15, Y:-227.32, Z:-21.20 [[ 7.06212094e-01 7.05971697e-01 5.35578344e-02 2.95145677e+02] [-7.04180930e-01 7.08236654e-01 -5.02997020e-02 -2.27324942e+02] [-7.34417874e-02 -2.19214773e-03 9.97297096e-01 -2.12021386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08864 meters 0.0271065496974335 Centerline is valid? [True, True] Translation: X:295.17, Y:-227.35, Z:-21.20 [[ 7.06466407e-01 7.05752759e-01 5.30872716e-02 2.95170049e+02] [-7.03989485e-01 7.08455048e-01 -4.99024080e-02 -2.27345390e+02] [-7.28287077e-02 -2.11850611e-03 9.97342214e-01 -2.12036638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11864 meters 0.026880940377427272 Centerline is valid? [True, True] Translation: X:295.19, Y:-227.37, Z:-21.20 [[ 7.06965738e-01 7.05348563e-01 5.17962416e-02 2.95194964e+02] [-7.03665944e-01 7.08857830e-01 -4.87320901e-02 -2.27366367e+02] [-7.10892812e-02 -1.99533324e-03 9.97467961e-01 -2.12039447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14864 meters 0.02670000073113378 Centerline is valid? [True, True] Translation: X:295.22, Y:-227.39, Z:-21.20 [[ 7.08074521e-01 7.04225347e-01 5.19339424e-02 2.95220379e+02] [-7.02527564e-01 7.09974096e-01 -4.89060800e-02 -2.27386918e+02] [-7.13126550e-02 -1.85587693e-03 9.97452285e-01 -2.12045639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17864 meters 0.026778592083751985 Centerline is valid? [True, True] Translation: X:295.24, Y:-227.41, Z:-21.21 [[ 7.08587251e-01 7.03768611e-01 5.11258202e-02 2.95242960e+02] [-7.02119071e-01 7.10427109e-01 -4.81885156e-02 -2.27409392e+02] [-7.02347333e-02 -1.75064555e-03 9.97528956e-01 -2.12072237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20864 meters 0.026631706142163182 Centerline is valid? [True, True] Translation: X:295.27, Y:-227.43, Z:-21.21 [[ 7.08801789e-01 7.03557743e-01 5.10541541e-02 2.95266850e+02] [-7.01909182e-01 7.10636072e-01 -4.81650666e-02 -2.27431251e+02] [-7.01678291e-02 -1.69589416e-03 9.97533759e-01 -2.12083616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23864 meters 0.026640072027527956 Centerline is valid? [True, True] Translation: X:295.29, Y:-227.45, Z:-21.21 [[ 7.08512445e-01 7.03839338e-01 5.11888842e-02 2.95291955e+02] [-7.02179506e-01 7.10357172e-01 -4.83386954e-02 -2.27452459e+02] [-7.03850665e-02 -1.69521819e-03 9.97518455e-01 -2.12101729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26864 meters 0.026740453748094008 Centerline is valid? [True, True] Translation: X:295.32, Y:-227.47, Z:-21.21 [[ 7.07566026e-01 7.04767091e-01 5.15137515e-02 2.95317812e+02] [-7.03084989e-01 7.09436564e-01 -4.86955796e-02 -2.27471905e+02] [-7.08647808e-02 -1.76320769e-03 9.97484373e-01 -2.12117637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29864 meters 0.02684433706239868 Centerline is valid? [True, True] Translation: X:295.34, Y:-227.49, Z:-21.21 [[ 7.06424845e-01 7.05927229e-01 5.12902005e-02 2.95341919e+02] [-7.04259485e-01 7.08281983e-01 -4.85305089e-02 -2.27493945e+02] [-7.05869326e-02 -1.83845294e-03 9.97503937e-01 -2.12132053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32864 meters 0.02731808359670745 Centerline is valid? [True, True] Translation: X:295.37, Y:-227.52, Z:-21.21 [[ 7.03123852e-01 7.09276203e-01 5.04392332e-02 2.95365063e+02] [-7.07668629e-01 7.04927543e-01 -4.77731028e-02 -2.27515998e+02] [-6.94403298e-02 -2.10385496e-03 9.97583888e-01 -2.12148332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35864 meters 0.027933367503756353 Centerline is valid? [True, True] Translation: X:295.39, Y:-227.54, Z:-21.22 [[ 7.00892150e-01 7.11473790e-01 5.05493824e-02 2.95389442e+02] [-7.09861870e-01 7.02708883e-01 -4.79202620e-02 -2.27536302e+02] [-6.96155105e-02 -2.29614363e-03 9.97571255e-01 -2.12160912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38864 meters 0.027923206038220096 Centerline is valid? [True, True] Translation: X:295.42, Y:-227.55, Z:-21.22 [[ 6.99168416e-01 7.13205754e-01 5.00107889e-02 2.95417984e+02] [-7.11629668e-01 7.00950588e-01 -4.74498680e-02 -2.27552408e+02] [-6.88966108e-02 -2.41371201e-03 9.97620885e-01 -2.12175959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41864 meters 0.027923206038220096 Centerline is valid? [True, True] Translation: X:295.44, Y:-227.57, Z:-21.22 [[ 6.98803097e-01 7.13565241e-01 4.99887924e-02 2.95441765e+02] [-7.11988418e-01 7.00584616e-01 -4.74730329e-02 -2.27574569e+02] [-6.88964851e-02 -2.41713883e-03 9.97620886e-01 -2.12192723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44864 meters 0.028048051427869657 Centerline is valid? [True, True] Translation: X:295.47, Y:-227.60, Z:-21.22 [[ 6.98298894e-01 7.14018247e-01 5.05628103e-02 2.95467390e+02] [-7.12402663e-01 7.00122786e-01 -4.80679847e-02 -2.27595005e+02] [-6.97215938e-02 -2.45526013e-03 9.97563467e-01 -2.12210647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47864 meters 0.027625314783772194 Centerline is valid? [True, True] Translation: X:295.49, Y:-227.61, Z:-21.22 [[ 6.99202286e-01 7.13058421e-01 5.16125190e-02 2.95494064e+02] [-7.11368838e-01 7.01100601e-01 -4.91154093e-02 -2.27613045e+02] [-7.12077243e-02 -2.37393119e-03 9.97458683e-01 -2.12231902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50864 meters 0.027534353989217032 Centerline is valid? [True, True] Translation: X:295.52, Y:-227.63, Z:-21.22 [[ 6.99656670e-01 7.12695874e-01 5.04493453e-02 2.95519308e+02] [-7.11077763e-01 7.01469536e-01 -4.80510536e-02 -2.27632967e+02] [-6.96344665e-02 -2.25416750e-03 9.97570028e-01 -2.12248360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53864 meters 0.027166510407327062 Centerline is valid? [True, True] Translation: X:295.54, Y:-227.65, Z:-21.23 [[ 7.00504082e-01 7.11884809e-01 5.01402931e-02 2.95544888e+02] [-7.10281426e-01 7.02293017e-01 -4.77997179e-02 -2.27652868e+02] [-6.92410708e-02 -2.12982142e-03 9.97597683e-01 -2.12267874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56864 meters 0.027132573016911875 Centerline is valid? [True, True] Translation: X:295.57, Y:-227.67, Z:-21.23 [[ 7.02110505e-01 7.10297228e-01 5.01865124e-02 2.95570691e+02] [-7.08683806e-01 7.03899189e-01 -4.78873241e-02 -2.27672493e+02] [-6.93404789e-02 -1.94417530e-03 9.97591158e-01 -2.12280610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59864 meters 0.02664249381493567 Centerline is valid? [True, True] Translation: X:295.60, Y:-227.69, Z:-21.23 [[ 7.03074019e-01 7.09291072e-01 5.09224757e-02 2.95595485e+02] [-7.07624110e-01 7.04913320e-01 -4.86346593e-02 -2.27692521e+02] [-7.03920611e-02 -1.84020614e-03 9.97517705e-01 -2.12292338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62864 meters 0.026742240966696893 Centerline is valid? [True, True] Translation: X:295.62, Y:-227.71, Z:-21.23 [[ 7.03802027e-01 7.08468887e-01 5.22928449e-02 2.95621953e+02] [-7.06705096e-01 7.05739824e-01 -4.99920889e-02 -2.27712489e+02] [-7.23229827e-02 -1.77108643e-03 9.97379692e-01 -2.12317562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65864 meters 0.02664895181411878 Centerline is valid? [True, True] Translation: X:295.65, Y:-227.73, Z:-21.23 [[ 7.03908390e-01 7.08323220e-01 5.28317543e-02 2.95647919e+02] [-7.06518492e-01 7.05886110e-01 -5.05610547e-02 -2.27733355e+02] [-7.31067706e-02 -1.73626078e-03 9.97322609e-01 -2.12339636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68864 meters 0.026597072266988424 Centerline is valid? [True, True] Translation: X:295.67, Y:-227.75, Z:-21.23 [[ 7.03770938e-01 7.08544206e-01 5.16872809e-02 2.95672402e+02] [-7.06813962e-01 7.05664414e-01 -4.95152270e-02 -2.27754028e+02] [-7.15576021e-02 -1.68591404e-03 9.97435044e-01 -2.12339848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71864 meters 0.026440670109505373 Centerline is valid? [True, True] Translation: X:295.70, Y:-227.77, Z:-21.24 [[ 7.03869152e-01 7.08473228e-01 5.13215613e-02 2.95697396e+02] [-7.06764005e-01 7.05735796e-01 -4.92100380e-02 -2.27774576e+02] [-7.10834574e-02 -1.63480452e-03 9.97469032e-01 -2.12351049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74864 meters 0.026070960325636574 Centerline is valid? [True, True] Translation: X:295.72, Y:-227.79, Z:-21.24 [[ 7.06123045e-01 7.06286256e-01 5.04972253e-02 2.95723361e+02] [-7.04622849e-01 7.07925049e-01 -4.84640616e-02 -2.27793945e+02] [-6.99777513e-02 -1.35990799e-03 9.97547625e-01 -2.12370180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77864 meters 0.02587144596256253 Centerline is valid? [True, True] Translation: X:295.75, Y:-227.81, Z:-21.24 [[ 7.09367088e-01 7.03000347e-01 5.08807204e-02 2.95748256e+02] [-7.01299823e-01 7.11188788e-01 -4.88780683e-02 -2.27814801e+02] [-7.05470968e-02 -1.01014724e-03 9.97507938e-01 -2.12401429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80864 meters 0.025654045957924802 Centerline is valid? [True, True] Translation: X:295.77, Y:-227.84, Z:-21.24 [[ 7.11394520e-01 7.00899169e-01 5.15576561e-02 2.95772918e+02] [-6.99144142e-01 7.13259945e-01 -4.95753965e-02 -2.27835548e+02] [-7.15213652e-02 -7.78567869e-04 9.97438764e-01 -2.12413248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83864 meters 0.025655813866238344 Centerline is valid? [True, True] Translation: X:295.80, Y:-227.86, Z:-21.24 [[ 7.13125730e-01 6.99119553e-01 5.18029358e-02 2.95798276e+02] [-6.97339686e-01 7.15004564e-01 -4.98581584e-02 -2.27855357e+02] [-7.18961490e-02 -5.69107379e-04 9.97411961e-01 -2.12429280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86864 meters 0.02537270228427452 Centerline is valid? [True, True] Translation: X:295.82, Y:-227.87, Z:-21.25 [[ 7.17514332e-01 6.94628539e-01 5.16175985e-02 2.95824213e+02] [-6.92846370e-01 7.19368602e-01 -4.97264648e-02 -2.27874574e+02] [-7.16735012e-02 -8.36146430e-05 9.97428144e-01 -2.12460957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89864 meters 0.025499234084462218 Centerline is valid? [True, True] Translation: X:295.85, Y:-227.90, Z:-21.25 [[ 7.19159256e-01 6.92916579e-01 5.17356711e-02 2.95848006e+02] [-6.91118292e-01 7.21017753e-01 -4.98889355e-02 -2.27897894e+02] [-7.18712078e-02 1.22621050e-04 9.97413913e-01 -2.12476760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters 0.02557799289570374 Centerline is valid? [True, True] Translation: X:295.87, Y:-227.92, Z:-21.25 [[ 7.22144076e-01 6.89768970e-01 5.22178228e-02 2.95870399e+02] [-6.87924915e-01 7.24029377e-01 -5.04060787e-02 -2.27921412e+02] [-7.25757867e-02 4.78509793e-04 9.97362786e-01 -2.12492308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95864 meters 0.025744577816869334 Centerline is valid? [True, True] Translation: X:295.89, Y:-227.94, Z:-21.25 [[ 7.23832340e-01 6.88048769e-01 5.15328564e-02 2.95893629e+02] [-6.86245083e-01 7.25664133e-01 -4.97920963e-02 -2.27944451e+02] [-7.16549361e-02 6.76960250e-04 9.97429252e-01 -2.12521509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters 0.02580086835717477 Centerline is valid? [True, True] Translation: X:295.92, Y:-227.97, Z:-21.25 [[ 7.24176076e-01 6.87745870e-01 5.07408003e-02 2.95915573e+02] [-6.85992971e-01 7.25951156e-01 -4.90771139e-02 -2.27968680e+02] [-7.05879251e-02 7.32639454e-04 9.97505292e-01 -2.12538685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01864 meters 0.025752948254308874 Centerline is valid? [True, True] Translation: X:295.94, Y:-227.99, Z:-21.26 [[ 7.24305069e-01 6.87631188e-01 5.04531077e-02 2.95937507e+02] [-6.85894324e-01 7.26059741e-01 -4.88490512e-02 -2.27993688e+02] [-7.02221014e-02 7.76115249e-04 9.97531079e-01 -2.12550636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters 0.025540919513400106 Centerline is valid? [True, True] Translation: X:295.96, Y:-228.02, Z:-21.26 [[ 7.23657277e-01 6.88311852e-01 5.04672177e-02 2.95958617e+02] [-6.86572103e-01 7.25414527e-01 -4.89132933e-02 -2.28019630e+02] [-7.02772523e-02 7.47076795e-04 9.97527218e-01 -2.12569898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07864 meters 0.02540102221436102 Centerline is valid? [True, True] Translation: X:295.98, Y:-228.04, Z:-21.26 [[ 7.22903691e-01 6.89114518e-01 5.03133667e-02 2.95981480e+02] [-6.87383768e-01 7.24652114e-01 -4.88146416e-02 -2.28042866e+02] [-7.00985658e-02 7.03692971e-04 9.97539822e-01 -2.12579830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters 0.025259601302815512 Centerline is valid? [True, True] Translation: X:296.00, Y:-228.07, Z:-21.26 [[ 7.21578388e-01 6.90532939e-01 4.98887751e-02 2.96002289e+02] [-6.88831319e-01 7.23300702e-01 -4.84510952e-02 -2.28068086e+02] [-6.95416632e-02 5.96312411e-04 9.97578870e-01 -2.12596097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13864 meters 0.02534001451835915 Centerline is valid? [True, True] Translation: X:296.02, Y:-228.09, Z:-21.26 [[ 7.20453165e-01 6.91696274e-01 5.00350023e-02 2.96024537e+02] [-6.89984225e-01 7.22188338e-01 -4.86392221e-02 -2.28093087e+02] [-6.97782639e-02 5.18919231e-04 9.97562391e-01 -2.12615164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters 0.02528186753408322 Centerline is valid? [True, True] Translation: X:296.05, Y:-228.12, Z:-21.26 [[ 7.18395602e-01 6.93711228e-01 5.16961504e-02 2.96045602e+02] [-6.91884892e-01 7.20253146e-01 -5.03060831e-02 -2.28117482e+02] [-7.21322097e-02 3.71883427e-04 9.97395010e-01 -2.12645803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19864 meters 0.025284068184348075 Centerline is valid? [True, True] Translation: X:296.07, Y:-228.14, Z:-21.27 [[ 7.17486717e-01 6.94585023e-01 5.25781115e-02 2.96068984e+02] [-6.92694428e-01 7.19410551e-01 -5.12141473e-02 -2.28140286e+02] [-7.33978278e-02 3.24905475e-04 9.97302689e-01 -2.12660060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters 0.025337233149356198 Centerline is valid? [True, True] Translation: X:296.09, Y:-228.16, Z:-21.27 [[ 7.16546561e-01 6.95500603e-01 5.32910572e-02 2.96093122e+02] [-6.93556712e-01 7.18525459e-01 -5.19639424e-02 -2.28163070e+02] [-7.44319346e-02 2.74213785e-04 9.97226059e-01 -2.12675443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25864 meters 0.025311155361665675 Centerline is valid? [True, True] Translation: X:296.12, Y:-228.19, Z:-21.27 [[ 7.16067570e-01 6.95962476e-01 5.36979212e-02 2.96117138e+02] [-6.93985849e-01 7.18078101e-01 -5.24164254e-02 -2.28186085e+02] [-7.50391665e-02 2.68104894e-04 9.97180551e-01 -2.12695699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters 0.02530058655934187 Centerline is valid? [True, True] Translation: X:296.14, Y:-228.21, Z:-21.27 [[ 7.15210917e-01 6.96815795e-01 5.40471264e-02 2.96141627e+02] [-6.94811515e-01 7.17250095e-01 -5.28134405e-02 -2.28208575e+02] [-7.55665461e-02 2.20183452e-04 9.97140737e-01 -2.12706968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31864 meters 0.025257402838060477 Centerline is valid? [True, True] Translation: X:296.17, Y:-228.23, Z:-21.27 [[ 7.14091231e-01 6.98053988e-01 5.28615612e-02 2.96165987e+02] [-6.96136342e-01 7.16045121e-01 -5.17066546e-02 -2.28230241e+02] [-7.39452994e-02 1.24414684e-04 9.97262291e-01 -2.12725925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34864 meters 0.02518439270778706 Centerline is valid? [True, True] Translation: X:296.19, Y:-228.25, Z:-21.28 [[ 7.13216407e-01 6.98958472e-01 5.27201141e-02 2.96191938e+02] [-6.97049877e-01 7.15162254e-01 -5.16180182e-02 -2.28250174e+02] [-7.37822868e-02 6.62684251e-05 9.97274370e-01 -2.12757398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37864 meters 0.025199287827833445 Centerline is valid? [True, True] Translation: X:296.22, Y:-228.27, Z:-21.28 [[ 7.12661817e-01 6.99458067e-01 5.35868167e-02 2.96215877e+02] [-6.97483460e-01 7.14673639e-01 -5.25205972e-02 -2.28271213e+02] [-7.50330407e-02 5.35058763e-05 9.97181047e-01 -2.12772561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40864 meters 0.02506648380827303 Centerline is valid? [True, True] Translation: X:296.24, Y:-228.29, Z:-21.28 [[ 7.12455693e-01 6.99624271e-01 5.41550198e-02 2.96241787e+02] [-6.97604063e-01 7.14510934e-01 -5.31290557e-02 -2.28291613e+02] [-7.58647306e-02 7.33363558e-05 9.97118116e-01 -2.12777501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43864 meters 0.025103844403427958 Centerline is valid? [True, True] Translation: X:296.27, Y:-228.31, Z:-21.28 [[ 7.12369461e-01 6.99637522e-01 5.51097894e-02 2.96265977e+02] [-6.97541103e-01 7.14497953e-01 -5.41210163e-02 -2.28313269e+02] [-7.72409255e-02 1.12815948e-04 9.97012451e-01 -2.12799262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46864 meters 0.025024705073042854 Centerline is valid? [True, True] Translation: X:296.29, Y:-228.33, Z:-21.28 [[ 7.13818231e-01 6.98264686e-01 5.37583548e-02 2.96289958e+02] [-6.96262458e-01 7.15839608e-01 -5.28417026e-02 -2.28334236e+02] [-7.53798546e-02 2.89446425e-04 9.97154849e-01 -2.12814454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49864 meters 0.0250242104954891 Centerline is valid? [True, True] Translation: X:296.31, Y:-228.36, Z:-21.28 [[ 7.14039964e-01 6.98088899e-01 5.30925479e-02 2.96313638e+02] [-6.96131819e-01 7.16011015e-01 -5.22371267e-02 -2.28357027e+02] [-7.44810074e-02 3.39984189e-04 9.97222374e-01 -2.12841114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52864 meters 0.024874500427530172 Centerline is valid? [True, True] Translation: X:296.34, Y:-228.38, Z:-21.29 [[ 7.14802608e-01 6.97354518e-01 5.24776893e-02 2.96338754e+02] [-6.95436595e-01 7.16726219e-01 -5.16862634e-02 -2.28378683e+02] [-7.36557851e-02 4.50570358e-04 9.97283622e-01 -2.12850093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55864 meters 0.02504667144620907 Centerline is valid? [True, True] Translation: X:296.36, Y:-228.40, Z:-21.29 [[ 7.14807897e-01 6.97286350e-01 5.33049400e-02 2.96362163e+02] [-6.95303177e-01 7.16792503e-01 -5.25547311e-02 -2.28400480e+02] [-7.48542781e-02 5.03442712e-04 9.97194356e-01 -2.12875864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58864 meters 0.025311538142720028 Centerline is valid? [True, True] Translation: X:296.38, Y:-228.43, Z:-21.29 [[ 7.15529220e-01 6.96537429e-01 5.34185874e-02 2.96384354e+02] [-6.94539885e-01 7.17520193e-01 -5.27173668e-02 -2.28425275e+02] [-7.50485342e-02 6.19476817e-04 9.97179690e-01 -2.12892308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61864 meters 0.02511619322881155 Centerline is valid? [True, True] Translation: X:296.41, Y:-228.45, Z:-21.29 [[ 7.16110269e-01 6.95861428e-01 5.44330415e-02 2.96406802e+02] [-6.93781073e-01 7.18175690e-01 -5.37726799e-02 -2.28447849e+02] [-7.65108209e-02 7.42554375e-04 9.97068475e-01 -2.12897702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64864 meters 0.02529953596888764 Centerline is valid? [True, True] Translation: X:296.43, Y:-228.47, Z:-21.29 [[ 7.17288906e-01 6.94660842e-01 5.42488700e-02 2.96431639e+02] [-6.92587245e-01 7.19336845e-01 -5.36415111e-02 -2.28470249e+02] [-7.62858682e-02 9.04385440e-04 9.97085577e-01 -2.12913142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67864 meters 0.025668246115774222 Centerline is valid? [True, True] Translation: X:296.45, Y:-228.49, Z:-21.29 [[ 7.20211569e-01 6.91630313e-01 5.42476293e-02 2.96453943e+02] [-6.89544105e-01 7.22250587e-01 -5.36937288e-02 -2.28492967e+02] [-7.63165926e-02 1.26471163e-03 9.97082834e-01 -2.12948013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70864 meters 0.026627407007200746 Centerline is valid? [True, True] Translation: X:296.47, Y:-228.52, Z:-21.30 [[ 7.25568276e-01 6.86069039e-01 5.34785124e-02 2.96473992e+02] [-6.84023723e-01 7.27534085e-01 -5.29688780e-02 -2.28518182e+02] [-7.52477478e-02 1.85196637e-03 9.97163150e-01 -2.12966336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73864 meters 0.027140953200949197 Centerline is valid? [True, True] Translation: X:296.50, Y:-228.54, Z:-21.30 [[ 7.27535147e-01 6.83959590e-01 5.37762950e-02 2.96496553e+02] [-6.81883802e-01 7.29516875e-01 -5.32879926e-02 -2.28540641e+02] [-7.56775483e-02 2.09970301e-03 9.97130132e-01 -2.12975769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76864 meters 0.02729186140243589 Centerline is valid? [True, True] Translation: X:296.52, Y:-228.56, Z:-21.30 [[ 7.29022906e-01 6.82415360e-01 5.32435935e-02 2.96518742e+02] [-6.80373079e-01 7.30961095e-01 -5.28048453e-02 -2.28563305e+02] [-7.49538329e-02 2.27043413e-03 9.97184420e-01 -2.12982559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79864 meters 0.027694762469666012 Centerline is valid? [True, True] Translation: X:296.54, Y:-228.59, Z:-21.30 [[ 7.31133680e-01 6.80272546e-01 5.16991793e-02 2.96539632e+02] [-6.78338831e-01 7.32955162e-01 -5.13143250e-02 -2.28587439e+02] [-7.28009068e-02 2.44807043e-03 9.97343489e-01 -2.12989218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82864 meters 0.027807320430715494 Centerline is valid? [True, True] Translation: X:296.56, Y:-228.61, Z:-21.30 [[ 7.31437309e-01 6.80056081e-01 5.02313630e-02 2.96560272e+02] [-6.78227136e-01 7.33156064e-01 -4.99012803e-02 -2.28613702e+02] [-7.07630975e-02 2.43138472e-03 9.97490187e-01 -2.13011212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85864 meters 0.027628295405734735 Centerline is valid? [True, True] Translation: X:296.58, Y:-228.64, Z:-21.30 [[ 7.30106822e-01 6.81472034e-01 5.03973698e-02 2.96581003e+02] [-6.79630909e-01 7.31840423e-01 -5.01140911e-02 -2.28638346e+02] [-7.10341840e-02 2.33702953e-03 9.97471144e-01 -2.13034278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88864 meters 0.027461166147737623 Centerline is valid? [True, True] Translation: X:296.60, Y:-228.66, Z:-21.30 [[ 7.29271793e-01 6.82378730e-01 5.02187392e-02 2.96601551e+02] [-6.80549738e-01 7.30995284e-01 -4.99794759e-02 -2.28663151e+02] [-7.08145929e-02 2.27227215e-03 9.97486907e-01 -2.13048822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91864 meters 0.027088990504717643 Centerline is valid? [True, True] Translation: X:296.62, Y:-228.69, Z:-21.31 [[ 7.28290058e-01 6.83455722e-01 4.98183453e-02 2.96618874e+02] [-6.81655320e-01 7.29988710e-01 -4.96236622e-02 -2.28691659e+02] [-7.02824055e-02 2.18147971e-03 9.97524749e-01 -2.13057843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94864 meters 0.02697939910184743 Centerline is valid? [True, True] Translation: X:296.64, Y:-228.72, Z:-21.31 [[ 7.27718408e-01 6.84101697e-01 4.93030083e-02 2.96639521e+02] [-6.82336919e-01 7.29383534e-01 -4.91527137e-02 -2.28716584e+02] [-6.95862572e-02 2.12807180e-03 9.97573669e-01 -2.13063345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97864 meters 0.026758034644208662 Centerline is valid? [True, True] Translation: X:296.66, Y:-228.74, Z:-21.31 [[ 7.26102307e-01 6.85740159e-01 5.03574671e-02 2.96657162e+02] [-6.83899718e-01 7.27843560e-01 -5.02486566e-02 -2.28744713e+02] [-7.11098798e-02 2.04620789e-03 9.97466389e-01 -2.13086315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00864 meters 0.02689467898792134 Centerline is valid? [True, True] Translation: X:296.68, Y:-228.77, Z:-21.31 [[ 7.25734045e-01 6.86133263e-01 5.03114384e-02 2.96677599e+02] [-6.84293867e-01 7.27473015e-01 -5.02485527e-02 -2.28770587e+02] [-7.10774172e-02 2.03927671e-03 9.97468717e-01 -2.13110206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03864 meters 0.026678961336006734 Centerline is valid? [True, True] Translation: X:296.70, Y:-228.80, Z:-21.31 [[ 7.25040191e-01 6.86917749e-01 4.96057317e-02 2.96695002e+02] [-6.85128503e-01 7.26732511e-01 -4.95862089e-02 -2.28798874e+02] [-7.01117450e-02 1.96569365e-03 9.97537207e-01 -2.13117464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06864 meters 0.026496133408590975 Centerline is valid? [True, True] Translation: X:296.72, Y:-228.82, Z:-21.31 [[ 7.23856772e-01 6.88178235e-01 4.94175103e-02 2.96715558e+02] [-6.86403459e-01 7.25539293e-01 -4.94269752e-02 -2.28823747e+02] [-6.98689140e-02 1.85770077e-03 9.97554452e-01 -2.13133541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09864 meters 0.025985484761517377 Centerline is valid? [True, True] Translation: X:296.81, Y:-228.89, Z:-19.75 [[ 7.42202067e-01 -6.69759187e-01 -2.36373402e-02 2.96814120e+02] [-6.69282773e-01 -7.42572048e-01 2.54425358e-02 -2.28885094e+02] [-3.45928002e-02 -3.06343802e-03 -9.99396795e-01 -1.97502973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12864 meters 0.0255869867457884 Centerline is valid? [True, True] Translation: X:296.75, Y:-228.89, Z:-21.32 [[ 7.68249871e-01 6.38099631e-01 5.11956754e-02 2.96746281e+02] [-6.36575955e-01 7.69952738e-01 -4.40889441e-02 -2.28890136e+02] [-6.75513894e-02 1.28138969e-03 9.97714973e-01 -2.13157269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15864 meters 0.025083484596744962 Centerline is valid? [True, True] Translation: X:296.77, Y:-228.92, Z:-21.32 [[ 7.62902012e-01 6.44495135e-01 5.10543005e-02 2.96767036e+02] [-6.42991769e-01 7.64608051e-01 -4.40012851e-02 -2.28916089e+02] [-6.73951433e-02 7.41173911e-04 9.97726087e-01 -2.13173178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18864 meters 0.024933561143626076 Centerline is valid? [True, True] Translation: X:296.79, Y:-228.94, Z:-21.32 [[ 7.58892299e-01 6.49211397e-01 5.10591902e-02 2.96790181e+02] [-6.47716924e-01 7.60607946e-01 -4.40265703e-02 -2.28938629e+02] [-6.74185770e-02 3.39523478e-04 9.97724722e-01 -2.13198226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21864 meters 0.025001217358377122 Centerline is valid? [True, True] Translation: X:296.81, Y:-228.96, Z:-21.32 [[ 7.51996717e-01 6.57231819e-01 5.04705240e-02 2.96811065e+02] [-6.55787208e-01 7.53688408e-01 -4.35536598e-02 -2.28964104e+02] [-6.66639000e-02 -3.45714847e-04 9.97775428e-01 -2.13216505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24864 meters 0.02498155838364608 Centerline is valid? [True, True] Translation: X:296.83, Y:-228.99, Z:-21.32 [[ 7.49409399e-01 6.60193420e-01 5.03011087e-02 2.96834214e+02] [-6.58763654e-01 7.51095400e-01 -4.34298060e-02 -2.28987153e+02] [-6.64530036e-02 -5.89837338e-04 9.97789382e-01 -2.13233042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27864 meters 0.02526598291833589 Centerline is valid? [True, True] Translation: X:296.86, Y:-229.01, Z:-21.32 [[ 7.46445740e-01 6.63492694e-01 5.09529491e-02 2.96857449e+02] [-6.62030024e-01 7.48182269e-01 -4.40402004e-02 -2.29009911e+02] [-6.73424443e-02 -8.58762179e-04 9.97729551e-01 -2.13240529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30864 meters 0.02525297497518256 Centerline is valid? [True, True] Translation: X:296.88, Y:-229.03, Z:-21.33 [[ 7.45653161e-01 6.64432899e-01 5.03019442e-02 2.96882681e+02] [-6.63006713e-01 7.47347384e-01 -4.35199548e-02 -2.29030702e+02] [-6.65091162e-02 -8.99734823e-04 9.97785412e-01 -2.13260812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33864 meters 0.02525297497518256 Centerline is valid? [True, True] Translation: X:296.91, Y:-229.05, Z:-21.33 [[ 7.45298627e-01 6.64832328e-01 5.02785450e-02 2.96907426e+02] [-6.63405227e-01 7.46992079e-01 -4.35469744e-02 -2.29051708e+02] [-6.65091113e-02 -8.99549311e-04 9.97785412e-01 -2.13277519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36864 meters 0.02547919929053359 Centerline is valid? [True, True] Translation: X:296.93, Y:-229.07, Z:-21.33 [[ 7.43699539e-01 6.66580893e-01 5.08026414e-02 2.96932297e+02] [-6.65124784e-01 7.45431988e-01 -4.40474003e-02 -2.29071384e+02] [-6.72310694e-02 -1.03206460e-03 9.97736898e-01 -2.13304672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39864 meters 0.02560777116900197 Centerline is valid? [True, True] Translation: X:296.96, Y:-229.09, Z:-21.33 [[ 7.42831118e-01 6.67483780e-01 5.16462346e-02 2.96957878e+02] [-6.65978105e-01 7.44623524e-01 -4.48215389e-02 -2.29091048e+02] [-6.83746514e-02 -1.10042761e-03 9.97659108e-01 -2.13324696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters 0.02592402276697342 Centerline is valid? [True, True] Translation: X:296.99, Y:-229.11, Z:-21.33 [[ 7.40794446e-01 6.69651438e-01 5.28255697e-02 2.96985986e+02] [-6.68078537e-01 7.42674403e-01 -4.58889914e-02 -2.29108124e+02] [-6.99618275e-02 -1.29731940e-03 9.97548826e-01 -2.13337976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45864 meters 0.025971128169320463 Centerline is valid? [True, True] Translation: X:297.01, Y:-229.13, Z:-21.33 [[ 7.40414616e-01 6.70085939e-01 5.26405757e-02 2.97012559e+02] [-6.68522040e-01 7.42282387e-01 -4.57726886e-02 -2.29127332e+02] [-6.97458072e-02 -1.30061741e-03 9.97563948e-01 -2.13343422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters 0.0260162253058455 Centerline is valid? [True, True] Translation: X:297.04, Y:-229.15, Z:-21.34 [[ 7.41063887e-01 6.69251760e-01 5.40961919e-02 2.97040148e+02] [-6.67594147e-01 7.43034723e-01 -4.70898631e-02 -2.29145312e+02] [-7.17103228e-02 -1.21770410e-03 9.97424757e-01 -2.13359197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51864 meters 0.02612918228215925 Centerline is valid? [True, True] Translation: X:297.07, Y:-229.16, Z:-21.34 [[ 7.41797768e-01 6.68423021e-01 5.42838615e-02 2.97066048e+02] [-6.66748114e-01 7.43780508e-01 -4.73023092e-02 -2.29164521e+02] [-7.19932305e-02 -1.10491489e-03 9.97404509e-01 -2.13387709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters 0.026062968768036487 Centerline is valid? [True, True] Translation: X:297.09, Y:-229.18, Z:-21.34 [[ 7.43431725e-01 6.66692717e-01 5.31986073e-02 2.97094552e+02] [-6.65076716e-01 7.45332165e-01 -4.63996220e-02 -2.29180642e+02] [-7.05849232e-02 -8.86204004e-04 9.97505380e-01 -2.13414858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57864 meters 0.02599997290658361 Centerline is valid? [True, True] Translation: X:297.12, Y:-229.20, Z:-21.34 [[ 7.43187741e-01 6.66943133e-01 5.34681078e-02 2.97121851e+02] [-6.65308072e-01 7.45108101e-01 -4.66806910e-02 -2.29199782e+02] [-7.09728866e-02 -8.80246474e-04 9.97477857e-01 -2.13437185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters 0.026002244901736825 Centerline is valid? [True, True] Translation: X:297.15, Y:-229.22, Z:-21.35 [[ 7.43139750e-01 6.66917240e-01 5.44491235e-02 2.97149660e+02] [-6.65217677e-01 7.45131307e-01 -4.75896830e-02 -2.29217729e+02] [-7.23101266e-02 -8.54734320e-04 9.97381830e-01 -2.13451509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63864 meters 0.026026568857198704 Centerline is valid? [True, True] Translation: X:297.18, Y:-229.24, Z:-21.35 [[ 7.43027886e-01 6.67082259e-01 5.39520123e-02 2.97175493e+02] [-6.65410392e-01 7.44983610e-01 -4.72062589e-02 -2.29238271e+02] [-7.16838227e-02 -8.24662922e-04 9.97427065e-01 -2.13453756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters 0.026194427913762818 Centerline is valid? [True, True] Translation: X:297.21, Y:-229.26, Z:-21.35 [[ 7.41668613e-01 6.68639417e-01 5.33760147e-02 2.97205101e+02] [-6.67003522e-01 7.43586223e-01 -4.67528662e-02 -2.29255002e+02] [-7.09504783e-02 -9.26856351e-04 9.97479409e-01 -2.13474216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69864 meters 0.02600402949744964 Centerline is valid? [True, True] Translation: X:297.23, Y:-229.27, Z:-21.35 [[ 7.40494888e-01 6.69966661e-01 5.30282324e-02 2.97233293e+02] [-6.68351864e-01 7.42390500e-01 -4.64987365e-02 -2.29273611e+02] [-7.05202592e-02 -1.00944122e-03 9.97509837e-01 -2.13489271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters 0.0261560095079108 Centerline is valid? [True, True] Translation: X:297.26, Y:-229.29, Z:-21.35 [[ 7.39633068e-01 6.70915390e-01 5.30609437e-02 2.97260073e+02] [-6.69297451e-01 7.41533148e-01 -4.65780325e-02 -2.29293126e+02] [-7.05963675e-02 -1.06290125e-03 9.97504398e-01 -2.13508455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75864 meters 0.026157319647258537 Centerline is valid? [True, True] Translation: X:297.29, Y:-229.31, Z:-21.35 [[ 7.40002530e-01 6.70482790e-01 5.33768223e-02 2.97286027e+02] [-6.68840723e-01 7.41924423e-01 -4.69066941e-02 -2.29313830e+02] [-7.10516992e-02 -9.89520142e-04 9.97472143e-01 -2.13522782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters 0.02603773641446081 Centerline is valid? [True, True] Translation: X:297.31, Y:-229.33, Z:-21.35 [[ 7.40736106e-01 6.69688827e-01 5.31685699e-02 2.97312655e+02] [-6.68054050e-01 7.42641308e-01 -4.67725790e-02 -2.29332520e+02] [-7.08082499e-02 -8.73340402e-04 9.97489563e-01 -2.13533541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81864 meters 0.02579872118572331 Centerline is valid? [True, True] Translation: X:297.34, Y:-229.35, Z:-21.36 [[ 7.42455311e-01 6.67844229e-01 5.23850875e-02 2.97341958e+02] [-6.66249698e-01 7.44300784e-01 -4.61268090e-02 -2.29347390e+02] [-6.97957849e-02 -6.54454383e-04 9.97561086e-01 -2.13550790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84864 meters 0.025609980671479144 Centerline is valid? [True, True] Translation: X:297.37, Y:-229.36, Z:-21.36 [[ 7.45081829e-01 6.64943439e-01 5.19931800e-02 2.97369226e+02] [-6.63362604e-01 7.46893635e-01 -4.58252532e-02 -2.29364808e+02] [-6.93045767e-02 -3.46767779e-04 9.97595487e-01 -2.13561428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87864 meters 0.025554414089787446 Centerline is valid? [True, True] Translation: X:297.40, Y:-229.38, Z:-21.36 [[ 7.46338479e-01 6.63545337e-01 5.18310757e-02 2.97395964e+02] [-6.61967854e-01 7.48136052e-01 -4.57275422e-02 -2.29384689e+02] [-6.91189938e-02 -1.82281681e-04 9.97608406e-01 -2.13575043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90864 meters 0.02545263321005068 Centerline is valid? [True, True] Translation: X:297.42, Y:-229.40, Z:-21.36 [[ 7.47306510e-01 6.62401100e-01 5.25144149e-02 2.97422679e+02] [-6.60775288e-01 7.49149372e-01 -4.63814354e-02 -2.29403744e+02] [-7.00642547e-02 -3.90790156e-05 9.97542480e-01 -2.13588104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93864 meters 0.025558020500709103 Centerline is valid? [True, True] Translation: X:297.45, Y:-229.42, Z:-21.36 [[ 7.48717241e-01 6.60698717e-01 5.38488463e-02 2.97450362e+02] [-6.58981075e-01 7.50651170e-01 -4.76105469e-02 -2.29421390e+02] [-7.18779267e-02 1.61466686e-04 9.97413424e-01 -2.13611458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96864 meters 0.025746407451353818 Centerline is valid? [True, True] Translation: X:297.48, Y:-229.44, Z:-21.36 [[ 7.49736628e-01 6.59432609e-01 5.51690401e-02 2.97475750e+02] [-6.57622715e-01 7.51763612e-01 -4.88245479e-02 -2.29440951e+02] [-7.36705759e-02 3.25138018e-04 9.97282578e-01 -2.13631155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99864 meters 0.02565525485645235 Centerline is valid? [True, True] Translation: X:297.50, Y:-229.46, Z:-21.36 [[ 7.50321102e-01 6.58771642e-01 5.51195723e-02 2.97501567e+02] [-6.56959679e-01 7.52342836e-01 -4.88286580e-02 -2.29461173e+02] [-7.36357505e-02 4.25836014e-04 9.97285112e-01 -2.13641604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02864 meters 0.02562827369320106 Centerline is valid? [True, True] Translation: X:297.53, Y:-229.48, Z:-21.37 [[ 7.51541089e-01 6.57537229e-01 5.32051126e-02 2.97527835e+02] [-6.55843228e-01 7.53421849e-01 -4.71717890e-02 -2.29480808e+02] [-7.11031017e-02 5.57324907e-04 9.97468816e-01 -2.13650205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05864 meters 0.02569360393263359 Centerline is valid? [True, True] Translation: X:297.55, Y:-229.50, Z:-21.37 [[ 7.52043881e-01 6.56922768e-01 5.36887076e-02 2.97552232e+02] [-6.55194516e-01 7.53957604e-01 -4.76243486e-02 -2.29501509e+02] [-7.17645282e-02 6.39053203e-04 9.97421397e-01 -2.13678092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08864 meters 0.025691370487458454 Centerline is valid? [True, True] Translation: X:297.58, Y:-229.52, Z:-21.37 [[ 7.52209638e-01 6.56743692e-01 5.35572892e-02 2.97576837e+02] [-6.55020188e-01 7.54113551e-01 -4.75531889e-02 -2.29523657e+02] [-7.16185344e-02 6.88861424e-04 9.97431858e-01 -2.13680890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11864 meters 0.02576247050575561 Centerline is valid? [True, True] Translation: X:297.60, Y:-229.55, Z:-21.37 [[ 7.51849390e-01 6.57130661e-01 5.38682559e-02 2.97601503e+02] [-6.55384413e-01 7.53776368e-01 -4.78796200e-02 -2.29545583e+02] [-7.20677846e-02 6.93847794e-04 9.97399495e-01 -2.13708904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14864 meters 0.02587350794889689 Centerline is valid? [True, True] Translation: X:297.63, Y:-229.57, Z:-21.37 [[ 7.51850988e-01 6.57158294e-01 5.35076540e-02 2.97625908e+02] [-6.55431883e-01 7.53752249e-01 -4.76087612e-02 -2.29567794e+02] [-7.16180068e-02 7.24071698e-04 9.97431871e-01 -2.13727000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17864 meters 0.025670483750822003 Centerline is valid? [True, True] Translation: X:297.65, Y:-229.59, Z:-21.38 [[ 7.51361956e-01 6.57680429e-01 5.39598483e-02 2.97650518e+02] [-6.55922346e-01 7.53296713e-01 -4.80618256e-02 -2.29589744e+02] [-7.22570984e-02 7.18356982e-04 9.97385781e-01 -2.13750827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20864 meters 0.02561725230523555 Centerline is valid? [True, True] Translation: X:297.68, Y:-229.61, Z:-21.38 [[ 7.49672397e-01 6.59648499e-01 5.34336553e-02 2.97675104e+02] [-6.57926117e-01 7.51574044e-01 -4.76411553e-02 -2.29611137e+02] [-7.15857650e-02 5.59861745e-04 9.97434291e-01 -2.13761523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23864 meters 0.025509331844534456 Centerline is valid? [True, True] Translation: X:297.70, Y:-229.63, Z:-21.38 [[ 7.48666838e-01 6.60864645e-01 5.24965466e-02 2.97699114e+02] [-6.59202203e-01 7.50504965e-01 -4.68481926e-02 -2.29633178e+02] [-7.03592331e-02 4.67849018e-04 9.97521609e-01 -2.13765745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26864 meters 0.025568389335249197 Centerline is valid? [True, True] Translation: X:297.72, Y:-229.66, Z:-21.38 [[ 7.47396387e-01 6.62311995e-01 5.23589744e-02 2.97723473e+02] [-6.60658647e-01 7.49228062e-01 -4.67703176e-02 -2.29655975e+02] [-7.02053553e-02 3.64557207e-04 9.97532493e-01 -2.13785180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29864 meters 0.025473021512094542 Centerline is valid? [True, True] Translation: X:297.75, Y:-229.68, Z:-21.38 [[ 7.45236627e-01 6.64810680e-01 5.14697019e-02 2.97747837e+02] [-6.63215768e-01 7.47011870e-01 -4.60229421e-02 -2.29677464e+02] [-6.90450217e-02 1.62464243e-04 9.97613532e-01 -2.13784226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32864 meters 0.0255198619418592 Centerline is valid? [True, True] Translation: X:297.77, Y:-229.70, Z:-21.38 [[ 7.43223734e-01 6.66996752e-01 5.22858959e-02 2.97773532e+02] [-6.65352952e-01 7.45060624e-01 -4.67986769e-02 -2.29697887e+02] [-7.01707277e-02 -6.68778150e-06 9.97534996e-01 -2.13824017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35864 meters 0.0255889582361212 Centerline is valid? [True, True] Translation: X:297.80, Y:-229.72, Z:-21.38 [[ 7.42597078e-01 6.67663381e-01 5.26800700e-02 2.97798169e+02] [-6.65992720e-01 7.44463302e-01 -4.72026276e-02 -2.29719441e+02] [-7.07338449e-02 -3.20098230e-05 9.97495224e-01 -2.13835794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38864 meters 0.025572616004685616 Centerline is valid? [True, True] Translation: X:297.82, Y:-229.74, Z:-21.39 [[ 7.41897631e-01 6.68393739e-01 5.32702058e-02 2.97823271e+02] [-6.66683575e-01 7.43807640e-01 -4.77828958e-02 -2.29741016e+02] [-7.15605745e-02 -6.43540742e-05 9.97436254e-01 -2.13851954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41864 meters 0.025336971598857 Centerline is valid? [True, True] Translation: X:297.85, Y:-229.76, Z:-21.39 [[ 7.40738502e-01 6.69727697e-01 5.26429833e-02 2.97851197e+02] [-6.68057406e-01 7.42606752e-01 -4.72706508e-02 -2.29758839e+02] [-7.07514989e-02 -1.53343751e-04 9.97493961e-01 -2.13851275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44864 meters 0.025436164817783186 Centerline is valid? [True, True] Translation: X:297.88, Y:-229.78, Z:-21.39 [[ 7.40359176e-01 6.70203152e-01 5.19232738e-02 2.97877928e+02] [-6.68575936e-01 7.42177681e-01 -4.66744832e-02 -2.29778766e+02] [-6.98176807e-02 -1.58769474e-04 9.97559756e-01 -2.13873252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47864 meters 0.025511739525064064 Centerline is valid? [True, True] Translation: X:297.90, Y:-229.80, Z:-21.39 [[ 7.40149086e-01 6.70463842e-01 5.15515974e-02 2.97904544e+02] [-6.68857040e-01 7.41942191e-01 -4.63901350e-02 -2.29798823e+02] [-6.93512133e-02 -1.45032845e-04 9.97592296e-01 -2.13908100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50864 meters 0.025468015356117337 Centerline is valid? [True, True] Translation: X:297.93, Y:-229.82, Z:-21.39 [[ 7.39749973e-01 6.70863875e-01 5.20734046e-02 2.97930228e+02] [-6.69221768e-01 7.41580501e-01 -4.69104015e-02 -2.29820183e+02] [-7.00871152e-02 -1.46687665e-04 9.97540864e-01 -2.13917791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53864 meters 0.02537674832029455 Centerline is valid? [True, True] Translation: X:297.96, Y:-229.84, Z:-21.39 [[ 7.40471817e-01 6.70109212e-01 5.15279849e-02 2.97956478e+02] [-6.68496102e-01 7.42262516e-01 -4.64684643e-02 -2.29840633e+02] [-6.93862377e-02 -3.76688956e-05 9.97589870e-01 -2.13924783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56864 meters 0.025406694143118063 Centerline is valid? [True, True] Translation: X:297.98, Y:-229.86, Z:-21.39 [[ 7.41121879e-01 6.69428724e-01 5.10249358e-02 2.97981174e+02] [-6.67842007e-01 7.42876288e-01 -4.60638016e-02 -2.29861870e+02] [-6.87416468e-02 6.22957252e-05 9.97634493e-01 -2.13946760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59864 meters 0.025113396064964315 Centerline is valid? [True, True] Translation: X:298.01, Y:-229.88, Z:-21.40 [[ 7.43561575e-01 6.66734319e-01 5.08087802e-02 2.98005969e+02] [-6.65151370e-01 7.45295396e-01 -4.59176179e-02 -2.29883058e+02] [-6.84824016e-02 3.47046537e-04 9.97652264e-01 -2.13961713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62864 meters 0.025258829041293365 Centerline is valid? [True, True] Translation: X:298.03, Y:-229.90, Z:-21.40 [[ 7.44209790e-01 6.65801187e-01 5.34842794e-02 2.98030221e+02] [-6.64040783e-01 7.46129034e-01 -4.83870171e-02 -2.29904825e+02] [-7.21223072e-02 4.94349086e-04 9.97395673e-01 -2.13977341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65864 meters 0.02512291020556834 Centerline is valid? [True, True] Translation: X:298.05, Y:-229.93, Z:-21.40 [[ 7.43773002e-01 6.66164400e-01 5.50155776e-02 2.98054164e+02] [-6.64299116e-01 7.45804756e-01 -4.98191771e-02 -2.29926332e+02] [-7.42186417e-02 5.07359367e-04 9.97241864e-01 -2.13993140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68864 meters 0.025172385550767767 Centerline is valid? [True, True] Translation: X:298.08, Y:-229.95, Z:-21.40 [[ 7.43078111e-01 6.66886704e-01 5.56511090e-02 2.98077922e+02] [-6.64976367e-01 7.45158975e-01 -5.04433723e-02 -2.29948599e+02] [-7.51089376e-02 4.76693498e-04 9.97175220e-01 -2.14013530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71864 meters 0.025228512985675213 Centerline is valid? [True, True] Translation: X:298.10, Y:-229.97, Z:-21.40 [[ 7.43007360e-01 6.67087211e-01 5.41730182e-02 2.98100554e+02] [-6.65274111e-01 7.44979477e-01 -4.91521700e-02 -2.29971266e+02] [-7.31465708e-02 4.80517510e-04 9.97321086e-01 -2.14042787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74864 meters 0.025177797138787723 Centerline is valid? [True, True] Translation: X:298.12, Y:-229.99, Z:-21.41 [[ 7.42690560e-01 6.67458260e-01 5.39463004e-02 2.98124577e+02] [-6.65657880e-01 7.44647060e-01 -4.89932922e-02 -2.29993710e+02] [-7.28719315e-02 4.77075699e-04 9.97341192e-01 -2.14059324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77864 meters 0.025130025628084165 Centerline is valid? [True, True] Translation: X:298.15, Y:-230.02, Z:-21.41 [[ 7.42507905e-01 6.67685809e-01 5.36439223e-02 2.98149026e+02] [-6.65902452e-01 7.44443026e-01 -4.87699229e-02 -2.30016640e+02] [-7.24978293e-02 4.90433916e-04 9.97368450e-01 -2.14055462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80864 meters 0.025102551829130886 Centerline is valid? [True, True] Translation: X:298.17, Y:-230.04, Z:-21.41 [[ 7.42761195e-01 6.67422035e-01 5.34194187e-02 2.98173531e+02] [-6.65649225e-01 7.44679477e-01 -4.86167276e-02 -2.30038746e+02] [-7.22282200e-02 5.52024009e-04 9.97387978e-01 -2.14073772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83864 meters 0.02512496448388235 Centerline is valid? [True, True] Translation: X:298.20, Y:-230.06, Z:-21.41 [[ 7.42333945e-01 6.67908645e-01 5.32762282e-02 2.98197102e+02] [-6.66142925e-01 7.44243071e-01 -4.85371369e-02 -2.30061649e+02] [-7.20688371e-02 5.41181821e-04 9.97399514e-01 -2.14092506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86864 meters 0.025118493544312937 Centerline is valid? [True, True] Translation: X:298.22, Y:-230.08, Z:-21.41 [[ 7.41899615e-01 6.68348638e-01 5.38057549e-02 2.98221573e+02] [-6.66544959e-01 7.43847971e-01 -4.90715264e-02 -2.30083397e+02] [-7.28201894e-02 5.42191905e-04 9.97344938e-01 -2.14112414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89864 meters 0.02516308725259408 Centerline is valid? [True, True] Translation: X:298.25, Y:-230.10, Z:-21.41 [[ 7.40642107e-01 6.69786212e-01 5.32512878e-02 2.98247023e+02] [-6.68019717e-01 7.42553865e-01 -4.86149747e-02 -2.30103762e+02] [-7.21035894e-02 4.33387099e-04 9.97397055e-01 -2.14114755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters 0.02513569665816814 Centerline is valid? [True, True] Translation: X:298.27, Y:-230.13, Z:-21.41 [[ 7.39657485e-01 6.70869606e-01 5.32989413e-02 2.98272535e+02] [-6.69099362e-01 7.41575243e-01 -4.87052733e-02 -2.30125462e+02] [-7.22000628e-02 3.62932363e-04 9.97390104e-01 -2.14134957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95864 meters 0.025313316586414693 Centerline is valid? [True, True] Translation: X:298.30, Y:-230.15, Z:-21.42 [[ 7.38690057e-01 6.71837049e-01 5.45158619e-02 2.98295809e+02] [-6.69983724e-01 7.40698914e-01 -4.98691172e-02 -2.30147248e+02] [-7.38837603e-02 3.13080866e-04 9.97266811e-01 -2.14153728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters 0.025142614442340557 Centerline is valid? [True, True] Translation: X:298.32, Y:-230.17, Z:-21.42 [[ 7.38084977e-01 6.72501843e-01 5.45145661e-02 2.98319732e+02] [-6.70646841e-01 7.40095393e-01 -4.99161628e-02 -2.30169764e+02] [-7.39146908e-02 2.82348292e-04 9.97264528e-01 -2.14177704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01864 meters 0.025091948667784837 Centerline is valid? [True, True] Translation: X:298.35, Y:-230.19, Z:-21.42 [[ 7.38521882e-01 6.72095957e-01 5.35952799e-02 2.98345545e+02] [-6.70298395e-01 7.40463975e-01 -4.91239578e-02 -2.30188872e+02] [-7.27013874e-02 3.54287717e-04 9.97353690e-01 -2.14175704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters 0.025264414016900005 Centerline is valid? [True, True] Translation: X:298.37, Y:-230.21, Z:-21.42 [[ 7.38753901e-01 6.71957785e-01 5.21095788e-02 2.98370333e+02] [-6.70255215e-01 7.40589348e-01 -4.78054831e-02 -2.30209463e+02] [-7.07150656e-02 3.89770193e-04 9.97496480e-01 -2.14179201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07864 meters 0.02523686289657673 Centerline is valid? [True, True] Translation: X:298.39, Y:-230.23, Z:-21.42 [[ 7.38093669e-01 6.72700443e-01 5.18830417e-02 2.98393825e+02] [-6.71011279e-01 7.39914854e-01 -4.76431688e-02 -2.30232131e+02] [-7.04386139e-02 3.51015094e-04 9.97516054e-01 -2.14208138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters 0.025273262120684384 Centerline is valid? [True, True] Translation: X:298.42, Y:-230.25, Z:-21.42 [[ 7.37638840e-01 6.73193869e-01 5.19514840e-02 2.98418115e+02] [-6.71497895e-01 7.39465955e-01 -4.77564634e-02 -2.30254613e+02] [-7.05657121e-02 3.41710115e-04 9.97507074e-01 -2.14220139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13864 meters 0.02531569537366307 Centerline is valid? [True, True] Translation: X:298.44, Y:-230.27, Z:-21.42 [[ 7.36260278e-01 6.74734521e-01 5.15182354e-02 2.98443793e+02] [-6.73067009e-01 7.38060481e-01 -4.74081073e-02 -2.30274831e+02] [-7.00114602e-02 2.29481639e-04 9.97546161e-01 -2.14233431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters 0.025287099145068125 Centerline is valid? [True, True] Translation: X:298.47, Y:-230.30, Z:-21.43 [[ 7.35821366e-01 6.75262071e-01 5.08729013e-02 2.98468908e+02] [-6.73633974e-01 7.37577853e-01 -4.68634103e-02 -2.30295979e+02] [-6.91678089e-02 2.13383893e-04 9.97605016e-01 -2.14260526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19864 meters 0.025380900257460808 Centerline is valid? [True, True] Translation: X:298.49, Y:-230.32, Z:-21.43 [[ 7.35378510e-01 6.75767122e-01 5.05692058e-02 2.98492781e+02] [-6.74156213e-01 7.37115158e-01 -4.66330720e-02 -2.30318840e+02] [-6.87884250e-02 2.01414700e-04 9.97631251e-01 -2.14278731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters 0.025380900257460808 Centerline is valid? [True, True] Translation: X:298.52, Y:-230.34, Z:-21.43 [[ 7.35022557e-01 6.76156125e-01 5.05443998e-02 2.98516894e+02] [-6.74544287e-01 7.36758342e-01 -4.66599469e-02 -2.30340640e+02] [-6.87884170e-02 2.01677373e-04 9.97631251e-01 -2.14295437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25864 meters 0.025402913969422635 Centerline is valid? [True, True] Translation: X:298.54, Y:-230.36, Z:-21.43 [[ 7.34847768e-01 6.76284518e-01 5.13615381e-02 2.98540654e+02] [-6.74616828e-01 7.36640480e-01 -4.74651293e-02 -2.30364051e+02] [-6.99349202e-02 2.30286441e-04 9.97551529e-01 -2.14312656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters 0.02553478061409103 Centerline is valid? [True, True] Translation: X:298.56, Y:-230.39, Z:-21.43 [[ 7.34990698e-01 6.76033899e-01 5.26007690e-02 2.98564087e+02] [-6.74280389e-01 7.36870463e-01 -4.86608473e-02 -2.30386162e+02] [-7.16563354e-02 2.97603162e-04 9.97429336e-01 -2.14317067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31864 meters 0.025568424571378853 Centerline is valid? [True, True] Translation: X:298.59, Y:-230.41, Z:-21.43 [[ 7.34744449e-01 6.76286617e-01 5.27921158e-02 2.98588558e+02] [-6.74517564e-01 7.36638525e-01 -4.88849530e-02 -2.30407879e+02] [-7.19489458e-02 3.08738468e-04 9.97408268e-01 -2.14329415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34864 meters 0.025545725538226073 Centerline is valid? [True, True] Translation: X:298.61, Y:-230.43, Z:-21.44 [[ 7.34262630e-01 6.76752309e-01 5.35229091e-02 2.98613265e+02] [-6.74931232e-01 7.36210716e-01 -4.96146491e-02 -2.30430124e+02] [-7.29809676e-02 3.05899676e-04 9.97333287e-01 -2.14351865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37864 meters 0.02563671403821201 Centerline is valid? [True, True] Translation: X:298.64, Y:-230.45, Z:-21.44 [[ 7.33817718e-01 6.77237177e-01 5.34917130e-02 2.98636746e+02] [-6.75415673e-01 7.35764717e-01 -4.96381848e-02 -2.30453950e+02] [-7.29741392e-02 2.96238114e-04 9.97333789e-01 -2.14382281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40864 meters 0.02558206878430957 Centerline is valid? [True, True] Translation: X:298.66, Y:-230.48, Z:-21.44 [[ 7.33516788e-01 6.77613431e-01 5.28503496e-02 2.98658299e+02] [-6.75832670e-01 7.35418215e-01 -4.90943009e-02 -2.30479625e+02] [-7.21340674e-02 2.93500991e-04 9.97394902e-01 -2.14404087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43864 meters 0.02547550570272292 Centerline is valid? [True, True] Translation: X:298.68, Y:-230.50, Z:-21.44 [[ 7.33277563e-01 6.77898480e-01 5.25134877e-02 2.98681732e+02] [-6.76137393e-01 7.35155467e-01 -4.88330344e-02 -2.30502313e+02] [-7.17094173e-02 3.01835861e-04 9.97425520e-01 -2.14410780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46864 meters 0.025556843137161472 Centerline is valid? [True, True] Translation: X:298.71, Y:-230.53, Z:-21.44 [[ 7.32782363e-01 6.78464762e-01 5.21111703e-02 2.98705957e+02] [-6.76728357e-01 7.34632892e-01 -4.85102472e-02 -2.30525246e+02] [-7.11950731e-02 2.82346918e-04 9.97462371e-01 -2.14423096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49864 meters 0.025576096488303654 Centerline is valid? [True, True] Translation: X:298.73, Y:-230.55, Z:-21.44 [[ 7.31970111e-01 6.79442659e-01 5.07683962e-02 2.98728944e+02] [-6.77793732e-01 7.33728578e-01 -4.73078383e-02 -2.30548097e+02] [-6.93931865e-02 2.17422904e-04 9.97589364e-01 -2.14446749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52864 meters 0.025704970474925728 Centerline is valid? [True, True] Translation: X:298.75, Y:-230.57, Z:-21.45 [[ 7.28320886e-01 6.83338139e-01 5.09673837e-02 2.98751823e+02] [-6.81682521e-01 7.30102029e-01 -4.75391131e-02 -2.30572342e+02] [-6.96966793e-02 -1.19845654e-04 9.97568223e-01 -2.14452181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55864 meters 0.025725578317631476 Centerline is valid? [True, True] Translation: X:298.78, Y:-230.59, Z:-21.45 [[ 7.25652393e-01 6.86186691e-01 5.07585346e-02 2.98776316e+02] [-6.84548044e-01 7.27425391e-01 -4.73949062e-02 -2.30594888e+02] [-6.94448007e-02 -3.54428395e-04 9.97585733e-01 -2.14465369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58864 meters 0.026109686873945954 Centerline is valid? [True, True] Translation: X:298.80, Y:-230.62, Z:-21.45 [[ 7.21299470e-01 6.90803449e-01 5.01763944e-02 2.98798389e+02] [-6.89209976e-01 7.23042203e-01 -4.68996882e-02 -2.30618245e+02] [-6.86781171e-02 -7.53351398e-04 9.97638586e-01 -2.14479054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61864 meters 0.026239066450353177 Centerline is valid? [True, True] Translation: X:298.82, Y:-230.64, Z:-21.45 [[ 7.19679893e-01 6.92490408e-01 5.01785377e-02 2.98821636e+02] [-6.90897736e-01 7.21426544e-01 -4.69474197e-02 -2.30641582e+02] [-6.87107669e-02 -8.81124127e-04 9.97636233e-01 -2.14496163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64864 meters 0.026292164572147177 Centerline is valid? [True, True] Translation: X:298.85, Y:-230.66, Z:-21.45 [[ 7.17404349e-01 6.94780229e-01 5.11021887e-02 2.98845792e+02] [-6.93130583e-01 7.19221285e-01 -4.78616483e-02 -2.30662184e+02] [-7.00071089e-02 -1.08433523e-03 9.97545903e-01 -2.14521235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67864 meters 0.026309207986009952 Centerline is valid? [True, True] Translation: X:298.87, Y:-230.68, Z:-21.45 [[ 7.16482632e-01 6.95740517e-01 5.09683374e-02 2.98870850e+02] [-6.94098676e-01 7.18292301e-01 -4.77828232e-02 -2.30683756e+02] [-6.98546104e-02 -1.14149258e-03 9.97556530e-01 -2.14530693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70864 meters 0.026357594993756978 Centerline is valid? [True, True] Translation: X:298.90, Y:-230.71, Z:-21.46 [[ 7.16381567e-01 6.95867420e-01 5.06555575e-02 2.98895284e+02] [-6.94242456e-01 7.18169411e-01 -4.75406225e-02 -2.30706260e+02] [-6.94612421e-02 -1.11001301e-03 9.97584033e-01 -2.14550151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73864 meters 0.02623018120552843 Centerline is valid? [True, True] Translation: X:298.92, Y:-230.73, Z:-21.46 [[ 7.16588289e-01 6.95670578e-01 5.04348231e-02 2.98919640e+02] [-6.94055758e-01 7.18360178e-01 -4.73841596e-02 -2.30728189e+02] [-6.91941342e-02 -1.04964551e-03 9.97602661e-01 -2.14562759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76864 meters 0.026119563629574113 Centerline is valid? [True, True] Translation: X:298.94, Y:-230.75, Z:-21.46 [[ 7.17693893e-01 6.94476224e-01 5.11688292e-02 2.98944909e+02] [-6.92807256e-01 7.19515077e-01 -4.81265072e-02 -2.30749265e+02] [-7.02394591e-02 -9.10035814e-04 9.97529744e-01 -2.14575351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79864 meters 0.0259944088480051 Centerline is valid? [True, True] Translation: X:298.97, Y:-230.77, Z:-21.46 [[ 7.17657924e-01 6.94529748e-01 5.09463744e-02 2.98968996e+02] [-6.92871775e-01 7.19463457e-01 -4.79691320e-02 -2.30772302e+02] [-6.99700438e-02 -8.73877113e-04 9.97548710e-01 -2.14584679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82864 meters 0.026014316857032427 Centerline is valid? [True, True] Translation: X:298.99, Y:-230.80, Z:-21.46 [[ 7.19776531e-01 6.92276620e-01 5.17187223e-02 2.98990746e+02] [-6.90558324e-01 7.21631962e-01 -4.87494832e-02 -2.30796720e+02] [-7.10700105e-02 -6.26060264e-04 9.97471133e-01 -2.14600452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85864 meters 0.02580008143341783 Centerline is valid? [True, True] Translation: X:299.01, Y:-230.82, Z:-21.46 [[ 7.20613183e-01 6.91361777e-01 5.23023381e-02 2.99014191e+02] [-6.89598135e-01 7.22508575e-01 -4.93535328e-02 -2.30819292e+02] [-7.19100339e-02 -5.02788491e-04 9.97410996e-01 -2.14620330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88864 meters 0.025601919902312382 Centerline is valid? [True, True] Translation: X:299.04, Y:-230.84, Z:-21.46 [[ 7.21947683e-01 6.90073564e-01 5.08922345e-02 2.99038510e+02] [-6.88397229e-01 7.23739158e-01 -4.80716898e-02 -2.30840597e+02] [-7.00057052e-02 -3.28828099e-04 9.97546537e-01 -2.14622213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91864 meters 0.02564248906116031 Centerline is valid? [True, True] Translation: X:299.06, Y:-230.86, Z:-21.47 [[ 7.21798038e-01 6.90237928e-01 5.07857780e-02 2.99061966e+02] [-6.88565714e-01 7.23582412e-01 -4.80182357e-02 -2.30863103e+02] [-6.98917032e-02 -3.09877204e-04 9.97554537e-01 -2.14650424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94864 meters 0.025533395664648267 Centerline is valid? [True, True] Translation: X:299.08, Y:-230.89, Z:-21.47 [[ 7.20578588e-01 6.91634379e-01 4.90752970e-02 2.99084583e+02] [-6.90073496e-01 7.22247690e-01 -4.64418415e-02 -2.30886653e+02] [-6.75652941e-02 -4.00565136e-04 9.97714774e-01 -2.14665917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97864 meters 0.025572204247112044 Centerline is valid? [True, True] Translation: X:299.11, Y:-230.91, Z:-21.47 [[ 7.19265955e-01 6.92926110e-01 5.00988290e-02 2.99107456e+02] [-6.91300872e-01 7.21008419e-01 -4.74337920e-02 -2.30908830e+02] [-6.89897904e-02 -5.15852476e-04 9.97617233e-01 -2.14681408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00864 meters 0.025623256153146028 Centerline is valid? [True, True] Translation: X:299.13, Y:-230.93, Z:-21.47 [[ 7.17514888e-01 6.94722164e-01 5.03338803e-02 2.99131010e+02] [-6.93082798e-01 7.19277889e-01 -4.77027691e-02 -2.30931570e+02] [-6.93442181e-02 -6.58099516e-04 9.97592575e-01 -2.14690019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03864 meters 0.02572004137372113 Centerline is valid? [True, True] Translation: X:299.15, Y:-230.96, Z:-21.47 [[ 7.16358187e-01 6.95914275e-01 5.03415319e-02 2.99153731e+02] [-6.94273794e-01 7.18124487e-01 -4.77610811e-02 -2.30955186e+02] [-6.93891048e-02 -7.36764897e-04 9.97589399e-01 -2.14710137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06864 meters 0.025863042802781684 Centerline is valid? [True, True] Translation: X:299.18, Y:-230.98, Z:-21.47 [[ 7.15616270e-01 6.96727205e-01 4.96442914e-02 2.99177703e+02] [-6.95130404e-01 7.17335773e-01 -4.71498679e-02 -2.30977430e+02] [-6.84622219e-02 -7.68043796e-04 9.97653414e-01 -2.14718546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09864 meters 0.025734093923420118 Centerline is valid? [True, True] Translation: X:299.20, Y:-231.00, Z:-21.47 [[ 7.15328934e-01 6.97023240e-01 4.96298199e-02 2.99202278e+02] [-6.95424577e-01 7.17048133e-01 -4.71872041e-02 -2.30998840e+02] [-6.84775476e-02 -7.59424105e-04 9.97652369e-01 -2.14726485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12864 meters 0.025706122035791368 Centerline is valid? [True, True] Translation: X:299.23, Y:-231.02, Z:-21.47 [[ 7.15408755e-01 6.96923710e-01 4.98764050e-02 2.99227890e+02] [-6.95305287e-01 7.17144915e-01 -4.74734510e-02 -2.31020191e+02] [-6.88539838e-02 -7.16405579e-04 9.97626491e-01 -2.14737384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15864 meters 0.0257073205551369 Centerline is valid? [True, True] Translation: X:299.25, Y:-231.04, Z:-21.48 [[ 7.15272095e-01 6.97084315e-01 4.95912031e-02 2.99252997e+02] [-6.95481258e-01 7.16988828e-01 -4.72529330e-02 -2.31041863e+02] [-6.84956171e-02 -6.91047962e-04 9.97651178e-01 -2.14757609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18864 meters 0.025604516724897667 Centerline is valid? [True, True] Translation: X:299.28, Y:-231.06, Z:-21.48 [[ 7.14913784e-01 6.97492776e-01 4.90113127e-02 2.99277652e+02] [-6.95924599e-01 7.16591485e-01 -4.67503555e-02 -2.31063240e+02] [-6.77291246e-02 -6.85704581e-04 9.97703511e-01 -2.14772936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21864 meters 0.025599540944743267 Centerline is valid? [True, True] Translation: X:299.30, Y:-231.09, Z:-21.48 [[ 7.13462265e-01 6.99048350e-01 4.79895929e-02 2.99302307e+02] [-6.97545227e-01 7.15073978e-01 -4.58242549e-02 -2.31085692e+02] [-6.63494789e-02 -7.81034809e-04 9.97796140e-01 -2.14787677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24864 meters 0.02568854466540189 Centerline is valid? [True, True] Translation: X:299.33, Y:-231.11, Z:-21.48 [[ 7.11462700e-01 7.01120709e-01 4.74402600e-02 2.99327464e+02] [-6.99653222e-01 7.13041997e-01 -4.53484227e-02 -2.31107333e+02] [-6.56216161e-02 -9.28019506e-04 9.97844147e-01 -2.14795016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27864 meters 0.025750603918162068 Centerline is valid? [True, True] Translation: X:299.35, Y:-231.13, Z:-21.48 [[ 7.09810748e-01 7.02802095e-01 4.73066309e-02 2.99352413e+02] [-7.01343472e-01 7.11384650e-01 -4.52682464e-02 -2.31127652e+02] [-6.54678295e-02 -1.04630890e-03 9.97854132e-01 -2.14809375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30864 meters 0.02586523743707624 Centerline is valid? [True, True] Translation: X:299.38, Y:-231.15, Z:-21.48 [[ 7.09301700e-01 7.03296035e-01 4.76002660e-02 2.99377482e+02] [-7.01817397e-01 7.10896300e-01 -4.55937795e-02 -2.31149654e+02] [-6.59047773e-02 -1.06694945e-03 9.97825346e-01 -2.14834599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33864 meters 0.025758704315765067 Centerline is valid? [True, True] Translation: X:299.40, Y:-231.17, Z:-21.49 [[ 7.08781300e-01 7.03789819e-01 4.80516475e-02 2.99403707e+02] [-7.02280754e-01 7.10407424e-01 -4.60763892e-02 -2.31169975e+02] [-6.65643408e-02 -1.08766425e-03 9.97781542e-01 -2.14859793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36864 meters 0.025932119594630595 Centerline is valid? [True, True] Translation: X:299.43, Y:-231.19, Z:-21.49 [[ 7.07943248e-01 7.04594678e-01 4.86075859e-02 2.99428833e+02] [-7.03048925e-01 7.09609074e-01 -4.66601705e-02 -2.31192096e+02] [-6.73688918e-02 -1.14075838e-03 9.97727483e-01 -2.14881634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39864 meters 0.025874956629595356 Centerline is valid? [True, True] Translation: X:299.45, Y:-231.21, Z:-21.49 [[ 7.07428295e-01 7.05101385e-01 4.87569961e-02 2.99453694e+02] [-7.03543865e-01 7.09105563e-01 -4.68543527e-02 -2.31213453e+02] [-6.76109261e-02 -1.15659069e-03 9.97711093e-01 -2.14884841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters 0.025631313391372482 Centerline is valid? [True, True] Translation: X:299.48, Y:-231.23, Z:-21.49 [[ 7.08672644e-01 7.03926762e-01 4.76465935e-02 2.99479645e+02] [-7.02433688e-01 7.10271877e-01 -4.58341985e-02 -2.31232896e+02] [-6.61059544e-02 -9.87129778e-04 9.97812121e-01 -2.14906220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45864 meters 0.02546424934726175 Centerline is valid? [True, True] Translation: X:299.51, Y:-231.25, Z:-21.49 [[ 7.10196585e-01 7.02432549e-01 4.70034552e-02 2.99505015e+02] [-7.00973516e-01 7.11749861e-01 -4.52577642e-02 -2.31253094e+02] [-6.52452294e-02 -8.06267660e-04 9.97868934e-01 -2.14913584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters 0.025405143156619788 Centerline is valid? [True, True] Translation: X:299.53, Y:-231.27, Z:-21.49 [[ 7.10363991e-01 7.02170842e-01 4.83643357e-02 2.99529055e+02] [-7.00622267e-01 7.12008085e-01 -4.66146575e-02 -2.31274966e+02] [-6.71672513e-02 -7.71756354e-04 9.97741432e-01 -2.14944137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51864 meters 0.025391191586676066 Centerline is valid? [True, True] Translation: X:299.55, Y:-231.30, Z:-21.50 [[ 7.10323309e-01 7.02069380e-01 5.03922799e-02 2.99554673e+02] [-7.00384167e-01 7.12108146e-01 -4.86210591e-02 -2.31295144e+02] [-7.00201099e-02 -7.57283394e-04 9.97545293e-01 -2.14951344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters 0.025200674786262825 Centerline is valid? [True, True] Translation: X:299.58, Y:-231.32, Z:-21.50 [[ 7.09921978e-01 7.02507501e-01 4.99399154e-02 2.99580785e+02] [-7.00850299e-01 7.11675932e-01 -4.82309614e-02 -2.31316020e+02] [-6.94236480e-02 -7.60185146e-04 9.97586978e-01 -2.14959713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57864 meters 0.02520264019306438 Centerline is valid? [True, True] Translation: X:299.61, Y:-231.34, Z:-21.50 [[ 7.08864781e-01 7.03605317e-01 4.95003124e-02 2.99606695e+02] [-7.01976346e-01 7.10590515e-01 -4.78573887e-02 -2.31336526e+02] [-6.88471657e-02 -8.23631111e-04 9.97626879e-01 -2.14990308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters 0.025515183739980404 Centerline is valid? [True, True] Translation: X:299.63, Y:-231.36, Z:-21.50 [[ 7.08071815e-01 7.04426783e-01 4.91651568e-02 2.99630783e+02] [-7.02818299e-01 7.09776138e-01 -4.75843729e-02 -2.31358871e+02] [-6.84159618e-02 -8.61018566e-04 9.97656511e-01 -2.15018993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63864 meters 0.025363363406784724 Centerline is valid? [True, True] Translation: X:299.66, Y:-231.38, Z:-21.50 [[ 7.07178059e-01 7.05344968e-01 4.88637781e-02 2.99657620e+02] [-7.03754923e-01 7.08863633e-01 -4.73429818e-02 -2.31378448e+02] [-6.80308893e-02 -9.08206403e-04 9.97682802e-01 -2.15035680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters 0.02539460040275796 Centerline is valid? [True, True] Translation: X:299.68, Y:-231.40, Z:-21.50 [[ 7.06434500e-01 7.06103866e-01 4.86582772e-02 2.99682584e+02] [-7.04525576e-01 7.08107650e-01 -4.71939434e-02 -2.31399541e+02] [-6.77791242e-02 -9.41570982e-04 9.97699907e-01 -2.15043977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69864 meters 0.025488132860528156 Centerline is valid? [True, True] Translation: X:299.71, Y:-231.42, Z:-21.51 [[ 7.06846290e-01 7.05652810e-01 4.92182255e-02 2.99707054e+02] [-7.04033314e-01 7.08557232e-01 -4.77885157e-02 -2.31421217e+02] [-6.85960300e-02 -8.72135360e-04 9.97644137e-01 -2.15052954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters 0.025230061474874638 Centerline is valid? [True, True] Translation: X:299.73, Y:-231.44, Z:-21.51 [[ 7.07502890e-01 7.04987240e-01 4.93219303e-02 2.99731557e+02] [-7.03355740e-01 7.09219568e-01 -4.79406714e-02 -2.31442817e+02] [-6.87776396e-02 -7.72699206e-04 9.97631715e-01 -2.15065809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75864 meters 0.0250022522946243 Centerline is valid? [True, True] Translation: X:299.76, Y:-231.46, Z:-21.51 [[ 7.07403506e-01 7.05175674e-01 4.80369570e-02 2.99757250e+02] [-7.03625418e-01 7.09032246e-01 -4.67391142e-02 -2.31462005e+02] [-6.70190379e-02 -7.36610700e-04 9.97751425e-01 -2.15095216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters 0.025008861689205127 Centerline is valid? [True, True] Translation: X:299.78, Y:-231.48, Z:-21.51 [[ 7.06218367e-01 7.06389608e-01 4.76375890e-02 2.99781111e+02] [-7.04864847e-01 7.07822761e-01 -4.63949038e-02 -2.31484541e+02] [-6.64918476e-02 -8.13128704e-04 9.97786637e-01 -2.15122715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81864 meters 0.025153110648410727 Centerline is valid? [True, True] Translation: X:299.81, Y:-231.51, Z:-21.51 [[ 7.04056947e-01 7.08583842e-01 4.70399261e-02 2.99805117e+02] [-7.07098820e-01 7.05625958e-01 -4.58613736e-02 -2.31507382e+02] [-6.56892213e-02 -9.72857549e-04 9.97839656e-01 -2.15126637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84864 meters 0.025367986440538563 Centerline is valid? [True, True] Translation: X:299.83, Y:-231.53, Z:-21.51 [[ 7.01891573e-01 7.10652048e-01 4.81859537e-02 2.99829568e+02] [-7.09095545e-01 7.03542688e-01 -4.70233398e-02 -2.31527755e+02] [-6.73181081e-02 -1.16315910e-03 9.97730885e-01 -2.15138228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87864 meters 0.025372515066397712 Centerline is valid? [True, True] Translation: X:299.85, Y:-231.55, Z:-21.52 [[ 7.00924436e-01 7.11582152e-01 4.85363311e-02 2.99854114e+02] [-7.10003053e-01 7.02601810e-01 -4.73957995e-02 -2.31549808e+02] [-6.78277190e-02 -1.24006921e-03 9.97696278e-01 -2.15150650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90864 meters 0.025520573766092854 Centerline is valid? [True, True] Translation: X:299.88, Y:-231.57, Z:-21.52 [[ 7.00279163e-01 7.12152142e-01 4.94815118e-02 2.99877870e+02] [-7.10508794e-01 7.02023985e-01 -4.83691894e-02 -2.31571236e+02] [-6.91834299e-02 -1.28511379e-03 9.97603128e-01 -2.15174897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93864 meters 0.02538229957736766 Centerline is valid? [True, True] Translation: X:299.90, Y:-231.59, Z:-21.52 [[ 7.01092279e-01 7.11311283e-01 5.00587156e-02 2.99902624e+02] [-7.09623831e-01 7.02876134e-01 -4.89812064e-02 -2.31593342e+02] [-7.00259612e-02 -1.18251191e-03 9.97544468e-01 -2.15195055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96864 meters 0.02541198937917144 Centerline is valid? [True, True] Translation: X:299.93, Y:-231.62, Z:-21.52 [[ 7.01407382e-01 7.11016203e-01 4.98361598e-02 2.99926942e+02] [-7.09339479e-01 7.03174745e-01 -4.88137493e-02 -2.31615040e+02] [-6.97508956e-02 -1.11243155e-03 9.97563820e-01 -2.15203870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99864 meters 0.02536679658050142 Centerline is valid? [True, True] Translation: X:299.95, Y:-231.63, Z:-21.52 [[ 7.01115055e-01 7.11286638e-01 5.00899059e-02 2.99954675e+02] [-7.09590107e-01 7.02901191e-01 -4.91100462e-02 -2.31634132e+02] [-7.01395742e-02 -1.11150892e-03 9.97536568e-01 -2.15226567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02864 meters 0.025393519359944997 Centerline is valid? [True, True] Translation: X:299.98, Y:-231.65, Z:-21.53 [[ 7.00221407e-01 7.12177773e-01 4.99279612e-02 2.99981361e+02] [-7.10490816e-01 7.01998201e-01 -4.90033290e-02 -2.31654501e+02] [-6.99484207e-02 -1.16017795e-03 9.97549935e-01 -2.15256664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05864 meters 0.025328646952349203 Centerline is valid? [True, True] Translation: X:300.01, Y:-231.68, Z:-21.53 [[ 6.99239650e-01 7.13196097e-01 4.91450852e-02 3.00005620e+02] [-7.11560691e-01 7.00963531e-01 -4.82857209e-02 -2.31677149e+02] [-6.88861001e-02 -1.20642017e-03 9.97623802e-01 -2.15277332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08864 meters 0.025263890917679322 Centerline is valid? [True, True] Translation: X:300.03, Y:-231.70, Z:-21.53 [[ 6.99536026e-01 7.12943117e-01 4.85948621e-02 3.00029943e+02] [-7.11340238e-01 7.01220954e-01 -4.77937234e-02 -2.31698049e+02] [-6.81499417e-02 -1.13404942e-03 9.97674446e-01 -2.15279503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11864 meters 0.02531783628179299 Centerline is valid? [True, True] Translation: X:300.06, Y:-231.72, Z:-21.53 [[ 6.99569638e-01 7.12911080e-01 4.85809943e-02 3.00055256e+02] [-7.11305896e-01 7.01253581e-01 -4.78261111e-02 -2.31719372e+02] [-6.81633607e-02 -1.09825245e-03 9.97673569e-01 -2.15303337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14864 meters 0.02531783628179299 Centerline is valid? [True, True] Translation: X:300.08, Y:-231.74, Z:-21.53 [[ 6.99191921e-01 7.13283271e-01 4.85554768e-02 3.00078653e+02] [-7.11677185e-01 7.00875003e-01 -4.78520071e-02 -2.31741979e+02] [-6.81633561e-02 -1.09808831e-03 9.97673569e-01 -2.15320045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17864 meters 0.025467814324899286 Centerline is valid? [True, True] Translation: X:300.10, Y:-231.76, Z:-21.53 [[ 6.99553073e-01 7.12942910e-01 4.83518954e-02 3.00103435e+02] [-7.11346137e-01 7.01221331e-01 -4.77003043e-02 -2.31762940e+02] [-6.79129742e-02 -1.02603960e-03 9.97690721e-01 -2.15335041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20864 meters 0.02527550073280229 Centerline is valid? [True, True] Translation: X:300.13, Y:-231.79, Z:-21.54 [[ 7.00291115e-01 7.12187145e-01 4.88039491e-02 3.00126615e+02] [-7.10555906e-01 7.01989029e-01 -4.81840952e-02 -2.31785928e+02] [-6.85759300e-02 -9.35040557e-04 9.97645462e-01 -2.15352230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23864 meters 0.025261143738731458 Centerline is valid? [True, True] Translation: X:300.15, Y:-231.81, Z:-21.54 [[ 7.00261275e-01 7.12134100e-01 4.99917062e-02 3.00151491e+02] [-7.10420397e-01 7.02042842e-01 -4.93832793e-02 -2.31807403e+02] [-7.02638366e-02 -9.33929620e-04 9.97528005e-01 -2.15368951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26864 meters 0.025177477805671797 Centerline is valid? [True, True] Translation: X:300.18, Y:-231.83, Z:-21.54 [[ 7.00211522e-01 7.12226181e-01 4.93729840e-02 3.00176039e+02] [-7.10551440e-01 7.01949474e-01 -4.88219981e-02 -2.31828804e+02] [-6.94296454e-02 -8.96319268e-04 9.97586448e-01 -2.15390114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29864 meters 0.02501980048906228 Centerline is valid? [True, True] Translation: X:300.20, Y:-231.85, Z:-21.54 [[ 7.00915537e-01 7.11691665e-01 4.70359950e-02 3.00199827e+02] [-7.10167916e-01 7.02491548e-01 -4.65527152e-02 -2.31850284e+02] [-6.61735683e-02 -7.73933179e-04 9.97807827e-01 -2.15415753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32864 meters 0.02500740911755802 Centerline is valid? [True, True] Translation: X:300.22, Y:-231.87, Z:-21.54 [[ 7.00848033e-01 7.11757537e-01 4.70451181e-02 3.00222504e+02] [-7.10230384e-01 7.02424834e-01 -4.66063770e-02 -2.31873691e+02] [-6.62180994e-02 -7.48884663e-04 9.97804892e-01 -2.15430903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35864 meters 0.02487940651085483 Centerline is valid? [True, True] Translation: X:300.25, Y:-231.90, Z:-21.54 [[ 7.02432619e-01 7.10125832e-01 4.80595333e-02 3.00246606e+02] [-7.08524724e-01 7.04074553e-01 -4.76627739e-02 -2.31895792e+02] [-6.76840614e-02 -5.71480460e-04 9.97706641e-01 -2.15436003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38864 meters 0.02483386712081881 Centerline is valid? [True, True] Translation: X:300.27, Y:-231.92, Z:-21.55 [[ 7.02973135e-01 7.09560716e-01 4.85011531e-02 3.00269961e+02] [-7.07925155e-01 7.04644134e-01 -4.81520505e-02 -2.31918426e+02] [-6.83428564e-02 -4.85588416e-04 9.97661775e-01 -2.15454492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41864 meters 0.0248221797473158 Centerline is valid? [True, True] Translation: X:300.29, Y:-231.94, Z:-21.55 [[ 7.04842904e-01 7.07651142e-01 4.92579148e-02 3.00291559e+02] [-7.05955742e-01 7.06561951e-01 -4.89560997e-02 -2.31942856e+02] [-6.94476082e-02 -2.67548370e-04 9.97585564e-01 -2.15472684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44864 meters 0.02472987626733941 Centerline is valid? [True, True] Translation: X:300.31, Y:-231.97, Z:-21.55 [[ 7.05345050e-01 7.07103107e-01 4.99355267e-02 3.00314547e+02] [-7.05355527e-01 7.07110433e-01 -4.96831603e-02 -2.31966567e+02] [-7.04410489e-02 -1.78528639e-04 9.97515928e-01 -2.15491103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47864 meters 0.02473231772673559 Centerline is valid? [True, True] Translation: X:300.34, Y:-231.99, Z:-21.55 [[ 7.04943030e-01 7.07660275e-01 4.76682402e-02 3.00336080e+02] [-7.06066495e-01 7.06552827e-01 -4.74679567e-02 -2.31991282e+02] [-6.72713171e-02 -1.94742054e-04 9.97734700e-01 -2.15498826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50864 meters 0.024744909167402025 Centerline is valid? [True, True] Translation: X:300.36, Y:-232.02, Z:-21.55 [[ 7.02512564e-01 7.10156899e-01 4.64034059e-02 3.00356011e+02] [-7.08650627e-01 7.04043332e-01 -4.62306672e-02 -2.32017668e+02] [-6.55010358e-02 -4.06178119e-04 9.97852419e-01 -2.15507855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53864 meters 0.02481981841597063 Centerline is valid? [True, True] Translation: X:300.38, Y:-232.04, Z:-21.55 [[ 7.00765654e-01 7.11869218e-01 4.65802008e-02 3.00378126e+02] [-7.10351946e-01 7.02311848e-01 -4.64562285e-02 -2.32042209e+02] [-6.57845860e-02 -5.33406935e-04 9.97833705e-01 -2.15526390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56864 meters 0.02495770748258634 Centerline is valid? [True, True] Translation: X:300.40, Y:-232.07, Z:-21.55 [[ 6.99007964e-01 7.13539748e-01 4.74225197e-02 3.00400649e+02] [-7.11967542e-01 7.00614432e-01 -4.73459241e-02 -2.32065323e+02] [-6.70081005e-02 -6.68116845e-04 9.97752208e-01 -2.15548443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59864 meters 0.025096914689235666 Centerline is valid? [True, True] Translation: X:300.42, Y:-232.09, Z:-21.56 [[ 6.97089632e-01 7.15289283e-01 4.92674999e-02 3.00422618e+02] [-7.13593298e-01 6.98827978e-01 -4.92347629e-02 -2.32088727e+02] [-6.96466056e-02 -8.35914967e-04 9.97571377e-01 -2.15579643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62864 meters 0.0252180993150063 Centerline is valid? [True, True] Translation: X:300.37, Y:-232.28, Z:-20.01 [[ 7.63188486e-01 -6.45786878e-01 -2.24196898e-02 3.00370568e+02] [-6.45343217e-01 -7.63506934e-01 2.42753750e-02 -2.32279547e+02] [-3.27943073e-02 -4.05829192e-03 -9.99453883e-01 -2.00123099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65864 meters 0.025483396056862218 Centerline is valid? [True, True] Translation: X:300.44, Y:-232.13, Z:-21.56 [[ 7.44909412e-01 6.65207452e-01 5.10785054e-02 3.00440338e+02] [-6.63733407e-01 7.46658013e-01 -4.42693605e-02 -2.32127116e+02] [-6.75864838e-02 -9.25847126e-04 9.97712990e-01 -2.15590734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68864 meters 0.025625616787114953 Centerline is valid? [True, True] Translation: X:300.47, Y:-232.15, Z:-21.56 [[ 7.43297517e-01 6.66999328e-01 5.11927474e-02 3.00466541e+02] [-6.65520052e-01 7.45057564e-01 -4.44104385e-02 -2.32146588e+02] [-6.77632763e-02 -1.05963126e-03 9.97700865e-01 -2.15605393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71864 meters 0.02572679279219354 Centerline is valid? [True, True] Translation: X:300.49, Y:-232.17, Z:-21.56 [[ 7.42628594e-01 6.67701354e-01 5.17462481e-02 3.00492035e+02] [-6.66188541e-01 7.44428429e-01 -4.49348591e-02 -2.32167619e+02] [-6.85244444e-02 -1.10284628e-03 9.97648828e-01 -2.15628852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74864 meters 0.02582372461797351 Centerline is valid? [True, True] Translation: X:300.52, Y:-232.19, Z:-21.56 [[ 7.41212484e-01 6.69327114e-01 5.10418346e-02 3.00517276e+02] [-6.67855894e-01 7.42966872e-01 -4.43703867e-02 -2.32189400e+02] [-6.76206951e-02 -1.20070556e-03 9.97710379e-01 -2.15634354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77864 meters 0.025869509030758152 Centerline is valid? [True, True] Translation: X:300.54, Y:-232.21, Z:-21.56 [[ 7.40250229e-01 6.70451242e-01 5.02467067e-02 3.00543524e+02] [-6.69025033e-01 7.41952542e-01 -4.37256388e-02 -2.32210136e+02] [-6.65965805e-02 -1.24839046e-03 9.97779203e-01 -2.15638700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80864 meters 0.02596969127293442 Centerline is valid? [True, True] Translation: X:300.57, Y:-232.23, Z:-21.57 [[ 7.40110566e-01 6.70610555e-01 5.01780185e-02 3.00570326e+02] [-6.69185480e-01 7.41808588e-01 -4.37128504e-02 -2.32229559e+02] [-6.65367839e-02 -1.22605892e-03 9.97783220e-01 -2.15660749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83864 meters 0.02589466559359755 Centerline is valid? [True, True] Translation: X:300.60, Y:-232.25, Z:-21.57 [[ 7.40743842e-01 6.69864169e-01 5.07991630e-02 3.00595956e+02] [-6.68398548e-01 7.42482795e-01 -4.43021459e-02 -2.32250449e+02] [-6.73939247e-02 -1.13754500e-03 9.97725796e-01 -2.15687384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86864 meters 0.025899489128835988 Centerline is valid? [True, True] Translation: X:300.62, Y:-232.27, Z:-21.57 [[ 7.43516946e-01 6.66651755e-01 5.25165486e-02 3.00621685e+02] [-6.65074150e-01 7.45368854e-01 -4.58437197e-02 -2.32270614e+02] [-6.97059958e-02 -8.41816401e-04 9.97567224e-01 -2.15706448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89864 meters 0.025444305939967972 Centerline is valid? [True, True] Translation: X:300.65, Y:-232.29, Z:-21.57 [[ 7.47033790e-01 6.62778250e-01 5.16285572e-02 3.00647750e+02] [-6.61242407e-01 7.48815590e-01 -4.50964721e-02 -2.32289274e+02] [-6.85492294e-02 -4.50402963e-04 9.97647633e-01 -2.15721022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters 0.02555121957181406 Centerline is valid? [True, True] Translation: X:300.67, Y:-232.31, Z:-21.57 [[ 7.48603767e-01 6.61042250e-01 5.11423938e-02 3.00671582e+02] [-6.59528341e-01 7.50348637e-01 -4.47134255e-02 -2.32310452e+02] [-6.79320889e-02 -2.57219396e-04 9.97689914e-01 -2.15738188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95864 meters 0.025649911890689762 Centerline is valid? [True, True] Translation: X:300.69, Y:-232.34, Z:-21.58 [[ 7.51455133e-01 6.57803383e-01 5.10871043e-02 3.00693485e+02] [-6.56282287e-01 7.53189687e-01 -4.47085540e-02 -2.32335611e+02] [-6.78877182e-02 6.89107391e-05 9.97692965e-01 -2.15763105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters 0.02561020066621755 Centerline is valid? [True, True] Translation: X:300.72, Y:-232.36, Z:-21.58 [[ 7.52519819e-01 6.56629482e-01 5.05138149e-02 3.00717060e+02] [-6.55136559e-01 7.54213286e-01 -4.42539150e-02 -2.32358868e+02] [-6.71566156e-02 2.08501291e-04 9.97742424e-01 -2.15775309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01864 meters 0.025770607951307055 Centerline is valid? [True, True] Translation: X:300.74, Y:-232.38, Z:-21.58 [[ 7.53399968e-01 6.55555667e-01 5.13347352e-02 3.00740412e+02] [-6.54008060e-01 7.55146773e-01 -4.50201013e-02 -2.32381101e+02] [-6.82784421e-02 3.44812322e-04 9.97666245e-01 -2.15790990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters 0.02551984277702225 Centerline is valid? [True, True] Translation: X:300.76, Y:-232.41, Z:-21.58 [[ 7.53603207e-01 6.55298194e-01 5.16380071e-02 3.00761458e+02] [-6.53728608e-01 7.55370184e-01 -4.53298200e-02 -2.32406824e+02] [-6.87103601e-02 4.03455184e-04 9.97636569e-01 -2.15815389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07864 meters 0.02542599742089467 Centerline is valid? [True, True] Translation: X:300.78, Y:-232.43, Z:-21.58 [[ 7.53258500e-01 6.55669401e-01 5.19544860e-02 3.00783436e+02] [-6.54078010e-01 7.55047992e-01 -4.56561769e-02 -2.32431134e+02] [-6.91634885e-02 4.08616511e-04 9.97605255e-01 -2.15826917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters 0.02544554460757171 Centerline is valid? [True, True] Translation: X:300.80, Y:-232.46, Z:-21.58 [[ 7.52821780e-01 6.56137165e-01 5.23773650e-02 3.00804229e+02] [-6.54517439e-01 7.54641541e-01 -4.60767482e-02 -2.32458024e+02] [-6.97588024e-02 4.05680796e-04 9.97563805e-01 -2.15836009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13864 meters 0.02531387389411985 Centerline is valid? [True, True] Translation: X:300.82, Y:-232.48, Z:-21.58 [[ 7.52117581e-01 6.57125450e-01 5.00528511e-02 3.00824751e+02] [-6.55645706e-01 7.53781157e-01 -4.40757948e-02 -2.32483364e+02] [-6.66922225e-02 3.33243225e-04 9.97773540e-01 -2.15839947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters 0.025498623056535653 Centerline is valid? [True, True] Translation: X:300.85, Y:-232.51, Z:-21.59 [[ 7.51287464e-01 6.58120538e-01 4.94419297e-02 3.00846994e+02] [-6.56676155e-01 7.52912533e-01 -4.35791786e-02 -2.32508284e+02] [-6.59058010e-02 2.73154302e-04 9.97825812e-01 -2.15866736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19864 meters 0.025495861581360756 Centerline is valid? [True, True] Translation: X:300.87, Y:-232.54, Z:-21.59 [[ 7.49349829e-01 6.60345161e-01 4.91843596e-02 3.00866086e+02] [-6.58917543e-01 7.50962220e-01 -4.33983424e-02 -2.32536376e+02] [-6.55934813e-02 1.12103021e-04 9.97846422e-01 -2.15854174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters 0.0255952669154144 Centerline is valid? [True, True] Translation: X:300.89, Y:-232.56, Z:-21.59 [[ 7.47816805e-01 6.62036030e-01 4.97827447e-02 3.00889449e+02] [-6.60574016e-01 7.49472011e-01 -4.39735665e-02 -2.32559392e+02] [-6.64228591e-02 -1.01558652e-06 9.97791563e-01 -2.15863728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25864 meters 0.02543614047835746 Centerline is valid? [True, True] Translation: X:300.91, Y:-232.58, Z:-21.59 [[ 7.46203192e-01 6.63876539e-01 4.94847212e-02 3.00912197e+02] [-6.62432931e-01 7.47842179e-01 -4.37571455e-02 -2.32583496e+02] [-6.60561040e-02 -1.28587249e-04 9.97815902e-01 -2.15884918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters 0.025597791491709168 Centerline is valid? [True, True] Translation: X:300.93, Y:-232.61, Z:-21.59 [[ 7.45219197e-01 6.65042370e-01 4.86517588e-02 3.00932809e+02] [-6.63646510e-01 7.46805603e-01 -4.30662488e-02 -2.32609303e+02] [-6.49742862e-02 -1.93774604e-04 9.97886920e-01 -2.15915616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31864 meters 0.025604137951293206 Centerline is valid? [True, True] Translation: X:300.96, Y:-232.63, Z:-21.59 [[ 7.44396998e-01 6.65898543e-01 4.95200956e-02 3.00956228e+02] [-6.64451053e-01 7.46042273e-01 -4.38830864e-02 -2.32632476e+02] [-6.61657680e-02 -2.37241941e-04 9.97808616e-01 -2.15930187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34864 meters 0.025447196264027975 Centerline is valid? [True, True] Translation: X:300.98, Y:-232.66, Z:-21.59 [[ 7.43728869e-01 6.66700119e-01 4.87680438e-02 3.00980494e+02] [-6.65295010e-01 7.45326022e-01 -4.32628078e-02 -2.32655346e+02] [-6.51914112e-02 -2.69337055e-04 9.97872741e-01 -2.15935027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37864 meters 0.02543681134794986 Centerline is valid? [True, True] Translation: X:301.00, Y:-232.68, Z:-21.60 [[ 7.43370242e-01 6.67144960e-01 4.81485745e-02 3.01003760e+02] [-6.65773322e-01 7.44927868e-01 -4.27592710e-02 -2.32678249e+02] [-6.43938472e-02 -2.70066778e-04 9.97924526e-01 -2.15950628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40864 meters 0.025594580773371355 Centerline is valid? [True, True] Translation: X:301.02, Y:-232.70, Z:-21.60 [[ 7.42316816e-01 6.68320626e-01 4.80966340e-02 3.01024813e+02] [-6.66951422e-01 7.43873260e-01 -4.27594801e-02 -2.32703745e+02] [-6.43548424e-02 -3.37037387e-04 9.97927022e-01 -2.15967741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43864 meters 0.025740755092377957 Centerline is valid? [True, True] Translation: X:301.05, Y:-232.73, Z:-21.60 [[ 7.41486896e-01 6.69175005e-01 4.90101592e-02 3.01049088e+02] [-6.67751950e-01 7.43104748e-01 -4.36195678e-02 -2.32726150e+02] [-6.56088065e-02 -3.83291431e-04 9.97845348e-01 -2.15993448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46864 meters 0.025531339365560395 Centerline is valid? [True, True] Translation: X:301.07, Y:-232.75, Z:-21.60 [[ 7.38993904e-01 6.71946003e-01 4.87501736e-02 3.01074550e+02] [-6.70540945e-01 7.40599906e-01 -4.34352353e-02 -2.32746984e+02] [-6.52905068e-02 -5.90613389e-04 9.97866124e-01 -2.15992298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49864 meters 0.02585103435981962 Centerline is valid? [True, True] Translation: X:301.10, Y:-232.77, Z:-21.60 [[ 7.37289048e-01 6.73775252e-01 4.93129836e-02 3.01097782e+02] [-6.72338517e-01 7.38935980e-01 -4.39833704e-02 -2.32768629e+02] [-6.60740444e-02 -7.26560962e-04 9.97814458e-01 -2.16010837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52864 meters 0.026028534788659 Centerline is valid? [True, True] Translation: X:301.12, Y:-232.79, Z:-21.60 [[ 7.34168018e-01 6.77159425e-01 4.95220553e-02 3.01119385e+02] [-6.75715320e-01 7.35835651e-01 -4.42119960e-02 -2.32793174e+02] [-6.63786636e-02 -1.00377793e-03 9.97794000e-01 -2.16031430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55864 meters 0.02617518555802086 Centerline is valid? [True, True] Translation: X:301.14, Y:-232.82, Z:-21.60 [[ 7.31707067e-01 6.79839490e-01 4.92243494e-02 3.01143340e+02] [-6.78416426e-01 7.33359937e-01 -4.39813161e-02 -2.32815029e+02] [-6.59994013e-02 -1.21316742e-03 9.97818925e-01 -2.16038257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58864 meters 0.026366345137546574 Centerline is valid? [True, True] Translation: X:301.17, Y:-232.84, Z:-21.61 [[ 7.30284556e-01 6.81429499e-01 4.83560339e-02 3.01168425e+02] [-6.80058349e-01 7.31882575e-01 -4.32265893e-02 -2.32836199e+02] [-6.48468117e-02 -1.31721404e-03 9.97894361e-01 -2.16054779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61864 meters 0.026657800524788628 Centerline is valid? [True, True] Translation: X:301.19, Y:-232.86, Z:-21.61 [[ 7.27623045e-01 6.84324869e-01 4.75833847e-02 3.01193321e+02] [-6.83000582e-01 7.29175680e-01 -4.25797279e-02 -2.32855946e+02] [-6.38350136e-02 -1.51748814e-03 9.97959312e-01 -2.16071241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64864 meters 0.02679636695111248 Centerline is valid? [True, True] Translation: X:301.22, Y:-232.88, Z:-21.61 [[ 7.26070910e-01 6.85975570e-01 4.75242165e-02 3.01217783e+02] [-6.84655702e-01 7.27622740e-01 -4.25642939e-02 -2.32876210e+02] [-6.37777664e-02 -1.63303021e-03 9.97962790e-01 -2.16081697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67864 meters 0.027189262042169274 Centerline is valid? [True, True] Translation: X:301.24, Y:-232.89, Z:-21.61 [[ 7.23947039e-01 6.88218556e-01 4.74963595e-02 3.01244318e+02] [-6.86902516e-01 7.25501190e-01 -4.25788331e-02 -2.32894350e+02] [-6.37622084e-02 -1.80054864e-03 9.97963496e-01 -2.16094477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70864 meters 0.027091671086153346 Centerline is valid? [True, True] Translation: X:301.27, Y:-232.91, Z:-21.61 [[ 7.22833347e-01 6.89403569e-01 4.72723070e-02 3.01269723e+02] [-6.88099973e-01 7.24375062e-01 -4.24169301e-02 -2.32914121e+02] [-6.34852634e-02 -1.86770160e-03 9.97981028e-01 -2.16108818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73864 meters 0.027172158197192535 Centerline is valid? [True, True] Translation: X:301.29, Y:-232.93, Z:-21.61 [[ 7.23346527e-01 6.88804944e-01 4.81409411e-02 3.01294807e+02] [-6.87449030e-01 7.24944438e-01 -4.32364708e-02 -2.32933695e+02] [-6.46810023e-02 -1.81949222e-03 9.97904333e-01 -2.16127041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76864 meters 0.02697752543277814 Centerline is valid? [True, True] Translation: X:301.32, Y:-232.95, Z:-21.61 [[ 7.23786802e-01 6.88303482e-01 4.86927382e-02 3.01320105e+02] [-6.86912467e-01 7.25420706e-01 -4.37728468e-02 -2.32953791e+02] [-6.54517234e-02 -1.76544010e-03 9.97854175e-01 -2.16138425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79864 meters 0.026920357932734434 Centerline is valid? [True, True] Translation: X:301.35, Y:-232.97, Z:-21.62 [[ 7.24696734e-01 6.87410390e-01 4.77660835e-02 3.01348020e+02] [-6.86067739e-01 7.26267379e-01 -4.29738506e-02 -2.32971550e+02] [-6.42316197e-02 -1.62775966e-03 9.97933690e-01 -2.16152472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82864 meters 0.026932021171139135 Centerline is valid? [True, True] Translation: X:301.38, Y:-232.99, Z:-21.62 [[ 7.24668121e-01 6.87564489e-01 4.59476638e-02 3.01375654e+02] [-6.86321428e-01 7.26121630e-01 -4.13554891e-02 -2.32989294e+02] [-6.17981582e-02 -1.56586162e-03 9.98087439e-01 -2.16174515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85864 meters 0.026833983666624973 Centerline is valid? [True, True] Translation: X:301.40, Y:-233.01, Z:-21.62 [[ 7.24513401e-01 6.87748421e-01 4.56337800e-02 3.01402086e+02] [-6.86520266e-01 7.25947471e-01 -4.11119618e-02 -2.33009900e+02] [-6.14024140e-02 -1.54234754e-03 9.98111900e-01 -2.16182820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88864 meters 0.026815538536211138 Centerline is valid? [True, True] Translation: X:301.43, Y:-233.03, Z:-21.62 [[ 7.24199158e-01 6.88032205e-01 4.63385976e-02 3.01429464e+02] [-6.86763534e-01 7.25678482e-01 -4.17922191e-02 -2.33028072e+02] [-6.23813158e-02 -1.55776921e-03 9.98051173e-01 -2.16201926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91864 meters 0.027078980771802364 Centerline is valid? [True, True] Translation: X:301.46, Y:-233.05, Z:-21.62 [[ 7.23737175e-01 6.88490436e-01 4.67484799e-02 3.01455319e+02] [-6.87197270e-01 7.25243703e-01 -4.22076208e-02 -2.33049036e+02] [-6.29635840e-02 -1.57820354e-03 9.98014577e-01 -2.16216273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94864 meters 0.026870378980047183 Centerline is valid? [True, True] Translation: X:301.48, Y:-233.07, Z:-21.62 [[ 7.23851517e-01 6.88363323e-01 4.68499513e-02 3.01481285e+02] [-6.87061372e-01 7.25364441e-01 -4.23449885e-02 -2.33068875e+02] [-6.31320257e-02 -1.53730774e-03 9.98004000e-01 -2.16231423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97864 meters 0.026927110664360824 Centerline is valid? [True, True] Translation: X:301.51, Y:-233.09, Z:-21.63 [[ 7.23851401e-01 6.88345423e-01 4.71139767e-02 3.01506479e+02] [-6.87025784e-01 7.25381482e-01 -4.26295342e-02 -2.33090008e+02] [-6.35194510e-02 -1.51106868e-03 9.97979457e-01 -2.16253704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00864 meters 0.02683956109122907 Centerline is valid? [True, True] Translation: X:301.53, Y:-233.11, Z:-21.63 [[ 7.23865076e-01 6.88292149e-01 4.76788094e-02 3.01534513e+02] [-6.86937491e-01 7.25432076e-01 -4.31878176e-02 -2.33108593e+02] [-6.43135735e-02 -1.49020876e-03 9.97928627e-01 -2.16269886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03864 meters 0.02683956109122907 Centerline is valid? [True, True] Translation: X:301.56, Y:-233.13, Z:-21.63 [[ 7.23497157e-01 6.88680477e-01 4.76556897e-02 3.01558809e+02] [-6.87324981e-01 7.25063432e-01 -4.32133169e-02 -2.33130208e+02] [-6.43135656e-02 -1.49023410e-03 9.97928627e-01 -2.16286552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06864 meters 0.026809353367581973 Centerline is valid? [True, True] Translation: X:301.58, Y:-233.15, Z:-21.63 [[ 7.22595906e-01 6.89577413e-01 4.83543956e-02 3.01584404e+02] [-6.88180800e-01 7.24210301e-01 -4.38933569e-02 -2.33149756e+02] [-6.52866189e-02 -1.55940660e-03 9.97865334e-01 -2.16303322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09864 meters 0.027144792426199126 Centerline is valid? [True, True] Translation: X:301.61, Y:-233.17, Z:-21.63 [[ 7.19414838e-01 6.92963964e-01 4.73628186e-02 3.01610155e+02] [-6.91628844e-01 7.20969978e-01 -4.30329402e-02 -2.33169149e+02] [-6.39674471e-02 -1.79895581e-03 9.97950364e-01 -2.16315024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12864 meters 0.027302442688988 Centerline is valid? [True, True] Translation: X:301.64, Y:-233.19, Z:-21.63 [[ 7.17889262e-01 6.94663580e-01 4.55797912e-02 3.01636356e+02] [-6.93428280e-01 7.19332391e-01 -4.14503468e-02 -2.33188132e+02] [-6.15810665e-02 -1.84955737e-03 9.98100371e-01 -2.16335980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15864 meters 0.027335526802976136 Centerline is valid? [True, True] Translation: X:301.66, Y:-233.21, Z:-21.64 [[ 7.17694786e-01 6.94834862e-01 4.60294423e-02 3.01662500e+02] [-6.93572894e-01 7.19166934e-01 -4.18994358e-02 -2.33207758e+02] [-6.22160415e-02 -1.85376691e-03 9.98060984e-01 -2.16352021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18864 meters 0.0271334411499656 Centerline is valid? [True, True] Translation: X:301.69, Y:-233.23, Z:-21.64 [[ 7.18478965e-01 6.93967143e-01 4.68783590e-02 3.01690607e+02] [-6.92653445e-01 7.20004472e-01 -4.27172730e-02 -2.33225129e+02] [-6.33970120e-02 -1.77899482e-03 9.97986801e-01 -2.16361311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21864 meters 0.026936373987440875 Centerline is valid? [True, True] Translation: X:301.72, Y:-233.25, Z:-21.64 [[ 7.18833790e-01 6.93513917e-01 4.81292955e-02 3.01716590e+02] [-6.92125268e-01 7.20441094e-01 -4.39003874e-02 -2.33245196e+02] [-6.51198518e-02 -1.75441970e-03 9.97875908e-01 -2.16391300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24864 meters 0.026525904717099726 Centerline is valid? [True, True] Translation: X:301.74, Y:-233.26, Z:-21.64 [[ 7.21225271e-01 6.91110208e-01 4.69125556e-02 3.01743138e+02] [-6.89783063e-01 7.22747902e-01 -4.28345100e-02 -2.33263955e+02] [-6.35093183e-02 -1.46615524e-03 9.97980169e-01 -2.16418508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27864 meters 0.026469296892971953 Centerline is valid? [True, True] Translation: X:301.77, Y:-233.28, Z:-21.64 [[ 7.22143354e-01 6.90218216e-01 4.59106858e-02 3.01768542e+02] [-6.88942988e-01 7.23600059e-01 -4.19584771e-02 -2.33283873e+02] [-6.21814802e-02 -1.32980963e-03 9.98063973e-01 -2.16436837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30864 meters 0.026029726128900674 Centerline is valid? [True, True] Translation: X:301.80, Y:-233.30, Z:-21.65 [[ 7.25314405e-01 6.86936298e-01 4.51390708e-02 3.01796452e+02] [-6.85694886e-01 7.26716945e-01 -4.12917217e-02 -2.33301176e+02] [-6.11681100e-02 -1.00214941e-03 9.98126975e-01 -2.16451723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33864 meters 0.02575642240355346 Centerline is valid? [True, True] Translation: X:301.82, Y:-233.32, Z:-21.65 [[ 7.27585861e-01 6.84535723e-01 4.50517482e-02 3.01821661e+02] [-6.83292135e-01 7.28978910e-01 -4.12505427e-02 -2.33321282e+02] [-6.10792444e-02 -7.70193634e-04 9.98132623e-01 -2.16464947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36864 meters 0.025748311306291904 Centerline is valid? [True, True] Translation: X:301.85, Y:-233.34, Z:-21.65 [[ 7.28283169e-01 6.83721713e-01 4.61329163e-02 3.01846581e+02] [-6.82413419e-01 7.29742520e-01 -4.22821428e-02 -2.33342934e+02] [-6.25743697e-02 -6.88348259e-04 9.98040067e-01 -2.16489406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39864 meters 0.025744832821422394 Centerline is valid? [True, True] Translation: X:301.87, Y:-233.36, Z:-21.65 [[ 7.28940168e-01 6.82973793e-01 4.68297972e-02 3.01871230e+02] [-6.81621140e-01 7.30442632e-01 -4.29672285e-02 -2.33364514e+02] [-6.35519713e-02 -5.99641053e-04 9.97978350e-01 -2.16511918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters 0.025514081472365602 Centerline is valid? [True, True] Translation: X:301.90, Y:-233.38, Z:-21.65 [[ 7.30428253e-01 6.81369610e-01 4.70108663e-02 3.01897254e+02] [-6.80000165e-01 7.31939391e-01 -4.31798971e-02 -2.33384996e+02] [-6.38305745e-02 -4.27579984e-04 9.97960658e-01 -2.16526054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45864 meters 0.02532953698342436 Centerline is valid? [True, True] Translation: X:301.92, Y:-233.41, Z:-21.65 [[ 7.30953420e-01 6.80815916e-01 4.68698958e-02 3.01921506e+02] [-6.79451011e-01 7.32454481e-01 -4.30900946e-02 -2.33406803e+02] [-6.36664874e-02 -3.48946120e-04 9.97971170e-01 -2.16548834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters 0.025422869310947574 Centerline is valid? [True, True] Translation: X:301.95, Y:-233.43, Z:-21.66 [[ 7.31318419e-01 6.80393640e-01 4.73060753e-02 3.01945731e+02] [-6.79000937e-01 7.32846781e-01 -4.35123222e-02 -2.33429145e+02] [-6.42736123e-02 -2.99506748e-04 9.97932269e-01 -2.16575701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51864 meters 0.025408542927091438 Centerline is valid? [True, True] Translation: X:301.97, Y:-233.45, Z:-21.66 [[ 7.31745703e-01 6.80027756e-01 4.59399373e-02 3.01971287e+02] [-6.78711273e-01 7.33186332e-01 -4.22943240e-02 -2.33448334e+02] [-6.24438484e-02 -2.31263481e-04 9.98048452e-01 -2.16567556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters 0.02540550546547728 Centerline is valid? [True, True] Translation: X:302.00, Y:-233.47, Z:-21.66 [[ 7.31293711e-01 6.80542045e-01 4.55195843e-02 3.01997649e+02] [-6.79249370e-01 7.32708986e-01 -4.19265483e-02 -2.33468532e+02] [-6.18853874e-02 -2.58527855e-04 9.98083229e-01 -2.16583691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57864 meters 0.025412141016395818 Centerline is valid? [True, True] Translation: X:302.03, Y:-233.49, Z:-21.66 [[ 7.31867594e-01 6.79879214e-01 4.61960995e-02 3.02025494e+02] [-6.78543551e-01 7.33324093e-01 -4.25960571e-02 -2.33486927e+02] [-6.28368865e-02 -1.71391588e-04 9.98023795e-01 -2.16605750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters 0.025524241354673193 Centerline is valid? [True, True] Translation: X:302.05, Y:-233.51, Z:-21.66 [[ 7.32681519e-01 6.78951110e-01 4.69380688e-02 3.02050832e+02] [-6.77567261e-01 7.34183483e-01 -4.33268965e-02 -2.33508076e+02] [-6.38779993e-02 -5.88823952e-05 9.97957713e-01 -2.16631726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63864 meters 0.0255530555791445 Centerline is valid? [True, True] Translation: X:302.08, Y:-233.53, Z:-21.67 [[ 7.36322690e-01 6.74987435e-01 4.71259898e-02 3.02076354e+02] [-6.73581341e-01 7.37829153e-01 -4.35467420e-02 -2.33529751e+02] [-6.41644329e-02 3.21266826e-04 9.97939288e-01 -2.16654674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters 0.025856730382236296 Centerline is valid? [True, True] Translation: X:302.10, Y:-233.55, Z:-21.67 [[ 7.39449825e-01 6.71551770e-01 4.72459251e-02 3.02101152e+02] [-6.70128575e-01 7.40957348e-01 -4.37024135e-02 -2.33550587e+02] [-6.43556485e-02 6.54897488e-04 9.97926812e-01 -2.16667485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69864 meters 0.02618661297579357 Centerline is valid? [True, True] Translation: X:302.13, Y:-233.57, Z:-21.67 [[ 7.42543211e-01 6.68097139e-01 4.77052674e-02 3.02125273e+02] [-6.66636561e-01 7.44073403e-01 -4.41640785e-02 -2.33571070e+02] [-6.50021152e-02 9.91661216e-04 9.97884633e-01 -2.16690452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters 0.026944613276602324 Centerline is valid? [True, True] Translation: X:302.15, Y:-233.59, Z:-21.67 [[ 7.48015235e-01 6.61978658e-01 4.75127744e-02 3.02149603e+02] [-6.60516195e-01 7.49521117e-01 -4.40051321e-02 -2.33591881e+02] [-6.47422861e-02 1.53355226e-03 9.97900839e-01 -2.16714090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75864 meters 0.027676661102621524 Centerline is valid? [True, True] Translation: X:302.17, Y:-233.61, Z:-21.67 [[ 7.50694535e-01 6.58998522e-01 4.66761486e-02 3.02171954e+02] [-6.57580593e-01 7.52142154e-01 -4.32428540e-02 -2.33614409e+02] [-6.36040758e-02 1.76884472e-03 9.97973643e-01 -2.16737879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters 0.027624594504323217 Centerline is valid? [True, True] Translation: X:302.19, Y:-233.64, Z:-21.67 [[ 7.50902755e-01 6.58710652e-01 4.73849158e-02 3.02194840e+02] [-6.57247180e-01 7.52394111e-01 -4.39231942e-02 -2.33636338e+02] [-6.45848074e-02 1.83844532e-03 9.97910528e-01 -2.16748505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81864 meters 0.02759000658959746 Centerline is valid? [True, True] Translation: X:302.22, Y:-233.66, Z:-21.68 [[ 7.51212903e-01 6.58433226e-01 4.63126382e-02 3.02216467e+02] [-6.57032537e-01 7.52636882e-01 -4.29647443e-02 -2.33661520e+02] [-6.31460149e-02 1.84676010e-03 9.98002590e-01 -2.16760281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84864 meters 0.027518005608203434 Centerline is valid? [True, True] Translation: X:302.24, Y:-233.69, Z:-21.68 [[ 7.51263877e-01 6.58406525e-01 4.58632258e-02 3.02239282e+02] [-6.57030252e-01 7.52660202e-01 -4.25895360e-02 -2.33685941e+02] [-6.25606531e-02 1.86245314e-03 9.98039426e-01 -2.16774625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87864 meters 0.02743971497319427 Centerline is valid? [True, True] Translation: X:302.26, Y:-233.71, Z:-21.68 [[ 7.50809582e-01 6.58927531e-01 4.58200879e-02 3.02259496e+02] [-6.57552168e-01 7.52204154e-01 -4.25917458e-02 -2.33712051e+02] [-6.25309343e-02 1.84919277e-03 9.98041313e-01 -2.16806155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90864 meters 0.027227154395415162 Centerline is valid? [True, True] Translation: X:302.28, Y:-233.74, Z:-21.68 [[ 7.49893344e-01 6.59918435e-01 4.65578406e-02 3.02281399e+02] [-6.58497501e-01 7.51335024e-01 -4.33211719e-02 -2.33737161e+02] [-6.35689762e-02 1.82803679e-03 9.97975773e-01 -2.16828861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93864 meters 0.027178625142378864 Centerline is valid? [True, True] Translation: X:302.30, Y:-233.76, Z:-21.68 [[ 7.49393422e-01 6.60502657e-01 4.63221328e-02 3.02304681e+02] [-6.59094483e-01 7.50821546e-01 -4.31447279e-02 -2.33760498e+02] [-6.32768628e-02 1.80171308e-03 9.97994385e-01 -2.16837907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96864 meters 0.026966232768365392 Centerline is valid? [True, True] Translation: X:302.33, Y:-233.79, Z:-21.69 [[ 7.48776111e-01 6.61210623e-01 4.62044098e-02 3.02326284e+02] [-6.59808236e-01 7.50198227e-01 -4.30779730e-02 -2.33785309e+02] [-6.31460797e-02 1.76970696e-03 9.98002726e-01 -2.16855763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99864 meters 0.026879353650156652 Centerline is valid? [True, True] Translation: X:302.35, Y:-233.81, Z:-21.69 [[ 7.48449414e-01 6.61638891e-01 4.53591498e-02 3.02348900e+02] [-6.60285593e-01 7.49820628e-01 -4.23315609e-02 -2.33808901e+02] [-6.20194332e-02 1.73303887e-03 9.98073437e-01 -2.16874071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02864 meters 0.026989224981808866 Centerline is valid? [True, True] Translation: X:302.37, Y:-233.83, Z:-21.69 [[ 7.47917419e-01 6.62235348e-01 4.54299152e-02 3.02371727e+02] [-6.60876270e-01 7.49293928e-01 -4.24401329e-02 -2.33832668e+02] [-6.21457159e-02 1.71816176e-03 9.98065608e-01 -2.16902462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05864 meters 0.026704778823888033 Centerline is valid? [True, True] Translation: X:302.39, Y:-233.86, Z:-21.69 [[ 7.47505997e-01 6.62731555e-01 4.49629802e-02 3.02391969e+02] [-6.61398613e-01 7.48855143e-01 -4.20457944e-02 -2.33858683e+02] [-6.15358337e-02 1.69103071e-03 9.98103442e-01 -2.16914985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08864 meters 0.0266686536744205 Centerline is valid? [True, True] Translation: X:302.41, Y:-233.88, Z:-21.69 [[ 7.46693674e-01 6.63615771e-01 4.54165849e-02 3.02414560e+02] [-6.62254737e-01 7.48071742e-01 -4.25127326e-02 -2.33882616e+02] [-6.21869836e-02 1.66663999e-03 9.98063125e-01 -2.16925169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11864 meters 0.026253679630407784 Centerline is valid? [True, True] Translation: X:302.44, Y:-233.91, Z:-21.69 [[ 7.44297313e-01 6.66274696e-01 4.58207371e-02 3.02435305e+02] [-6.64891651e-01 7.45704909e-01 -4.29334580e-02 -2.33908172e+02] [-6.27742253e-02 1.48943190e-03 9.98026642e-01 -2.16934926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14864 meters 0.025779598516916833 Centerline is valid? [True, True] Translation: X:302.46, Y:-233.93, Z:-21.69 [[ 7.41493417e-01 6.69390806e-01 4.58635089e-02 3.02457590e+02] [-6.68009000e-01 7.42909403e-01 -4.30069078e-02 -2.33932220e+02] [-6.28608607e-02 1.25210227e-03 9.98021515e-01 -2.16947996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17864 meters 0.025545242171011364 Centerline is valid? [True, True] Translation: X:302.48, Y:-233.95, Z:-21.70 [[ 7.39736307e-01 6.71267645e-01 4.67968496e-02 3.02481050e+02] [-6.69831471e-01 7.41214188e-01 -4.39013427e-02 -2.33953989e+02] [-6.41560398e-02 1.12941447e-03 9.97939240e-01 -2.16969265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20864 meters 0.025358526324342396 Centerline is valid? [True, True] Translation: X:302.50, Y:-233.98, Z:-21.70 [[ 7.36668836e-01 6.74558026e-01 4.78591161e-02 3.02505000e+02] [-6.73060053e-01 7.38221289e-01 -4.49387793e-02 -2.33975438e+02] [-6.56444327e-02 8.92939040e-04 9.97842679e-01 -2.17001748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23864 meters 0.025333951645859942 Centerline is valid? [True, True] Translation: X:302.53, Y:-234.00, Z:-21.70 [[ 7.34930849e-01 6.76412602e-01 4.84008193e-02 3.02528928e+02] [-6.74881640e-01 7.36522506e-01 -4.54903245e-02 -2.33997513e+02] [-6.64185216e-02 7.67418479e-04 9.97791557e-01 -2.17019735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26864 meters 0.025268837907985245 Centerline is valid? [True, True] Translation: X:302.55, Y:-234.02, Z:-21.70 [[ 7.33662719e-01 6.77840881e-01 4.76524303e-02 3.02552870e+02] [-6.76357018e-01 7.35208340e-01 -4.48316977e-02 -2.34018551e+02] [-6.54232216e-02 6.61289590e-04 9.97857387e-01 -2.17032467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29864 meters 0.02513992989905554 Centerline is valid? [True, True] Translation: X:302.58, Y:-234.04, Z:-21.70 [[ 7.33436650e-01 6.78143149e-01 4.68246726e-02 3.02577548e+02] [-6.76708436e-01 7.34929550e-01 -4.40936525e-02 -2.34040864e+02] [-6.43146439e-02 6.53249878e-04 9.97929456e-01 -2.17042277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32864 meters 0.025434435229604653 Centerline is valid? [True, True] Translation: X:302.60, Y:-234.06, Z:-21.71 [[ 7.35349937e-01 6.76028185e-01 4.73958123e-02 3.02602963e+02] [-6.74550835e-01 7.36875236e-01 -4.46772516e-02 -2.34061300e+02] [-6.51278817e-02 8.82529411e-04 9.97876536e-01 -2.17056991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35864 meters 0.025636217164353374 Centerline is valid? [True, True] Translation: X:302.63, Y:-234.08, Z:-21.71 [[ 7.37290760e-01 6.73922254e-01 4.72348574e-02 3.02628730e+02] [-6.72447970e-01 7.38801459e-01 -4.45660378e-02 -2.34080419e+02] [-6.49312262e-02 1.09514389e-03 9.97889140e-01 -2.17067347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38864 meters 0.02573620387885282 Centerline is valid? [True, True] Translation: X:302.65, Y:-234.10, Z:-21.71 [[ 7.37938228e-01 6.73255498e-01 4.66283806e-02 3.02654002e+02] [-6.71814945e-01 7.39408999e-01 -4.40342051e-02 -2.34102402e+02] [-6.41237149e-02 1.16888033e-03 9.97941272e-01 -2.17090840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41864 meters 0.02589188332497999 Centerline is valid? [True, True] Translation: X:302.68, Y:-234.12, Z:-21.71 [[ 7.38355716e-01 6.72842516e-01 4.59759128e-02 3.02678727e+02] [-6.71438444e-01 7.39784738e-01 -4.34621352e-02 -2.34123681e+02] [-6.32554510e-02 1.22052065e-03 9.97996622e-01 -2.17103810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44864 meters 0.025858420967899358 Centerline is valid? [True, True] Translation: X:302.70, Y:-234.15, Z:-21.71 [[ 7.38028237e-01 6.73201243e-01 4.59826923e-02 3.02703322e+02] [-6.71794608e-01 7.39458309e-01 -4.35133897e-02 -2.34146187e+02] [-6.32955519e-02 1.22318550e-03 9.97994077e-01 -2.17110102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47864 meters 0.02606176626233185 Centerline is valid? [True, True] Translation: X:302.73, Y:-234.17, Z:-21.71 [[ 7.37724743e-01 6.73472930e-01 4.68659346e-02 3.02728476e+02] [-6.72009241e-01 7.39210817e-01 -4.43953595e-02 -2.34167808e+02] [-6.45428786e-02 1.25721401e-03 9.97914143e-01 -2.17125127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50864 meters 0.026014354163661234 Centerline is valid? [True, True] Translation: X:302.75, Y:-234.19, Z:-21.71 [[ 7.36959122e-01 6.74272032e-01 4.74181337e-02 3.02754099e+02] [-6.72772668e-01 7.38482032e-01 -4.49580398e-02 -2.34188254e+02] [-6.53313886e-02 1.23061319e-03 9.97862864e-01 -2.17137199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53864 meters 0.025988916136053707 Centerline is valid? [True, True] Translation: X:302.78, Y:-234.21, Z:-21.72 [[ 7.36960803e-01 6.74281572e-01 4.72560632e-02 3.02779851e+02] [-6.72791097e-01 7.38473304e-01 -4.48254226e-02 -2.34209752e+02] [-6.51222976e-02 1.24112086e-03 9.97876518e-01 -2.17159306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56864 meters 0.0262246506171437 Centerline is valid? [True, True] Translation: X:302.80, Y:-234.23, Z:-21.72 [[ 7.36808989e-01 6.74468023e-01 4.69616833e-02 3.02804598e+02] [-6.72993507e-01 7.38303001e-01 -4.45916876e-02 -2.34231676e+02] [-6.47476191e-02 1.25064830e-03 9.97900888e-01 -2.17195983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59864 meters 0.026508802053407207 Centerline is valid? [True, True] Translation: X:302.83, Y:-234.25, Z:-21.72 [[ 7.37595306e-01 6.73650358e-01 4.63503964e-02 3.02829414e+02] [-6.72209558e-01 7.39048987e-01 -4.40557041e-02 -2.34253538e+02] [-6.39333543e-02 1.33810108e-03 9.97953273e-01 -2.17208614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62864 meters 0.026797149090725773 Centerline is valid? [True, True] Translation: X:302.85, Y:-234.27, Z:-21.72 [[ 7.38522556e-01 6.72604443e-01 4.67728244e-02 3.02853685e+02] [-6.71132275e-01 7.40000736e-01 -4.45014727e-02 -2.34274138e+02] [-6.45438127e-02 1.47458929e-03 9.97913785e-01 -2.17227332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65864 meters 0.026759451387643733 Centerline is valid? [True, True] Translation: X:302.88, Y:-234.30, Z:-21.72 [[ 7.39321766e-01 6.71667859e-01 4.75984666e-02 3.02877675e+02] [-6.70138593e-01 7.40850648e-01 -4.53275212e-02 -2.34295147e+02] [-6.57083939e-02 1.61405358e-03 9.97837563e-01 -2.17230758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68864 meters 0.027018396446235382 Centerline is valid? [True, True] Translation: X:302.90, Y:-234.32, Z:-21.72 [[ 7.40265800e-01 6.70593518e-01 4.80716101e-02 3.02900909e+02] [-6.69028701e-01 7.41822922e-01 -4.58186549e-02 -2.34317086e+02] [-6.63863153e-02 1.75669638e-03 9.97792449e-01 -2.17248917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71864 meters 0.027262545593520256 Centerline is valid? [True, True] Translation: X:302.92, Y:-234.34, Z:-21.73 [[ 7.40630157e-01 6.70201370e-01 4.79280198e-02 3.02922831e+02] [-6.68642433e-01 7.42177085e-01 -4.57216723e-02 -2.34340533e+02] [-6.62138055e-02 1.81614160e-03 9.97803805e-01 -2.17270334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74864 meters 0.027209360320777844 Centerline is valid? [True, True] Translation: X:302.95, Y:-234.36, Z:-21.73 [[ 7.40743031e-01 6.70168456e-01 4.66262078e-02 3.02945217e+02] [-6.68690554e-01 7.42206849e-01 -4.45189550e-02 -2.34364466e+02] [-6.44414900e-02 1.79860093e-03 9.97919866e-01 -2.17286560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77864 meters 0.027524405133170865 Centerline is valid? [True, True] Translation: X:302.97, Y:-234.39, Z:-21.73 [[ 7.41283936e-01 6.69571842e-01 4.66012314e-02 3.02965844e+02] [-6.68091548e-01 7.42744914e-01 -4.45384816e-02 -2.34389990e+02] [-6.44345407e-02 1.88177211e-03 9.97920162e-01 -2.17300340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80864 meters 0.027333828449019534 Centerline is valid? [True, True] Translation: X:302.99, Y:-234.41, Z:-21.73 [[ 7.40947838e-01 6.69983201e-01 4.60305575e-02 3.02988086e+02] [-6.68537274e-01 7.42373949e-01 -4.40321914e-02 -2.34414806e+02] [-6.36727153e-02 1.85241359e-03 9.97969115e-01 -2.17309000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83864 meters 0.02722238564904403 Centerline is valid? [True, True] Translation: X:303.01, Y:-234.44, Z:-21.73 [[ 7.40629675e-01 6.70351810e-01 4.57835766e-02 3.03007934e+02] [-6.68919319e-01 7.42041140e-01 -4.38393757e-02 -2.34441758e+02] [-6.33611022e-02 1.84322372e-03 9.97988965e-01 -2.17327566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86864 meters 0.02704730800185518 Centerline is valid? [True, True] Translation: X:303.03, Y:-234.47, Z:-21.73 [[ 7.39501216e-01 6.71626595e-01 4.53394868e-02 3.03029363e+02] [-6.70221537e-01 7.40887752e-01 -4.34560736e-02 -2.34466412e+02] [-6.27777252e-02 1.74831871e-03 9.98026002e-01 -2.17348202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89864 meters 0.02694682359350276 Centerline is valid? [True, True] Translation: X:303.05, Y:-234.49, Z:-21.74 [[ 7.38585001e-01 6.72651780e-01 4.50752581e-02 3.03050833e+02] [-6.71262626e-01 7.39957271e-01 -4.32403147e-02 -2.34490636e+02] [-6.24394396e-02 1.67931173e-03 9.98047342e-01 -2.17368896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters 0.02626888125922738 Centerline is valid? [True, True] Translation: X:303.07, Y:-234.52, Z:-21.74 [[ 7.35676739e-01 6.75787074e-01 4.57336461e-02 3.03068350e+02] [-6.74360547e-01 7.37095441e-01 -4.39108630e-02 -2.34519083e+02] [-6.33844557e-02 1.46323391e-03 9.97988111e-01 -2.17374010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95864 meters 0.02626888125922738 Centerline is valid? [True, True] Translation: X:303.09, Y:-234.54, Z:-21.74 [[ 7.35335711e-01 6.76159479e-01 4.57138051e-02 3.03092017e+02] [-6.74732387e-01 7.36753845e-01 -4.39315107e-02 -2.34541380e+02] [-6.33845291e-02 1.45982380e-03 9.97988111e-01 -2.17390679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters 0.025836380139694606 Centerline is valid? [True, True] Translation: X:303.11, Y:-234.57, Z:-21.74 [[ 7.31775999e-01 6.80090189e-01 4.45109156e-02 3.03110134e+02] [-6.78741945e-01 7.33127600e-01 -4.28169829e-02 -2.34568582e+02] [-6.17515907e-02 1.12101499e-03 9.98090920e-01 -2.17389959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01864 meters 0.025353797181988106 Centerline is valid? [True, True] Translation: X:303.13, Y:-234.59, Z:-21.74 [[ 7.30276507e-01 6.81742877e-01 4.38505722e-02 3.03131759e+02] [-6.80435088e-01 7.31591185e-01 -4.22188252e-02 -2.34592404e+02] [-6.08630755e-02 9.93948222e-04 9.98145630e-01 -2.17411323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters 0.025427010763889264 Centerline is valid? [True, True] Translation: X:303.15, Y:-234.62, Z:-21.74 [[ 7.27727980e-01 6.84476510e-01 4.36336349e-02 3.03149928e+02] [-6.83184246e-01 7.29034488e-01 -4.20476082e-02 -2.34620164e+02] [-6.05910247e-02 7.89409006e-04 9.98162364e-01 -2.17447643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07864 meters 0.02527449279605853 Centerline is valid? [True, True] Translation: X:303.17, Y:-234.65, Z:-21.75 [[ 7.26637362e-01 6.85549274e-01 4.49481597e-02 3.03170610e+02] [-6.84177354e-01 7.28025844e-01 -4.33557321e-02 -2.34645992e+02] [-6.24459125e-02 7.51381867e-04 9.98048067e-01 -2.17465895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters 0.024965859369852562 Centerline is valid? [True, True] Translation: X:303.19, Y:-234.67, Z:-21.75 [[ 7.24499166e-01 6.87836535e-01 4.45180749e-02 3.03190614e+02] [-6.86492372e-01 7.25865389e-01 -4.29844050e-02 -2.34671916e+02] [-6.18803740e-02 5.80846755e-04 9.98083404e-01 -2.17454465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13864 meters 0.0250548573261187 Centerline is valid? [True, True] Translation: X:303.21, Y:-234.70, Z:-21.75 [[ 7.23711961e-01 6.88684870e-01 4.42057479e-02 3.03213859e+02] [-6.87358657e-01 7.25060594e-01 -4.27224992e-02 -2.34695301e+02] [-6.14741847e-02 5.33580165e-04 9.98108531e-01 -2.17469679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters 0.024879703367391637 Centerline is valid? [True, True] Translation: X:303.23, Y:-234.72, Z:-21.75 [[ 7.21604189e-01 6.90898933e-01 4.41141542e-02 3.03233358e+02] [-6.89579635e-01 7.22951259e-01 -4.26779102e-02 -2.34721285e+02] [-6.13785059e-02 3.76336448e-04 9.98114491e-01 -2.17490041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19864 meters 0.024784247285904542 Centerline is valid? [True, True] Translation: X:303.25, Y:-234.75, Z:-21.75 [[ 7.19938149e-01 6.92636261e-01 4.40916316e-02 3.03253752e+02] [-6.91319404e-01 7.21287007e-01 -4.26911633e-02 -2.34746292e+02] [-6.13721687e-02 2.53596620e-04 9.98114920e-01 -2.17500171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters 0.024844902378643795 Centerline is valid? [True, True] Translation: X:303.28, Y:-234.77, Z:-21.75 [[ 7.15763846e-01 6.96862378e-01 4.54416351e-02 3.03275189e+02] [-6.95470685e-01 7.17204864e-01 -4.40194331e-02 -2.34771092e+02] [-6.32664486e-02 -9.58063534e-05 9.97996667e-01 -2.17531346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25864 meters 0.024852928027335797 Centerline is valid? [True, True] Translation: X:303.30, Y:-234.79, Z:-21.76 [[ 7.13005590e-01 6.99673821e-01 4.56023334e-02 3.03298069e+02] [-6.98274940e-01 7.14462349e-01 -4.42228589e-02 -2.34794832e+02] [-6.35227269e-02 -3.11820991e-04 9.97980343e-01 -2.17552528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28864 meters 0.025140405011044246 Centerline is valid? [True, True] Translation: X:303.32, Y:-234.82, Z:-21.76 [[ 7.09312659e-01 7.03445649e-01 4.51638285e-02 3.03318384e+02] [-7.02078274e-01 7.10748794e-01 -4.38434717e-02 -2.34820150e+02] [-6.29416360e-02 -6.09813220e-04 9.98017023e-01 -2.17567012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31864 meters 0.025055959123356192 Centerline is valid? [True, True] Translation: X:303.34, Y:-234.84, Z:-21.76 [[ 7.08614592e-01 7.04211627e-01 4.41740265e-02 3.03341328e+02] [-7.02902569e-01 7.09989847e-01 -4.29231412e-02 -2.34843800e+02] [-6.15900854e-02 -6.34072482e-04 9.98101327e-01 -2.17565489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34864 meters 0.025049931056381036 Centerline is valid? [True, True] Translation: X:303.37, Y:-234.87, Z:-21.76 [[ 7.07804169e-01 7.04983941e-01 4.48430665e-02 3.03365715e+02] [-7.03633426e-01 7.09222943e-01 -4.36213079e-02 -2.34866482e+02] [-6.25560531e-02 -6.77736918e-04 9.98041222e-01 -2.17584275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37864 meters 0.025134873023038885 Centerline is valid? [True, True] Translation: X:303.39, Y:-234.89, Z:-21.76 [[ 7.07595057e-01 7.05208979e-01 4.46041640e-02 3.03388968e+02] [-7.03870308e-01 7.08999197e-01 -4.34364923e-02 -2.34889350e+02] [-6.22561208e-02 -6.60099357e-04 9.98059988e-01 -2.17607037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40864 meters 0.02521411564033975 Centerline is valid? [True, True] Translation: X:303.41, Y:-234.91, Z:-21.76 [[ 7.08093799e-01 7.04588741e-01 4.64529756e-02 3.03410702e+02] [-7.03131999e-01 7.09615638e-01 -4.52883854e-02 -2.34913957e+02] [-6.48734443e-02 -5.94148764e-04 9.97893323e-01 -2.17628329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43864 meters 0.025092887794677478 Centerline is valid? [True, True] Translation: X:303.43, Y:-234.94, Z:-21.76 [[ 7.08250900e-01 7.04427719e-01 4.65000130e-02 3.03434343e+02] [-7.02964442e-01 7.09775522e-01 -4.53839344e-02 -2.34936392e+02] [-6.49742724e-02 -5.44643326e-04 9.97886791e-01 -2.17649422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46864 meters 0.02500480685122886 Centerline is valid? [True, True] Translation: X:303.46, Y:-234.96, Z:-21.77 [[ 7.08357485e-01 7.04375011e-01 4.56674701e-02 3.03457241e+02] [-7.02960620e-01 7.09827865e-01 -4.46180413e-02 -2.34958386e+02] [-6.38438761e-02 -4.96909576e-04 9.97959775e-01 -2.17669377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49864 meters 0.02505037839738059 Centerline is valid? [True, True] Translation: X:303.48, Y:-234.98, Z:-21.77 [[ 7.08282411e-01 7.04469432e-01 4.53745100e-02 3.03479972e+02] [-7.03070605e-01 7.09734174e-01 -4.43748389e-02 -2.34981917e+02] [-6.34645579e-02 -4.71566346e-04 9.97983982e-01 -2.17686123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52864 meters 0.025098203881509813 Centerline is valid? [True, True] Translation: X:303.50, Y:-235.01, Z:-21.77 [[ 7.09700784e-01 7.03037152e-01 4.54264256e-02 3.03503168e+02] [-7.01629101e-01 7.11153055e-01 -4.44740059e-02 -2.35005849e+02] [-6.35720198e-02 -3.09265293e-04 9.97977206e-01 -2.17686878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55864 meters 0.024870581759851833 Centerline is valid? [True, True] Translation: X:303.53, Y:-235.03, Z:-21.77 [[ 7.09935733e-01 7.02752023e-01 4.61611211e-02 3.03526630e+02] [-7.01294163e-01 7.11434839e-01 -4.52434196e-02 -2.35028941e+02] [-6.46355344e-02 -2.52604555e-04 9.97908906e-01 -2.17707220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58864 meters 0.025074196618548802 Centerline is valid? [True, True] Translation: X:303.55, Y:-235.05, Z:-21.77 [[ 7.11153329e-01 7.01465727e-01 4.69763477e-02 3.03550082e+02] [-6.99949712e-01 7.12703181e-01 -4.60931320e-02 -2.35052481e+02] [-6.58129448e-02 -1.01796786e-04 9.97831973e-01 -2.17734188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61864 meters 0.025070935383970448 Centerline is valid? [True, True] Translation: X:303.57, Y:-235.08, Z:-21.77 [[ 7.11236976e-01 7.01396334e-01 4.67455569e-02 3.03573676e+02] [-6.99891771e-01 7.12771478e-01 -4.59165505e-02 -2.35076042e+02] [-6.55245998e-02 -5.92821125e-05 9.97850952e-01 -2.17743793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64864 meters 0.024966173102484505 Centerline is valid? [True, True] Translation: X:303.60, Y:-235.10, Z:-21.78 [[ 7.10834608e-01 7.01858099e-01 4.59278603e-02 3.03597924e+02] [-7.00403627e-01 7.12316787e-01 -4.51614369e-02 -2.35098095e+02] [-6.44121061e-02 -6.57276613e-05 9.97923382e-01 -2.17755902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67864 meters 0.024997377162024135 Centerline is valid? [True, True] Translation: X:303.62, Y:-235.12, Z:-21.78 [[ 7.10364585e-01 7.02330206e-01 4.59830098e-02 3.03622280e+02] [-7.00870051e-01 7.11851302e-01 -4.52647368e-02 -2.35121027e+02] [-6.45238573e-02 -7.36484055e-05 9.97916162e-01 -2.17776456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70864 meters 0.024837534006941966 Centerline is valid? [True, True] Translation: X:303.65, Y:-235.14, Z:-21.78 [[ 7.09638697e-01 7.02995727e-01 4.70098574e-02 3.03645895e+02] [-7.01467603e-01 7.11194064e-01 -4.63271436e-02 -2.35144686e+02] [-6.60009156e-02 -1.00358141e-04 9.97819557e-01 -2.17796365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73864 meters 0.024821851512816132 Centerline is valid? [True, True] Translation: X:303.67, Y:-235.17, Z:-21.78 [[ 7.09455024e-01 7.03124075e-01 4.78550277e-02 3.03669238e+02] [-7.01537219e-01 7.11067176e-01 -4.72123073e-02 -2.35167581e+02] [-6.72242493e-02 -7.70744056e-05 9.97737889e-01 -2.17819040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76864 meters 0.024870771792959233 Centerline is valid? [True, True] Translation: X:303.69, Y:-235.19, Z:-21.78 [[ 7.08980802e-01 7.03581893e-01 4.81533131e-02 3.03693424e+02] [-7.01972684e-01 7.10614180e-01 -4.75587904e-02 -2.35190763e+02] [-6.76799308e-02 -8.40410696e-05 9.97707081e-01 -2.17827902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79864 meters 0.02490275519941721 Centerline is valid? [True, True] Translation: X:303.72, Y:-235.21, Z:-21.78 [[ 7.08394976e-01 7.04144741e-01 4.85462837e-02 3.03717757e+02] [-7.02506882e-01 7.10056457e-01 -4.79990431e-02 -2.35213433e+02] [-6.82688760e-02 -1.01817431e-04 9.97666954e-01 -2.17847043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82864 meters 0.024897269258680386 Centerline is valid? [True, True] Translation: X:303.74, Y:-235.23, Z:-21.79 [[ 7.06771231e-01 7.05870471e-01 4.71307354e-02 3.03742022e+02] [-7.04327467e-01 7.08340898e-01 -4.66475275e-02 -2.35234230e+02] [-6.63117396e-02 -2.26341111e-04 9.97798929e-01 -2.17867639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85864 meters 0.025081469031810417 Centerline is valid? [True, True] Translation: X:303.77, Y:-235.26, Z:-21.79 [[ 7.05844172e-01 7.06778274e-01 4.74180955e-02 3.03766512e+02] [-7.05215366e-01 7.07435080e-01 -4.69776064e-02 -2.35256410e+02] [-6.67479757e-02 -2.81099843e-04 9.97769828e-01 -2.17886087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88864 meters 0.025298238716469575 Centerline is valid? [True, True] Translation: X:303.79, Y:-235.28, Z:-21.79 [[ 7.04792298e-01 7.07749910e-01 4.85580235e-02 3.03789423e+02] [-7.06109654e-01 7.06462982e-01 -4.81581955e-02 -2.35278656e+02] [-6.83884047e-02 -3.45763924e-04 9.97658712e-01 -2.17902662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91864 meters 0.025168600484918716 Centerline is valid? [True, True] Translation: X:303.81, Y:-235.30, Z:-21.79 [[ 7.04975359e-01 7.07550659e-01 4.88037731e-02 3.03813117e+02] [-7.05889979e-01 7.06662563e-01 -4.84495586e-02 -2.35301957e+02] [-6.87683165e-02 -2.94349423e-04 9.97632614e-01 -2.17912996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94864 meters 0.02505538295475213 Centerline is valid? [True, True] Translation: X:303.84, Y:-235.33, Z:-21.79 [[ 7.05583473e-01 7.06947884e-01 4.87509171e-02 3.03835490e+02] [-7.05285770e-01 7.07265615e-01 -4.84492845e-02 -2.35326129e+02] [-6.87309665e-02 -1.98313706e-04 9.97635211e-01 -2.17930642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97864 meters 0.02510912783404593 Centerline is valid? [True, True] Translation: X:303.86, Y:-235.35, Z:-21.80 [[ 7.05575272e-01 7.06977189e-01 4.84436733e-02 3.03858261e+02] [-7.05332515e-01 7.07236331e-01 -4.81956048e-02 -2.35350530e+02] [-6.83343189e-02 -1.63270977e-04 9.97662465e-01 -2.17958164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00864 meters 0.025195664167011904 Centerline is valid? [True, True] Translation: X:303.88, Y:-235.37, Z:-21.80 [[ 7.04436036e-01 7.08034012e-01 4.95752942e-02 3.03880989e+02] [-7.06310429e-01 7.06178294e-01 -4.93740317e-02 -2.35373135e+02] [-6.99674904e-02 -2.34700175e-04 9.97549245e-01 -2.17965807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03864 meters 0.025272678723324872 Centerline is valid? [True, True] Translation: X:303.91, Y:-235.40, Z:-21.80 [[ 7.03562599e-01 7.08904610e-01 4.95370885e-02 3.03905770e+02] [-7.07182443e-01 7.05304312e-01 -4.93844170e-02 -2.35395668e+02] [-6.99475630e-02 -2.86730459e-04 9.97550628e-01 -2.17983605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06864 meters 0.025440486179585727 Centerline is valid? [True, True] Translation: X:303.93, Y:-235.42, Z:-21.80 [[ 7.00029076e-01 7.12453112e-01 4.86811740e-02 3.03928791e+02] [-7.10794963e-01 7.01719468e-01 -4.85830067e-02 -2.35419142e+02] [-6.87736418e-02 -5.92815984e-04 9.97632114e-01 -2.18007897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09864 meters 0.02564104727674348 Centerline is valid? [True, True] Translation: X:303.95, Y:-235.44, Z:-21.80 [[ 6.97737042e-01 7.14699843e-01 4.86534127e-02 3.03951060e+02] [-7.13045546e-01 6.99430861e-01 -4.86057629e-02 -2.35442864e+02] [-6.87682295e-02 -7.78057993e-04 9.97632360e-01 -2.18025033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12864 meters 0.026025075513582095 Centerline is valid? [True, True] Translation: X:303.97, Y:-235.46, Z:-21.80 [[ 6.94970576e-01 7.17248726e-01 5.06967797e-02 3.03973654e+02] [-7.15455655e-01 6.96816464e-01 -5.06953744e-02 -2.35464941e+02] [-7.16875434e-02 -1.03950423e-03 9.97426597e-01 -2.18037216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15864 meters 0.026041739092738766 Centerline is valid? [True, True] Translation: X:304.05, Y:-235.55, Z:-20.27 [[ 7.66185754e-01 -6.42283954e-01 -2.07536183e-02 3.04051772e+02] [-6.41889324e-01 -7.66455117e-01 2.29052444e-02 -2.35552999e+02] [-3.06183878e-02 -4.22814597e-03 -9.99522204e-01 -2.02714022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18864 meters 0.026020989358118016 Centerline is valid? [True, True] Translation: X:304.02, Y:-235.52, Z:-21.81 [[ 7.45702840e-01 6.64016382e-01 5.48590875e-02 3.04018869e+02] [-6.62329456e-01 7.47717283e-01 -4.73133818e-02 -2.35520947e+02] [-7.24359484e-02 -1.05306646e-03 9.97372510e-01 -2.18078499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21864 meters 0.02603321408668983 Centerline is valid? [True, True] Translation: X:304.04, Y:-235.54, Z:-21.81 [[ 7.45847813e-01 6.63966589e-01 5.34734367e-02 3.04043180e+02] [-6.62360405e-01 7.47761591e-01 -4.61659724e-02 -2.35541683e+02] [-7.06380453e-02 -9.85897638e-04 9.97501526e-01 -2.18098809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24864 meters 0.02605636298099354 Centerline is valid? [True, True] Translation: X:304.07, Y:-235.56, Z:-21.81 [[ 7.45337783e-01 6.64556133e-01 5.32610111e-02 3.04070183e+02] [-6.62960997e-01 7.47237672e-01 -4.60280086e-02 -2.35561456e+02] [-7.03868294e-02 -1.00355915e-03 9.97519267e-01 -2.18117626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27864 meters 0.026064119620363674 Centerline is valid? [True, True] Translation: X:304.10, Y:-235.58, Z:-21.81 [[ 7.44467343e-01 6.65490707e-01 5.37633118e-02 3.04095360e+02] [-6.63864215e-01 7.46405375e-01 -4.65115063e-02 -2.35581138e+02] [-7.10822001e-02 -1.06524126e-03 9.97469892e-01 -2.18140801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30864 meters 0.02625692040688528 Centerline is valid? [True, True] Translation: X:304.12, Y:-235.60, Z:-21.82 [[ 7.43493279e-01 6.66435257e-01 5.55138953e-02 3.04120659e+02] [-6.64700166e-01 7.45562007e-01 -4.80726785e-02 -2.35600963e+02] [-7.34263790e-02 -1.15838208e-03 9.97299967e-01 -2.18158474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33864 meters 0.026462397445620046 Centerline is valid? [True, True] Translation: X:304.15, Y:-235.62, Z:-21.82 [[ 7.42100643e-01 6.68024749e-01 5.50415394e-02 3.04148056e+02] [-6.66320034e-01 7.44137974e-01 -4.77104703e-02 -2.35619613e+02] [-7.28302745e-02 -1.26930969e-03 9.97343542e-01 -2.18164900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36864 meters 0.026479787982411608 Centerline is valid? [True, True] Translation: X:304.17, Y:-235.64, Z:-21.82 [[ 7.40796372e-01 6.69426547e-01 5.55772804e-02 3.04173416e+02] [-6.67688654e-01 7.42876965e-01 -4.82252723e-02 -2.35638909e+02] [-7.35703589e-02 -1.38321280e-03 9.97289070e-01 -2.18189720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39864 meters 0.026616650834210095 Centerline is valid? [True, True] Translation: X:304.20, Y:-235.66, Z:-21.82 [[ 7.40014636e-01 6.70291298e-01 5.55690073e-02 3.04199928e+02] [-6.68552846e-01 7.42096706e-01 -4.82656296e-02 -2.35658477e+02] [-7.35896088e-02 -1.43354571e-03 9.97287579e-01 -2.18220411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters 0.02655179341590897 Centerline is valid? [True, True] Translation: X:304.23, Y:-235.68, Z:-21.82 [[ 7.39484452e-01 6.70887868e-01 5.54275579e-02 3.04225630e+02] [-6.69156119e-01 7.41557391e-01 -4.81946456e-02 -2.35678558e+02] [-7.34359183e-02 -1.45049843e-03 9.97298883e-01 -2.18224488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45864 meters 0.026366738877634233 Centerline is valid? [True, True] Translation: X:304.25, Y:-235.70, Z:-21.82 [[ 7.40056329e-01 6.70267519e-01 5.52999482e-02 3.04251616e+02] [-6.68538358e-01 7.42118343e-01 -4.81334483e-02 -2.35697576e+02] [-7.33013929e-02 -1.34867359e-03 9.97308923e-01 -2.18243730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters 0.02634917231794618 Centerline is valid? [True, True] Translation: X:304.28, Y:-235.71, Z:-21.83 [[ 7.41326886e-01 6.68900692e-01 5.48298471e-02 3.04278843e+02] [-6.67193851e-01 7.43350857e-01 -4.77689155e-02 -2.35714665e+02] [-7.27104744e-02 -1.16975541e-03 9.97352404e-01 -2.18258419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51864 meters 0.026039603073947065 Centerline is valid? [True, True] Translation: X:304.31, Y:-235.73, Z:-21.83 [[ 7.42651961e-01 6.67482009e-01 5.41833234e-02 3.04305154e+02] [-6.65808281e-01 7.44625273e-01 -4.72497171e-02 -2.35733352e+02] [-7.18846080e-02 -9.85610380e-04 9.97412468e-01 -2.18284355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters 0.026112311068145953 Centerline is valid? [True, True] Translation: X:304.33, Y:-235.75, Z:-21.83 [[ 7.43343390e-01 6.66665234e-01 5.47546408e-02 3.04331526e+02] [-6.64950301e-01 7.45356754e-01 -4.77954678e-02 -2.35753809e+02] [-7.26753181e-02 -8.80669823e-04 9.97355264e-01 -2.18301070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57864 meters 0.025822438571290893 Centerline is valid? [True, True] Translation: X:304.36, Y:-235.77, Z:-21.83 [[ 7.46545309e-01 6.63067062e-01 5.48832680e-02 3.04358320e+02] [-6.61330629e-01 7.48559836e-01 -4.79580115e-02 -2.35771942e+02] [-7.28827879e-02 -4.93157600e-04 9.97340391e-01 -2.18304279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters 0.025855602515942842 Centerline is valid? [True, True] Translation: X:304.38, Y:-235.79, Z:-21.83 [[ 7.47989514e-01 6.61402627e-01 5.53014648e-02 3.04383510e+02] [-6.59631491e-01 7.50030984e-01 -4.83716769e-02 -2.35792493e+02] [-7.34709662e-02 -2.97080543e-04 9.97297312e-01 -2.18328591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63864 meters 0.02603684082307513 Centerline is valid? [True, True] Translation: X:304.41, Y:-235.81, Z:-21.84 [[ 7.49682745e-01 6.59390598e-01 5.63899106e-02 3.04407782e+02] [-6.57539354e-01 7.51800529e-01 -4.93757263e-02 -2.35813659e+02] [-7.49518543e-02 -6.24553586e-05 9.97187152e-01 -2.18352250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters 0.026187244572865014 Centerline is valid? [True, True] Translation: X:304.43, Y:-235.83, Z:-21.84 [[ 7.52275916e-01 6.56414800e-01 5.65734677e-02 3.04433397e+02] [-6.54539334e-01 7.54400117e-01 -4.95855198e-02 -2.35834372e+02] [-7.52276997e-02 2.72432441e-04 9.97166345e-01 -2.18374790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69864 meters 0.026049414120736546 Centerline is valid? [True, True] Translation: X:304.46, Y:-235.85, Z:-21.84 [[ 7.52632342e-01 6.56000492e-01 5.66384319e-02 3.04458865e+02] [-6.54115521e-01 7.54760379e-01 -4.96956280e-02 -2.35854730e+02] [-7.53488007e-02 3.54459457e-04 9.97157175e-01 -2.18391460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters 0.026080218555641757 Centerline is valid? [True, True] Translation: X:304.48, Y:-235.88, Z:-21.84 [[ 7.53552677e-01 6.54969137e-01 5.63364245e-02 3.04482873e+02] [-6.53097439e-01 7.55655467e-01 -4.94828318e-02 -2.35876683e+02] [-7.49806548e-02 4.94745750e-04 9.97184866e-01 -2.18413639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75864 meters 0.02632525841843793 Centerline is valid? [True, True] Translation: X:304.50, Y:-235.90, Z:-21.84 [[ 7.54820732e-01 6.53478159e-01 5.66741472e-02 3.04503502e+02] [-6.51575900e-01 7.56945062e-01 -4.98299060e-02 -2.35901353e+02] [-7.54619711e-02 6.85137640e-04 9.97148445e-01 -2.18437334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78864 meters 0.026185565116150795 Centerline is valid? [True, True] Translation: X:304.53, Y:-235.92, Z:-21.85 [[ 7.54851831e-01 6.53456214e-01 5.65127375e-02 3.04527521e+02] [-6.51561139e-01 7.56963973e-01 -4.97355640e-02 -2.35924101e+02] [-7.52781196e-02 7.21477922e-04 9.97162316e-01 -2.18453105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81864 meters 0.02647180276447898 Centerline is valid? [True, True] Translation: X:304.55, Y:-235.95, Z:-21.85 [[ 7.55158845e-01 6.53141305e-01 5.60495724e-02 3.04551592e+02] [-6.51272477e-01 7.57235643e-01 -4.93795716e-02 -2.35946410e+02] [-7.46945717e-02 7.85876385e-04 9.97206149e-01 -2.18467670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84864 meters 0.02647180276447898 Centerline is valid? [True, True] Translation: X:304.58, Y:-235.97, Z:-21.85 [[ 7.54821386e-01 6.53533473e-01 5.60238781e-02 3.04576189e+02] [-6.51663562e-01 7.56897207e-01 -4.94087108e-02 -2.35967654e+02] [-7.46945632e-02 7.86031636e-04 9.97206149e-01 -2.18484290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87864 meters 0.026690438712644652 Centerline is valid? [True, True] Translation: X:304.60, Y:-235.99, Z:-21.85 [[ 7.55516195e-01 6.52693305e-01 5.64511140e-02 3.04597466e+02] [-6.50788595e-01 7.57621683e-01 -4.98356437e-02 -2.35992473e+02] [-7.52959790e-02 9.13894818e-04 9.97160810e-01 -2.18504908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90864 meters 0.026599955366001984 Centerline is valid? [True, True] Translation: X:304.62, Y:-236.02, Z:-21.85 [[ 7.55191091e-01 6.53012941e-01 5.71009188e-02 3.04617717e+02] [-6.51061257e-01 7.57346180e-01 -5.04579427e-02 -2.36019019e+02] [-7.61948522e-02 9.29192841e-04 9.97092514e-01 -2.18516244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93864 meters 0.026601224522076188 Centerline is valid? [True, True] Translation: X:304.64, Y:-236.04, Z:-21.85 [[ 7.54167964e-01 6.54156716e-01 5.75297558e-02 3.04641247e+02] [-6.52174737e-01 7.56358546e-01 -5.08906965e-02 -2.36042336e+02] [-7.68036134e-02 8.60679596e-04 9.97045869e-01 -2.18536357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96864 meters 0.026391329832319482 Centerline is valid? [True, True] Translation: X:304.66, Y:-236.07, Z:-21.86 [[ 7.51839946e-01 6.56968278e-01 5.59408453e-02 3.04661755e+02] [-6.55098503e-01 7.53917985e-01 -4.95340635e-02 -2.36068078e+02] [-7.47171178e-02 5.94923661e-04 9.97204592e-01 -2.18554537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99864 meters 0.026354647246984653 Centerline is valid? [True, True] Translation: X:304.68, Y:-236.09, Z:-21.86 [[ 7.50850926e-01 6.58079659e-01 5.61609287e-02 3.04684903e+02] [-6.56194612e-01 7.52948132e-01 -4.97769170e-02 -2.36091539e+02] [-7.50434429e-02 5.22545449e-04 9.97180128e-01 -2.18573228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02864 meters 0.02620634524867615 Centerline is valid? [True, True] Translation: X:304.71, Y:-236.11, Z:-21.86 [[ 7.49727129e-01 6.59414606e-01 5.55122425e-02 3.04708393e+02] [-6.57572857e-01 7.51779355e-01 -4.92517965e-02 -2.36114104e+02] [-7.42103119e-02 4.22064093e-04 9.97242524e-01 -2.18572901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05864 meters 0.026142396585361296 Centerline is valid? [True, True] Translation: X:304.73, Y:-236.14, Z:-21.86 [[ 7.46772630e-01 6.62717319e-01 5.60035151e-02 3.04731213e+02] [-6.60848329e-01 7.48869640e-01 -4.97367953e-02 -2.36137600e+02] [-7.49007678e-02 1.32248006e-04 9.97190983e-01 -2.18587756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08864 meters 0.026245403529724442 Centerline is valid? [True, True] Translation: X:304.75, Y:-236.16, Z:-21.86 [[ 7.45465811e-01 6.64175689e-01 5.61371541e-02 3.04754091e+02] [-6.62297784e-01 7.47576521e-01 -4.99098353e-02 -2.36161353e+02] [-7.51157175e-02 2.65631036e-05 9.97174823e-01 -2.18619342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11864 meters 0.02624222197858818 Centerline is valid? [True, True] Translation: X:304.77, Y:-236.19, Z:-21.86 [[ 7.44961547e-01 6.64713539e-01 5.64641864e-02 3.04774867e+02] [-6.62811019e-01 7.47098327e-01 -5.02557744e-02 -2.36187739e+02] [-7.55899929e-02 1.35345929e-05 9.97138984e-01 -2.18632655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14864 meters 0.02606649547660205 Centerline is valid? [True, True] Translation: X:304.80, Y:-236.21, Z:-21.86 [[ 7.44365970e-01 6.65459148e-01 5.55286012e-02 3.04796936e+02] [-6.63617506e-01 7.46434272e-01 -4.94740686e-02 -2.36210934e+02] [-7.43714225e-02 -2.29388044e-05 9.97230611e-01 -2.18640044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17864 meters 0.02600603795649047 Centerline is valid? [True, True] Translation: X:304.82, Y:-236.23, Z:-21.87 [[ 7.43912345e-01 6.65968086e-01 5.55061356e-02 3.04820399e+02] [-6.64125695e-01 7.45980232e-01 -4.95030695e-02 -2.36234023e+02] [-7.43739443e-02 -3.71063713e-05 9.97230422e-01 -2.18664479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20864 meters 0.02602945262107926 Centerline is valid? [True, True] Translation: X:304.84, Y:-236.26, Z:-21.87 [[ 7.43048831e-01 6.66939177e-01 5.54127223e-02 3.04842955e+02] [-6.65101692e-01 7.45112157e-01 -4.94733682e-02 -2.36258666e+02] [-7.42844205e-02 -9.39669339e-05 9.97237091e-01 -2.18683006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23864 meters 0.025926344372193228 Centerline is valid? [True, True] Translation: X:304.86, Y:-236.29, Z:-21.87 [[ 7.39141569e-01 6.71214120e-01 5.60477106e-02 3.04861582e+02] [-6.69342462e-01 7.41263357e-01 -5.00929551e-02 -2.36285736e+02] [-7.51692129e-02 -4.89327211e-04 9.97170672e-01 -2.18704132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26864 meters 0.026063371124654892 Centerline is valid? [True, True] Translation: X:304.88, Y:-236.31, Z:-21.87 [[ 7.37187083e-01 6.73408199e-01 5.54671319e-02 3.04884562e+02] [-6.71577717e-01 7.39270553e-01 -4.96227746e-02 -2.36309067e+02] [-7.44216005e-02 -6.69221351e-04 9.97226643e-01 -2.18720717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29864 meters 0.026452266370676603 Centerline is valid? [True, True] Translation: X:304.91, Y:-236.33, Z:-21.87 [[ 7.32903922e-01 6.78090801e-01 5.51788651e-02 3.04906319e+02] [-6.76288677e-01 7.34977318e-01 -4.94162760e-02 -2.36332910e+02] [-7.40639364e-02 -1.09945910e-03 9.97252889e-01 -2.18736851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32864 meters 0.026689947109551214 Centerline is valid? [True, True] Translation: X:304.93, Y:-236.36, Z:-21.87 [[ 7.29791953e-01 6.81506373e-01 5.43393892e-02 3.04928146e+02] [-6.79764818e-01 7.31810858e-01 -4.87099517e-02 -2.36356270e+02] [-7.29622975e-02 -1.38987419e-03 9.97333731e-01 -2.18741857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35864 meters 0.02683581632408324 Centerline is valid? [True, True] Translation: X:304.95, Y:-236.38, Z:-21.88 [[ 7.28741044e-01 6.82579809e-01 5.49663076e-02 3.04951311e+02] [-6.80797392e-01 7.30809560e-01 -4.93183422e-02 -2.36378535e+02] [-7.38336076e-02 -1.48061862e-03 9.97269475e-01 -2.18757468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38864 meters 0.02676821770850566 Centerline is valid? [True, True] Translation: X:304.98, Y:-236.40, Z:-21.88 [[ 7.28078559e-01 6.83251339e-01 5.54005336e-02 3.04975418e+02] [-6.81438932e-01 7.30181676e-01 -4.97564275e-02 -2.36401203e+02] [-7.44486003e-02 -1.52549238e-03 9.97223685e-01 -2.18768247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41864 meters 0.026887383030070263 Centerline is valid? [True, True] Translation: X:305.00, Y:-236.42, Z:-21.88 [[ 7.27679995e-01 6.83491502e-01 5.76297755e-02 3.04999160e+02] [-6.81526662e-01 7.29956773e-01 -5.18123350e-02 -2.36422482e+02] [-7.74805356e-02 -1.57342889e-03 9.96992623e-01 -2.18791523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44864 meters 0.026653333362554467 Centerline is valid? [True, True] Translation: X:305.02, Y:-236.44, Z:-21.88 [[ 7.27327199e-01 6.83940508e-01 5.67496904e-02 3.05023665e+02] [-6.82033087e-01 7.29536114e-01 -5.10678708e-02 -2.36443701e+02] [-7.63283342e-02 -1.56211509e-03 9.97081514e-01 -2.18815875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47864 meters 0.02672900959638821 Centerline is valid? [True, True] Translation: X:305.05, Y:-236.47, Z:-21.88 [[ 7.26464238e-01 6.84906278e-01 5.61524876e-02 3.05048446e+02] [-6.83038028e-01 7.28629396e-01 -5.05791913e-02 -2.36465202e+02] [-7.55563588e-02 -1.61031085e-03 9.97140233e-01 -2.18832425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50864 meters 0.026673211101373304 Centerline is valid? [True, True] Translation: X:305.07, Y:-236.49, Z:-21.89 [[ 7.25241087e-01 6.86285495e-01 5.51142965e-02 3.05074401e+02] [-6.84485902e-01 7.27330313e-01 -4.96957267e-02 -2.36486025e+02] [-7.41917550e-02 -1.68357612e-03 9.97242573e-01 -2.18850583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53864 meters 0.026803912504504566 Centerline is valid? [True, True] Translation: X:305.10, Y:-236.51, Z:-21.89 [[ 7.24232431e-01 6.87381519e-01 5.47177616e-02 3.05099780e+02] [-6.85607056e-01 7.26294432e-01 -4.93899094e-02 -2.36506620e+02] [-7.36909165e-02 -1.74510930e-03 9.97279601e-01 -2.18871773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56864 meters 0.026952441193351852 Centerline is valid? [True, True] Translation: X:305.12, Y:-236.53, Z:-21.89 [[ 7.23022183e-01 6.88665191e-01 5.45818411e-02 3.05124632e+02] [-6.86899514e-01 7.25077160e-01 -4.93170318e-02 -2.36526397e+02] [-7.35389695e-02 -1.83493218e-03 9.97290656e-01 -2.18881189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59864 meters 0.026960965737170856 Centerline is valid? [True, True] Translation: X:305.15, Y:-236.55, Z:-21.89 [[ 7.22355270e-01 6.89478356e-01 5.31268318e-02 3.05150604e+02] [-6.87804770e-01 7.24303962e-01 -4.80454951e-02 -2.36545857e+02] [-7.16063038e-02 -1.83497174e-03 9.97431286e-01 -2.18885705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62864 meters 0.02690422486667697 Centerline is valid? [True, True] Translation: X:305.18, Y:-236.57, Z:-21.89 [[ 7.22533359e-01 6.89293180e-01 5.31079740e-02 3.05175543e+02] [-6.87617135e-01 7.24480316e-01 -4.80723172e-02 -2.36566553e+02] [-7.16116022e-02 -1.78410011e-03 9.97430998e-01 -2.18897370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65864 meters 0.026611161048377713 Centerline is valid? [True, True] Translation: X:305.20, Y:-236.59, Z:-21.89 [[ 7.24395734e-01 6.87265218e-01 5.40124156e-02 3.05200661e+02] [-6.85522571e-01 7.26404868e-01 -4.89364197e-02 -2.36586045e+02] [-7.28671808e-02 -1.57739628e-03 9.97340406e-01 -2.18928636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68864 meters 0.026247155814274784 Centerline is valid? [True, True] Translation: X:305.22, Y:-236.61, Z:-21.89 [[ 7.26029497e-01 6.85538596e-01 5.40185406e-02 3.05224628e+02] [-6.83787469e-01 7.28034995e-01 -4.89871863e-02 -2.36607208e+02] [-7.29099948e-02 -1.37105887e-03 9.97337582e-01 -2.18942533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71864 meters 0.025909036491418198 Centerline is valid? [True, True] Translation: X:305.25, Y:-236.63, Z:-21.90 [[ 7.29278923e-01 6.82129861e-01 5.33957398e-02 3.05248292e+02] [-6.80406531e-01 7.31230390e-01 -4.84671911e-02 -2.36629416e+02] [-7.21055060e-02 -9.84709190e-04 9.97396524e-01 -2.18956365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74864 meters 0.025608874253069104 Centerline is valid? [True, True] Translation: X:305.27, Y:-236.65, Z:-21.90 [[ 7.30145629e-01 6.81225631e-01 5.30942648e-02 3.05272170e+02] [-6.79516096e-01 7.32073019e-01 -4.82386767e-02 -2.36650597e+02] [-7.17303016e-02 -8.57148615e-04 9.97423696e-01 -2.18972960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77864 meters 0.02567543744146962 Centerline is valid? [True, True] Translation: X:305.30, Y:-236.67, Z:-21.90 [[ 7.31087360e-01 6.80261370e-01 5.24951508e-02 3.05295575e+02] [-6.78584573e-01 7.32969269e-01 -4.77391679e-02 -2.36672857e+02] [-7.09524440e-02 -7.20897228e-04 9.97479439e-01 -2.19002769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80864 meters 0.02554302326875712 Centerline is valid? [True, True] Translation: X:305.32, Y:-236.70, Z:-21.90 [[ 7.30701779e-01 6.80692466e-01 5.22750117e-02 3.05318754e+02] [-6.79027479e-01 7.32568933e-01 -4.75861481e-02 -2.36696570e+02] [-7.06865820e-02 -7.24886317e-04 9.97498312e-01 -2.19015076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83864 meters 0.025616295952923862 Centerline is valid? [True, True] Translation: X:305.34, Y:-236.72, Z:-21.90 [[ 7.29986645e-01 6.81404836e-01 5.29806320e-02 3.05340758e+02] [-6.79692741e-01 7.31906320e-01 -4.82795655e-02 -2.36719949e+02] [-7.16747888e-02 -7.67112997e-04 9.97427760e-01 -2.19030768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86864 meters 0.02563583935598831 Centerline is valid? [True, True] Translation: X:305.36, Y:-236.74, Z:-21.90 [[ 7.28030800e-01 6.83510595e-01 5.27676028e-02 3.05363063e+02] [-6.81814364e-01 7.29939991e-01 -4.81329557e-02 -2.36744783e+02] [-7.14165687e-02 -9.35435242e-04 9.97446138e-01 -2.19038277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89864 meters 0.025876257420257103 Centerline is valid? [True, True] Translation: X:305.39, Y:-236.77, Z:-21.91 [[ 7.25428415e-01 6.86330668e-01 5.19983591e-02 3.05385346e+02] [-6.84687323e-01 7.27288712e-01 -4.74805079e-02 -2.36768124e+02] [-7.04051484e-02 -1.15890776e-03 9.97517805e-01 -2.19061990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters 0.026017940541412165 Centerline is valid? [True, True] Translation: X:305.41, Y:-236.79, Z:-21.91 [[ 7.24307988e-01 6.87551286e-01 5.14894849e-02 3.05408473e+02] [-6.85939870e-01 7.26134775e-01 -4.70614888e-02 -2.36791944e+02] [-6.97454927e-02 -1.23167827e-03 9.97564058e-01 -2.19080248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95864 meters 0.02609267509509163 Centerline is valid? [True, True] Translation: X:305.43, Y:-236.82, Z:-21.91 [[ 7.22909443e-01 6.88916022e-01 5.28833756e-02 3.05429932e+02] [-6.87216038e-01 7.24839883e-01 -4.83865814e-02 -2.36815682e+02] [-7.16662710e-02 -1.36318725e-03 9.97427735e-01 -2.19088596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters 0.02593468059305812 Centerline is valid? [True, True] Translation: X:305.45, Y:-236.84, Z:-21.91 [[ 7.22446785e-01 6.89342439e-01 5.36436752e-02 3.05453964e+02] [-6.87590985e-01 7.24434305e-01 -4.91281456e-02 -2.36837561e+02] [-7.27274343e-02 -1.39243658e-03 9.97350882e-01 -2.19099919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01864 meters 0.026021597036687112 Centerline is valid? [True, True] Translation: X:305.48, Y:-236.86, Z:-21.91 [[ 7.21537779e-01 6.90322169e-01 5.32779177e-02 3.05478250e+02] [-6.88593822e-01 7.23500663e-01 -4.88399305e-02 -2.36859622e+02] [-7.22618955e-02 -1.44699001e-03 9.97384642e-01 -2.19128957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters 0.026182752787860815 Centerline is valid? [True, True] Translation: X:305.50, Y:-236.88, Z:-21.91 [[ 7.21016736e-01 6.90876185e-01 5.31503866e-02 3.05502536e+02] [-6.89153874e-01 7.22971619e-01 -4.87747530e-02 -2.36881290e+02] [-7.21235363e-02 -1.46138164e-03 9.97394636e-01 -2.19147284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07864 meters 0.026213221800216714 Centerline is valid? [True, True] Translation: X:305.53, Y:-236.90, Z:-21.92 [[ 7.20193397e-01 6.91677261e-01 5.38891199e-02 3.05527973e+02] [-6.89905202e-01 7.22205121e-01 -4.95032914e-02 -2.36900714e+02] [-7.31592993e-02 -1.52644045e-03 9.97319100e-01 -2.19164734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters 0.0262766940800212 Centerline is valid? [True, True] Translation: X:305.55, Y:-236.92, Z:-21.92 [[ 7.19126785e-01 6.92817281e-01 5.34872230e-02 3.05553419e+02] [-6.91071326e-01 7.21111411e-01 -4.91808312e-02 -2.36922171e+02] [-7.26435766e-02 -1.59623311e-03 9.97356688e-01 -2.19181142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13864 meters 0.026473148426112644 Centerline is valid? [True, True] Translation: X:305.58, Y:-236.94, Z:-21.92 [[ 7.18126972e-01 6.93846608e-01 5.35773842e-02 3.05578424e+02] [-6.92093821e-01 7.20120899e-01 -4.93156468e-02 -2.36943566e+02] [-7.27996883e-02 -1.66568048e-03 9.97345191e-01 -2.19208621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters 0.02650703166024511 Centerline is valid? [True, True] Translation: X:305.60, Y:-236.96, Z:-21.92 [[ 7.16839772e-01 6.95182398e-01 5.34993047e-02 3.05602944e+02] [-6.93434798e-01 7.18831223e-01 -4.92935567e-02 -2.36964671e+02] [-7.27249836e-02 -1.76269765e-03 9.97350475e-01 -2.19210038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19864 meters 0.026695791023751327 Centerline is valid? [True, True] Translation: X:305.63, Y:-236.98, Z:-21.92 [[ 7.14789588e-01 6.97359737e-01 5.25855638e-02 3.05628400e+02] [-6.95674120e-01 7.16718715e-01 -4.84953809e-02 -2.36983998e+02] [-7.15077838e-02 -1.91842245e-03 9.97438197e-01 -2.19220105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters 0.02699924198460805 Centerline is valid? [True, True] Translation: X:305.65, Y:-237.00, Z:-21.92 [[ 7.13715920e-01 6.98491274e-01 5.21490595e-02 3.05654253e+02] [-6.96833339e-01 7.15615826e-01 -4.81382117e-02 -2.37004312e+02] [-7.09428132e-02 -1.98219517e-03 9.97478415e-01 -2.19243668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25864 meters 0.027251012434129907 Centerline is valid? [True, True] Translation: X:305.68, Y:-237.02, Z:-21.93 [[ 7.11973777e-01 7.00309577e-01 5.15736199e-02 3.05679466e+02] [-6.98689459e-01 7.13836162e-01 -4.76547349e-02 -2.37024135e+02] [-7.01881821e-02 -2.10502301e-03 9.97531547e-01 -2.19274224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28864 meters 0.02742504564096337 Centerline is valid? [True, True] Translation: X:305.71, Y:-237.04, Z:-21.93 [[ 7.10484507e-01 7.01788520e-01 5.20061397e-02 3.05705324e+02] [-7.00141915e-01 7.12381823e-01 -4.80982105e-02 -2.37042961e+02] [-7.08030005e-02 -2.23864488e-03 9.97487806e-01 -2.19285357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31864 meters 0.02755603368956534 Centerline is valid? [True, True] Translation: X:305.73, Y:-237.06, Z:-21.93 [[ 7.09676221e-01 7.02549476e-01 5.27626341e-02 3.05730296e+02] [-7.00853448e-01 7.11631132e-01 -4.88423706e-02 -2.37063756e+02] [-7.18617149e-02 -2.31660503e-03 9.97411915e-01 -2.19307649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34864 meters 0.02760661057737067 Centerline is valid? [True, True] Translation: X:305.76, Y:-237.08, Z:-21.93 [[ 7.09990472e-01 7.02229763e-01 5.27909966e-02 3.05755621e+02] [-7.00527850e-01 7.11946823e-01 -4.89127008e-02 -2.37083229e+02] [-7.19323367e-02 -2.25401182e-03 9.97406967e-01 -2.19341932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37864 meters 0.02772365355707171 Centerline is valid? [True, True] Translation: X:305.78, Y:-237.10, Z:-21.94 [[ 7.09879264e-01 7.02276160e-01 5.36621401e-02 3.05781461e+02] [-7.00514802e-01 7.11901011e-01 -4.97590374e-02 -2.37101874e+02] [-7.31467176e-02 -2.26821459e-03 9.97318612e-01 -2.19361499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40864 meters 0.027982317968826408 Centerline is valid? [True, True] Translation: X:305.81, Y:-237.12, Z:-21.94 [[ 7.08854366e-01 7.03281261e-01 5.40458570e-02 3.05807518e+02] [-7.01495180e-01 7.10907777e-01 -5.01462386e-02 -2.37121191e+02] [-7.36885300e-02 -2.36652800e-03 9.97278497e-01 -2.19376570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43864 meters 0.027947169340131743 Centerline is valid? [True, True] Translation: X:305.83, Y:-237.14, Z:-21.94 [[ 7.08183626e-01 7.04008437e-01 5.33673342e-02 3.05833448e+02] [-7.02265665e-01 7.10187626e-01 -4.95628095e-02 -2.37141170e+02] [-7.27934564e-02 -2.37847631e-03 9.97344201e-01 -2.19385765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46864 meters 0.02820993265177207 Centerline is valid? [True, True] Translation: X:305.86, Y:-237.16, Z:-21.94 [[ 7.06513659e-01 7.05678561e-01 5.34435916e-02 3.05860394e+02] [-7.03931940e-01 7.08527645e-01 -4.96829974e-02 -2.37159804e+02] [-7.29264882e-02 -2.51893484e-03 9.97334138e-01 -2.19394661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49864 meters 0.028348045746295805 Centerline is valid? [True, True] Translation: X:305.89, Y:-237.18, Z:-21.94 [[ 7.05482568e-01 7.06660666e-01 5.40837288e-02 3.05886183e+02] [-7.04871404e-01 7.07547765e-01 -5.03235836e-02 -2.37179158e+02] [-7.38285186e-02 -2.61966287e-03 9.97267510e-01 -2.19412951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52864 meters 0.028342670704382456 Centerline is valid? [True, True] Translation: X:305.91, Y:-237.20, Z:-21.94 [[ 7.05181467e-01 7.06897457e-01 5.49097745e-02 3.05914794e+02] [-7.05050292e-01 7.07311071e-01 -5.11383873e-02 -2.37195171e+02] [-7.49878873e-02 -2.65230959e-03 9.97180917e-01 -2.19433205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55864 meters 0.027731740125422677 Centerline is valid? [True, True] Translation: X:305.94, Y:-237.21, Z:-21.94 [[ 7.08875259e-01 7.03177317e-01 5.51137733e-02 3.05941407e+02] [-7.01301938e-01 7.11011013e-01 -5.13705348e-02 -2.37212887e+02] [-7.53090946e-02 -2.23609490e-03 9.97157731e-01 -2.19449037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58864 meters 0.02703072188847449 Centerline is valid? [True, True] Translation: X:305.97, Y:-237.23, Z:-21.95 [[ 7.11663193e-01 7.00476801e-01 5.35513911e-02 3.05966035e+02] [-6.98696361e-01 7.13672720e-01 -4.99464177e-02 -2.37232886e+02] [-7.32044738e-02 -1.87113498e-03 9.97315198e-01 -2.19451606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61864 meters 0.02651349189697268 Centerline is valid? [True, True] Translation: X:305.99, Y:-237.25, Z:-21.95 [[ 7.14469285e-01 6.97657217e-01 5.29910314e-02 3.05991359e+02] [-6.95903495e-01 7.16430066e-01 -4.94599493e-02 -2.37252553e+02] [-7.24704587e-02 -1.53902936e-03 9.97369372e-01 -2.19463244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64864 meters 0.026395143046590488 Centerline is valid? [True, True] Translation: X:306.02, Y:-237.27, Z:-21.95 [[ 7.17524892e-01 6.94529057e-01 5.27960076e-02 3.06017570e+02] [-6.92776455e-01 7.19463679e-01 -4.93234001e-02 -2.37271394e+02] [-7.22413444e-02 -1.18506365e-03 9.97386477e-01 -2.19475442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67864 meters 0.026423642376635897 Centerline is valid? [True, True] Translation: X:306.04, Y:-237.29, Z:-21.95 [[ 7.18650251e-01 6.93212093e-01 5.47614031e-02 3.06041734e+02] [-6.91318870e-01 7.20732876e-01 -5.12088007e-02 -2.37292774e+02] [-7.49669034e-02 -1.05637387e-03 9.97185463e-01 -2.19499496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70864 meters 0.026416387309906284 Centerline is valid? [True, True] Translation: X:306.07, Y:-237.31, Z:-21.95 [[ 7.17878686e-01 6.93917920e-01 5.59295369e-02 3.06065929e+02] [-6.91941249e-01 7.20053241e-01 -5.23510967e-02 -2.37314384e+02] [-7.65996085e-02 -1.11821715e-03 9.97061307e-01 -2.19522632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73864 meters 0.026374553420383754 Centerline is valid? [True, True] Translation: X:306.09, Y:-237.34, Z:-21.95 [[ 7.17690431e-01 6.94078507e-01 5.63513303e-02 3.06091432e+02] [-6.92068313e-01 7.19898467e-01 -5.27981697e-02 -2.37335529e+02] [-7.72133111e-02 -1.10622890e-03 9.97013982e-01 -2.19540971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76864 meters 0.026374553420383754 Centerline is valid? [True, True] Translation: X:306.12, Y:-237.36, Z:-21.96 [[ 7.17320370e-01 6.94463249e-01 5.63230143e-02 3.06115356e+02] [-6.92451870e-01 7.19527326e-01 -5.28283644e-02 -2.37357525e+02] [-7.72133054e-02 -1.10611466e-03 9.97013983e-01 -2.19557592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79864 meters 0.026308218259008528 Centerline is valid? [True, True] Translation: X:306.14, Y:-237.38, Z:-21.96 [[ 7.17241289e-01 6.94736169e-01 5.39127947e-02 3.06139347e+02] [-6.92891199e-01 7.19263886e-01 -5.06087724e-02 -2.37379602e+02] [-7.39372709e-02 -1.05699984e-03 9.97262334e-01 -2.19590095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82864 meters 0.026275738858080645 Centerline is valid? [True, True] Translation: X:306.16, Y:-237.40, Z:-21.96 [[ 7.16649701e-01 6.95485159e-01 5.20922223e-02 3.06161508e+02] [-6.93763069e-01 7.18539652e-01 -4.89241491e-02 -2.37402439e+02] [-7.14563469e-02 -1.07818320e-03 9.97443145e-01 -2.19599965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85864 meters 0.026281440454240124 Centerline is valid? [True, True] Translation: X:306.18, Y:-237.43, Z:-21.96 [[ 7.16273307e-01 6.95907820e-01 5.16222416e-02 3.06184667e+02] [-6.94214448e-01 7.18130314e-01 -4.85299175e-02 -2.37426298e+02] [-7.08438456e-02 -1.07622144e-03 9.97486838e-01 -2.19605463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88864 meters 0.026284958818877643 Centerline is valid? [True, True] Translation: X:306.21, Y:-237.45, Z:-21.96 [[ 7.15737656e-01 6.96416531e-01 5.21883478e-02 3.06208989e+02] [-6.94683269e-01 7.17636959e-01 -4.91156900e-02 -2.37448927e+02] [-7.16572657e-02 -1.10042324e-03 9.97428707e-01 -2.19632033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91864 meters 0.026513903717976284 Centerline is valid? [True, True] Translation: X:306.23, Y:-237.47, Z:-21.96 [[ 7.15325522e-01 6.96770890e-01 5.31010710e-02 3.06231735e+02] [-6.94973538e-01 7.17292880e-01 -5.00270524e-02 -2.37472024e+02] [-7.29464140e-02 -1.11821184e-03 9.97335235e-01 -2.19639294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94864 meters 0.02649499537982294 Centerline is valid? [True, True] Translation: X:306.25, Y:-237.49, Z:-21.96 [[ 7.14360285e-01 6.97727060e-01 5.35381377e-02 3.06254986e+02] [-6.95899120e-01 7.16362708e-01 -5.04864818e-02 -2.37494506e+02] [-7.35785098e-02 -1.19160535e-03 9.97288716e-01 -2.19645199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97864 meters 0.026711184298734182 Centerline is valid? [True, True] Translation: X:306.28, Y:-237.52, Z:-21.97 [[ 7.13155540e-01 6.98960303e-01 5.35132715e-02 3.06279989e+02] [-6.97133888e-01 7.15159317e-01 -5.05123052e-02 -2.37516293e+02] [-7.35766109e-02 -1.28278478e-03 9.97288743e-01 -2.19663006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00864 meters 0.02699636083265399 Centerline is valid? [True, True] Translation: X:306.30, Y:-237.54, Z:-21.97 [[ 7.10661445e-01 7.01540729e-01 5.29236773e-02 3.06303248e+02] [-6.99757802e-01 7.12627790e-01 -5.00065195e-02 -2.37538531e+02] [-7.27964934e-02 -1.49605070e-03 9.97345694e-01 -2.19695531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03864 meters 0.027024601444184268 Centerline is valid? [True, True] Translation: X:306.33, Y:-237.56, Z:-21.97 [[ 7.08967738e-01 7.03293746e-01 5.23703577e-02 3.06326411e+02] [-7.01549412e-01 7.10897506e-01 -4.95293725e-02 -2.37561340e+02] [-7.20636547e-02 -1.62566648e-03 9.97398710e-01 -2.19708775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06864 meters 0.02769939235830686 Centerline is valid? [True, True] Translation: X:306.35, Y:-237.58, Z:-21.97 [[ 7.04928659e-01 7.07300161e-01 5.29345731e-02 3.06351251e+02] [-7.05526524e-01 7.06910434e-01 -5.00995287e-02 -2.37581661e+02] [-7.28554067e-02 -2.03015178e-03 9.97340448e-01 -2.19722516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09864 meters 0.027986823343052938 Centerline is valid? [True, True] Translation: X:306.38, Y:-237.60, Z:-21.97 [[ 7.02024981e-01 7.10195589e-01 5.27555881e-02 3.06376965e+02] [-7.08440415e-01 7.04000644e-01 -4.99526861e-02 -2.37601714e+02] [-7.26161453e-02 -2.30615727e-03 9.97357297e-01 -2.19743681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12864 meters 0.028536372868749854 Centerline is valid? [True, True] Translation: X:306.40, Y:-237.62, Z:-21.98 [[ 7.00201070e-01 7.12031496e-01 5.22456701e-02 3.06402283e+02] [-7.10312016e-01 7.02143283e-01 -4.95141403e-02 -2.37621565e+02] [-7.19395738e-02 -2.44087320e-03 9.97406006e-01 -2.19772039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15864 meters 0.028543405482136495 Centerline is valid? [True, True] Translation: X:306.43, Y:-237.64, Z:-21.98 [[ 7.01238824e-01 7.11026715e-01 5.20108008e-02 3.06426780e+02] [-7.09316744e-01 7.03161247e-01 -4.93357656e-02 -2.37642103e+02] [-7.16510269e-02 -2.29597759e-03 9.97427120e-01 -2.19792348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18864 meters 0.028117127739175345 Centerline is valid? [True, True] Translation: X:306.45, Y:-237.66, Z:-21.98 [[ 7.01869424e-01 7.10389572e-01 5.22108009e-02 3.06452575e+02] [-7.08661425e-01 7.03805215e-01 -4.95701875e-02 -2.37661846e+02] [-7.19603782e-02 -2.20798162e-03 9.97405048e-01 -2.19801212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21864 meters 0.02740384202233833 Centerline is valid? [True, True] Translation: X:306.48, Y:-237.68, Z:-21.98 [[ 7.06310652e-01 7.05839968e-01 5.39926191e-02 3.06480298e+02] [-7.03974812e-01 7.08369120e-01 -5.13093881e-02 -2.37679022e+02] [-7.44629210e-02 -1.76907653e-03 9.97222214e-01 -2.19829954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24864 meters 0.026671600173916957 Centerline is valid? [True, True] Translation: X:306.50, Y:-237.70, Z:-21.99 [[ 7.11011711e-01 7.01076965e-01 5.43455140e-02 3.06504006e+02] [-6.99169743e-01 7.13084528e-01 -5.16926108e-02 -2.37700713e+02] [-7.49934439e-02 -1.24268734e-03 9.97183253e-01 -2.19855911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27864 meters 0.026492041141292867 Centerline is valid? [True, True] Translation: X:306.53, Y:-237.72, Z:-21.99 [[ 7.13311824e-01 6.98778382e-01 5.38053392e-02 3.06527832e+02] [-6.96898844e-01 7.15337584e-01 -5.12263831e-02 -2.37722574e+02] [-7.42848704e-02 -9.56493898e-04 9.97236603e-01 -2.19868297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30864 meters 0.026257198167479942 Centerline is valid? [True, True] Translation: X:306.55, Y:-237.74, Z:-21.99 [[ 7.16026813e-01 6.96015119e-01 5.35589205e-02 3.06552412e+02] [-6.94141495e-01 7.18026848e-01 -5.10394902e-02 -2.37743031e+02] [-7.39809998e-02 -6.31825647e-04 9.97259451e-01 -2.19880499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33864 meters 0.026025591582721434 Centerline is valid? [True, True] Translation: X:306.58, Y:-237.76, Z:-21.99 [[ 7.20705649e-01 6.91219925e-01 5.28997463e-02 3.06575939e+02] [-6.89375781e-01 7.22644453e-01 -5.04581707e-02 -2.37764951e+02] [-7.31054011e-02 -1.02315245e-04 9.97324215e-01 -2.19904519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36864 meters 0.026114811681573973 Centerline is valid? [True, True] Translation: X:306.60, Y:-237.79, Z:-21.99 [[ 7.22680601e-01 6.89158827e-01 5.28475219e-02 3.06598342e+02] [-6.87309181e-01 7.24610303e-01 -5.04578839e-02 -2.37789583e+02] [-7.30673549e-02 1.42346838e-04 9.97326998e-01 -2.19926051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39864 meters 0.026374639934210544 Centerline is valid? [True, True] Translation: X:306.62, Y:-237.82, Z:-21.99 [[ 7.26150449e-01 6.85435987e-01 5.36938914e-02 3.06617424e+02] [-6.83512445e-01 7.28132673e-01 -5.13180970e-02 -2.37815471e+02] [-7.42715471e-02 5.64216105e-04 9.97237895e-01 -2.19933289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters 0.026332877618899353 Centerline is valid? [True, True] Translation: X:306.64, Y:-237.84, Z:-21.99 [[ 7.26373872e-01 6.85180177e-01 5.39362781e-02 3.06640069e+02] [-6.83234927e-01 7.28373345e-01 -5.15975237e-02 -2.37839972e+02] [-7.46393477e-02 6.27944039e-04 9.97210396e-01 -2.19944016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45864 meters 0.026507422116925212 Centerline is valid? [True, True] Translation: X:306.66, Y:-237.87, Z:-21.99 [[ 7.26010991e-01 6.85618380e-01 5.32492096e-02 3.06659113e+02] [-6.83719827e-01 7.27960893e-01 -5.09915440e-02 -2.37866790e+02] [-7.37240820e-02 6.12881002e-04 9.97278489e-01 -2.19948710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters 0.026392144222076544 Centerline is valid? [True, True] Translation: X:306.68, Y:-237.89, Z:-22.00 [[ 7.24255708e-01 6.87529305e-01 5.25083224e-02 3.06679816e+02] [-6.85684957e-01 7.26156496e-01 -5.03277585e-02 -2.37891360e+02] [-7.27310682e-02 4.45999628e-04 9.97351489e-01 -2.19954566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51864 meters 0.02624443511805797 Centerline is valid? [True, True] Translation: X:306.70, Y:-237.92, Z:-22.00 [[ 7.21903865e-01 6.90001162e-01 5.24709975e-02 3.06701213e+02] [-6.88162396e-01 7.23808222e-01 -5.03405897e-02 -2.37916405e+02] [-7.27140048e-02 2.32498877e-04 9.97352806e-01 -2.19971533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters 0.026189616783373316 Centerline is valid? [True, True] Translation: X:306.72, Y:-237.94, Z:-22.00 [[ 7.18042114e-01 6.94041844e-01 5.21674304e-02 3.06720701e+02] [-6.92231050e-01 7.19934650e-01 -5.01026316e-02 -2.37943858e+02] [-7.23304636e-02 -1.36115525e-04 9.97380712e-01 -2.19997173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57864 meters 0.02642049200840046 Centerline is valid? [True, True] Translation: X:306.74, Y:-237.97, Z:-22.00 [[ 7.14602570e-01 6.97490647e-01 5.33850552e-02 3.06740000e+02] [-6.95599787e-01 7.16593740e-01 -5.13258965e-02 -2.37969835e+02] [-7.40547291e-02 -4.57015504e-04 9.97254074e-01 -2.20019060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters 0.026342758536757743 Centerline is valid? [True, True] Translation: X:306.76, Y:-237.99, Z:-22.00 [[ 7.13289928e-01 6.98770645e-01 5.41946855e-02 3.06762706e+02] [-6.96821877e-01 7.15345558e-01 -5.21536547e-02 -2.37992984e+02] [-7.52113706e-02 -5.63365876e-04 9.97167455e-01 -2.20036907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63864 meters 0.02658127700918212 Centerline is valid? [True, True] Translation: X:306.79, Y:-238.02, Z:-22.00 [[ 7.12320305e-01 6.99791449e-01 5.37746393e-02 3.06785707e+02] [-6.97871917e-01 7.14346927e-01 -5.18001491e-02 -2.38016570e+02] [-7.46630497e-02 -6.29512620e-04 9.97208620e-01 -2.20044926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters 0.02673137779137768 Centerline is valid? [True, True] Translation: X:306.81, Y:-238.04, Z:-22.01 [[ 7.11675597e-01 7.00441298e-01 5.38500905e-02 3.06807640e+02] [-6.98513996e-01 7.13709713e-01 -5.19292128e-02 -2.38040852e+02] [-7.48066978e-02 -6.58288358e-04 9.97197836e-01 -2.20071358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69864 meters 0.026710846004663467 Centerline is valid? [True, True] Translation: X:306.83, Y:-238.06, Z:-22.01 [[ 7.10874033e-01 7.01253455e-01 5.38674382e-02 3.06830878e+02] [-6.99323012e-01 7.12911703e-01 -5.20021963e-02 -2.38064323e+02] [-7.48694470e-02 -7.03728142e-04 9.97193096e-01 -2.20083663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters 0.026752246101632127 Centerline is valid? [True, True] Translation: X:306.85, Y:-238.09, Z:-22.01 [[ 7.09315914e-01 7.02896048e-01 5.29913277e-02 3.06854819e+02] [-7.01028505e-01 7.11292111e-01 -5.12110067e-02 -2.38087058e+02] [-7.36883276e-02 -8.23649274e-04 9.97280979e-01 -2.20095744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75864 meters 0.026744638803050027 Centerline is valid? [True, True] Translation: X:306.88, Y:-238.11, Z:-22.01 [[ 7.08400412e-01 7.03830455e-01 5.28350938e-02 3.06879625e+02] [-7.01972480e-01 7.10367453e-01 -5.11147676e-02 -2.38109409e+02] [-7.35084612e-02 -8.79059358e-04 9.97294206e-01 -2.20117480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78864 meters 0.02692285209249459 Centerline is valid? [True, True] Translation: X:306.91, Y:-238.13, Z:-22.01 [[ 7.06266111e-01 7.06045744e-01 5.18419528e-02 3.06905887e+02] [-7.04259149e-01 7.08165449e-01 -5.02070447e-02 -2.38130252e+02] [-7.21611500e-02 -1.05063536e-03 9.97392433e-01 -2.20135624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81864 meters 0.026968317679575794 Centerline is valid? [True, True] Translation: X:306.93, Y:-238.15, Z:-22.02 [[ 7.05252324e-01 7.06991854e-01 5.27416166e-02 3.06929567e+02] [-7.05141331e-01 7.07220788e-01 -5.11317932e-02 -2.38151552e+02] [-7.34497289e-02 -1.12947782e-03 9.97298281e-01 -2.20160492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84864 meters 0.027186860750105565 Centerline is valid? [True, True] Translation: X:306.95, Y:-238.17, Z:-22.02 [[ 7.03489764e-01 7.08615401e-01 5.44643498e-02 3.06953464e+02] [-7.06642845e-01 7.05593728e-01 -5.28524455e-02 -2.38173214e+02] [-7.58817605e-02 -1.30568866e-03 9.97115968e-01 -2.20171557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87864 meters 0.027400165329746366 Centerline is valid? [True, True] Translation: X:306.98, Y:-238.19, Z:-22.02 [[ 7.02646559e-01 7.09333297e-01 5.59829156e-02 3.06976933e+02] [-7.07247381e-01 7.04871869e-01 -5.43763791e-02 -2.38194303e+02] [-7.80317586e-02 -1.38639479e-03 9.96949910e-01 -2.20198945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90864 meters 0.02739159696095111 Centerline is valid? [True, True] Translation: X:307.00, Y:-238.22, Z:-22.02 [[ 7.02367182e-01 7.09621084e-01 5.58413748e-02 3.07001911e+02] [-7.07542689e-01 7.04582156e-01 -5.42892946e-02 -2.38215401e+02] [-7.78696643e-02 -1.37913771e-03 9.96962594e-01 -2.20213332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93864 meters 0.02744320681099396 Centerline is valid? [True, True] Translation: X:307.03, Y:-238.24, Z:-22.02 [[ 7.03519701e-01 7.08564838e-01 5.47348183e-02 3.07026036e+02] [-7.06560838e-01 7.05644692e-01 -5.32667859e-02 -2.38236677e+02] [-7.63663056e-02 -1.19924584e-03 9.97079109e-01 -2.20230801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96864 meters 0.027235376123800278 Centerline is valid? [True, True] Translation: X:307.05, Y:-238.26, Z:-22.03 [[ 7.04123581e-01 7.07952188e-01 5.48970059e-02 3.07050540e+02] [-7.05930391e-01 7.06259507e-01 -5.34770239e-02 -2.38258848e+02] [-7.66307085e-02 -1.09903121e-03 9.97058938e-01 -2.20250303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99864 meters 0.027201710891685334 Centerline is valid? [True, True] Translation: X:307.08, Y:-238.28, Z:-22.03 [[ 7.04942171e-01 7.07077763e-01 5.56558414e-02 3.07075984e+02] [-7.04992308e-01 7.07135125e-01 -5.42748638e-02 -2.38279359e+02] [-7.77327496e-02 -9.76299730e-04 9.96973754e-01 -2.20282018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02864 meters 0.027103262572521533 Centerline is valid? [True, True] Translation: X:307.10, Y:-238.30, Z:-22.03 [[ 7.05009759e-01 7.07059237e-01 5.50315738e-02 3.07099668e+02] [-7.05016071e-01 7.07153718e-01 -5.37211215e-02 -2.38300818e+02] [-7.68997972e-02 -9.24229032e-04 9.97038398e-01 -2.20304366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05864 meters 0.026979996539799093 Centerline is valid? [True, True] Translation: X:307.12, Y:-238.32, Z:-22.03 [[ 7.05797216e-01 7.06468488e-01 5.24648862e-02 3.07122235e+02] [-7.04607338e-01 7.07744054e-01 -5.12528356e-02 -2.38323224e+02] [-7.33402245e-02 -7.93035086e-04 9.97306664e-01 -2.20315343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08864 meters 0.02692122599031524 Centerline is valid? [True, True] Translation: X:307.15, Y:-238.35, Z:-22.03 [[ 7.05462418e-01 7.06809683e-01 5.23722261e-02 3.07145724e+02] [-7.04953931e-01 7.07403295e-01 -5.11911383e-02 -2.38345786e+02] [-7.32306775e-02 -8.06582518e-04 9.97314703e-01 -2.20330078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11864 meters 0.02706288328450372 Centerline is valid? [True, True] Translation: X:307.17, Y:-238.37, Z:-22.03 [[ 7.03750158e-01 7.08530342e-01 5.21581215e-02 3.07171134e+02] [-7.06690499e-01 7.05679718e-01 -5.10360079e-02 -2.38366400e+02] [-7.29674886e-02 -9.43050303e-04 9.97333874e-01 -2.20328188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14864 meters 0.027044101348569657 Centerline is valid? [True, True] Translation: X:307.19, Y:-238.39, Z:-22.03 [[ 7.02521431e-01 7.09698028e-01 5.28426806e-02 3.07194802e+02] [-7.07808973e-01 7.04505234e-01 -5.17574530e-02 -2.38388113e+02] [-7.39601073e-02 -1.04180356e-03 9.97260657e-01 -2.20344711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17864 meters 0.0274069522543885 Centerline is valid? [True, True] Translation: X:307.22, Y:-238.41, Z:-22.04 [[ 7.00984424e-01 7.11150139e-01 5.37244510e-02 3.07217947e+02] [-7.09197892e-01 7.03039180e-01 -5.26712631e-02 -2.38409854e+02] [-7.52275701e-02 -1.17953234e-03 9.97165694e-01 -2.20363478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20864 meters 0.027601016688337084 Centerline is valid? [True, True] Translation: X:307.24, Y:-238.43, Z:-22.04 [[ 6.98293508e-01 7.13789572e-01 5.37645211e-02 3.07242762e+02] [-7.11838460e-01 7.00358767e-01 -5.27598717e-02 -2.38429946e+02] [-7.53139000e-02 -1.42977805e-03 9.97158850e-01 -2.20382319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23864 meters 0.02772287593845976 Centerline is valid? [True, True] Translation: X:307.27, Y:-238.45, Z:-22.04 [[ 6.96862977e-01 7.15235592e-01 5.31040539e-02 3.07267684e+02] [-7.13332613e-01 6.98881753e-01 -5.21620445e-02 -2.38451329e+02] [-7.44216050e-02 -1.53105590e-03 9.97225692e-01 -2.20407961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26864 meters 0.027770880794101723 Centerline is valid? [True, True] Translation: X:307.29, Y:-238.47, Z:-22.04 [[ 6.94094382e-01 7.18089931e-01 5.07921204e-02 3.07293717e+02] [-7.16353170e-01 6.95948196e-01 -4.99424219e-02 -2.38472237e+02] [-7.12118348e-02 -1.72034199e-03 9.97459731e-01 -2.20414071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29864 meters 0.027885929676381836 Centerline is valid? [True, True] Translation: X:307.32, Y:-238.49, Z:-22.04 [[ 6.93335938e-01 7.18830667e-01 5.06729626e-02 3.07319125e+02] [-7.17100273e-01 6.95182990e-01 -4.98779411e-02 -2.38493483e+02] [-7.10807753e-02 -1.75542625e-03 9.97469018e-01 -2.20417929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32864 meters 0.02780009441302001 Centerline is valid? [True, True] Translation: X:307.34, Y:-238.51, Z:-22.04 [[ 6.92682471e-01 7.19510860e-01 4.99511419e-02 3.07344779e+02] [-7.17827606e-01 6.94478951e-01 -4.92190395e-02 -2.38514683e+02] [-7.01036500e-02 -1.76314276e-03 9.97538154e-01 -2.20430932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35864 meters 0.027673426740331714 Centerline is valid? [True, True] Translation: X:307.37, Y:-238.53, Z:-22.04 [[ 6.92752121e-01 7.19345657e-01 5.13451589e-02 3.07371837e+02] [-7.17562636e-01 6.94650082e-01 -5.06470836e-02 -2.38534799e+02] [-7.20996785e-02 -1.75749299e-03 9.97395883e-01 -2.20445202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38864 meters 0.02765881438107559 Centerline is valid? [True, True] Translation: X:307.40, Y:-238.55, Z:-22.05 [[ 6.93184361e-01 7.18843899e-01 5.25251393e-02 3.07399142e+02] [-7.16972324e-01 6.95169431e-01 -5.18666425e-02 -2.38553753e+02] [-7.37978908e-02 -1.70592576e-03 9.97271759e-01 -2.20475976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41864 meters 0.027692727581988312 Centerline is valid? [True, True] Translation: X:307.42, Y:-238.57, Z:-22.05 [[ 6.93444838e-01 7.18676773e-01 5.13610084e-02 3.07424599e+02] [-7.16883198e-01 6.95342425e-01 -5.07680314e-02 -2.38574381e+02] [-7.21992930e-02 -1.61501466e-03 9.97388918e-01 -2.20487683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44864 meters 0.02743119309720128 Centerline is valid? [True, True] Translation: X:307.45, Y:-238.59, Z:-22.05 [[ 6.94939867e-01 7.17225169e-01 5.14454934e-02 3.07449446e+02] [-7.15418286e-01 6.96840012e-01 -5.08986542e-02 -2.38594306e+02] [-7.23550741e-02 -1.43354272e-03 9.97377906e-01 -2.20509501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47864 meters 0.027101635409462917 Centerline is valid? [True, True] Translation: X:307.48, Y:-238.61, Z:-22.05 [[ 6.98827147e-01 7.13571688e-01 4.95586948e-02 3.07475139e+02] [-7.11883288e-01 7.00581520e-01 -4.90684953e-02 -2.38614866e+02] [-6.97337948e-02 -9.89610004e-04 9.97565145e-01 -2.20512906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50864 meters 0.02677841416245788 Centerline is valid? [True, True] Translation: X:307.50, Y:-238.64, Z:-22.05 [[ 7.00349457e-01 7.12086692e-01 4.94285450e-02 3.07498962e+02] [-7.10401767e-01 7.02091067e-01 -4.89638842e-02 -2.38636760e+02] [-6.95698702e-02 -8.22296027e-04 9.97576742e-01 -2.20525127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53864 meters 0.026536309005229807 Centerline is valid? [True, True] Translation: X:307.52, Y:-238.66, Z:-22.05 [[ 7.02605237e-01 7.09914698e-01 4.86518556e-02 3.07522843e+02] [-7.08274074e-01 7.04287443e-01 -4.82393497e-02 -2.38658037e+02] [-6.85107144e-02 -5.65628238e-04 9.97650220e-01 -2.20547786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56864 meters 0.02646354517411163 Centerline is valid? [True, True] Translation: X:307.55, Y:-238.68, Z:-22.06 [[ 7.03288842e-01 7.09213544e-01 4.89995272e-02 3.07546997e+02] [-7.07544349e-01 7.04993568e-01 -4.86319133e-02 -2.38680045e+02] [-6.90347631e-02 -4.67056559e-04 9.97614146e-01 -2.20570156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59864 meters 0.026312962881301905 Centerline is valid? [True, True] Translation: X:307.57, Y:-238.70, Z:-22.06 [[ 7.02412095e-01 7.10070458e-01 4.91649590e-02 3.07570903e+02] [-7.08388392e-01 7.04130441e-01 -4.88488235e-02 -2.38703102e+02] [-6.93046508e-02 -5.15881829e-04 9.97595409e-01 -2.20584567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62864 meters 0.026323798782649326 Centerline is valid? [True, True] Translation: X:307.59, Y:-238.73, Z:-22.06 [[ 7.01371307e-01 7.11210465e-01 4.75180349e-02 3.07593752e+02] [-7.09638722e-01 7.02978908e-01 -4.72603314e-02 -2.38725445e+02] [-6.70162186e-02 -5.73597165e-04 9.97751721e-01 -2.20575698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65864 meters 0.026323798782649326 Centerline is valid? [True, True] Translation: X:307.62, Y:-238.75, Z:-22.06 [[ 7.00988890e-01 7.11588918e-01 4.74951363e-02 3.07617013e+02] [-7.10016485e-01 7.02595814e-01 -4.72833352e-02 -2.38748147e+02] [-6.70161813e-02 -5.77237033e-04 9.97751722e-01 -2.20592316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68864 meters 0.02618049675944842 Centerline is valid? [True, True] Translation: X:307.64, Y:-238.77, Z:-22.06 [[ 7.00037638e-01 7.12478371e-01 4.81858610e-02 3.07642045e+02] [-7.10858353e-01 7.01693785e-01 -4.80232698e-02 -2.38769543e+02] [-6.80272602e-02 -6.35225456e-04 9.97683261e-01 -2.20616789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71864 meters 0.026192030018178134 Centerline is valid? [True, True] Translation: X:307.67, Y:-238.79, Z:-22.06 [[ 6.99973737e-01 7.12487684e-01 4.89700625e-02 3.07666254e+02] [-7.10810778e-01 7.01684351e-01 -4.88580514e-02 -2.38792531e+02] [-6.91722864e-02 -6.09095364e-04 9.97604543e-01 -2.20639519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74864 meters 0.026123937962122624 Centerline is valid? [True, True] Translation: X:307.69, Y:-238.82, Z:-22.06 [[ 7.00817226e-01 7.11658399e-01 4.89646826e-02 3.07690467e+02] [-7.09976188e-01 7.02525504e-01 -4.89052997e-02 -2.38815165e+02] [-6.92028056e-02 -4.90082260e-04 9.97602492e-01 -2.20647412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77864 meters 0.02603060019499667 Centerline is valid? [True, True] Translation: X:307.71, Y:-238.84, Z:-22.07 [[ 7.01280615e-01 7.11248527e-01 4.82807607e-02 3.07714891e+02] [-7.09608670e-01 7.02940514e-01 -4.82718297e-02 -2.38836728e+02] [-6.82717705e-02 -4.08347970e-04 9.97666677e-01 -2.20654217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80864 meters 0.025754370437255418 Centerline is valid? [True, True] Translation: X:307.71, Y:-238.97, Z:-20.52 [[ 7.58891595e-01 -6.50817403e-01 -2.28090978e-02 3.07712635e+02] [-6.50363586e-01 -7.59224604e-01 2.46009398e-02 -2.38973668e+02] [-3.33279479e-02 -3.83523979e-03 -9.99437111e-01 -2.05247888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83864 meters 0.025866062020808458 Centerline is valid? [True, True] Translation: X:307.74, Y:-238.87, Z:-22.07 [[ 7.49418728e-01 6.60062799e-01 5.18523976e-02 3.07741312e+02] [-6.58530448e-01 7.51210285e-01 -4.49528321e-02 -2.38871146e+02] [-6.86237465e-02 -4.57888355e-04 9.97642507e-01 -2.20667935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86864 meters 0.025724857871475583 Centerline is valid? [True, True] Translation: X:307.77, Y:-238.89, Z:-22.07 [[ 7.49078933e-01 6.60500035e-01 5.11903876e-02 3.07765949e+02] [-6.59004361e-01 7.50825876e-01 -4.44269740e-02 -2.38892773e+02] [-6.77790855e-02 -4.55378384e-04 9.97700250e-01 -2.20670590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89864 meters 0.025541737300384823 Centerline is valid? [True, True] Translation: X:307.79, Y:-238.91, Z:-22.07 [[ 7.49286380e-01 6.60296261e-01 5.07815882e-02 3.07791670e+02] [-6.58820724e-01 7.51005120e-01 -4.41198817e-02 -2.38913199e+02] [-6.72694256e-02 -3.97536263e-04 9.97734768e-01 -2.20682725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters 0.025527943485521138 Centerline is valid? [True, True] Translation: X:307.82, Y:-238.93, Z:-22.07 [[ 7.49711316e-01 6.59811710e-01 5.08079756e-02 3.07818311e+02] [-6.58330276e-01 7.51430906e-01 -4.41909660e-02 -2.38933121e+02] [-6.73364000e-02 -3.17961355e-04 9.97730278e-01 -2.20695926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95864 meters 0.02552887307986795 Centerline is valid? [True, True] Translation: X:307.84, Y:-238.95, Z:-22.07 [[ 7.50787861e-01 6.58600140e-01 5.06304522e-02 3.07843095e+02] [-6.57123100e-01 7.52493073e-01 -4.40840780e-02 -2.38954571e+02] [-6.71328445e-02 -1.72649042e-04 9.97744031e-01 -2.20719949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters 0.025490625749319557 Centerline is valid? [True, True] Translation: X:307.87, Y:-238.98, Z:-22.07 [[ 7.51556455e-01 6.57730071e-01 5.05375930e-02 3.07867033e+02] [-6.56253271e-01 7.53253709e-01 -4.40510461e-02 -2.38976849e+02] [-6.70413270e-02 -5.86126250e-05 9.97750198e-01 -2.20729247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01864 meters 0.025412792325900904 Centerline is valid? [True, True] Translation: X:307.89, Y:-239.00, Z:-22.07 [[ 7.54137406e-01 6.54764192e-01 5.06026368e-02 3.07892450e+02] [-6.53273669e-01 7.55833179e-01 -4.41556243e-02 -2.38998239e+02] [-6.71586735e-02 2.42037805e-04 9.97742278e-01 -2.20734575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters 0.0253199158259653 Centerline is valid? [True, True] Translation: X:307.92, Y:-239.02, Z:-22.08 [[ 7.54711039e-01 6.54103324e-01 5.05973220e-02 3.07917387e+02] [-6.52608414e-01 7.56405135e-01 -4.41987590e-02 -2.39019449e+02] [-6.71826294e-02 3.37053296e-04 9.97740638e-01 -2.20751752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07864 meters 0.025220988578859137 Centerline is valid? [True, True] Translation: X:307.94, Y:-239.04, Z:-22.08 [[ 7.54789203e-01 6.54088482e-01 4.96136818e-02 3.07941372e+02] [-6.52648133e-01 7.56417956e-01 -4.33853812e-02 -2.39041545e+02] [-6.59065579e-02 3.66540559e-04 9.97825732e-01 -2.20762929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters 0.025248702134353096 Centerline is valid? [True, True] Translation: X:307.96, Y:-239.07, Z:-22.08 [[ 7.54254123e-01 6.54657171e-01 5.02464519e-02 3.07964881e+02] [-6.53177885e-01 7.55925830e-01 -4.39862380e-02 -2.39065454e+02] [-6.67784970e-02 3.56930207e-04 9.97767761e-01 -2.20785309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13864 meters 0.025156651664055098 Centerline is valid? [True, True] Translation: X:307.99, Y:-239.09, Z:-22.08 [[ 7.53012151e-01 6.56070507e-01 5.04399670e-02 3.07989472e+02] [-6.54579762e-01 7.54699555e-01 -4.42031336e-02 -2.39087275e+02] [-6.70673929e-02 2.68515141e-04 9.97748412e-01 -2.20794505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters 0.025124682742626865 Centerline is valid? [True, True] Translation: X:308.01, Y:-239.11, Z:-22.08 [[ 7.49713779e-01 6.59828665e-01 5.05507903e-02 3.08011944e+02] [-6.58336674e-01 7.51416084e-01 -4.43474024e-02 -2.39110979e+02] [-6.72463642e-02 -3.15805221e-05 9.97736401e-01 -2.20824359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19864 meters 0.025006705248965127 Centerline is valid? [True, True] Translation: X:308.03, Y:-239.13, Z:-22.08 [[ 7.48544562e-01 6.61207263e-01 4.98597535e-02 3.08034986e+02] [-6.59755791e-01 7.50203267e-01 -4.37876060e-02 -2.39134191e+02] [-6.63576331e-02 -1.18286784e-04 9.97795896e-01 -2.20837095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters 0.024988052458849566 Centerline is valid? [True, True] Translation: X:308.06, Y:-239.16, Z:-22.08 [[ 7.46830164e-01 6.63132848e-01 4.99953092e-02 3.08058878e+02] [-6.61674593e-01 7.48501677e-01 -4.39542016e-02 -2.39157103e+02] [-6.65690477e-02 -2.54302273e-04 9.97781788e-01 -2.20844260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25864 meters 0.02500039035280443 Centerline is valid? [True, True] Translation: X:308.08, Y:-239.18, Z:-22.09 [[ 7.45502306e-01 6.64578642e-01 5.06116715e-02 3.08083889e+02] [-6.63084212e-01 7.47218245e-01 -4.45446089e-02 -2.39178502e+02] [-6.74213600e-02 -3.51691684e-04 9.97724529e-01 -2.20867320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28864 meters 0.024952870085190704 Centerline is valid? [True, True] Translation: X:308.11, Y:-239.20, Z:-22.09 [[ 7.44373100e-01 6.65812673e-01 5.10114993e-02 3.08108603e+02] [-6.64294079e-01 7.46118824e-01 -4.49452726e-02 -2.39200498e+02] [-6.79857719e-02 -4.30585051e-04 9.97686198e-01 -2.20889112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31864 meters 0.02507713640325736 Centerline is valid? [True, True] Translation: X:308.13, Y:-239.22, Z:-22.09 [[ 7.43361171e-01 6.66867232e-01 5.19833030e-02 3.08131477e+02] [-6.65289368e-01 7.45176384e-01 -4.58498940e-02 -2.39223293e+02] [-6.93125217e-02 -5.00907961e-04 9.97594869e-01 -2.20916562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34864 meters 0.024896114326797242 Centerline is valid? [True, True] Translation: X:308.16, Y:-239.24, Z:-22.09 [[ 7.43438980e-01 6.66821078e-01 5.14600106e-02 3.08156373e+02] [-6.65271714e-01 7.45217713e-01 -4.54324428e-02 -2.39244423e+02] [-6.86442219e-02 -4.58640558e-04 9.97641098e-01 -2.20931072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.37864 meters 0.02469556541231245 Centerline is valid? [True, True] Translation: X:308.18, Y:-239.27, Z:-22.09 [[ 7.43961355e-01 6.66418353e-01 4.90722137e-02 3.08181765e+02] [-6.65006119e-01 7.45577924e-01 -4.33638282e-02 -2.39265026e+02] [-6.54856102e-02 -3.72310026e-04 9.97853444e-01 -2.20937541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40864 meters 0.024886912424518733 Centerline is valid? [True, True] Translation: X:308.21, Y:-239.29, Z:-22.10 [[ 7.44023313e-01 6.66293324e-01 4.98248516e-02 3.08206285e+02] [-6.64835195e-01 7.45689672e-01 -4.40576457e-02 -2.39286456e+02] [-6.65091924e-02 -3.45399448e-04 9.97785753e-01 -2.20957099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43864 meters 0.0249087726847738 Centerline is valid? [True, True] Translation: X:308.23, Y:-239.31, Z:-22.10 [[ 7.44042869e-01 6.66276255e-01 4.97610392e-02 3.08231968e+02] [-6.64818662e-01 7.45704939e-01 -4.40487252e-02 -2.39306718e+02] [-6.64556724e-02 -3.07927669e-04 9.97789331e-01 -2.20971450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46864 meters 0.024922936709719068 Centerline is valid? [True, True] Translation: X:308.26, Y:-239.33, Z:-22.10 [[ 7.43020557e-01 6.67389945e-01 5.01110060e-02 3.08257903e+02] [-6.65911055e-01 7.44708346e-01 -4.44066044e-02 -2.39327636e+02] [-6.69546057e-02 -3.74452956e-04 9.97755952e-01 -2.20986522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49864 meters 0.025020191631947748 Centerline is valid? [True, True] Translation: X:308.28, Y:-239.35, Z:-22.10 [[ 7.42070496e-01 6.68389002e-01 5.08676835e-02 3.08283533e+02] [-6.66864049e-01 7.43811773e-01 -4.51263460e-02 -2.39348317e+02] [-6.79979352e-02 -4.34899426e-04 9.97685367e-01 -2.21004609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52864 meters 0.024887129167189815 Centerline is valid? [True, True] Translation: X:308.31, Y:-239.37, Z:-22.10 [[ 7.41862027e-01 6.68553282e-01 5.17420725e-02 3.08309138e+02] [-6.66972315e-01 7.43664126e-01 -4.59521468e-02 -2.39369040e+02] [-6.92001817e-02 -4.20377109e-04 9.97602706e-01 -2.21017321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55864 meters 0.02498691665687712 Centerline is valid? [True, True] Translation: X:308.33, Y:-239.39, Z:-22.10 [[ 7.42198577e-01 6.68225289e-01 5.11491397e-02 3.08333884e+02] [-6.66676373e-01 7.43958897e-01 -4.54727748e-02 -2.39389917e+02] [-6.84389157e-02 -3.50094149e-04 9.97655247e-01 -2.21027929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58864 meters 0.02488812254570899 Centerline is valid? [True, True] Translation: X:308.36, Y:-239.41, Z:-22.11 [[ 7.43685587e-01 6.66510016e-01 5.19244354e-02 3.08359179e+02] [-6.64906364e-01 7.45496058e-01 -4.62077310e-02 -2.39410998e+02] [-6.95073775e-02 -1.60864072e-04 9.97581425e-01 -2.21052889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61864 meters 0.02485743547799295 Centerline is valid? [True, True] Translation: X:308.38, Y:-239.43, Z:-22.11 [[ 7.44165417e-01 6.65987010e-01 5.17603682e-02 3.08383633e+02] [-6.64389271e-01 7.45963335e-01 -4.61042326e-02 -2.39433845e+02] [-6.93161569e-02 -7.98578435e-05 9.97594739e-01 -2.21072385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64864 meters 0.024955078771503467 Centerline is valid? [True, True] Translation: X:308.41, Y:-239.46, Z:-22.11 [[ 7.44831752e-01 6.65243133e-01 5.17420138e-02 3.08407099e+02] [-6.63642709e-01 7.46626797e-01 -4.61170258e-02 -2.39457665e+02] [-6.93110087e-02 1.12148678e-05 9.97595100e-01 -2.21084176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67864 meters 0.02486070622388778 Centerline is valid? [True, True] Translation: X:308.43, Y:-239.48, Z:-22.11 [[ 7.44043139e-01 6.66084124e-01 5.22661201e-02 3.08431563e+02] [-6.64449607e-01 7.45876625e-01 -4.66345469e-02 -2.39479458e+02] [-7.00466086e-02 -3.00882934e-05 9.97543719e-01 -2.21108038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70864 meters 0.024999213624819466 Centerline is valid? [True, True] Translation: X:308.46, Y:-239.50, Z:-22.11 [[ 7.42950599e-01 6.67355268e-01 5.15883130e-02 3.08456511e+02] [-6.65762592e-01 7.44739507e-01 -4.60785972e-02 -2.39500967e+02] [-6.91706494e-02 -1.11447638e-04 9.97604836e-01 -2.21115446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73864 meters 0.0250868929524285 Centerline is valid? [True, True] Translation: X:308.48, Y:-239.52, Z:-22.11 [[ 7.39451711e-01 6.71262958e-01 5.11586671e-02 3.08480590e+02] [-6.69702670e-01 7.41219166e-01 -4.57436642e-02 -2.39523690e+02] [-6.86258118e-02 -4.35865216e-04 9.97642375e-01 -2.21139033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76864 meters 0.025230232610017497 Centerline is valid? [True, True] Translation: X:308.50, Y:-239.55, Z:-22.12 [[ 7.37662022e-01 6.73181458e-01 5.17828738e-02 3.08504004e+02] [-6.71584157e-01 7.39477100e-01 -4.63501814e-02 -2.39545638e+02] [-6.94943320e-02 -5.85789096e-04 9.97582174e-01 -2.21159434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79864 meters 0.02542847716589804 Centerline is valid? [True, True] Translation: X:308.53, Y:-239.57, Z:-22.12 [[ 7.36014107e-01 6.74929305e-01 5.24754027e-02 3.08528235e+02] [-6.73290220e-01 7.37882039e-01 -4.70146351e-02 -2.39566433e+02] [-7.04522122e-02 -7.27740775e-04 9.97514890e-01 -2.21166962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82864 meters 0.025384759265008584 Centerline is valid? [True, True] Translation: X:308.55, Y:-239.59, Z:-22.12 [[ 7.35743717e-01 6.75270447e-01 5.18749047e-02 3.08553695e+02] [-6.73666400e-01 7.37569866e-01 -4.65217563e-02 -2.39587780e+02] [-6.96761337e-02 -7.18290454e-04 9.97569406e-01 -2.21176792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85864 meters 0.025360131467405254 Centerline is valid? [True, True] Translation: X:308.58, Y:-239.61, Z:-22.12 [[ 7.35954233e-01 6.75125680e-01 5.07610354e-02 3.08577518e+02] [-6.73586317e-01 7.37702438e-01 -4.55695815e-02 -2.39609323e+02] [-6.82117343e-02 -6.54812453e-04 9.97670652e-01 -2.21185849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88864 meters 0.025335976608476574 Centerline is valid? [True, True] Translation: X:308.60, Y:-239.63, Z:-22.12 [[ 7.37178940e-01 6.73853813e-01 4.98823641e-02 3.08599053e+02] [-6.72361622e-01 7.38864529e-01 -4.48224996e-02 -2.39632795e+02] [-6.70601218e-02 -4.96784522e-04 9.97748813e-01 -2.21213848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91864 meters 0.02547149147719169 Centerline is valid? [True, True] Translation: X:308.62, Y:-239.66, Z:-22.12 [[ 7.37572166e-01 6.73428701e-01 4.98104928e-02 3.08623323e+02] [-6.71936893e-01 7.39252058e-01 -4.48018627e-02 -2.39655107e+02] [-6.69933695e-02 -4.24900871e-04 9.97753330e-01 -2.21229991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94864 meters 0.025527216373766266 Centerline is valid? [True, True] Translation: X:308.65, Y:-239.68, Z:-22.12 [[ 7.38208153e-01 6.72698032e-01 5.02601340e-02 3.08648145e+02] [-6.71174090e-01 7.39917057e-01 -4.52558184e-02 -2.39677245e+02] [-6.76318304e-02 -3.25085670e-04 9.97710294e-01 -2.21232749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97864 meters 0.025549422808391373 Centerline is valid? [True, True] Translation: X:308.67, Y:-239.70, Z:-22.12 [[ 7.38044553e-01 6.72875503e-01 5.02871277e-02 3.08671229e+02] [-6.71347028e-01 7.39755679e-01 -4.53288396e-02 -2.39700278e+02] [-6.77008540e-02 -3.05410521e-04 9.97705618e-01 -2.21248215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00864 meters 0.02564327991161735 Centerline is valid? [True, True] Translation: X:308.69, Y:-239.73, Z:-22.13 [[ 7.40228296e-01 6.70465979e-01 5.03730243e-02 3.08692282e+02] [-6.68923348e-01 7.41940273e-01 -4.54553182e-02 -2.39725790e+02] [-6.78500198e-02 -4.83793305e-05 9.97695531e-01 -2.21258859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03864 meters 0.025489447812886 Centerline is valid? [True, True] Translation: X:308.72, Y:-239.75, Z:-22.13 [[ 7.40741550e-01 6.69949857e-01 4.96905011e-02 3.08715531e+02] [-6.68444392e-01 7.42406350e-01 -4.48877135e-02 -2.39749505e+02] [-6.69630608e-02 3.48576805e-05 9.97755455e-01 -2.21272864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06864 meters 0.025409765669416 Centerline is valid? [True, True] Translation: X:308.74, Y:-239.77, Z:-22.13 [[ 7.42397590e-01 6.68142182e-01 4.93137276e-02 3.08736992e+02] [-6.66652301e-01 7.44033582e-01 -4.45952741e-02 -2.39774366e+02] [-6.64870531e-02 2.32314011e-04 9.97787261e-01 -2.21284940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09864 meters 0.02554749742723744 Centerline is valid? [True, True] Translation: X:308.76, Y:-239.80, Z:-22.13 [[ 7.42680179e-01 6.67856501e-01 4.89269472e-02 3.08760008e+02] [-6.66386179e-01 7.44290004e-01 -4.42927869e-02 -2.39798571e+02] [-6.59970633e-02 2.91133493e-04 9.97819775e-01 -2.21290170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12864 meters 0.02552779938480188 Centerline is valid? [True, True] Translation: X:308.78, Y:-239.82, Z:-22.13 [[ 7.42173476e-01 6.68413926e-01 4.90036367e-02 3.08782512e+02] [-6.66937045e-01 7.43789451e-01 -4.44098067e-02 -2.39822537e+02] [-6.61325212e-02 2.77439948e-04 9.97810810e-01 -2.21305246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15864 meters 0.025422690617025998 Centerline is valid? [True, True] Translation: X:308.80, Y:-239.85, Z:-22.13 [[ 7.41343603e-01 6.69296750e-01 4.95128588e-02 3.08804823e+02] [-6.67787677e-01 7.42995158e-01 -4.49200874e-02 -2.39847770e+02] [-6.68526828e-02 2.37142484e-04 9.97762829e-01 -2.21316254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18864 meters 0.025335381766987537 Centerline is valid? [True, True] Translation: X:308.83, Y:-239.87, Z:-22.13 [[ 7.40577586e-01 6.70165411e-01 4.92256083e-02 3.08828460e+02] [-6.68672563e-01 7.42211752e-01 -4.47070296e-02 -2.39871123e+02] [-6.64969298e-02 1.93210396e-04 9.97786611e-01 -2.21327353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21864 meters 0.02521949418286266 Centerline is valid? [True, True] Translation: X:308.85, Y:-239.90, Z:-22.13 [[ 7.40025153e-01 6.70807723e-01 4.87829016e-02 3.08849817e+02] [-6.69339913e-01 7.41631290e-01 -4.43521203e-02 -2.39896320e+02] [-6.59306710e-02 1.69341476e-04 9.97824192e-01 -2.21347280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24864 meters 0.025397001462994246 Centerline is valid? [True, True] Translation: X:308.87, Y:-239.92, Z:-22.14 [[ 7.39759753e-01 6.71160169e-01 4.79534687e-02 3.08873019e+02] [-6.69739639e-01 7.41312349e-01 -4.36442088e-02 -2.39919784e+02] [-6.48407531e-02 1.69890320e-04 9.97895610e-01 -2.21353289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27864 meters 0.025307326692849172 Centerline is valid? [True, True] Translation: X:308.90, Y:-239.94, Z:-22.14 [[ 7.39025384e-01 6.71823887e-01 4.99414303e-02 3.08895006e+02] [-6.70281186e-01 7.40710903e-01 -4.55026400e-02 -2.39943773e+02] [-6.75619223e-02 1.52804884e-04 9.97715071e-01 -2.21358687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30864 meters 0.02524585117308749 Centerline is valid? [True, True] Translation: X:308.92, Y:-239.97, Z:-22.14 [[ 7.38043758e-01 6.72807747e-01 5.11971505e-02 3.08918018e+02] [-6.71185640e-01 7.39817360e-01 -4.66916553e-02 -2.39965602e+02] [-6.92910481e-02 9.76925196e-05 9.97596482e-01 -2.21384812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33864 meters 0.025217633381354732 Centerline is valid? [True, True] Translation: X:308.94, Y:-239.99, Z:-22.14 [[ 7.37561795e-01 6.73340799e-01 5.11347886e-02 3.08942884e+02] [-6.71721285e-01 7.39332241e-01 -4.66728179e-02 -2.39988015e+02] [-6.92323103e-02 7.57614768e-05 9.97600562e-01 -2.21391289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36864 meters 0.02526510621224697 Centerline is valid? [True, True] Translation: X:308.97, Y:-240.01, Z:-22.14 [[ 7.35974862e-01 6.75055646e-01 5.13894694e-02 3.08967885e+02] [-6.73422022e-01 7.37766813e-01 -4.69351681e-02 -2.40009616e+02] [-6.95972953e-02 -6.36965897e-05 9.97575166e-01 -2.21421425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39864 meters 0.025340759416435724 Centerline is valid? [True, True] Translation: X:308.99, Y:-240.03, Z:-22.14 [[ 7.33763935e-01 6.77450925e-01 5.14852595e-02 3.08992353e+02] [-6.75813490e-01 7.35567930e-01 -4.70738417e-02 -2.40032182e+02] [-6.97611234e-02 -2.53345595e-04 9.97563693e-01 -2.21447257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters 0.025377409269820704 Centerline is valid? [True, True] Translation: X:309.02, Y:-240.05, Z:-22.15 [[ 7.32967617e-01 6.78354090e-01 5.09332911e-02 3.09017160e+02] [-6.76750320e-01 7.34735081e-01 -4.66193670e-02 -2.40054239e+02] [-6.90469141e-02 -2.98634723e-04 9.97613369e-01 -2.21453905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45864 meters 0.025558000839729596 Centerline is valid? [True, True] Translation: X:309.04, Y:-240.08, Z:-22.15 [[ 7.32473719e-01 6.78822031e-01 5.17967279e-02 3.09041952e+02] [-6.77160856e-01 7.34302767e-01 -4.74617846e-02 -2.40075503e+02] [-7.02525857e-02 -3.10206697e-04 9.97529187e-01 -2.21466785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters 0.02576239336893353 Centerline is valid? [True, True] Translation: X:309.07, Y:-240.10, Z:-22.15 [[ 7.32270103e-01 6.78999763e-01 5.23432825e-02 3.09066354e+02] [-6.77300006e-01 7.34138432e-01 -4.80152570e-02 -2.40097401e+02] [-7.10295635e-02 -2.91968395e-04 9.97474168e-01 -2.21484373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51864 meters 0.025675993678462575 Centerline is valid? [True, True] Translation: X:309.09, Y:-240.12, Z:-22.15 [[ 7.31776343e-01 6.79500025e-01 5.27550980e-02 3.09089689e+02] [-6.77770896e-01 7.33675421e-01 -4.84457302e-02 -2.40120020e+02] [-7.16239937e-02 -3.04430742e-04 9.97431657e-01 -2.21514464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters 0.025661385649282525 Centerline is valid? [True, True] Translation: X:309.11, Y:-240.14, Z:-22.15 [[ 7.30579066e-01 6.80844279e-01 5.20124625e-02 3.09113633e+02] [-6.79163322e-01 7.32428095e-01 -4.78149367e-02 -2.40143184e+02] [-7.06499149e-02 -3.92364973e-04 9.97501096e-01 -2.21512491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57864 meters 0.025661385649282525 Centerline is valid? [True, True] Translation: X:309.14, Y:-240.16, Z:-22.15 [[ 7.30211903e-01 6.81240011e-01 5.19867723e-02 3.09137755e+02] [-6.79558068e-01 7.32060034e-01 -4.78428562e-02 -2.40164937e+02] [-7.06499062e-02 -3.92607496e-04 9.97501096e-01 -2.21529066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters 0.025471080488749066 Centerline is valid? [True, True] Translation: X:309.16, Y:-240.19, Z:-22.16 [[ 7.29125723e-01 6.82360140e-01 5.25387461e-02 3.09163086e+02] [-6.80641360e-01 7.31016019e-01 -4.84037073e-02 -2.40186097e+02] [-7.14354255e-02 -4.67655539e-04 9.97445117e-01 -2.21557214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63864 meters 0.0257627498962606 Centerline is valid? [True, True] Translation: X:309.19, Y:-240.21, Z:-22.16 [[ 7.27231253e-01 6.84407717e-01 5.21611117e-02 3.09187988e+02] [-6.82715144e-01 7.29099228e-01 -4.81076616e-02 -2.40207168e+02] [-7.09558811e-02 -6.25785923e-04 9.97479259e-01 -2.21570741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters 0.025835036927504586 Centerline is valid? [True, True] Translation: X:309.21, Y:-240.23, Z:-22.16 [[ 7.25465545e-01 6.86256093e-01 5.24625320e-02 3.09212356e+02] [-6.84545057e-01 7.27359591e-01 -4.84364450e-02 -2.40227729e+02] [-7.13989314e-02 -7.73995000e-04 9.97447539e-01 -2.21582409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.69864 meters 0.025826236133863124 Centerline is valid? [True, True] Translation: X:309.24, Y:-240.25, Z:-22.16 [[ 7.23645217e-01 6.88230213e-01 5.17375469e-02 3.09237778e+02] [-6.86567943e-01 7.25491781e-01 -4.78135415e-02 -2.40249055e+02] [-7.04418889e-02 -9.21300517e-04 9.97515459e-01 -2.21611792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters 0.025869212922203497 Centerline is valid? [True, True] Translation: X:309.26, Y:-240.27, Z:-22.16 [[ 7.23070227e-01 6.88826027e-01 5.18473906e-02 3.09262630e+02] [-6.87154542e-01 7.24926075e-01 -4.79668714e-02 -2.40270156e+02] [-7.06263548e-02 -9.43753335e-04 9.97502395e-01 -2.21631265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.75864 meters 0.025957470504235348 Centerline is valid? [True, True] Translation: X:309.29, Y:-240.29, Z:-22.16 [[ 7.22775301e-01 6.89078112e-01 5.26043706e-02 3.09287414e+02] [-6.87354238e-01 7.24686460e-01 -4.87204983e-02 -2.40291509e+02] [-7.16939041e-02 -9.43864194e-04 9.97426235e-01 -2.21646624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78864 meters 0.02576627546469599 Centerline is valid? [True, True] Translation: X:309.31, Y:-240.31, Z:-22.17 [[ 7.24719035e-01 6.86975576e-01 5.33561421e-02 3.09313232e+02] [-6.85192354e-01 7.26680162e-01 -4.94710030e-02 -2.40311421e+02] [-7.27582208e-02 -7.06643058e-04 9.97349358e-01 -2.21670191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.81864 meters 0.025522932664854312 Centerline is valid? [True, True] Translation: X:309.34, Y:-240.33, Z:-22.17 [[ 7.26620431e-01 6.85047037e-01 5.22810310e-02 3.09337456e+02] [-6.83326458e-01 7.28498689e-01 -4.85243414e-02 -2.40332086e+02] [-7.13281188e-02 -4.66233833e-04 9.97452797e-01 -2.21682903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84864 meters 0.02546370469108471 Centerline is valid? [True, True] Translation: X:309.36, Y:-240.35, Z:-22.17 [[ 7.28512204e-01 6.83041902e-01 5.21893500e-02 3.09362187e+02] [-6.81318782e-01 7.30379151e-01 -4.84872374e-02 -2.40354283e+02] [-7.12368280e-02 -2.34040200e-04 9.97459402e-01 -2.21706251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.87864 meters 0.025653963234515128 Centerline is valid? [True, True] Translation: X:309.39, Y:-240.38, Z:-22.17 [[ 7.32462178e-01 6.78809669e-01 5.21209326e-02 3.09385982e+02] [-6.77076557e-01 7.34314228e-01 -4.84762774e-02 -2.40377416e+02] [-7.11793082e-02 2.17178097e-04 9.97463513e-01 -2.21733500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90864 meters 0.025589897197408694 Centerline is valid? [True, True] Translation: X:309.41, Y:-240.40, Z:-22.17 [[ 7.34050410e-01 6.77163346e-01 5.11839688e-02 3.09410041e+02] [-6.75484495e-01 7.35832614e-01 -4.76556535e-02 -2.40400265e+02] [-6.99334954e-02 4.07674727e-04 9.97551573e-01 -2.21737793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93864 meters 0.025692816934708124 Centerline is valid? [True, True] Translation: X:309.43, Y:-240.42, Z:-22.18 [[ 7.35397821e-01 6.75653638e-01 5.17900216e-02 3.09432049e+02] [-6.73927442e-01 7.37218968e-01 -4.82700314e-02 -2.40424142e+02] [-7.07944086e-02 5.94959084e-04 9.97490751e-01 -2.21758586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96864 meters 0.025817580454896558 Centerline is valid? [True, True] Translation: X:309.45, Y:-240.45, Z:-22.18 [[ 7.35453120e-01 6.75628979e-01 5.13243626e-02 3.09454772e+02] [-6.73930439e-01 7.37241542e-01 -4.78818627e-02 -2.40447903e+02] [-7.01888262e-02 6.25815117e-04 9.97533527e-01 -2.21769902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99864 meters 0.02563152653835273 Centerline is valid? [True, True] Translation: X:309.47, Y:-240.47, Z:-22.18 [[ 7.34072162e-01 6.77233286e-01 4.99313324e-02 3.09474349e+02] [-6.75626315e-01 7.35768192e-01 -4.66288469e-02 -2.40473521e+02] [-6.83164934e-02 4.94016301e-04 9.97663577e-01 -2.21781127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02864 meters 0.02560759378172144 Centerline is valid? [True, True] Translation: X:309.50, Y:-240.50, Z:-22.18 [[ 7.32149127e-01 6.79318183e-01 4.98443788e-02 3.09496549e+02] [-6.77718564e-01 7.33843782e-01 -4.65923939e-02 -2.40497790e+02] [-6.82290478e-02 3.32119650e-04 9.97669628e-01 -2.21798450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05864 meters 0.025390365021769373 Centerline is valid? [True, True] Translation: X:309.52, Y:-240.52, Z:-22.18 [[ 7.28299875e-01 6.83462528e-01 4.95808961e-02 3.09516794e+02] [-6.81886551e-01 7.29985597e-01 -4.63870635e-02 -2.40523754e+02] [-6.78971597e-02 -2.48537041e-05 9.97692325e-01 -2.21816274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08864 meters 0.02548560272814284 Centerline is valid? [True, True] Translation: X:309.54, Y:-240.55, Z:-22.18 [[ 7.26114584e-01 6.85766633e-01 4.98170337e-02 3.09539575e+02] [-6.84179297e-01 7.27821459e-01 -4.66327535e-02 -2.40548184e+02] [-6.82370925e-02 -2.23060679e-04 9.97669108e-01 -2.21838284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11864 meters 0.025639630288432306 Centerline is valid? [True, True] Translation: X:309.56, Y:-240.57, Z:-22.19 [[ 7.23548668e-01 6.88394636e-01 5.08935222e-02 3.09561516e+02] [-6.86740757e-01 7.25336218e-01 -4.76917676e-02 -2.40571303e+02] [-6.97456719e-02 -4.43341064e-04 9.97564707e-01 -2.21855661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14864 meters 0.02587439253695691 Centerline is valid? [True, True] Translation: X:309.58, Y:-240.59, Z:-22.19 [[ 7.19305119e-01 6.92853772e-01 5.05351004e-02 3.09584128e+02] [-6.91230928e-01 7.21077632e-01 -4.74009686e-02 -2.40594203e+02] [-6.92816705e-02 -8.35665027e-04 9.97596788e-01 -2.21858357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17864 meters 0.0260647710129365 Centerline is valid? [True, True] Translation: X:309.61, Y:-240.62, Z:-22.19 [[ 7.17329599e-01 6.94839191e-01 5.13492486e-02 3.09607047e+02] [-6.93165456e-01 7.19164429e-01 -4.82096887e-02 -2.40615952e+02] [-7.04265341e-02 -1.01128865e-03 9.97516456e-01 -2.21875282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20864 meters 0.02648223490463588 Centerline is valid? [True, True] Translation: X:309.63, Y:-240.64, Z:-22.19 [[ 7.13562845e-01 6.98733152e-01 5.09906766e-02 3.09630366e+02] [-6.97089693e-01 7.15381120e-01 -4.79146436e-02 -2.40637221e+02] [-6.99573173e-02 -1.35496575e-03 9.97549065e-01 -2.21894384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23864 meters 0.026843681180017672 Centerline is valid? [True, True] Translation: X:309.65, Y:-240.66, Z:-22.19 [[ 7.11297028e-01 7.01044110e-01 5.09283259e-02 3.09654171e+02] [-6.99407985e-01 7.13116219e-01 -4.78928851e-02 -2.40658157e+02] [-6.98928402e-02 -1.55361095e-03 9.97553295e-01 -2.21912049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26864 meters 0.026972098138468417 Centerline is valid? [True, True] Translation: X:309.68, Y:-240.68, Z:-22.19 [[ 7.08872498e-01 7.03454153e-01 5.14979202e-02 3.09678579e+02] [-7.01785376e-01 7.10738385e-01 -4.84585832e-02 -2.40679488e+02] [-7.06899402e-02 -1.78953037e-03 9.97496732e-01 -2.21930685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29864 meters 0.027917921286985635 Centerline is valid? [True, True] Translation: X:309.70, Y:-240.70, Z:-22.20 [[ 7.04739637e-01 7.07517114e-01 5.25507141e-02 3.09702209e+02] [-7.05787890e-01 7.06692738e-01 -4.94856421e-02 -2.40700864e+02] [-7.21491467e-02 -2.21516413e-03 9.97391394e-01 -2.21957744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32864 meters 0.028234080466923887 Centerline is valid? [True, True] Translation: X:309.73, Y:-240.72, Z:-22.20 [[ 7.02723672e-01 7.09578173e-01 5.17518778e-02 3.09727047e+02] [-7.07905213e-01 7.04622721e-01 -4.87548000e-02 -2.40721567e+02] [-7.10608909e-02 -2.37427198e-03 9.97469154e-01 -2.21972969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35864 meters 0.02864600790711991 Centerline is valid? [True, True] Translation: X:309.76, Y:-240.74, Z:-22.20 [[ 6.99883667e-01 7.12435284e-01 5.09786128e-02 3.09755460e+02] [-7.10816537e-01 7.01733025e-01 -4.80688292e-02 -2.40738349e+02] [-7.00193061e-02 -2.59385260e-03 9.97542264e-01 -2.21992153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38864 meters 0.028864511946935234 Centerline is valid? [True, True] Translation: X:309.78, Y:-240.76, Z:-22.20 [[ 6.98300227e-01 7.13994481e-01 5.08790253e-02 3.09780983e+02] [-7.12383187e-01 7.00146065e-01 -4.80175257e-02 -2.40758270e+02] [-6.99069977e-02 -2.71471313e-03 9.97549819e-01 -2.22004644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41864 meters 0.02884742883815058 Centerline is valid? [True, True] Translation: X:309.81, Y:-240.78, Z:-22.20 [[ 6.98462686e-01 7.13791713e-01 5.14904563e-02 3.09806571e+02] [-7.12137636e-01 7.00352859e-01 -4.86401064e-02 -2.40779683e+02] [-7.07803932e-02 -2.69499244e-03 9.97488282e-01 -2.22021869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44864 meters 0.028487546800248342 Centerline is valid? [True, True] Translation: X:309.83, Y:-240.80, Z:-22.20 [[ 7.00686107e-01 7.11571730e-01 5.20062740e-02 3.09834084e+02] [-7.09875100e-01 7.02609136e-01 -4.91705624e-02 -2.40798054e+02] [-7.15284654e-02 -2.46482903e-03 9.97435513e-01 -2.22033485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47864 meters 0.028152911341738397 Centerline is valid? [True, True] Translation: X:309.86, Y:-240.82, Z:-22.21 [[ 7.02596756e-01 7.09696491e-01 5.18525671e-02 3.09861005e+02] [-7.08003238e-01 7.04503954e-01 -4.90468599e-02 -2.40816868e+02] [-7.13387229e-02 -2.25162070e-03 9.97449606e-01 -2.22064504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50864 meters 0.027536670488365972 Centerline is valid? [True, True] Translation: X:309.89, Y:-240.83, Z:-22.21 [[ 7.06806396e-01 7.05556069e-01 5.11405193e-02 3.09889069e+02] [-7.03897274e-01 7.08651820e-01 -4.83862188e-02 -2.40832413e+02] [-7.03800124e-02 -1.79798320e-03 9.97518632e-01 -2.22081811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53864 meters 0.027340625731107304 Centerline is valid? [True, True] Translation: X:309.91, Y:-240.85, Z:-22.21 [[ 7.08778030e-01 7.03539207e-01 5.16361244e-02 3.09914225e+02] [-7.01841473e-01 7.10654644e-01 -4.88725307e-02 -2.40852934e+02] [-7.10791931e-02 -1.60059758e-03 9.97469391e-01 -2.22098293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56864 meters 0.02678307984181436 Centerline is valid? [True, True] Translation: X:309.94, Y:-240.87, Z:-22.21 [[ 7.13178147e-01 6.99091993e-01 5.14520728e-02 3.09940318e+02] [-6.97391952e-01 7.15030854e-01 -4.87374892e-02 -2.40872945e+02] [-7.08618080e-02 -1.12374933e-03 9.97485509e-01 -2.22100262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59864 meters 0.026670342950553972 Centerline is valid? [True, True] Translation: X:309.97, Y:-240.89, Z:-22.21 [[ 7.14954017e-01 6.97226773e-01 5.21112419e-02 3.09965085e+02] [-6.95475608e-01 7.16850031e-01 -4.93934474e-02 -2.40893001e+02] [-7.17943792e-02 -9.28053961e-04 9.97419022e-01 -2.22122037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62864 meters 0.026369738002712702 Centerline is valid? [True, True] Translation: X:309.99, Y:-240.91, Z:-22.21 [[ 7.16518464e-01 6.95737489e-01 5.05038346e-02 3.09989136e+02] [-6.94086051e-01 7.18295778e-01 -4.79137775e-02 -2.40914589e+02] [-6.96121024e-02 -7.22900853e-04 9.97573873e-01 -2.22132297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65864 meters 0.026245560816695823 Centerline is valid? [True, True] Translation: X:310.01, Y:-240.94, Z:-22.22 [[ 7.19823022e-01 6.92471851e-01 4.83482467e-02 3.10011527e+02] [-6.90948325e-01 7.21444806e-01 -4.59108399e-02 -2.40937717e+02] [-6.66725557e-02 -3.58460468e-04 9.97774845e-01 -2.22151938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68864 meters 0.02614653390046964 Centerline is valid? [True, True] Translation: X:310.03, Y:-240.96, Z:-22.22 [[ 7.21527019e-01 6.90701299e-01 4.82750007e-02 3.10034568e+02] [-6.89175420e-01 7.23140158e-01 -4.58862946e-02 -2.40960981e+02] [-6.66033149e-02 -1.61742507e-04 9.97779521e-01 -2.22170262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71864 meters 0.02624453632322909 Centerline is valid? [True, True] Translation: X:310.06, Y:-240.98, Z:-22.22 [[ 7.23501556e-01 6.88546233e-01 4.94932709e-02 3.10055814e+02] [-6.86933780e-01 7.25192443e-01 -4.70946088e-02 -2.40984634e+02] [-6.83189615e-02 7.44231433e-05 9.97663527e-01 -2.22185251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74864 meters 0.026261187267404434 Centerline is valid? [True, True] Translation: X:310.08, Y:-241.01, Z:-22.22 [[ 7.23823016e-01 6.88184879e-01 4.98178056e-02 3.10078424e+02] [-6.86547112e-01 7.25535356e-01 -4.74500853e-02 -2.41009021e+02] [-6.87990106e-02 1.43193305e-04 9.97630531e-01 -2.22195343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77864 meters 0.026019298538192105 Centerline is valid? [True, True] Translation: X:310.10, Y:-241.03, Z:-22.22 [[ 7.23872357e-01 6.88223177e-01 4.85558451e-02 3.10098756e+02] [-6.86664326e-01 7.25499021e-01 -4.62955019e-02 -2.41034180e+02] [-6.70888555e-02 1.70467429e-04 9.97746990e-01 -2.22199954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80864 meters 0.02605398240328356 Centerline is valid? [True, True] Translation: X:310.12, Y:-241.06, Z:-22.22 [[ 7.22931087e-01 6.89277194e-01 4.76192586e-02 3.10121379e+02] [-6.87777479e-01 7.24497716e-01 -4.54444589e-02 -2.41057121e+02] [-6.58238732e-02 1.01758450e-04 9.97831252e-01 -2.22216512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83864 meters 0.026038574986890446 Centerline is valid? [True, True] Translation: X:310.14, Y:-241.08, Z:-22.22 [[ 7.22121159e-01 6.90147524e-01 4.73014397e-02 3.10144512e+02] [-6.88666794e-01 7.23668703e-01 -4.51846705e-02 -2.41081170e+02] [-6.54146600e-02 5.38757835e-05 9.97858166e-01 -2.22233488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86864 meters 0.026004054348025437 Centerline is valid? [True, True] Translation: X:310.16, Y:-241.11, Z:-22.23 [[ 7.21010370e-01 6.91239926e-01 4.82846786e-02 3.10164153e+02] [-6.89695960e-01 7.22625328e-01 -4.61748656e-02 -2.41107906e+02] [-6.68096424e-02 -9.19082716e-06 9.97765740e-01 -2.22260507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89864 meters 0.026190481759926717 Centerline is valid? [True, True] Translation: X:310.19, Y:-241.13, Z:-22.23 [[ 7.20907057e-01 6.91294909e-01 4.90343166e-02 3.10185904e+02] [-6.89699181e-01 7.22572729e-01 -4.69434865e-02 -2.41133488e+02] [-6.78826532e-02 2.29626634e-05 9.97693312e-01 -2.22278700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters 0.026154881057570235 Centerline is valid? [True, True] Translation: X:310.21, Y:-241.16, Z:-22.23 [[ 7.21390998e-01 6.90774548e-01 4.92498966e-02 3.10205997e+02] [-6.89160032e-01 7.23070198e-01 -4.72010379e-02 -2.41160907e+02] [-6.82164081e-02 1.09343514e-04 9.97670542e-01 -2.22283284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95864 meters 0.0262315638546143 Centerline is valid? [True, True] Translation: X:310.23, Y:-241.19, Z:-22.23 [[ 7.21220086e-01 6.90936320e-01 4.94832216e-02 3.10228264e+02] [-6.89303311e-01 7.22915614e-01 -4.74759013e-02 -2.41185413e+02] [-6.85750181e-02 1.31625159e-04 9.97645954e-01 -2.22305842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters 0.026439429420886278 Centerline is valid? [True, True] Translation: X:310.25, Y:-241.21, Z:-22.23 [[ 7.20687092e-01 6.91447032e-01 5.01110495e-02 3.10248801e+02] [-6.89769856e-01 7.22427150e-01 -4.81306452e-02 -2.41211891e+02] [-6.94813744e-02 1.22043277e-04 9.97583242e-01 -2.22335736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01864 meters 0.026409348714295792 Centerline is valid? [True, True] Translation: X:310.27, Y:-241.24, Z:-22.23 [[ 7.19653949e-01 6.92523593e-01 5.00925756e-02 3.10270863e+02] [-6.90846637e-01 7.21395224e-01 -4.81648724e-02 -2.41236006e+02] [-6.94918553e-02 5.57532761e-05 9.97582517e-01 -2.22348386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters 0.02643534850724682 Centerline is valid? [True, True] Translation: X:310.29, Y:-241.26, Z:-22.24 [[ 7.18202758e-01 6.94080753e-01 4.93630065e-02 3.10292726e+02] [-6.92452529e-01 7.19897149e-01 -4.75141095e-02 -2.41260130e+02] [-6.85149165e-02 -5.67742105e-05 9.97650090e-01 -2.22369739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07864 meters 0.026663574755745708 Centerline is valid? [True, True] Translation: X:310.31, Y:-241.29, Z:-22.24 [[ 7.14563889e-01 6.97888533e-01 4.84772449e-02 3.10313008e+02] [-6.96323612e-01 7.16206292e-01 -4.67116121e-02 -2.41287006e+02] [-6.73192063e-02 -3.77419084e-04 9.97731418e-01 -2.22403818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters 0.02683221254158954 Centerline is valid? [True, True] Translation: X:310.33, Y:-241.31, Z:-22.24 [[ 7.12470017e-01 7.00073752e-01 4.77830151e-02 3.10334741e+02] [-6.98554975e-01 7.14070340e-01 -4.60922564e-02 -2.41311307e+02] [-6.63884127e-02 -5.39712215e-04 9.97793710e-01 -2.22421739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13864 meters 0.026916594762958115 Centerline is valid? [True, True] Translation: X:310.36, Y:-241.33, Z:-22.24 [[ 7.10417199e-01 7.02123605e-01 4.82684824e-02 3.10356477e+02] [-7.00575137e-01 7.12054737e-01 -4.66103872e-02 -2.41334735e+02] [-6.70960546e-02 -7.02877971e-04 9.97746273e-01 -2.22430303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters 0.027223416793466078 Centerline is valid? [True, True] Translation: X:310.38, Y:-241.36, Z:-22.25 [[ 7.06734265e-01 7.05680615e-01 5.04137651e-02 3.10377094e+02] [-7.03996915e-01 7.08529295e-01 -4.87296774e-02 -2.41359222e+02] [-7.01072182e-02 -1.05220235e-03 9.97538907e-01 -2.22450597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.19864 meters 0.027416823023142845 Centerline is valid? [True, True] Translation: X:310.40, Y:-241.38, Z:-22.25 [[ 7.05028640e-01 7.07358898e-01 5.07740599e-02 3.10399239e+02] [-7.05652068e-01 7.06853564e-01 -4.91243145e-02 -2.41382819e+02] [-7.06383462e-02 -1.19477176e-03 9.97501277e-01 -2.22476283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters 0.027606464740015456 Centerline is valid? [True, True] Translation: X:310.42, Y:-241.41, Z:-22.25 [[ 7.02928285e-01 7.09493801e-01 5.01036142e-02 3.10419934e+02] [-7.07834476e-01 7.04710358e-01 -4.85145928e-02 -2.41407004e+02] [-6.97293388e-02 -1.36278595e-03 9.97565017e-01 -2.22505954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25864 meters 0.027958015704149932 Centerline is valid? [True, True] Translation: X:310.44, Y:-241.43, Z:-22.25 [[ 7.01716317e-01 7.10695272e-01 5.00643630e-02 3.10443240e+02] [-7.09039375e-01 7.03498474e-01 -4.85083649e-02 -2.41430825e+02] [-6.96948685e-02 -1.45849351e-03 9.97567290e-01 -2.22526375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28864 meters 0.02799246723006691 Centerline is valid? [True, True] Translation: X:310.47, Y:-241.45, Z:-22.25 [[ 7.00349011e-01 7.12108538e-01 4.91191810e-02 3.10467365e+02] [-7.10514668e-01 7.02067717e-01 -4.76427043e-02 -2.41453931e+02] [-6.84117678e-02 -1.53337774e-03 9.97655992e-01 -2.22536503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31864 meters 0.028552255845400828 Centerline is valid? [True, True] Translation: X:310.49, Y:-241.48, Z:-22.26 [[ 6.97410275e-01 7.14959642e-01 4.95138238e-02 3.10490970e+02] [-7.13343781e-01 6.99163426e-01 -4.80744602e-02 -2.41475829e+02] [-6.89895536e-02 -1.79275575e-03 9.97615772e-01 -2.22561053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34864 meters 0.029147477022584956 Centerline is valid? [True, True] Translation: X:310.51, Y:-241.50, Z:-22.26 [[ 6.93293983e-01 7.18908936e-01 5.01337685e-02 3.10513138e+02] [-7.17259479e-01 6.95100844e-01 -4.87201961e-02 -2.41498569e+02] [-6.98734091e-02 -2.18150183e-03 9.97553481e-01 -2.22572976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37864 meters 0.02944985591593397 Centerline is valid? [True, True] Translation: X:310.54, Y:-241.52, Z:-22.26 [[ 6.90943428e-01 7.21117953e-01 5.08534804e-02 3.10535897e+02] [-7.19423668e-01 6.92808120e-01 -4.94620566e-02 -2.41520696e+02] [-7.08996812e-02 -2.40971449e-03 9.97480540e-01 -2.22592561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40864 meters 0.02991871063049509 Centerline is valid? [True, True] Translation: X:310.56, Y:-241.54, Z:-22.26 [[ 6.88952037e-01 7.23034141e-01 5.06628223e-02 3.10558447e+02] [-7.21355009e-01 6.90807515e-01 -4.93145742e-02 -2.41542759e+02] [-7.06543792e-02 -2.57050427e-03 9.97497544e-01 -2.22609624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43864 meters 0.030445134017544527 Centerline is valid? [True, True] Translation: X:310.58, Y:-241.56, Z:-22.26 [[ 6.86905561e-01 7.25001127e-01 5.03400170e-02 3.10583581e+02] [-7.23346985e-01 6.88742234e-01 -4.90232042e-02 -2.41562348e+02] [-7.02131740e-02 -2.73898800e-03 9.97528249e-01 -2.22627620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46864 meters 0.030445134017544527 Centerline is valid? [True, True] Translation: X:310.61, Y:-241.58, Z:-22.26 [[ 6.86542823e-01 7.25345669e-01 5.03250651e-02 3.10607058e+02] [-7.23691328e-01 6.88379316e-01 -4.90385491e-02 -2.41584803e+02] [-7.02126331e-02 -2.75274930e-03 9.97528250e-01 -2.22644201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49864 meters 0.030672536431627085 Centerline is valid? [True, True] Translation: X:310.63, Y:-241.61, Z:-22.27 [[ 6.85354990e-01 7.26464555e-01 5.03764569e-02 3.10630700e+02] [-7.24806542e-01 6.87198076e-01 -4.91353374e-02 -2.41605790e+02] [-7.03136852e-02 -2.83803685e-03 9.97520893e-01 -2.22667802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52864 meters 0.030102412543023725 Centerline is valid? [True, True] Translation: X:310.66, Y:-241.63, Z:-22.27 [[ 6.85785385e-01 7.26097598e-01 4.98064610e-02 3.10655936e+02] [-7.24473692e-01 6.87586167e-01 -4.86120593e-02 -2.41625802e+02] [-6.95433331e-02 -2.74603088e-03 9.97575152e-01 -2.22675083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55864 meters 0.030288647163468237 Centerline is valid? [True, True] Translation: X:310.68, Y:-241.65, Z:-22.27 [[ 6.85773518e-01 7.26091779e-01 5.00540664e-02 3.10680363e+02] [-7.24449914e-01 6.87592328e-01 -4.88785520e-02 -2.41648085e+02] [-6.99071069e-02 -2.74204751e-03 9.97549737e-01 -2.22688896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58864 meters 0.030239407980770124 Centerline is valid? [True, True] Translation: X:310.70, Y:-241.67, Z:-22.27 [[ 6.85958571e-01 7.25938912e-01 4.97346348e-02 3.10704795e+02] [-7.24314249e-01 6.87753977e-01 -4.86141507e-02 -2.41669559e+02] [-6.94960966e-02 -2.67621129e-03 9.97578634e-01 -2.22699336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61864 meters 0.029957636294401065 Centerline is valid? [True, True] Translation: X:310.73, Y:-241.69, Z:-22.27 [[ 6.85898548e-01 7.25963024e-01 5.02082572e-02 3.10731104e+02] [-7.24304133e-01 6.87728537e-01 -4.91221039e-02 -2.41690404e+02] [-7.01904824e-02 -2.67326849e-03 9.97530025e-01 -2.22714459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64864 meters 0.029779519126515698 Centerline is valid? [True, True] Translation: X:310.76, Y:-241.71, Z:-22.27 [[ 6.86015740e-01 7.25825925e-01 5.05878612e-02 3.10756424e+02] [-7.24137922e-01 6.87873339e-01 -4.95433177e-02 -2.41711199e+02] [-7.07578654e-02 -2.64509293e-03 9.97490014e-01 -2.22732248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67864 meters 0.02979107635027706 Centerline is valid? [True, True] Translation: X:310.78, Y:-241.73, Z:-22.27 [[ 6.85598044e-01 7.26189070e-01 5.10368285e-02 3.10781448e+02] [-7.24468299e-01 6.87489853e-01 -5.00338453e-02 -2.41732766e+02] [-7.14213333e-02 -2.67145789e-03 9.97442658e-01 -2.22743764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70864 meters 0.029793460929615122 Centerline is valid? [True, True] Translation: X:310.81, Y:-241.75, Z:-22.28 [[ 6.85225694e-01 7.26514321e-01 5.14071013e-02 3.10806754e+02] [-7.24765646e-01 6.87146060e-01 -5.04484831e-02 -2.41754490e+02] [-7.19757326e-02 -2.68950416e-03 9.97402757e-01 -2.22765341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73864 meters 0.029852269251097834 Centerline is valid? [True, True] Translation: X:310.83, Y:-241.77, Z:-22.28 [[ 6.85379758e-01 7.26436939e-01 5.04376975e-02 3.10832512e+02] [-7.24750068e-01 6.87228220e-01 -4.95450635e-02 -2.41773909e+02] [-7.06535733e-02 -2.59754107e-03 9.97497532e-01 -2.22773929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76864 meters 0.02954343229497889 Centerline is valid? [True, True] Translation: X:310.86, Y:-241.79, Z:-22.28 [[ 6.85544045e-01 7.26303045e-01 5.01323196e-02 3.10857619e+02] [-7.24633147e-01 6.87369948e-01 -4.92885131e-02 -2.41794567e+02] [-7.02578470e-02 -2.53809382e-03 9.97525635e-01 -2.22790795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79864 meters 0.02924938787888233 Centerline is valid? [True, True] Translation: X:310.88, Y:-241.81, Z:-22.28 [[ 6.86745646e-01 7.25204809e-01 4.95822905e-02 3.10883574e+02] [-7.23565555e-01 6.88529136e-01 -4.87905248e-02 -2.41814518e+02] [-6.95219749e-02 -2.36935714e-03 9.97577607e-01 -2.22810409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82864 meters 0.02917735451447378 Centerline is valid? [True, True] Translation: X:310.91, Y:-241.84, Z:-22.28 [[ 6.87569351e-01 7.24446448e-01 4.92517110e-02 3.10907662e+02] [-7.22824076e-01 6.89327421e-01 -4.85083697e-02 -2.41835614e+02] [-6.90922711e-02 -2.24745423e-03 9.97607742e-01 -2.22820188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85864 meters 0.028468473236069724 Centerline is valid? [True, True] Translation: X:310.93, Y:-241.85, Z:-22.28 [[ 6.90570429e-01 7.21589299e-01 4.92073838e-02 3.10934350e+02] [-7.19959580e-01 6.92318686e-01 -4.85081474e-02 -2.41854543e+02] [-6.90701513e-02 -1.92903521e-03 9.97609940e-01 -2.22836206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88864 meters 0.02827120162361321 Centerline is valid? [True, True] Translation: X:310.96, Y:-241.88, Z:-22.28 [[ 6.92338798e-01 7.19916479e-01 4.88595265e-02 3.10959095e+02] [-7.18302605e-01 6.94058577e-01 -4.82085032e-02 -2.41875256e+02] [-6.86174693e-02 -1.71930804e-03 9.97641562e-01 -2.22848005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91864 meters 0.027957038206150336 Centerline is valid? [True, True] Translation: X:310.98, Y:-241.90, Z:-22.29 [[ 6.94182775e-01 7.18090516e-01 4.95609296e-02 3.10983482e+02] [-7.16422112e-01 6.95948038e-01 -4.89457394e-02 -2.41895999e+02] [-6.96393030e-02 -1.52925671e-03 9.97571065e-01 -2.22878843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94864 meters 0.027434745284483992 Centerline is valid? [True, True] Translation: X:311.01, Y:-241.92, Z:-22.29 [[ 6.97518834e-01 7.14855476e-01 4.94886405e-02 3.11007082e+02] [-7.13180649e-01 6.99271245e-01 -4.89191994e-02 -2.41917733e+02] [-6.95761408e-02 -1.17227787e-03 9.97575955e-01 -2.22904558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97864 meters 0.027382816722293347 Centerline is valid? [True, True] Translation: X:311.03, Y:-241.94, Z:-22.29 [[ 6.99126559e-01 7.13250998e-01 4.99506655e-02 3.11030657e+02] [-7.11537350e-01 7.00908008e-01 -4.94223001e-02 -2.41939706e+02] [-7.02613264e-02 -9.89321542e-04 9.97528129e-01 -2.22919089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00864 meters 0.02730555726364203 Centerline is valid? [True, True] Translation: X:311.06, Y:-241.96, Z:-22.29 [[ 7.00820124e-01 7.11615512e-01 4.95430816e-02 3.11055819e+02] [-7.09922452e-01 7.02568676e-01 -4.90649230e-02 -2.41960695e+02] [-6.97227776e-02 -7.86060585e-04 9.97566096e-01 -2.22915860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03864 meters 0.027216847662490613 Centerline is valid? [True, True] Translation: X:311.08, Y:-241.98, Z:-22.29 [[ 7.00616677e-01 7.11867374e-01 4.87966612e-02 3.11079182e+02] [-7.10222508e-01 7.02313501e-01 -4.83708013e-02 -2.41982215e+02] [-6.87041492e-02 -7.67097083e-04 9.97636783e-01 -2.22936911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06864 meters 0.027222856520382695 Centerline is valid? [True, True] Translation: X:311.10, Y:-242.00, Z:-22.30 [[ 7.00762846e-01 7.11777009e-01 4.80096119e-02 3.11102595e+02] [-7.10181603e-01 7.02405139e-01 -4.76351963e-02 -2.42004354e+02] [-6.76278357e-02 -7.14567388e-04 9.97710361e-01 -2.22955534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09864 meters 0.027264134613560025 Centerline is valid? [True, True] Translation: X:311.13, Y:-242.03, Z:-22.30 [[ 7.01900539e-01 7.10749801e-01 4.65870609e-02 3.11126599e+02] [-7.09242560e-01 7.03444667e-01 -4.62665393e-02 -2.42025991e+02] [-6.56553531e-02 -5.67017407e-04 9.97842199e-01 -2.22973862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12864 meters 0.02704889020999473 Centerline is valid? [True, True] Translation: X:311.15, Y:-242.05, Z:-22.30 [[ 7.03364282e-01 7.09232485e-01 4.76231993e-02 3.11149623e+02] [-7.07650715e-01 7.04974553e-01 -4.73428470e-02 -2.42049017e+02] [-6.71502287e-02 -4.01323478e-04 9.97742795e-01 -2.22997394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15864 meters 0.026820559209668006 Centerline is valid? [True, True] Translation: X:311.17, Y:-242.07, Z:-22.30 [[ 7.05376092e-01 7.07246269e-01 4.74055126e-02 3.11172316e+02] [-7.05671041e-01 7.06967244e-01 -4.71773114e-02 -2.42073362e+02] [-6.68801221e-02 -1.74949831e-04 9.97761003e-01 -2.23003944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18864 meters 0.026915220013798872 Centerline is valid? [True, True] Translation: X:311.19, Y:-242.10, Z:-22.30 [[ 7.07686385e-01 7.04882678e-01 4.81704336e-02 3.11194297e+02] [-7.03247070e-01 7.09323905e-01 -4.79912055e-02 -2.42097461e+02] [-6.79966096e-02 8.70064527e-05 9.97685548e-01 -2.23025969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21864 meters 0.027063116700743087 Centerline is valid? [True, True] Translation: X:311.21, Y:-242.12, Z:-22.30 [[ 7.12708319e-01 6.99812120e-01 4.80608769e-02 3.11214778e+02] [-6.98168994e-01 7.14326696e-01 -4.79314888e-02 -2.42121746e+02] [-6.78742042e-02 6.06556725e-04 9.97693703e-01 -2.23046994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24864 meters 0.02728752925240687 Centerline is valid? [True, True] Translation: X:311.24, Y:-242.15, Z:-22.31 [[ 7.14568753e-01 6.97980829e-01 4.70559108e-02 3.11237212e+02] [-6.96398990e-01 7.16116003e-01 -4.69714380e-02 -2.42145299e+02] [-6.64826540e-02 7.94633101e-04 9.97787265e-01 -2.23066760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27864 meters 0.027401488743544814 Centerline is valid? [True, True] Translation: X:311.26, Y:-242.17, Z:-22.31 [[ 7.16399220e-01 6.96137070e-01 4.65331854e-02 3.11257160e+02] [-6.94583206e-01 7.17908212e-01 -4.64969753e-02 -2.42171287e+02] [-6.57748241e-02 9.89227699e-04 9.97834001e-01 -2.23095722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30864 meters 0.027368437160552414 Centerline is valid? [True, True] Translation: X:311.28, Y:-242.20, Z:-22.31 [[ 7.16467212e-01 6.96091716e-01 4.61633704e-02 3.11278721e+02] [-6.94559545e-01 7.17952149e-01 -4.61708782e-02 -2.42196812e+02] [-6.52822568e-02 1.01671083e-03 9.97866320e-01 -2.23107716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33864 meters 0.027309812849214136 Centerline is valid? [True, True] Translation: X:311.38, Y:-242.26, Z:-20.78 [[ 7.46637732e-01 -6.64774807e-01 -2.46283001e-02 3.11376590e+02] [-6.64264685e-01 -7.47036827e-01 2.62374975e-02 -2.42261327e+02] [-3.58402745e-02 -3.23019557e-03 -9.99352311e-01 -2.07793923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36864 meters 0.026947069708965776 Centerline is valid? [True, True] Translation: X:311.32, Y:-242.26, Z:-22.31 [[ 7.63979738e-01 6.43253544e-01 5.05948478e-02 3.11318215e+02] [-6.41773834e-01 7.65652765e-01 -4.36141027e-02 -2.42264052e+02] [-6.67930112e-02 8.49841366e-04 9.97766491e-01 -2.23135456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39864 meters 0.02685325650891113 Centerline is valid? [True, True] Translation: X:311.34, Y:-242.29, Z:-22.31 [[ 7.62824023e-01 6.44597126e-01 5.09318566e-02 3.11341358e+02] [-6.43096465e-01 7.64522027e-01 -4.39659707e-02 -2.42287330e+02] [-6.72788646e-02 7.84201699e-04 9.97733902e-01 -2.23148469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters 0.026676863116760728 Centerline is valid? [True, True] Translation: X:311.36, Y:-242.31, Z:-22.32 [[ 7.61456599e-01 6.46205651e-01 5.10108341e-02 3.11362970e+02] [-6.44700729e-01 7.63163020e-01 -4.40814495e-02 -2.42312421e+02] [-6.74152640e-02 6.79388668e-04 9.97724772e-01 -2.23175641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45864 meters 0.026657043610458883 Centerline is valid? [True, True] Translation: X:311.39, Y:-242.34, Z:-22.32 [[ 7.60190764e-01 6.47723175e-01 5.06427807e-02 3.11385350e+02] [-6.46240219e-01 7.61875552e-01 -4.38089387e-02 -2.42335122e+02] [-6.69595613e-02 5.75748917e-04 9.97755524e-01 -2.23187404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters 0.026531239718047005 Centerline is valid? [True, True] Translation: X:311.41, Y:-242.36, Z:-22.32 [[ 7.57880547e-01 6.50360595e-01 5.14604060e-02 3.11408484e+02] [-6.48832337e-01 7.59625533e-01 -4.45606149e-02 -2.42359172e+02] [-6.80711063e-02 3.82447683e-04 9.97680399e-01 -2.23205957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51864 meters 0.026337386776478167 Centerline is valid? [True, True] Translation: X:311.43, Y:-242.38, Z:-22.32 [[ 7.56308907e-01 6.52264806e-01 5.04723716e-02 3.11432464e+02] [-6.50795905e-01 7.57991137e-01 -4.37507158e-02 -2.42380692e+02] [-6.67946625e-02 2.41843285e-04 9.97766714e-01 -2.23208084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters 0.026317370093766033 Centerline is valid? [True, True] Translation: X:311.46, Y:-242.40, Z:-22.32 [[ 7.54128141e-01 6.54688671e-01 5.17058073e-02 3.11456576e+02] [-6.53149577e-01 7.55898630e-01 -4.48652558e-02 -2.42402711e+02] [-6.84571236e-02 6.25258257e-05 9.97654057e-01 -2.23238831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57864 meters 0.02615211320377052 Centerline is valid? [True, True] Translation: X:311.48, Y:-242.43, Z:-22.33 [[ 7.50797435e-01 6.58431362e-01 5.26436423e-02 3.11478740e+02] [-6.56841557e-01 7.52640738e-01 -4.57284106e-02 -2.42426535e+02] [-6.97307695e-02 -2.45758575e-04 9.97565817e-01 -2.23251199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters 0.02613989981590586 Centerline is valid? [True, True] Translation: X:311.50, Y:-242.45, Z:-22.33 [[ 7.47562287e-01 6.62076299e-01 5.29679262e-02 3.11502747e+02] [-6.60472795e-01 7.49436232e-01 -4.60545417e-02 -2.42448416e+02] [-7.01877036e-02 -5.55235784e-04 9.97533648e-01 -2.23266454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63864 meters 0.02621236493265108 Centerline is valid? [True, True] Translation: X:311.53, Y:-242.47, Z:-22.33 [[ 7.45737371e-01 6.64124586e-01 5.30500529e-02 3.11528216e+02] [-6.62518016e-01 7.47621578e-01 -4.61720060e-02 -2.42469057e+02] [-7.03253287e-02 -7.14425468e-04 9.97523853e-01 -2.23286989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters 0.02631246177697845 Centerline is valid? [True, True] Translation: X:311.55, Y:-242.49, Z:-22.33 [[ 7.44031385e-01 6.65991678e-01 5.35946199e-02 3.11552712e+02] [-6.64353631e-01 7.45958667e-01 -4.66896201e-02 -2.42489000e+02] [-7.10742696e-02 -8.67237563e-04 9.97470649e-01 -2.23310550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.69864 meters 0.026397243735427883 Centerline is valid? [True, True] Translation: X:311.58, Y:-242.51, Z:-22.33 [[ 7.41580059e-01 6.68741363e-01 5.33292186e-02 3.11577922e+02] [-6.67124492e-01 7.43494300e-01 -4.64880445e-02 -2.42508345e+02] [-7.07384482e-02 -1.10262106e-03 9.97494289e-01 -2.23333984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters 0.026529572751110606 Centerline is valid? [True, True] Translation: X:311.60, Y:-242.53, Z:-22.33 [[ 7.40689824e-01 6.69729899e-01 5.32958495e-02 3.11604464e+02] [-6.68114361e-01 7.42603873e-01 -4.65047177e-02 -2.42528780e+02] [-7.07233041e-02 -1.16215131e-03 9.97495295e-01 -2.23342013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.75864 meters 0.026581341482760736 Centerline is valid? [True, True] Translation: X:311.63, Y:-242.55, Z:-22.34 [[ 7.38865575e-01 6.71624491e-01 5.47558621e-02 3.11631769e+02] [-6.69920639e-01 7.40890504e-01 -4.78288461e-02 -2.42546061e+02] [-7.26911227e-02 -1.34299424e-03 9.97353597e-01 -2.23356057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78864 meters 0.026540634352311396 Centerline is valid? [True, True] Translation: X:311.66, Y:-242.57, Z:-22.34 [[ 7.38526992e-01 6.71993385e-01 5.47975543e-02 3.11657746e+02] [-6.70284554e-01 7.40555925e-01 -4.79117778e-02 -2.42566144e+02] [-7.27770513e-02 -1.34581306e-03 9.97347326e-01 -2.23371390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.81864 meters 0.026415002511692518 Centerline is valid? [True, True] Translation: X:311.68, Y:-242.58, Z:-22.34 [[ 7.40495635e-01 6.69821995e-01 5.48152381e-02 3.11684231e+02] [-6.68102489e-01 7.42520906e-01 -4.79767522e-02 -2.42584972e+02] [-7.28373441e-02 -1.09562147e-03 9.97343231e-01 -2.23410979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84864 meters 0.02621842162901184 Centerline is valid? [True, True] Translation: X:311.71, Y:-242.61, Z:-22.34 [[ 7.41689803e-01 6.68573552e-01 5.39040037e-02 3.11709952e+02] [-6.66904960e-01 7.43645440e-01 -4.72147552e-02 -2.42605085e+02] [-7.16520031e-02 -9.30144953e-04 9.97429258e-01 -2.23430949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.87864 meters 0.026160812108848835 Centerline is valid? [True, True] Translation: X:311.74, Y:-242.63, Z:-22.34 [[ 7.42389295e-01 6.67787765e-01 5.40151390e-02 3.11736019e+02] [-6.66108309e-01 7.44351262e-01 -4.73383559e-02 -2.42625289e+02] [-7.18182118e-02 -8.36444166e-04 9.97417387e-01 -2.23443793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90864 meters 0.02618468504075296 Centerline is valid? [True, True] Translation: X:311.76, Y:-242.64, Z:-22.35 [[ 7.43297680e-01 6.66781324e-01 5.39557611e-02 3.11762756e+02] [-6.65099358e-01 7.45253094e-01 -4.73357242e-02 -2.42643453e+02] [-7.17732748e-02 -7.01408026e-04 9.97420726e-01 -2.23453235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93864 meters 0.02625757181884988 Centerline is valid? [True, True] Translation: X:311.79, Y:-242.66, Z:-22.35 [[ 7.43277017e-01 6.66790707e-01 5.41241999e-02 3.11789090e+02] [-6.65094819e-01 7.45244728e-01 -4.75307964e-02 -2.42663157e+02] [-7.20288680e-02 -6.69176366e-04 9.97402323e-01 -2.23468025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96864 meters 0.026282675737414798 Centerline is valid? [True, True] Translation: X:311.82, Y:-242.68, Z:-22.35 [[ 7.43865141e-01 6.66168733e-01 5.37016890e-02 3.11815167e+02] [-6.64494517e-01 7.45800840e-01 -4.72032259e-02 -2.42682807e+02] [-7.14960779e-02 -5.71643556e-04 9.97440717e-01 -2.23499262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99864 meters 0.026502343533022187 Centerline is valid? [True, True] Translation: X:311.84, Y:-242.70, Z:-22.35 [[ 7.43733169e-01 6.66323812e-01 5.36055086e-02 3.11840105e+02] [-6.64653679e-01 7.45662298e-01 -4.71510808e-02 -2.42703947e+02] [-7.13894946e-02 -5.61275767e-04 9.97448357e-01 -2.23511160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02864 meters 0.026469985899940766 Centerline is valid? [True, True] Translation: X:311.87, Y:-242.72, Z:-22.35 [[ 7.44205543e-01 6.65777821e-01 5.38331013e-02 3.11865560e+02] [-6.64088303e-01 7.46149898e-01 -4.74031199e-02 -2.42724197e+02] [-7.17275089e-02 -4.72268241e-04 9.97424153e-01 -2.23530407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05864 meters 0.026467758925587424 Centerline is valid? [True, True] Translation: X:311.89, Y:-242.74, Z:-22.35 [[ 7.44654645e-01 6.65289055e-01 5.36650088e-02 3.11892632e+02] [-6.63605118e-01 7.46585778e-01 -4.73066889e-02 -2.42743263e+02] [-7.15381548e-02 -3.85228865e-04 9.97437790e-01 -2.23548028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08864 meters 0.02648495592544894 Centerline is valid? [True, True] Translation: X:311.92, Y:-242.76, Z:-22.36 [[ 7.45503331e-01 6.64382006e-01 5.31162258e-02 3.11916351e+02] [-6.62726574e-01 7.47393125e-01 -4.68722191e-02 -2.42764468e+02] [-7.08397609e-02 -2.58138825e-04 9.97487675e-01 -2.23564089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11864 meters 0.026556966056965906 Centerline is valid? [True, True] Translation: X:311.94, Y:-242.79, Z:-22.36 [[ 7.46265126e-01 6.63550801e-01 5.28081137e-02 3.11941354e+02] [-6.61909183e-01 7.48131214e-01 -4.66467545e-02 -2.42786244e+02] [-7.04598895e-02 -1.43329244e-04 9.97514603e-01 -2.23591450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14864 meters 0.026451562525652013 Centerline is valid? [True, True] Translation: X:311.97, Y:-242.81, Z:-22.36 [[ 7.46671754e-01 6.63175250e-01 5.17675629e-02 3.11966441e+02] [-6.61593551e-01 7.48464150e-01 -4.57754302e-02 -2.42807058e+02] [-6.91032973e-02 -6.98649932e-05 9.97609508e-01 -2.23591951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17864 meters 0.026412941787205425 Centerline is valid? [True, True] Translation: X:311.99, Y:-242.83, Z:-22.36 [[ 7.47226994e-01 6.62512547e-01 5.22393046e-02 3.11992983e+02] [-6.60897073e-01 7.49050816e-01 -4.62377920e-02 -2.42826040e+02] [-6.97630111e-02 2.53227579e-05 9.97563593e-01 -2.23611878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20864 meters 0.026640100607206826 Centerline is valid? [True, True] Translation: X:312.02, Y:-242.85, Z:-22.36 [[ 7.46877283e-01 6.62852228e-01 5.29268250e-02 3.12018459e+02] [-6.61191251e-01 7.48750241e-01 -4.68957069e-02 -2.42847525e+02] [-7.07138968e-02 3.05844779e-05 9.97496639e-01 -2.23633554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23864 meters 0.026563718725281963 Centerline is valid? [True, True] Translation: X:312.04, Y:-242.87, Z:-22.36 [[ 7.45741252e-01 6.63984811e-01 5.47188737e-02 3.12042355e+02] [-6.62208510e-01 7.47746059e-01 -4.85357651e-02 -2.42868688e+02] [-7.31428330e-02 -4.01816081e-05 9.97321475e-01 -2.23645687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26864 meters 0.026760377691917126 Centerline is valid? [True, True] Translation: X:312.07, Y:-242.89, Z:-22.37 [[ 7.44827155e-01 6.64950660e-01 5.54358154e-02 3.12067715e+02] [-6.63126440e-01 7.46887281e-01 -4.92210801e-02 -2.42889770e+02] [-7.41338951e-02 -9.97578309e-05 9.97248292e-01 -2.23672953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29864 meters 0.026800365421511894 Centerline is valid? [True, True] Translation: X:312.09, Y:-242.91, Z:-22.37 [[ 7.44461471e-01 6.65374567e-01 5.52612326e-02 3.12093292e+02] [-6.63559046e-01 7.46509662e-01 -4.91194138e-02 -2.42910342e+02] [-7.39358528e-02 -1.01579685e-04 9.97262994e-01 -2.23692217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32864 meters 0.026699283528316 Centerline is valid? [True, True] Translation: X:312.12, Y:-242.93, Z:-22.37 [[ 7.44558641e-01 6.65466549e-01 5.27892219e-02 3.12118226e+02] [-6.63806905e-01 7.46427670e-01 -4.69694211e-02 -2.42930493e+02] [-7.06599144e-02 -7.03616271e-05 9.97500462e-01 -2.23712500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35864 meters 0.026476317815128315 Centerline is valid? [True, True] Translation: X:312.14, Y:-242.95, Z:-22.37 [[ 7.44714884e-01 6.65377170e-01 5.17007029e-02 3.12142291e+02] [-6.63782148e-01 7.46507348e-01 -4.60438803e-02 -2.42951566e+02] [-6.92315014e-02 -2.84406695e-05 9.97600621e-01 -2.23718796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38864 meters 0.026476317815128315 Centerline is valid? [True, True] Translation: X:312.17, Y:-242.97, Z:-22.37 [[ 7.44352079e-01 6.65784771e-01 5.16780569e-02 3.12166753e+02] [-6.64188966e-01 7.46143846e-01 -4.60692867e-02 -2.42972933e+02] [-6.92314936e-02 -3.22258807e-05 9.97600621e-01 -2.23735324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41864 meters 0.026531425197143577 Centerline is valid? [True, True] Translation: X:312.19, Y:-242.99, Z:-22.38 [[ 7.44707956e-01 6.65420669e-01 5.12385950e-02 3.12191916e+02] [-6.63847623e-01 7.46468574e-01 -4.57274713e-02 -2.42994352e+02] [-6.86760055e-02 3.89921835e-05 9.97639015e-01 -2.23751130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44864 meters 0.026531582250951525 Centerline is valid? [True, True] Translation: X:312.22, Y:-243.02, Z:-22.38 [[ 7.44852411e-01 6.65247349e-01 5.13892014e-02 3.12217024e+02] [-6.63661131e-01 7.46623035e-01 -4.59123895e-02 -2.43015222e+02] [-6.89114569e-02 9.29385169e-05 9.97622776e-01 -2.23763852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47864 meters 0.02668509756047751 Centerline is valid? [True, True] Translation: X:312.24, Y:-243.04, Z:-22.38 [[ 7.44490165e-01 6.65513986e-01 5.31557038e-02 3.12241690e+02] [-6.63813703e-01 7.46385371e-01 -4.75420330e-02 -2.43035737e+02] [-7.13145276e-02 1.09091427e-04 9.97453872e-01 -2.23787253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50864 meters 0.026578842547845413 Centerline is valid? [True, True] Translation: X:312.27, Y:-243.06, Z:-22.38 [[ 7.44135815e-01 6.65905500e-01 5.32142275e-02 3.12266288e+02] [-6.64199099e-01 7.46036094e-01 -4.76413960e-02 -2.43057027e+02] [-7.14244020e-02 1.06827132e-04 9.97446010e-01 -2.23795299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53864 meters 0.02678681203667079 Centerline is valid? [True, True] Translation: X:312.29, Y:-243.08, Z:-22.38 [[ 7.44190901e-01 6.65891610e-01 5.26143272e-02 3.12291155e+02] [-6.64219916e-01 7.46048486e-01 -4.71546352e-02 -2.43078330e+02] [-7.06527151e-02 1.44566400e-04 9.97500964e-01 -2.23815252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56864 meters 0.026484773398668983 Centerline is valid? [True, True] Translation: X:312.32, Y:-243.10, Z:-22.38 [[ 7.44058509e-01 6.66167057e-01 5.09743819e-02 3.12315839e+02] [-6.64595518e-01 7.45802541e-01 -4.57314603e-02 -2.43098442e+02] [-6.84816159e-02 1.49536410e-04 9.97652367e-01 -2.23827068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59864 meters 0.026673258312403598 Centerline is valid? [True, True] Translation: X:312.34, Y:-243.12, Z:-22.38 [[ 7.43222376e-01 6.67189122e-01 4.97913184e-02 3.12340032e+02] [-6.65689256e-01 7.44888360e-01 -4.47118147e-02 -2.43119890e+02] [-6.69202098e-02 8.52755124e-05 9.97758327e-01 -2.23835413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62864 meters 0.026507760104860896 Centerline is valid? [True, True] Translation: X:312.36, Y:-243.14, Z:-22.38 [[ 7.41712776e-01 6.68837308e-01 5.01877826e-02 3.12364393e+02] [-6.67314171e-01 7.43408807e-01 -4.51125657e-02 -2.43142318e+02] [-6.74830066e-02 -3.04522584e-05 9.97720423e-01 -2.23849158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65864 meters 0.02643700887757697 Centerline is valid? [True, True] Translation: X:312.39, Y:-243.16, Z:-22.39 [[ 7.40492435e-01 6.70207412e-01 4.99297361e-02 3.12388864e+02] [-6.68699738e-01 7.42173841e-01 -4.49293873e-02 -2.43164149e+02] [-6.71685524e-02 -1.18130007e-04 9.97741636e-01 -2.23859848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68864 meters 0.02646195949881357 Centerline is valid? [True, True] Translation: X:312.41, Y:-243.19, Z:-22.39 [[ 7.38512811e-01 6.72314644e-01 5.09101795e-02 3.12413240e+02] [-6.70748727e-01 7.40265453e-01 -4.58607102e-02 -2.43185224e+02] [-6.85198742e-02 -2.79216021e-04 9.97649713e-01 -2.23885701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71864 meters 0.026453474210129637 Centerline is valid? [True, True] Translation: X:312.44, Y:-243.21, Z:-22.39 [[ 7.37134886e-01 6.73823541e-01 5.09312809e-02 3.12438440e+02] [-6.72256777e-01 7.38892203e-01 -4.59253635e-02 -2.43207069e+02] [-6.85783174e-02 -3.85711159e-04 9.97645661e-01 -2.23912509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74864 meters 0.026458180233452325 Centerline is valid? [True, True] Translation: X:312.46, Y:-243.23, Z:-22.39 [[ 7.35089063e-01 6.76074596e-01 5.06676399e-02 3.12463347e+02] [-6.74525919e-01 7.36832974e-01 -4.57378708e-02 -2.43228128e+02] [-6.82558003e-02 -5.55227752e-04 9.97667699e-01 -2.23940144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77864 meters 0.02650730068314902 Centerline is valid? [True, True] Translation: X:312.49, Y:-243.25, Z:-22.40 [[ 7.34024257e-01 6.77225545e-01 5.07341251e-02 3.12488723e+02] [-6.75672096e-01 7.35775216e-01 -4.58481136e-02 -2.43249860e+02] [-6.83784256e-02 -6.26005122e-04 9.97659260e-01 -2.23951124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80864 meters 0.026440481948404256 Centerline is valid? [True, True] Translation: X:312.51, Y:-243.27, Z:-22.40 [[ 7.33229890e-01 6.78100519e-01 5.05333038e-02 3.12514200e+02] [-6.76558040e-01 7.34968870e-01 -4.57162864e-02 -2.43271006e+02] [-6.81406427e-02 -6.68165330e-04 9.97675502e-01 -2.23955501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83864 meters 0.026515452146687015 Centerline is valid? [True, True] Translation: X:312.54, Y:-243.29, Z:-22.40 [[ 7.31965399e-01 6.79416635e-01 5.11829119e-02 3.12540281e+02] [-6.77834012e-01 7.33752309e-01 -4.63529960e-02 -2.43290235e+02] [-6.90485763e-02 -7.64729347e-04 9.97613006e-01 -2.23962467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86864 meters 0.026376350446128502 Centerline is valid? [True, True] Translation: X:312.57, Y:-243.31, Z:-22.40 [[ 7.30987491e-01 6.80427374e-01 5.17288670e-02 3.12566002e+02] [-6.78810023e-01 7.32815046e-01 -4.68941514e-02 -2.43311000e+02] [-6.98157564e-02 -8.35035350e-04 9.97559554e-01 -2.23981285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89864 meters 0.026601301384033705 Centerline is valid? [True, True] Translation: X:312.59, Y:-243.33, Z:-22.40 [[ 7.30868331e-01 6.80596950e-01 5.11788438e-02 3.12591078e+02] [-6.79010787e-01 7.32657589e-01 -4.64457540e-02 -2.43332967e+02] [-6.91074069e-02 -8.05256300e-04 9.97608900e-01 -2.24006304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters 0.02657147518910282 Centerline is valid? [True, True] Translation: X:312.62, Y:-243.35, Z:-22.40 [[ 7.30591603e-01 6.80867410e-01 5.15313591e-02 3.12615925e+02] [-6.79256401e-01 7.32406262e-01 -4.68167624e-02 -2.43354047e+02] [-6.96178978e-02 -7.99072108e-04 9.97573411e-01 -2.24028763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95864 meters 0.02649199136878418 Centerline is valid? [True, True] Translation: X:312.64, Y:-243.37, Z:-22.40 [[ 7.31055482e-01 6.80368314e-01 5.15445457e-02 3.12641845e+02] [-6.78751691e-01 7.32870007e-01 -4.68795859e-02 -2.43374578e+02] [-6.96708364e-02 -7.14369298e-04 9.97569779e-01 -2.24031346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters 0.02647288048908391 Centerline is valid? [True, True] Translation: X:312.67, Y:-243.40, Z:-22.40 [[ 7.31253967e-01 6.80170170e-01 5.13437098e-02 3.12667012e+02] [-6.78562113e-01 7.33053962e-01 -4.67477114e-02 -2.43395613e+02] [-6.94341087e-02 -6.55446853e-04 9.97586325e-01 -2.24044108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01864 meters 0.026344749755538424 Centerline is valid? [True, True] Translation: X:312.69, Y:-243.42, Z:-22.41 [[ 7.32049711e-01 6.79442176e-01 4.96140127e-02 3.12692211e+02] [-6.77935968e-01 7.33728864e-01 -4.52192194e-02 -2.43415863e+02] [-6.71270780e-02 -5.32407236e-04 9.97744292e-01 -2.24057473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters 0.026265900656357068 Centerline is valid? [True, True] Translation: X:312.72, Y:-243.44, Z:-22.41 [[ 7.32426630e-01 6.79053993e-01 4.93650353e-02 3.12716571e+02] [-6.77559052e-01 7.34088184e-01 -4.50363156e-02 -2.43437579e+02] [-6.68203791e-02 -4.61929698e-04 9.97764914e-01 -2.24078377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07864 meters 0.026355191239955455 Centerline is valid? [True, True] Translation: X:312.74, Y:-243.46, Z:-22.41 [[ 7.32767123e-01 6.78721608e-01 4.88806898e-02 3.12740531e+02] [-6.77251962e-01 7.34395551e-01 -4.46425336e-02 -2.43459745e+02] [-6.61976133e-02 -3.91962148e-04 9.97806455e-01 -2.24099216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters 0.026104730458669574 Centerline is valid? [True, True] Translation: X:312.76, Y:-243.48, Z:-22.41 [[ 7.35325916e-01 6.75963489e-01 4.86740073e-02 3.12764819e+02] [-6.74497109e-01 7.36935106e-01 -4.45005662e-02 -2.43481381e+02] [-6.59503427e-02 -1.08057601e-04 9.97822900e-01 -2.24115493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13864 meters 0.02595995223636872 Centerline is valid? [True, True] Translation: X:312.79, Y:-243.50, Z:-22.41 [[ 7.35850103e-01 6.75390860e-01 4.87012554e-02 3.12789844e+02] [-6.73918684e-01 7.37459955e-01 -4.45692940e-02 -2.43503079e+02] [-6.60169194e-02 -2.43663310e-05 9.97818503e-01 -2.24130861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters 0.025851463046860163 Centerline is valid? [True, True] Translation: X:312.81, Y:-243.53, Z:-22.42 [[ 7.37149527e-01 6.73978774e-01 4.86126224e-02 3.12814110e+02] [-6.72505691e-01 7.38750698e-01 -4.45365237e-02 -2.43525741e+02] [-6.59292803e-02 1.37812119e-04 9.97824289e-01 -2.24157788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.19864 meters 0.025808191437239322 Centerline is valid? [True, True] Translation: X:312.84, Y:-243.55, Z:-22.42 [[ 7.37552270e-01 6.73567179e-01 4.82068987e-02 3.12837885e+02] [-6.72114627e-01 7.39125979e-01 -4.42121766e-02 -2.43548373e+02] [-6.54108422e-02 2.08229497e-04 9.97858396e-01 -2.24182068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters 0.025889181302928804 Centerline is valid? [True, True] Translation: X:312.86, Y:-243.57, Z:-22.42 [[ 7.37985056e-01 6.73133179e-01 4.76422168e-02 3.12861199e+02] [-6.71710567e-01 7.39521228e-01 -4.37409221e-02 -2.43572389e+02] [-6.46758966e-02 2.78366386e-04 9.97906284e-01 -2.24208298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.25864 meters 0.02580745491713534 Centerline is valid? [True, True] Translation: X:312.89, Y:-243.60, Z:-22.42 [[ 7.37834294e-01 6.73271926e-01 4.80152913e-02 3.12885047e+02] [-6.71824082e-01 7.39394902e-01 -4.41314186e-02 -2.43595267e+02] [-6.52147068e-02 3.03845124e-04 9.97871209e-01 -2.24222545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28864 meters 0.025818632096979318 Centerline is valid? [True, True] Translation: X:312.91, Y:-243.62, Z:-22.42 [[ 7.37338623e-01 6.73754078e-01 4.88589612e-02 3.12908290e+02] [-6.72252656e-01 7.38955581e-01 -4.49557026e-02 -2.43619251e+02] [-6.63936901e-02 3.02009421e-04 9.97793459e-01 -2.24238466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.31864 meters 0.025818170247916227 Centerline is valid? [True, True] Translation: X:312.93, Y:-243.64, Z:-22.43 [[ 7.36684640e-01 6.74457071e-01 4.90244940e-02 3.12931758e+02] [-6.72943751e-01 7.38314014e-01 -4.51566697e-02 -2.43642208e+02] [-6.66517062e-02 2.75498088e-04 9.97776265e-01 -2.24251140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34864 meters 0.025841644095334893 Centerline is valid? [True, True] Translation: X:312.95, Y:-243.67, Z:-22.43 [[ 7.34949719e-01 6.76297425e-01 4.97061739e-02 3.12954991e+02] [-6.74742495e-01 7.36628652e-01 -4.58344188e-02 -2.43666241e+02] [-6.76126913e-02 1.47125389e-04 9.97711633e-01 -2.24271071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.37864 meters 0.025706219260905463 Centerline is valid? [True, True] Translation: X:312.98, Y:-243.69, Z:-22.43 [[ 7.34011028e-01 6.77251443e-01 5.05795722e-02 3.12978711e+02] [-6.75640071e-01 7.35751638e-01 -4.66906978e-02 -2.43689436e+02] [-6.88353455e-02 9.79012965e-05 9.97628030e-01 -2.24284194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40864 meters 0.02580659727046331 Centerline is valid? [True, True] Translation: X:313.00, Y:-243.71, Z:-22.43 [[ 7.33412751e-01 6.77894327e-01 5.06460079e-02 3.13002190e+02] [-6.76276765e-01 7.35159354e-01 -4.68023655e-02 -2.43712947e+02] [-6.89599445e-02 7.47332436e-05 9.97619427e-01 -2.24307483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43864 meters 0.02577625312854106 Centerline is valid? [True, True] Translation: X:313.02, Y:-243.74, Z:-22.43 [[ 7.32603681e-01 6.78814711e-01 5.00243481e-02 3.13024073e+02] [-6.77235423e-01 7.34309599e-01 -4.62773594e-02 -2.43738464e+02] [-6.81471113e-02 2.47032716e-05 9.97675283e-01 -2.24309494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46864 meters 0.02571830537871659 Centerline is valid? [True, True] Translation: X:313.05, Y:-243.76, Z:-22.43 [[ 7.32144807e-01 6.79321662e-01 4.98604084e-02 3.13047751e+02] [-6.77750498e-01 7.33840636e-01 -4.61755695e-02 -2.43762191e+02] [-6.79576584e-02 1.42867431e-05 9.97688206e-01 -2.24316921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49864 meters 0.025894692701873844 Centerline is valid? [True, True] Translation: X:313.07, Y:-243.79, Z:-22.43 [[ 7.31728592e-01 6.79718719e-01 5.05542409e-02 3.13070539e+02] [-6.78100883e-01 7.33472879e-01 -4.68692693e-02 -2.43785779e+02] [-6.89380843e-02 1.47090756e-05 9.97620940e-01 -2.24341771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52864 meters 0.02595800833554913 Centerline is valid? [True, True] Translation: X:313.09, Y:-243.81, Z:-22.44 [[ 7.31517283e-01 6.79874111e-01 5.15136661e-02 3.13093294e+02] [-6.78191017e-01 7.33328843e-01 -4.78095434e-02 -2.43808320e+02] [-7.02809279e-02 3.74016558e-05 9.97527238e-01 -2.24357338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55864 meters 0.026013217237555366 Centerline is valid? [True, True] Translation: X:313.12, Y:-243.83, Z:-22.44 [[ 7.31445531e-01 6.79935662e-01 5.17197305e-02 3.13115863e+02] [-6.78235849e-01 7.33271772e-01 -4.80483341e-02 -2.43832493e+02] [-7.05943943e-02 6.65639713e-05 9.97505101e-01 -2.24362967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58864 meters 0.02590460578674901 Centerline is valid? [True, True] Translation: X:313.14, Y:-243.86, Z:-22.44 [[ 7.30926230e-01 6.80544320e-01 5.10516929e-02 3.13139794e+02] [-6.78886128e-01 7.32706917e-01 -4.74784039e-02 -2.43855883e+02] [-6.97170866e-02 4.49246716e-05 9.97566803e-01 -2.24374329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61864 meters 0.02587241301619526 Centerline is valid? [True, True] Translation: X:313.16, Y:-243.88, Z:-22.44 [[ 7.30466505e-01 6.81092991e-01 5.03092727e-02 3.13162616e+02] [-6.79480693e-01 7.32196925e-01 -4.68364184e-02 -2.43878220e+02] [-6.87362510e-02 2.82553495e-05 9.97634867e-01 -2.24395554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64864 meters 0.025945727615317885 Centerline is valid? [True, True] Translation: X:313.18, Y:-243.90, Z:-22.44 [[ 7.29062204e-01 6.82572496e-01 5.06269755e-02 3.13184013e+02] [-6.80940129e-01 7.30817886e-01 -4.71779497e-02 -2.43902911e+02] [-6.92014701e-02 -7.82792559e-05 9.97602702e-01 -2.24409088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67864 meters 0.025616173667396585 Centerline is valid? [True, True] Translation: X:313.21, Y:-243.93, Z:-22.44 [[ 7.27418963e-01 6.84177128e-01 5.25671928e-02 3.13205974e+02] [-6.82417690e-01 7.29315855e-01 -4.90355048e-02 -2.43925729e+02] [-7.18870580e-02 -2.03426253e-04 9.97412758e-01 -2.24425537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70864 meters 0.02573290143859442 Centerline is valid? [True, True] Translation: X:313.23, Y:-243.95, Z:-22.44 [[ 7.26698804e-01 6.84976224e-01 5.21192996e-02 3.13230214e+02] [-6.83245494e-01 7.28565379e-01 -4.86629516e-02 -2.43947632e+02] [-7.13052821e-02 -2.46967888e-04 9.97454508e-01 -2.24444283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73864 meters 0.025842077362795583 Centerline is valid? [True, True] Translation: X:313.25, Y:-243.97, Z:-22.45 [[ 7.25431436e-01 6.86314432e-01 5.21702194e-02 3.13253900e+02] [-6.84579984e-01 7.27304877e-01 -4.87633194e-02 -2.43969729e+02] [-7.14106249e-02 -3.40243156e-04 9.97446944e-01 -2.24479828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76864 meters 0.025827855200978637 Centerline is valid? [True, True] Translation: X:313.28, Y:-243.99, Z:-22.45 [[ 7.25546902e-01 6.86277129e-01 5.10430797e-02 3.13275957e+02] [-6.84613360e-01 7.27340097e-01 -4.77590883e-02 -2.43992843e+02] [-6.99016485e-02 -2.93315780e-04 9.97553845e-01 -2.24498425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79864 meters 0.025704457141013336 Centerline is valid? [True, True] Translation: X:313.30, Y:-244.02, Z:-22.45 [[ 7.26497133e-01 6.85350692e-01 4.99634231e-02 3.13298815e+02] [-6.83751446e-01 7.28213156e-01 -4.67927364e-02 -2.44015017e+02] [-6.84534563e-02 -1.67773909e-04 9.97654297e-01 -2.24506156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82864 meters 0.025685159703472887 Centerline is valid? [True, True] Translation: X:313.32, Y:-244.04, Z:-22.45 [[ 7.28394799e-01 6.83405871e-01 4.89635769e-02 3.13321015e+02] [-6.81862751e-01 7.30038638e-01 -4.58996307e-02 -2.44038416e+02] [-6.71133801e-02 4.66130226e-05 9.97745354e-01 -2.24507227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85864 meters 0.025713893035110617 Centerline is valid? [True, True] Translation: X:313.34, Y:-244.06, Z:-22.45 [[ 7.28783039e-01 6.82937863e-01 4.97107377e-02 3.13344253e+02] [-6.81342934e-01 7.30476461e-01 -4.66470369e-02 -2.44061774e+02] [-6.81695514e-02 1.25509409e-04 9.97673743e-01 -2.24524544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88864 meters 0.025640461708104138 Centerline is valid? [True, True] Translation: X:313.37, Y:-244.09, Z:-22.45 [[ 7.28928461e-01 6.82760124e-01 5.00191082e-02 3.13365700e+02] [-6.81141375e-01 7.30642580e-01 -4.69877389e-02 -2.44086981e+02] [-6.86274447e-02 1.80616095e-04 9.97642341e-01 -2.24547165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91864 meters 0.025781106893732354 Centerline is valid? [True, True] Translation: X:313.39, Y:-244.11, Z:-22.46 [[ 7.27958762e-01 6.83702632e-01 5.12518493e-02 3.13387696e+02] [-6.82001715e-01 7.29760710e-01 -4.81971675e-02 -2.44109954e+02] [-7.03541162e-02 1.31701302e-04 9.97522070e-01 -2.24558291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94864 meters 0.02571225207691958 Centerline is valid? [True, True] Translation: X:313.41, Y:-244.13, Z:-22.46 [[ 7.27400152e-01 6.84337231e-01 5.07106868e-02 3.13411698e+02] [-6.82670356e-01 7.29165649e-01 -4.77351173e-02 -2.44133211e+02] [-6.96434088e-02 1.03848888e-04 9.97571945e-01 -2.24573959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97864 meters 0.025452968211350298 Centerline is valid? [True, True] Translation: X:313.43, Y:-244.16, Z:-22.46 [[ 7.24444029e-01 6.87549325e-01 4.95658541e-02 3.13434797e+02] [-6.85961105e-01 7.26137658e-01 -4.67061440e-02 -2.44156176e+02] [-6.81044110e-02 -1.64260915e-04 9.97678186e-01 -2.24583535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00864 meters 0.02573360511684685 Centerline is valid? [True, True] Translation: X:313.46, Y:-244.18, Z:-22.46 [[ 7.21245407e-01 6.90970970e-01 4.86228526e-02 3.13458166e+02] [-6.89447420e-01 7.22882370e-01 -4.58621298e-02 -2.44179461e+02] [-6.68380033e-02 -4.45049833e-04 9.97763741e-01 -2.24603619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03864 meters 0.025761823239028925 Centerline is valid? [True, True] Translation: X:313.48, Y:-244.20, Z:-22.46 [[ 7.20182347e-01 6.92122783e-01 4.79941806e-02 3.13482058e+02] [-6.90637742e-01 7.21779602e-01 -4.53179318e-02 -2.44202435e+02] [-6.60067937e-02 -5.09418089e-04 9.97819044e-01 -2.24614916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06864 meters 0.025700535564605966 Centerline is valid? [True, True] Translation: X:313.51, Y:-244.22, Z:-22.46 [[ 7.19048813e-01 6.93260952e-01 4.85598220e-02 3.13506228e+02] [-6.91739891e-01 7.20686416e-01 -4.59022114e-02 -2.44224439e+02] [-6.68186149e-02 -5.84835370e-04 9.97764968e-01 -2.24620844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09864 meters 0.02581564601659454 Centerline is valid? [True, True] Translation: X:313.53, Y:-244.24, Z:-22.46 [[ 7.16222796e-01 6.96097113e-01 4.97364651e-02 3.13532669e+02] [-6.94504721e-01 7.17947153e-01 -4.70646167e-02 -2.44243850e+02] [-6.84696974e-02 -8.33458387e-04 9.97652848e-01 -2.24634135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12864 meters 0.026034354051878286 Centerline is valid? [True, True] Translation: X:313.56, Y:-244.26, Z:-22.47 [[ 7.14419704e-01 6.97908929e-01 5.02753842e-02 3.13557855e+02] [-6.96283132e-01 7.16185839e-01 -4.76197823e-02 -2.44263358e+02] [-6.92407895e-02 -9.85391165e-04 9.97599490e-01 -2.24655418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15864 meters 0.026483088751100583 Centerline is valid? [True, True] Translation: X:313.58, Y:-244.28, Z:-22.47 [[ 7.10412355e-01 7.02028678e-01 4.96993103e-02 3.13583509e+02] [-7.00447038e-01 7.12147416e-01 -4.71169221e-02 -2.44282258e+02] [-6.84706660e-02 -1.33929109e-03 9.97652231e-01 -2.24678645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18864 meters 0.026856832959826115 Centerline is valid? [True, True] Translation: X:313.61, Y:-244.30, Z:-22.47 [[ 7.07825585e-01 7.04629461e-01 4.98022438e-02 3.13609202e+02] [-7.03044798e-01 7.09573728e-01 -4.72560713e-02 -2.44301943e+02] [-6.86363839e-02 -1.56415213e-03 9.97640517e-01 -2.24696443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21864 meters 0.027489708860716926 Centerline is valid? [True, True] Translation: X:313.64, Y:-244.32, Z:-22.47 [[ 7.03356724e-01 7.09096161e-01 4.97187380e-02 3.13639712e+02] [-7.07525297e-01 7.05109040e-01 -4.72143623e-02 -2.44315682e+02] [-6.85366547e-02 -1.96872560e-03 9.97646656e-01 -2.24706923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24864 meters 0.02774957382217958 Centerline is valid? [True, True] Translation: X:313.67, Y:-244.33, Z:-22.47 [[ 7.01326825e-01 7.11134536e-01 4.92783472e-02 3.13666455e+02] [-7.09594623e-01 7.03052726e-01 -4.68223906e-02 -2.44333777e+02] [-6.79422953e-02 -2.12985163e-03 9.97686979e-01 -2.24723336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27864 meters 0.02774957382217958 Centerline is valid? [True, True] Translation: X:313.69, Y:-244.36, Z:-22.47 [[ 7.00961508e-01 7.11496147e-01 4.92564398e-02 3.13690212e+02] [-7.09955508e-01 7.02686760e-01 -4.68454282e-02 -2.44355943e+02] [-6.79421898e-02 -2.13303878e-03 9.97686979e-01 -2.24739871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30864 meters 0.027939343448861276 Centerline is valid? [True, True] Translation: X:313.72, Y:-244.37, Z:-22.48 [[ 6.99737746e-01 7.12718318e-01 4.89866017e-02 3.13716367e+02] [-7.11194372e-01 7.01446884e-01 -4.66351179e-02 -2.44374917e+02] [-6.75992019e-02 -2.20664321e-03 9.97710118e-01 -2.24755784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33864 meters 0.0279077068244298 Centerline is valid? [True, True] Translation: X:313.75, Y:-244.39, Z:-22.48 [[ 6.99316986e-01 7.13131841e-01 4.89768419e-02 3.13746781e+02] [-7.11606568e-01 7.01026439e-01 -4.66692943e-02 -2.44390212e+02] [-6.76154208e-02 -2.21561216e-03 9.97708999e-01 -2.24766515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36864 meters 0.027614735064739347 Centerline is valid? [True, True] Translation: X:313.78, Y:-244.40, Z:-22.48 [[ 7.00653195e-01 7.11759381e-01 4.98365744e-02 3.13778844e+02] [-7.10173241e-01 7.02420268e-01 -4.75366605e-02 -2.44403650e+02] [-6.88408840e-02 -2.08588854e-03 9.97625472e-01 -2.24777849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39864 meters 0.027095732801133813 Centerline is valid? [True, True] Translation: X:313.81, Y:-244.42, Z:-22.48 [[ 7.02350051e-01 7.10083484e-01 4.98583210e-02 3.13805846e+02] [-7.08488756e-01 7.04114953e-01 -4.76005784e-02 -2.44422265e+02] [-6.89063739e-02 -1.89179125e-03 9.97621337e-01 -2.24790568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters 0.02680855948381064 Centerline is valid? [True, True] Translation: X:313.83, Y:-244.44, Z:-22.48 [[ 7.03912479e-01 7.08545497e-01 4.97041315e-02 3.13832536e+02] [-7.06953810e-01 7.05663073e-01 -4.74967184e-02 -2.44441396e+02] [-6.87279561e-02 -1.70499234e-03 9.97633982e-01 -2.24805130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45864 meters 0.026382759417313835 Centerline is valid? [True, True] Translation: X:313.86, Y:-244.46, Z:-22.48 [[ 7.06329352e-01 7.06185099e-01 4.90046230e-02 3.13861353e+02] [-7.04629346e-01 7.08025833e-01 -4.68711493e-02 -2.44457788e+02] [-6.77962462e-02 -1.42362699e-03 9.97698172e-01 -2.24821701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters 0.02616537595368595 Centerline is valid? [True, True] Translation: X:313.89, Y:-244.48, Z:-22.48 [[ 7.07257020e-01 7.05295839e-01 4.84281652e-02 3.13887478e+02] [-7.03771554e-01 7.08911920e-01 -4.63625985e-02 -2.44477487e+02] [-6.70306513e-02 -1.29209182e-03 9.97750080e-01 -2.24845084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51864 meters 0.026042643014447475 Centerline is valid? [True, True] Translation: X:313.91, Y:-244.50, Z:-22.49 [[ 7.08845055e-01 7.03714833e-01 4.82091481e-02 3.13914010e+02] [-7.02197767e-01 7.10481674e-01 -4.61961724e-02 -2.44496704e+02] [-6.67606481e-02 -1.10642778e-03 9.97768406e-01 -2.24870534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters 0.025892390006833108 Centerline is valid? [True, True] Translation: X:313.94, Y:-244.52, Z:-22.49 [[ 7.09552653e-01 7.02938862e-01 4.91120118e-02 3.13939114e+02] [-7.01359323e-01 7.11249546e-01 -4.71082003e-02 -2.44518594e+02] [-6.80450808e-02 -1.01941889e-03 9.97681727e-01 -2.24885250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57864 meters 0.025769470259871363 Centerline is valid? [True, True] Translation: X:313.97, Y:-244.54, Z:-22.49 [[ 7.12445858e-01 6.99928446e-01 5.02102512e-02 3.13965516e+02] [-6.98266319e-01 7.14212618e-01 -4.82129023e-02 -2.44538271e+02] [-6.96063768e-02 -7.11044688e-04 9.97574281e-01 -2.24892469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters 0.025650128724886655 Centerline is valid? [True, True] Translation: X:313.99, Y:-244.56, Z:-22.49 [[ 7.13838139e-01 6.98515236e-01 5.01156421e-02 3.13989337e+02] [-6.96852730e-01 7.15594979e-01 -4.81674013e-02 -2.44559469e+02] [-6.95081655e-02 -5.39493912e-04 9.97581237e-01 -2.24913782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63864 meters 0.0257491772972119 Centerline is valid? [True, True] Translation: X:314.01, Y:-244.58, Z:-22.49 [[ 7.15349508e-01 6.96981848e-01 4.99137683e-02 3.14012729e+02] [-6.95325874e-01 7.17088681e-01 -4.80182622e-02 -2.44581300e+02] [-6.92604554e-02 -3.56494302e-04 9.97598548e-01 -2.24943387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters 0.025623757474135395 Centerline is valid? [True, True] Translation: X:314.03, Y:-244.60, Z:-22.50 [[ 7.16270666e-01 6.96108384e-01 4.88820198e-02 3.14034759e+02] [-6.94515250e-01 7.17936671e-01 -4.70691503e-02 -2.44604979e+02] [-6.78594247e-02 -2.35056571e-04 9.97694865e-01 -2.24969974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.69864 meters 0.025530218478968403 Centerline is valid? [True, True] Translation: X:314.06, Y:-244.63, Z:-22.50 [[ 7.16254419e-01 6.96161499e-01 4.83608820e-02 3.14059598e+02] [-6.94599282e-01 7.17885176e-01 -4.66123539e-02 -2.44627339e+02] [-6.71672865e-02 -2.05129463e-04 9.97741707e-01 -2.24980774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters 0.025442767065130524 Centerline is valid? [True, True] Translation: X:314.08, Y:-244.65, Z:-22.50 [[ 7.15750258e-01 6.96691188e-01 4.81970697e-02 3.14084568e+02] [-6.95137394e-01 7.17371132e-01 -4.65044346e-02 -2.44648987e+02] [-6.69744163e-02 -2.18024366e-04 9.97754669e-01 -2.24989577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.75864 meters 0.025351701927645874 Centerline is valid? [True, True] Translation: X:314.11, Y:-244.67, Z:-22.50 [[ 7.15175102e-01 6.97269216e-01 4.83757490e-02 3.14109238e+02] [-6.95701796e-01 7.16809308e-01 -4.67271559e-02 -2.44671665e+02] [-6.72575945e-02 -2.36996927e-04 9.97735616e-01 -2.25005509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78864 meters 0.025465072817116775 Centerline is valid? [True, True] Translation: X:314.13, Y:-244.69, Z:-22.50 [[ 7.14401332e-01 6.98079060e-01 4.81286115e-02 3.14133076e+02] [-6.96526112e-01 7.16020635e-01 -4.65384273e-02 -2.44693901e+02] [-6.69485805e-02 -2.75720198e-04 9.97756389e-01 -2.25022702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.81864 meters 0.025645511868308973 Centerline is valid? [True, True] Translation: X:314.16, Y:-244.72, Z:-22.50 [[ 7.13348359e-01 6.99140052e-01 4.83456937e-02 3.14158275e+02] [-6.97572103e-01 7.14984665e-01 -4.67984025e-02 -2.44715509e+02] [-6.72850672e-02 -3.41043630e-04 9.97733734e-01 -2.25029867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84864 meters 0.025699057318142173 Centerline is valid? [True, True] Translation: X:314.19, Y:-244.73, Z:-22.51 [[ 7.10997706e-01 7.01501663e-01 4.87614476e-02 3.14185050e+02] [-6.99908805e-01 7.12667617e-01 -4.72496939e-02 -2.44733472e+02] [-6.78964435e-02 -5.34142474e-04 9.97692231e-01 -2.25060078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.87864 meters 0.02592652231905211 Centerline is valid? [True, True] Translation: X:314.21, Y:-244.75, Z:-22.51 [[ 7.09516253e-01 7.02986862e-01 4.89505643e-02 3.14210153e+02] [-7.01381987e-01 7.11202541e-01 -4.74789803e-02 -2.44754768e+02] [-6.81908651e-02 -6.45935887e-04 9.97672085e-01 -2.25085429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90864 meters 0.02582191059920015 Centerline is valid? [True, True] Translation: X:314.24, Y:-244.77, Z:-22.51 [[ 7.08407518e-01 7.04234799e-01 4.70333475e-02 3.14235831e+02] [-7.02753034e-01 7.09966797e-01 -4.56653020e-02 -2.44774815e+02] [-6.55512099e-02 -7.03184353e-04 9.97848959e-01 -2.25092022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93864 meters 0.02603919564239273 Centerline is valid? [True, True] Translation: X:314.26, Y:-244.80, Z:-22.51 [[ 7.07229605e-01 7.05307971e-01 4.86513282e-02 3.14261112e+02] [-7.03721845e-01 7.08900578e-01 -4.72814576e-02 -2.44795572e+02] [-6.78369435e-02 -7.98155818e-04 9.97696102e-01 -2.25105852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96864 meters 0.02606977437088185 Centerline is valid? [True, True] Translation: X:314.29, Y:-244.81, Z:-22.51 [[ 7.07354213e-01 7.05092240e-01 4.99494783e-02 3.14288685e+02] [-7.03416477e-01 7.09115186e-01 -4.85892222e-02 -2.44813153e+02] [-6.96798171e-02 -7.65495032e-04 9.97569114e-01 -2.25121988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99864 meters 0.026241155359148113 Centerline is valid? [True, True] Translation: X:314.31, Y:-244.83, Z:-22.51 [[ 7.07389959e-01 7.04941372e-01 5.15471471e-02 3.14313562e+02] [-7.03152709e-01 7.09265193e-01 -5.01911816e-02 -2.44833698e+02] [-7.19424376e-02 -7.40778247e-04 9.97408511e-01 -2.25149875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02864 meters 0.026183936126030236 Centerline is valid? [True, True] Translation: X:314.34, Y:-244.85, Z:-22.52 [[ 7.08624979e-01 7.03657200e-01 5.21266263e-02 3.14340568e+02] [-7.01820952e-01 7.10539377e-01 -5.08049692e-02 -2.44853390e+02] [-7.27873030e-02 -5.81888246e-04 9.97347317e-01 -2.25171176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05864 meters 0.026253415127040703 Centerline is valid? [True, True] Translation: X:314.37, Y:-244.88, Z:-22.52 [[ 7.09152658e-01 7.03140018e-01 5.19290129e-02 3.14365735e+02] [-7.01312400e-01 7.11051247e-01 -5.06659874e-02 -2.44875285e+02] [-7.25494727e-02 -4.88541003e-04 9.97364695e-01 -2.25188749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08864 meters 0.026338591735753723 Centerline is valid? [True, True] Translation: X:314.39, Y:-244.90, Z:-22.52 [[ 7.09947761e-01 7.02359023e-01 5.16331303e-02 3.14390092e+02] [-7.00546268e-01 7.11822778e-01 -5.04307294e-02 -2.44897170e+02] [-7.21741161e-02 -3.68213318e-04 9.97391980e-01 -2.25209811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11864 meters 0.026414867942645512 Centerline is valid? [True, True] Translation: X:314.41, Y:-244.92, Z:-22.52 [[ 7.11595462e-01 7.00792628e-01 5.02154546e-02 3.14414724e+02] [-6.99070789e-01 7.13365029e-01 -4.90954944e-02 -2.44918501e+02] [-7.02277098e-02 -1.68026491e-04 9.97530972e-01 -2.25220177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14864 meters 0.026482950625596666 Centerline is valid? [True, True] Translation: X:314.44, Y:-244.94, Z:-22.52 [[ 7.13128704e-01 6.99292650e-01 4.93684188e-02 3.14438795e+02] [-6.97621811e-01 7.14835498e-01 -4.83116891e-02 -2.44939385e+02] [-6.90743073e-02 1.19665188e-05 9.97611518e-01 -2.25243202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17864 meters 0.026628510618640105 Centerline is valid? [True, True] Translation: X:314.46, Y:-244.96, Z:-22.53 [[ 7.13404933e-01 6.99001295e-01 4.95034564e-02 3.14462790e+02] [-6.97317361e-01 7.15120399e-01 -4.84903405e-02 -2.44962288e+02] [-6.92957423e-02 7.36285007e-05 9.97596158e-01 -2.25263773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20864 meters 0.02656337741839239 Centerline is valid? [True, True] Translation: X:314.49, Y:-244.99, Z:-22.53 [[ 7.13947407e-01 6.98448269e-01 4.94885374e-02 3.14486375e+02] [-6.96760474e-01 7.15660526e-01 -4.85268204e-02 -2.44985251e+02] [-6.93104664e-02 1.63940803e-04 9.97595124e-01 -2.25279338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23864 meters 0.026835406765102935 Centerline is valid? [True, True] Translation: X:314.51, Y:-245.01, Z:-22.53 [[ 7.16157195e-01 6.96130181e-01 5.02159642e-02 3.14509557e+02] [-6.94383072e-01 7.17915444e-01 -4.92906059e-02 -2.45007563e+02] [-7.03634947e-02 4.30706575e-04 9.97521325e-01 -2.25304550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26864 meters 0.026893379733771584 Centerline is valid? [True, True] Translation: X:314.53, Y:-245.03, Z:-22.53 [[ 7.17039724e-01 6.95240959e-01 4.99403999e-02 3.14533168e+02] [-6.93507574e-01 7.18776536e-01 -4.90666516e-02 -2.45031198e+02] [-7.00091335e-02 5.48692738e-04 9.97546200e-01 -2.25319826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29864 meters 0.027375015676904965 Centerline is valid? [True, True] Translation: X:314.56, Y:-245.06, Z:-22.53 [[ 7.19757900e-01 6.92383098e-01 5.05392013e-02 3.14555195e+02] [-6.90597214e-01 7.21529544e-01 -4.97051771e-02 -2.45055301e+02] [-7.08805513e-02 8.73462239e-04 9.97484428e-01 -2.25338303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32864 meters 0.027603269314910216 Centerline is valid? [True, True] Translation: X:314.58, Y:-245.08, Z:-22.54 [[ 7.21260170e-01 6.90797416e-01 5.08202436e-02 3.14578290e+02] [-6.88984438e-01 7.23047571e-01 -5.00265393e-02 -2.45077916e+02] [-7.13036577e-02 1.06779324e-03 9.97454083e-01 -2.25357877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35864 meters 0.028180387886533053 Centerline is valid? [True, True] Translation: X:314.60, Y:-245.10, Z:-22.54 [[ 7.24899604e-01 6.86990546e-01 5.06414233e-02 3.14601149e+02] [-6.85177853e-01 7.26664866e-01 -4.98947172e-02 -2.45100606e+02] [-7.10765422e-02 1.47027906e-03 9.97469781e-01 -2.25373794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38864 meters 0.028416887751585292 Centerline is valid? [True, True] Translation: X:314.62, Y:-245.12, Z:-22.54 [[ 7.25868967e-01 6.85922680e-01 5.12281160e-02 3.14623002e+02] [-6.84061794e-01 7.27672614e-01 -5.05176116e-02 -2.45123917e+02] [-7.19284727e-02 1.62596961e-03 9.97408468e-01 -2.25392919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41864 meters 0.028573026007020202 Centerline is valid? [True, True] Translation: X:314.65, Y:-245.15, Z:-22.54 [[ 7.26457088e-01 6.85345457e-01 5.06132777e-02 3.14645879e+02] [-6.83524410e-01 7.28216128e-01 -4.99565050e-02 -2.45148451e+02] [-7.10948689e-02 1.69584638e-03 9.97468117e-01 -2.25401184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44864 meters 0.02846682795272949 Centerline is valid? [True, True] Translation: X:314.67, Y:-245.17, Z:-22.54 [[ 7.26423141e-01 6.85455430e-01 4.96011452e-02 3.14666258e+02] [-6.83703571e-01 7.28112637e-01 -4.90042247e-02 -2.45174260e+02] [-6.97054326e-02 1.68532273e-03 9.97566195e-01 -2.25410260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47864 meters 0.028465548697653355 Centerline is valid? [True, True] Translation: X:314.69, Y:-245.20, Z:-22.54 [[ 7.26043109e-01 6.85910777e-01 4.88652245e-02 3.14688199e+02] [-6.84208733e-01 7.27683786e-01 -4.83189100e-02 -2.45197692e+02] [-6.87008926e-02 1.64759834e-03 9.97635942e-01 -2.25435227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50864 meters 0.02840702401860701 Centerline is valid? [True, True] Translation: X:314.71, Y:-245.22, Z:-22.55 [[ 7.25089604e-01 6.86905602e-01 4.90485503e-02 3.14708222e+02] [-6.85190064e-01 7.26744910e-01 -4.85428794e-02 -2.45223817e+02] [-6.89901601e-02 1.59035789e-03 9.97616073e-01 -2.25453622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53864 meters 0.02828506749647151 Centerline is valid? [True, True] Translation: X:314.73, Y:-245.25, Z:-22.55 [[ 7.24851587e-01 6.87152057e-01 4.91144252e-02 3.14730455e+02] [-6.85429395e-01 7.26511862e-01 -4.86524278e-02 -2.45248752e+02] [-6.91138284e-02 1.60131877e-03 9.97607495e-01 -2.25473018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56864 meters 0.028358762511143613 Centerline is valid? [True, True] Translation: X:314.75, Y:-245.27, Z:-22.55 [[ 7.24090267e-01 6.87880375e-01 5.01385630e-02 3.14751774e+02] [-6.86083161e-01 7.25822311e-01 -4.97179024e-02 -2.45274241e+02] [-7.05916570e-02 1.60102538e-03 9.97504012e-01 -2.25491526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59864 meters 0.02844307106845738 Centerline is valid? [True, True] Translation: X:314.77, Y:-245.30, Z:-22.55 [[ 7.24486767e-01 6.87401884e-01 5.09664077e-02 3.14772096e+02] [-6.85539999e-01 7.26275238e-01 -5.05884177e-02 -2.45299877e+02] [-7.17902136e-02 1.71112807e-03 9.97418286e-01 -2.25498535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62864 meters 0.02882932214968766 Centerline is valid? [True, True] Translation: X:314.79, Y:-245.32, Z:-22.55 [[ 7.26294711e-01 6.85513341e-01 5.06700378e-02 3.14792691e+02] [-6.83665330e-01 7.28057537e-01 -5.03382541e-02 -2.45324249e+02] [-7.13982476e-02 1.91905959e-03 9.97446042e-01 -2.25516627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65864 meters 0.029011859157973625 Centerline is valid? [True, True] Translation: X:314.81, Y:-245.35, Z:-22.55 [[ 7.26341630e-01 6.85428972e-01 5.11366957e-02 3.14814567e+02] [-6.83543267e-01 7.28136809e-01 -5.08467328e-02 -2.45348067e+02] [-7.20863342e-02 1.97795478e-03 9.97396435e-01 -2.25539075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68864 meters 0.028914917097246865 Centerline is valid? [True, True] Translation: X:314.84, Y:-245.37, Z:-22.55 [[ 7.26485540e-01 6.85383137e-01 4.96861683e-02 3.14836573e+02] [-6.83600480e-01 7.28180024e-01 -4.94392206e-02 -2.45372310e+02] [-7.00652833e-02 1.95139038e-03 9.97540500e-01 -2.25549480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71864 meters 0.028430338988951302 Centerline is valid? [True, True] Translation: X:314.85, Y:-245.40, Z:-22.56 [[ 7.25242868e-01 6.86741852e-01 4.90755590e-02 3.14854225e+02] [-6.85004840e-01 7.26899138e-01 -4.88468282e-02 -2.45399683e+02] [-6.92181428e-02 1.80881836e-03 9.97599908e-01 -2.25575585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74864 meters 0.028259496401152814 Centerline is valid? [True, True] Translation: X:314.87, Y:-245.43, Z:-22.56 [[ 7.24479748e-01 6.87612784e-01 4.81430484e-02 3.14874647e+02] [-6.85941994e-01 7.26075583e-01 -4.79356733e-02 -2.45425539e+02] [-6.79166737e-02 1.70508592e-03 9.97689540e-01 -2.25579697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77864 meters 0.02813039216404824 Centerline is valid? [True, True] Translation: X:314.89, Y:-245.45, Z:-22.56 [[ 7.22520632e-01 6.89542655e-01 4.99486162e-02 3.14893832e+02] [-6.87746327e-01 7.24243296e-01 -4.97658245e-02 -2.45453511e+02] [-7.04906091e-02 1.60485764e-03 9.97511152e-01 -2.25577570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80864 meters 0.028073951884938643 Centerline is valid? [True, True] Translation: X:314.92, Y:-245.48, Z:-22.56 [[ 7.21717111e-01 6.90349140e-01 5.04229730e-02 3.14915855e+02] [-6.88516766e-01 7.23474653e-01 -5.02900508e-02 -2.45478811e+02] [-7.11974362e-02 1.57812793e-03 9.97460994e-01 -2.25591927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83864 meters 0.027947323919367953 Centerline is valid? [True, True] Translation: X:314.93, Y:-245.51, Z:-22.56 [[ 7.20459973e-01 6.91609211e-01 5.11285256e-02 3.14934401e+02] [-6.89724492e-01 7.22270318e-01 -5.10461755e-02 -2.45507357e+02] [-7.22326216e-02 1.51212986e-03 9.97386666e-01 -2.25619016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86864 meters 0.02795979783890916 Centerline is valid? [True, True] Translation: X:314.95, Y:-245.53, Z:-22.56 [[ 7.20452672e-01 6.91575733e-01 5.16812608e-02 3.14953711e+02] [-6.89646179e-01 7.22302253e-01 -5.16488491e-02 -2.45532946e+02] [-7.30485818e-02 1.56876735e-03 9.97327150e-01 -2.25629623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89864 meters 0.02779768374655838 Centerline is valid? [True, True] Translation: X:314.97, Y:-245.56, Z:-22.56 [[ 7.19901916e-01 6.92169187e-01 5.14105855e-02 3.14974286e+02] [-6.90257877e-01 7.21733650e-01 -5.14256892e-02 -2.45558947e+02] [-7.27000269e-02 1.53489056e-03 9.97352671e-01 -2.25638374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters 0.027926567703353753 Centerline is valid? [True, True] Translation: X:315.04, Y:-245.65, Z:-21.03 [[ 7.43761116e-01 -6.68115312e-01 -2.10079291e-02 3.15042106e+02] [-6.67723385e-01 -7.44051073e-01 2.30972221e-02 -2.45652985e+02] [-3.10625800e-02 -3.15133013e-03 -9.99512474e-01 -2.10346320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95864 meters 0.027755715013649342 Centerline is valid? [True, True] Translation: X:315.01, Y:-245.62, Z:-22.57 [[ 7.66699333e-01 6.39855938e-01 5.25024909e-02 3.15007158e+02] [-6.38252971e-01 7.68493933e-01 -4.52793589e-02 -2.45623205e+02] [-6.93201123e-02 1.20578347e-03 9.97593739e-01 -2.25676516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters 0.02774459087507788 Centerline is valid? [True, True] Translation: X:315.03, Y:-245.65, Z:-22.57 [[ 7.65748048e-01 6.41007663e-01 5.23364520e-02 3.15029818e+02] [-6.39415159e-01 7.67533656e-01 -4.51701364e-02 -2.45646879e+02] [-6.91243919e-02 1.12422297e-03 9.97607415e-01 -2.25691441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01864 meters 0.027614331921755605 Centerline is valid? [True, True] Translation: X:315.05, Y:-245.67, Z:-22.57 [[ 7.65114779e-01 6.41764122e-01 5.23276887e-02 3.15052660e+02] [-6.40172890e-01 7.66901345e-01 -4.51774090e-02 -2.45670335e+02] [-6.91234150e-02 1.06713563e-03 9.97607545e-01 -2.25707945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters 0.027585606166903445 Centerline is valid? [True, True] Translation: X:315.08, Y:-245.69, Z:-22.57 [[ 7.63250214e-01 6.43886532e-01 5.34719062e-02 3.15075062e+02] [-6.42228281e-01 7.65120448e-01 -4.61902117e-02 -2.45694940e+02] [-7.06537040e-02 9.13518631e-04 9.97500486e-01 -2.25725340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07864 meters 0.027660425334195382 Centerline is valid? [True, True] Translation: X:315.10, Y:-245.72, Z:-22.58 [[ 7.61792474e-01 6.45481682e-01 5.50056842e-02 3.15096586e+02] [-6.43727777e-01 7.63775310e-01 -4.75586540e-02 -2.45718228e+02] [-7.27102235e-02 8.21137848e-04 9.97352771e-01 -2.25762750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters 0.02760775594181381 Centerline is valid? [True, True] Translation: X:315.12, Y:-245.74, Z:-22.58 [[ 7.61403689e-01 6.45946070e-01 5.49372098e-02 3.15121049e+02] [-6.44195382e-01 7.63382626e-01 -4.75318457e-02 -2.45740788e+02] [-7.26411205e-02 8.00625789e-04 9.97357823e-01 -2.25778701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13864 meters 0.02789564273339287 Centerline is valid? [True, True] Translation: X:315.14, Y:-245.76, Z:-22.58 [[ 7.61410467e-01 6.45956002e-01 5.47260802e-02 3.15144313e+02] [-6.44215127e-01 7.63374185e-01 -4.73996185e-02 -2.45763836e+02] [-7.23945449e-02 8.35196995e-04 9.97375723e-01 -2.25798411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters 0.027965546863988746 Centerline is valid? [True, True] Translation: X:315.17, Y:-245.79, Z:-22.58 [[ 7.61429828e-01 6.46038387e-01 5.34697979e-02 3.15167427e+02] [-6.44373513e-01 7.63304454e-01 -4.63582301e-02 -2.45785717e+02] [-7.07629311e-02 8.44017682e-04 9.97492805e-01 -2.25809107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.19864 meters 0.0278740616158509 Centerline is valid? [True, True] Translation: X:315.19, Y:-245.81, Z:-22.58 [[ 7.61323078e-01 6.46239532e-01 5.25512946e-02 3.15190996e+02] [-6.44628983e-01 7.63134167e-01 -4.56039229e-02 -2.45808027e+02] [-6.95747462e-02 8.43231315e-04 9.97576385e-01 -2.25821892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22864 meters 0.0278740616158509 Centerline is valid? [True, True] Translation: X:315.22, Y:-245.83, Z:-22.58 [[ 7.60979208e-01 6.46646212e-01 5.25292402e-02 3.15215722e+02] [-6.45034878e-01 7.62789598e-01 -4.56293157e-02 -2.45829078e+02] [-6.95747822e-02 8.39768468e-04 9.97576385e-01 -2.25838375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.25864 meters 0.02791694586369924 Centerline is valid? [True, True] Translation: X:315.24, Y:-245.85, Z:-22.59 [[ 7.60298583e-01 6.47445531e-01 5.25390258e-02 3.15238526e+02] [-6.45832068e-01 7.62111303e-01 -4.56869950e-02 -2.45852477e+02] [-6.96204262e-02 8.04369855e-04 9.97573230e-01 -2.25852297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28864 meters 0.027794749029339347 Centerline is valid? [True, True] Translation: X:315.26, Y:-245.88, Z:-22.59 [[ 7.59693718e-01 6.48147424e-01 5.26343193e-02 3.15262825e+02] [-6.46526318e-01 7.61514484e-01 -4.58193277e-02 -2.45875210e+02] [-6.97794758e-02 7.79182778e-04 9.97562137e-01 -2.25870769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.31864 meters 0.0276269639039122 Centerline is valid? [True, True] Translation: X:315.29, Y:-245.90, Z:-22.59 [[ 7.57793676e-01 6.50278126e-01 5.37317724e-02 3.15286255e+02] [-6.48590266e-01 7.59695963e-01 -4.68263810e-02 -2.45898856e+02] [-7.12699818e-02 6.34830861e-04 9.97456860e-01 -2.25884021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34864 meters 0.027496029634571057 Centerline is valid? [True, True] Translation: X:315.31, Y:-245.92, Z:-22.59 [[ 7.56750689e-01 6.51505128e-01 5.35673636e-02 3.15310368e+02] [-6.49827047e-01 7.58644026e-01 -4.67338259e-02 -2.45921912e+02] [-7.10858877e-02 5.56333308e-04 9.97470043e-01 -2.25891757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.37864 meters 0.027411612112797478 Centerline is valid? [True, True] Translation: X:315.33, Y:-245.95, Z:-22.59 [[ 7.53353750e-01 6.55465492e-01 5.31330029e-02 3.15332885e+02] [-6.53820938e-01 7.55225093e-01 -4.64030194e-02 -2.45945190e+02] [-7.05429550e-02 2.18418822e-04 9.97508719e-01 -2.25902194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40864 meters 0.027406815601545665 Centerline is valid? [True, True] Translation: X:315.36, Y:-245.97, Z:-22.59 [[ 7.51722409e-01 6.57333619e-01 5.31595059e-02 3.15357234e+02] [-6.55688799e-01 7.53599699e-01 -4.64724898e-02 -2.45967526e+02] [-7.06089175e-02 7.83194384e-05 9.97504073e-01 -2.25918112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43864 meters 0.02737309246992652 Centerline is valid? [True, True] Translation: X:315.38, Y:-245.99, Z:-22.59 [[ 7.48355375e-01 6.61121973e-01 5.36839791e-02 3.15379905e+02] [-6.59450457e-01 7.50278400e-01 -4.69831564e-02 -2.45991364e+02] [-7.13395270e-02 -2.41826919e-04 9.97452061e-01 -2.25924460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46864 meters 0.027424378209536703 Centerline is valid? [True, True] Translation: X:315.40, Y:-246.01, Z:-22.59 [[ 7.47248205e-01 6.62410491e-01 5.32208790e-02 3.15404230e+02] [-6.60767367e-01 7.49140999e-01 -4.66288574e-02 -2.46014368e+02] [-7.07573868e-02 -3.23290119e-04 9.97493503e-01 -2.25932042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49864 meters 0.027554887942558642 Centerline is valid? [True, True] Translation: X:315.43, Y:-246.04, Z:-22.59 [[ 7.45114176e-01 6.64754514e-01 5.39101220e-02 3.15426492e+02] [-6.63070979e-01 7.47061692e-01 -4.72832467e-02 -2.46037172e+02] [-7.17059386e-02 -5.14820007e-04 9.97425683e-01 -2.25945182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52864 meters 0.027694093577930238 Centerline is valid? [True, True] Translation: X:315.45, Y:-246.06, Z:-22.60 [[ 7.43878126e-01 6.66094886e-01 5.44328587e-02 3.15450589e+02] [-6.64378595e-01 7.45866761e-01 -4.77897148e-02 -2.46059635e+02] [-7.24321446e-02 -6.14302663e-04 9.97373153e-01 -2.25969021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55864 meters 0.027677156820671348 Centerline is valid? [True, True] Translation: X:315.47, Y:-246.08, Z:-22.60 [[ 7.42615072e-01 6.67541842e-01 5.39513071e-02 3.15474473e+02] [-6.65855936e-01 7.44571947e-01 -4.74182334e-02 -2.46082493e+02] [-7.18242847e-02 -7.10303256e-04 9.97417048e-01 -2.25992130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58864 meters 0.027901537706619486 Centerline is valid? [True, True] Translation: X:315.50, Y:-246.11, Z:-22.60 [[ 7.41342508e-01 6.68981699e-01 5.36169008e-02 3.15498923e+02] [-6.67316744e-01 7.43278438e-01 -4.71754968e-02 -2.46105095e+02] [-7.14118303e-02 -8.06254537e-04 9.97446590e-01 -2.26009232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61864 meters 0.02778928190387124 Centerline is valid? [True, True] Translation: X:315.52, Y:-246.13, Z:-22.60 [[ 7.40002044e-01 6.70531096e-01 5.27733263e-02 3.15523401e+02] [-6.68918591e-01 7.41880875e-01 -4.64831835e-02 -2.46127737e+02] [-7.03199415e-02 -9.03408233e-04 9.97524080e-01 -2.26009414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64864 meters 0.027994435203792113 Centerline is valid? [True, True] Translation: X:315.55, Y:-246.15, Z:-22.60 [[ 7.38962198e-01 6.71603912e-01 5.36940803e-02 3.15547479e+02] [-6.69933819e-01 7.40909720e-01 -4.73441121e-02 -2.46149087e+02] [-7.15789569e-02 -9.85971180e-04 9.97434449e-01 -2.26028646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67864 meters 0.02795368816425119 Centerline is valid? [True, True] Translation: X:315.57, Y:-246.17, Z:-22.60 [[ 7.38871254e-01 6.71694370e-01 5.38139735e-02 3.15571870e+02] [-6.70013682e-01 7.40827745e-01 -4.74965147e-02 -2.46170624e+02] [-7.17700261e-02 -9.62289077e-04 9.97420742e-01 -2.26041629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70864 meters 0.027900892875144506 Centerline is valid? [True, True] Translation: X:315.60, Y:-246.19, Z:-22.61 [[ 7.39512064e-01 6.71030564e-01 5.32906127e-02 3.15595732e+02] [-6.69377290e-01 7.41429197e-01 -4.70827881e-02 -2.46191482e+02] [-7.11052060e-02 -8.53236067e-04 9.97468457e-01 -2.26053662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73864 meters 0.027631262844145063 Centerline is valid? [True, True] Translation: X:315.62, Y:-246.21, Z:-22.61 [[ 7.40438456e-01 6.70054612e-01 5.27039849e-02 3.15619348e+02] [-6.68432061e-01 7.42311457e-01 -4.66077287e-02 -2.46212747e+02] [-7.03524954e-02 -7.18878562e-04 9.97521934e-01 -2.26065350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76864 meters 0.027520921048900148 Centerline is valid? [True, True] Translation: X:315.64, Y:-246.23, Z:-22.61 [[ 7.40356739e-01 6.70184125e-01 5.22028486e-02 3.15643961e+02] [-6.68589488e-01 7.42194558e-01 -4.62096890e-02 -2.46234889e+02] [-6.97136702e-02 -6.90621136e-04 9.97566803e-01 -2.26076171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79864 meters 0.027573175303275393 Centerline is valid? [True, True] Translation: X:315.67, Y:-246.26, Z:-22.61 [[ 7.40021850e-01 6.70598560e-01 5.16258926e-02 3.15668253e+02] [-6.69036599e-01 7.41820128e-01 -4.57485068e-02 -2.46256730e+02] [-6.89760091e-02 -6.84716964e-04 9.97618084e-01 -2.26091611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82864 meters 0.027660783980699894 Centerline is valid? [True, True] Translation: X:315.69, Y:-246.28, Z:-22.61 [[ 7.40219010e-01 6.70317697e-01 5.24404605e-02 3.15692239e+02] [-6.68701720e-01 7.42073977e-01 -4.65212066e-02 -2.46278727e+02] [-7.00986891e-02 -6.31144653e-04 9.97539862e-01 -2.26104187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85864 meters 0.02748009512657257 Centerline is valid? [True, True] Translation: X:315.72, Y:-246.30, Z:-22.61 [[ 7.39272573e-01 6.71336128e-01 5.27623607e-02 3.15718785e+02] [-6.69699230e-01 7.41152698e-01 -4.68574502e-02 -2.46298763e+02] [-7.05620652e-02 -6.94484511e-04 9.97507149e-01 -2.26115772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88864 meters 0.02760377877918238 Centerline is valid? [True, True] Translation: X:315.74, Y:-246.32, Z:-22.61 [[ 7.38089882e-01 6.72613782e-01 5.30473980e-02 3.15744137e+02] [-6.70958842e-01 7.39993301e-01 -4.71608592e-02 -2.46319173e+02] [-7.09757631e-02 -7.83667720e-04 9.97477733e-01 -2.26125309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91864 meters 0.027698406406057686 Centerline is valid? [True, True] Translation: X:315.77, Y:-246.34, Z:-22.62 [[ 7.36729344e-01 6.74124224e-01 5.27864027e-02 3.15769167e+02] [-6.72485961e-01 7.38617452e-01 -4.69775635e-02 -2.46340358e+02] [-7.06576718e-02 -8.88365240e-04 9.97500228e-01 -2.26151080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94864 meters 0.027589346224699097 Centerline is valid? [True, True] Translation: X:315.80, Y:-246.36, Z:-22.62 [[ 7.35163071e-01 6.75847322e-01 5.25895117e-02 3.15795770e+02] [-6.74222079e-01 7.37040957e-01 -4.68531354e-02 -2.46360149e+02] [-7.04261902e-02 -1.01231495e-03 9.97516480e-01 -2.26166324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97864 meters 0.027655855462741886 Centerline is valid? [True, True] Translation: X:315.82, Y:-246.38, Z:-22.62 [[ 7.34086233e-01 6.77048383e-01 5.21813035e-02 3.15822036e+02] [-6.75447855e-01 7.35937712e-01 -4.65390113e-02 -2.46380864e+02] [-6.99113514e-02 -1.08210202e-03 9.97552621e-01 -2.26188087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00864 meters 0.027647652408233716 Centerline is valid? [True, True] Translation: X:315.85, Y:-246.40, Z:-22.62 [[ 7.33507342e-01 6.77668997e-01 5.22657653e-02 3.15849750e+02] [-6.76061309e-01 7.35366240e-01 -4.66647556e-02 -2.46399443e+02] [-7.00577375e-02 -1.10592089e-03 9.97542325e-01 -2.26198930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03864 meters 0.027424840864036678 Centerline is valid? [True, True] Translation: X:315.88, Y:-246.42, Z:-22.62 [[ 7.35061628e-01 6.75927837e-01 5.29713270e-02 3.15876082e+02] [-6.74268356e-01 7.36967245e-01 -4.73441086e-02 -2.46418439e+02] [-7.10393339e-02 -9.16052002e-04 9.97473094e-01 -2.26220446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06864 meters 0.027269870808119136 Centerline is valid? [True, True] Translation: X:315.90, Y:-246.44, Z:-22.62 [[ 7.36752253e-01 6.74049694e-01 5.34146764e-02 3.15901570e+02] [-6.72354102e-01 7.38685664e-01 -4.77854846e-02 -2.46438818e+02] [-7.16664469e-02 -7.07513317e-04 9.97428403e-01 -2.26236838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09864 meters 0.027144514848376416 Centerline is valid? [True, True] Translation: X:315.93, Y:-246.46, Z:-22.63 [[ 7.37861893e-01 6.72848668e-01 5.32399923e-02 3.15926423e+02] [-6.71157854e-01 7.39779941e-01 -4.76736181e-02 -2.46459487e+02] [-7.14630088e-02 -5.55892865e-04 9.97443096e-01 -2.26255549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12864 meters 0.02721412586093709 Centerline is valid? [True, True] Translation: X:315.95, Y:-246.48, Z:-22.63 [[ 7.39499210e-01 6.71064434e-01 5.30419164e-02 3.15951326e+02] [-6.69378402e-01 7.41398951e-01 -4.75410381e-02 -2.46480375e+02] [-7.12283210e-02 -3.48553186e-04 9.97459977e-01 -2.26274576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15864 meters 0.02702243442280154 Centerline is valid? [True, True] Translation: X:315.98, Y:-246.50, Z:-22.63 [[ 7.43050016e-01 6.67228587e-01 5.17946483e-02 3.15975434e+02] [-6.65608617e-01 7.44853012e-01 -4.64667555e-02 -2.46501208e+02] [-6.95833474e-02 5.21591709e-05 9.97576140e-01 -2.26272186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18864 meters 0.027006159041895683 Centerline is valid? [True, True] Translation: X:316.00, Y:-246.52, Z:-22.63 [[ 7.45808803e-01 6.64123518e-01 5.20498035e-02 3.15998739e+02] [-6.62476677e-01 7.47622772e-01 -4.67423165e-02 -2.46523950e+02] [-6.99562900e-02 3.79050230e-04 9.97549986e-01 -2.26284308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21864 meters 0.02697609410118103 Centerline is valid? [True, True] Translation: X:316.02, Y:-246.55, Z:-22.63 [[ 7.46370565e-01 6.63473689e-01 5.22842564e-02 3.16022499e+02] [-6.61806755e-01 7.48199461e-01 -4.70041149e-02 -2.46546913e+02] [-7.03050460e-02 4.80413761e-04 9.97525423e-01 -2.26303778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24864 meters 0.026889397732417747 Centerline is valid? [True, True] Translation: X:316.05, Y:-246.57, Z:-22.63 [[ 7.45923648e-01 6.63975313e-01 5.22943070e-02 3.16045560e+02] [-6.62305397e-01 7.47754346e-01 -4.70637873e-02 -2.46570694e+02] [-7.03524883e-02 4.71190194e-04 9.97522083e-01 -2.26313933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27864 meters 0.026710193076680013 Centerline is valid? [True, True] Translation: X:316.07, Y:-246.60, Z:-22.63 [[ 7.43448882e-01 6.66710532e-01 5.27335423e-02 3.16066537e+02] [-6.65015616e-01 7.45316713e-01 -4.75102943e-02 -2.46596140e+02] [-7.09788040e-02 2.52846088e-04 9.97477792e-01 -2.26328195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30864 meters 0.026619342480795418 Centerline is valid? [True, True] Translation: X:316.09, Y:-246.62, Z:-22.63 [[ 7.41485508e-01 6.68839555e-01 5.34124610e-02 3.16089358e+02] [-6.67102374e-01 7.43406781e-01 -4.81744853e-02 -2.46619803e+02] [-7.19281871e-02 8.91032244e-05 9.97409809e-01 -2.26336042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33864 meters 0.02641401901500208 Centerline is valid? [True, True] Translation: X:316.11, Y:-246.64, Z:-22.64 [[ 7.37579669e-01 6.73093695e-01 5.40472877e-02 3.16112368e+02] [-6.71322362e-01 7.39557161e-01 -4.88005362e-02 -2.46644028e+02] [-7.28183919e-02 -2.88869440e-04 9.97345175e-01 -2.26350395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36864 meters 0.026740418936528697 Centerline is valid? [True, True] Translation: X:316.14, Y:-246.67, Z:-22.64 [[ 7.33735892e-01 6.77334730e-01 5.33788799e-02 3.16136678e+02] [-6.75614387e-01 7.35674674e-01 -4.82490820e-02 -2.46666643e+02] [-7.19502690e-02 -6.61455996e-04 9.97408001e-01 -2.26370223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39864 meters 0.02673567003632524 Centerline is valid? [True, True] Translation: X:316.16, Y:-246.69, Z:-22.64 [[ 7.31790791e-01 6.79422077e-01 5.35525859e-02 3.16160891e+02] [-6.77692383e-01 7.33747198e-01 -4.84570289e-02 -2.46687704e+02] [-7.22168350e-02 -8.31772066e-04 9.97388609e-01 -2.26386038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters 0.026665223746979903 Centerline is valid? [True, True] Translation: X:316.19, Y:-246.71, Z:-22.64 [[ 7.29932142e-01 6.81452126e-01 5.31231444e-02 3.16185920e+02] [-6.79752076e-01 7.31862023e-01 -4.81154254e-02 -2.46709409e+02] [-7.16671708e-02 -9.89572221e-04 9.97428111e-01 -2.26394472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45864 meters 0.026770115369386865 Centerline is valid? [True, True] Translation: X:316.21, Y:-246.73, Z:-22.64 [[ 7.27806618e-01 6.83748923e-01 5.27725146e-02 3.16209752e+02] [-6.82073733e-01 7.29716410e-01 -4.78475032e-02 -2.46731485e+02] [-7.12246487e-02 -1.17101660e-03 9.97459612e-01 -2.26427001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters 0.026750535357786268 Centerline is valid? [True, True] Translation: X:316.23, Y:-246.75, Z:-22.65 [[ 7.26643292e-01 6.84931067e-01 5.34692452e-02 3.16232515e+02] [-6.83211191e-01 7.28606766e-01 -4.85247229e-02 -2.46753458e+02] [-7.21941441e-02 -1.27062230e-03 9.97389789e-01 -2.26464894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51864 meters 0.026645346041758437 Centerline is valid? [True, True] Translation: X:316.26, Y:-246.77, Z:-22.65 [[ 7.26654090e-01 6.84907598e-01 5.36229003e-02 3.16257283e+02] [-6.83174346e-01 7.28628884e-01 -4.87110135e-02 -2.46774837e+02] [-7.24337372e-02 -1.23773267e-03 9.97372459e-01 -2.26472433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters 0.0265674571680143 Centerline is valid? [True, True] Translation: X:316.28, Y:-246.80, Z:-22.65 [[ 7.26988314e-01 6.84551030e-01 5.36458638e-02 3.16282288e+02] [-6.82811553e-01 7.28964012e-01 -4.87837310e-02 -2.46795876e+02] [-7.25008573e-02 -1.16481326e-03 9.97367670e-01 -2.26485191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57864 meters 0.026588306466944166 Centerline is valid? [True, True] Translation: X:316.31, Y:-246.82, Z:-22.65 [[ 7.27280499e-01 6.84262326e-01 5.33680047e-02 3.16306381e+02] [-6.82536463e-01 7.29235128e-01 -4.85808963e-02 -2.46816511e+02] [-7.21599009e-02 -1.09367062e-03 9.97392477e-01 -2.26500779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters 0.026401792349105335 Centerline is valid? [True, True] Translation: X:316.33, Y:-246.84, Z:-22.65 [[ 7.27265277e-01 6.84330223e-01 5.27006899e-02 3.16330678e+02] [-6.82644315e-01 7.29171471e-01 -4.80177492e-02 -2.46837886e+02] [-7.12878366e-02 -1.05418469e-03 9.97455229e-01 -2.26517902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63864 meters 0.026516535443876887 Centerline is valid? [True, True] Translation: X:316.35, Y:-246.86, Z:-22.65 [[ 7.27144086e-01 6.84409101e-01 5.33447409e-02 3.16354413e+02] [-6.82678430e-01 7.29097456e-01 -4.86524451e-02 -2.46860148e+02] [-7.21916912e-02 -1.03996623e-03 9.97390234e-01 -2.26545341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters 0.026379260740916666 Centerline is valid? [True, True] Translation: X:316.38, Y:-246.88, Z:-22.66 [[ 7.26542905e-01 6.85008382e-01 5.38416570e-02 3.16379183e+02] [-6.83243051e-01 7.28534399e-01 -4.91585492e-02 -2.46882335e+02] [-7.28995175e-02 -1.07114285e-03 9.97338715e-01 -2.26556419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.69864 meters 0.026337035383828117 Centerline is valid? [True, True] Translation: X:316.40, Y:-246.90, Z:-22.66 [[ 7.26096570e-01 6.85536625e-01 5.31347933e-02 3.16404009e+02] [-6.83815105e-01 7.28037353e-01 -4.85645404e-02 -2.46903516e+02] [-7.19768854e-02 -1.07182809e-03 9.97405724e-01 -2.26578571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72864 meters 0.02620249216756309 Centerline is valid? [True, True] Translation: X:316.43, Y:-246.93, Z:-22.66 [[ 7.26664678e-01 6.84948307e-01 5.29552848e-02 3.16428245e+02] [-6.83233908e-01 7.28591007e-01 -4.84414175e-02 -2.46925378e+02] [-7.17626112e-02 -9.80179129e-04 9.97421259e-01 -2.26594297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.75864 meters 0.02610416501062485 Centerline is valid? [True, True] Translation: X:316.45, Y:-246.95, Z:-22.66 [[ 7.26224013e-01 6.85306513e-01 5.43476441e-02 3.16451893e+02] [-6.83499721e-01 7.28254033e-01 -4.97412842e-02 -2.46946518e+02] [-7.36669170e-02 -1.02328454e-03 9.97282376e-01 -2.26620491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78864 meters 0.026280152550065886 Centerline is valid? [True, True] Translation: X:316.48, Y:-246.97, Z:-22.67 [[ 7.25523989e-01 6.85971173e-01 5.53036286e-02 3.16475804e+02] [-6.84098494e-01 7.27627923e-01 -5.06641523e-02 -2.46967339e+02] [-7.49946124e-02 -1.07507116e-03 9.97183359e-01 -2.26651153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.81864 meters 0.026418113672449582 Centerline is valid? [True, True] Translation: X:316.50, Y:-246.99, Z:-22.67 [[ 7.24969329e-01 6.86435904e-01 5.67910428e-02 3.16499926e+02] [-6.84458579e-01 7.27189454e-01 -5.20764034e-02 -2.46988083e+02] [-7.70449605e-02 -1.11732122e-03 9.97026993e-01 -2.26679797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84864 meters 0.026360905279512546 Centerline is valid? [True, True] Translation: X:316.52, Y:-247.01, Z:-22.67 [[ 7.23830021e-01 6.87719320e-01 5.57874327e-02 3.16524368e+02] [-6.85812349e-01 7.25975679e-01 -5.11931220e-02 -2.47009429e+02] [-7.57068184e-02 -1.20459165e-03 9.97129393e-01 -2.26678250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.87864 meters 0.026544366412536123 Centerline is valid? [True, True] Translation: X:316.55, Y:-247.03, Z:-22.67 [[ 7.22769272e-01 6.88830930e-01 5.58258799e-02 3.16549582e+02] [-6.86922383e-01 7.24920864e-01 -5.12579855e-02 -2.47031318e+02] [-7.57774310e-02 -1.30034960e-03 9.97123909e-01 -2.26701788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90864 meters 0.026837164985302885 Centerline is valid? [True, True] Translation: X:316.58, Y:-247.05, Z:-22.67 [[ 7.20759002e-01 6.90869961e-01 5.66141166e-02 3.16575694e+02] [-6.88909190e-01 7.22977494e-01 -5.20352931e-02 -2.47050999e+02] [-7.68803530e-02 -1.49707927e-03 9.97039202e-01 -2.26714786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93864 meters 0.026928240151096065 Centerline is valid? [True, True] Translation: X:316.60, Y:-247.07, Z:-22.67 [[ 7.19380291e-01 6.92298513e-01 5.66989010e-02 3.16600613e+02] [-6.90332582e-01 7.21609418e-01 -5.21610344e-02 -2.47071734e+02] [-7.70254675e-02 -1.61747863e-03 9.97027814e-01 -2.26730839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96864 meters 0.027235143409809315 Centerline is valid? [True, True] Translation: X:316.63, Y:-247.09, Z:-22.68 [[ 7.17259401e-01 6.94486692e-01 5.68083392e-02 3.16626443e+02] [-6.92516271e-01 7.19503244e-01 -5.23096153e-02 -2.47091311e+02] [-7.72021161e-02 -1.82113595e-03 9.97013800e-01 -2.26759442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99864 meters 0.027354997932199657 Centerline is valid? [True, True] Translation: X:316.65, Y:-247.11, Z:-22.68 [[ 7.15939865e-01 6.95898905e-01 5.61678192e-02 3.16653067e+02] [-6.93973300e-01 7.18137204e-01 -5.17688566e-02 -2.47111687e+02] [-7.63620913e-02 -1.91557863e-03 9.97078313e-01 -2.26771548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02864 meters 0.027904979770243924 Centerline is valid? [True, True] Translation: X:316.68, Y:-247.13, Z:-22.68 [[ 7.12119459e-01 6.99726527e-01 5.71722343e-02 3.16681007e+02] [-6.97740389e-01 7.14406974e-01 -5.27354299e-02 -2.47128454e+02] [-7.77446221e-02 -2.33745118e-03 9.96970566e-01 -2.26782268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05864 meters 0.0280710062537759 Centerline is valid? [True, True] Translation: X:316.71, Y:-247.15, Z:-22.68 [[ 7.10101005e-01 7.01735755e-01 5.76497499e-02 3.16707157e+02] [-6.99720893e-01 7.12432714e-01 -5.32005633e-02 -2.47146857e+02] [-7.84043052e-02 -2.56096108e-03 9.96918355e-01 -2.26800219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08864 meters 0.0280710062537759 Centerline is valid? [True, True] Translation: X:316.73, Y:-247.17, Z:-22.68 [[ 7.09741040e-01 7.02101793e-01 5.76257636e-02 3.16731236e+02] [-7.00086029e-01 7.12071968e-01 -5.32265362e-02 -2.47168675e+02] [-7.84041374e-02 -2.56593490e-03 9.96918355e-01 -2.26816712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11864 meters 0.028641629938986328 Centerline is valid? [True, True] Translation: X:316.76, Y:-247.18, Z:-22.68 [[ 7.07420345e-01 7.04369739e-01 5.84784228e-02 3.16760324e+02] [-7.02297204e-01 7.09827665e-01 -5.40677633e-02 -2.47184808e+02] [-7.95932987e-02 -2.82059703e-03 9.96823430e-01 -2.26837472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14864 meters 0.028596993129418987 Centerline is valid? [True, True] Translation: X:316.79, Y:-247.20, Z:-22.69 [[ 7.06967318e-01 7.04763194e-01 5.92119290e-02 3.16787186e+02] [-7.02635646e-01 7.09436838e-01 -5.47952682e-02 -2.47202648e+02] [-8.06248119e-02 -2.86594822e-03 9.96740401e-01 -2.26860044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17864 meters 0.02830007217170874 Centerline is valid? [True, True] Translation: X:316.81, Y:-247.22, Z:-22.69 [[ 7.07174826e-01 7.04607511e-01 5.85834546e-02 3.16813877e+02] [-7.02520587e-01 7.09591789e-01 -5.42615725e-02 -2.47220893e+02] [-7.98034499e-02 -2.78366482e-03 9.96806732e-01 -2.26876677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20864 meters 0.028325862944368056 Centerline is valid? [True, True] Translation: X:316.84, Y:-247.24, Z:-22.69 [[ 7.08295550e-01 7.03520805e-01 5.81024184e-02 3.16844767e+02] [-7.01460595e-01 7.10669890e-01 -5.38641095e-02 -2.47235003e+02] [-7.91861609e-02 -2.60484792e-03 9.96856442e-01 -2.26896687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23864 meters 0.028002531004206913 Centerline is valid? [True, True] Translation: X:316.88, Y:-247.25, Z:-22.69 [[ 7.10379887e-01 7.01526616e-01 5.67522977e-02 3.16876079e+02] [-6.99552002e-01 7.12639540e-01 -5.26486684e-02 -2.47249176e+02] [-7.73783735e-02 -2.30062837e-03 9.96999145e-01 -2.26900457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26864 meters 0.02801138081340159 Centerline is valid? [True, True] Translation: X:316.90, Y:-247.27, Z:-22.69 [[ 7.11040314e-01 7.00820929e-01 5.71987508e-02 3.16902922e+02] [-6.98810618e-01 7.13333786e-01 -5.30907701e-02 -2.47267404e+02] [-7.80089243e-02 -2.22141650e-03 9.96950186e-01 -2.26922143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29864 meters 0.027586977790905853 Centerline is valid? [True, True] Translation: X:316.93, Y:-247.28, Z:-22.69 [[ 7.12118403e-01 6.99718355e-01 5.72852964e-02 3.16933266e+02] [-6.97694610e-01 7.14415805e-01 -5.32192559e-02 -2.47282346e+02] [-7.81640113e-02 -2.06923100e-03 9.96938366e-01 -2.26944510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32864 meters 0.027520596070671432 Centerline is valid? [True, True] Translation: X:316.96, Y:-247.30, Z:-22.70 [[ 7.11898438e-01 6.99931712e-01 5.74126457e-02 3.16960811e+02] [-6.97895604e-01 7.14206799e-01 -5.33888851e-02 -2.47300858e+02] [-7.83730757e-02 -2.06056914e-03 9.96921970e-01 -2.26966870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35864 meters 0.027666058900648417 Centerline is valid? [True, True] Translation: X:316.99, Y:-247.32, Z:-22.70 [[ 7.11833057e-01 6.99964831e-01 5.78181108e-02 3.16987651e+02] [-6.97895439e-01 7.14174405e-01 -5.38226265e-02 -2.47320124e+02] [-7.89661606e-02 -2.03827108e-03 9.96875213e-01 -2.26998783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38864 meters 0.027386418008683574 Centerline is valid? [True, True] Translation: X:317.02, Y:-247.34, Z:-22.70 [[ 7.13289928e-01 6.98584205e-01 5.65472117e-02 3.17015789e+02] [-6.96596545e-01 7.15525574e-01 -5.26916173e-02 -2.47336659e+02] [-7.72705077e-02 -1.80619245e-03 9.97008529e-01 -2.27012622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41864 meters 0.02736452256847115 Centerline is valid? [True, True] Translation: X:317.04, Y:-247.36, Z:-22.70 [[ 7.14216278e-01 6.97647581e-01 5.64177290e-02 3.17042320e+02] [-6.95662378e-01 7.16439164e-01 -5.26192025e-02 -2.47355789e+02] [-7.71295300e-02 -1.66620047e-03 9.97019689e-01 -2.27026215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44864 meters 0.02720710181945041 Centerline is valid? [True, True] Translation: X:317.07, Y:-247.37, Z:-22.70 [[ 7.17208964e-01 6.94477120e-01 5.75572055e-02 3.17071357e+02] [-6.92396574e-01 7.19513586e-01 -5.37325218e-02 -2.47371401e+02] [-7.87291984e-02 -1.31496564e-03 9.96895172e-01 -2.27040988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47864 meters 0.027024732819987317 Centerline is valid? [True, True] Translation: X:317.10, Y:-247.39, Z:-22.71 [[ 7.18992831e-01 6.92665404e-01 5.71309662e-02 3.17097436e+02] [-6.90606002e-01 7.21258267e-01 -5.33841047e-02 -2.47391055e+02] [-7.81835041e-02 -1.07219957e-03 9.96938408e-01 -2.27056795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50864 meters 0.026879589412129326 Centerline is valid? [True, True] Translation: X:317.12, Y:-247.41, Z:-22.71 [[ 7.23115245e-01 6.88474262e-01 5.57452546e-02 3.17123544e+02] [-6.86498342e-01 7.25260546e-01 -5.21264548e-02 -2.47411041e+02] [-7.63175562e-02 -5.75590714e-04 9.97083396e-01 -2.27072037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53864 meters 0.026856449047159954 Centerline is valid? [True, True] Translation: X:317.15, Y:-247.43, Z:-22.71 [[ 7.24362310e-01 6.87167830e-01 5.56742051e-02 3.17149166e+02] [-6.85190787e-01 7.26498590e-01 -5.20901549e-02 -2.47432495e+02] [-7.62419102e-02 -4.15307484e-04 9.97089263e-01 -2.27085902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56864 meters 0.027060778268720866 Centerline is valid? [True, True] Translation: X:317.17, Y:-247.45, Z:-22.71 [[ 7.25265427e-01 6.86221829e-01 5.55847338e-02 3.17174581e+02] [-6.84244141e-01 7.27392278e-01 -5.20617912e-02 -2.47453800e+02] [-7.61578437e-02 -2.74911185e-04 9.97095736e-01 -2.27105417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59864 meters 0.026887431516121732 Centerline is valid? [True, True] Translation: X:317.20, Y:-247.47, Z:-22.71 [[ 7.27310333e-01 6.84156901e-01 5.43048224e-02 3.17200723e+02] [-6.82259782e-01 7.29334857e-01 -5.09142068e-02 -2.47473527e+02] [-7.44397058e-02 -1.95675909e-05 9.97225516e-01 -2.27118863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62864 meters 0.02713057013840801 Centerline is valid? [True, True] Translation: X:317.23, Y:-247.49, Z:-22.71 [[ 7.29426859e-01 6.81942413e-01 5.37680483e-02 3.17226136e+02] [-6.80073057e-01 7.31405830e-01 -5.04593886e-02 -2.47494221e+02] [-7.37366612e-02 2.40232413e-04 9.97277718e-01 -2.27131752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65864 meters 0.027247493219301994 Centerline is valid? [True, True] Translation: X:317.25, Y:-247.52, Z:-22.71 [[ 7.29709050e-01 6.81599951e-01 5.42789862e-02 3.17250723e+02] [-6.79689884e-01 7.31724952e-01 -5.09927109e-02 -2.47515933e+02] [-7.44739179e-02 3.16964790e-04 9.97222911e-01 -2.27145684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68864 meters 0.02730055784064029 Centerline is valid? [True, True] Translation: X:317.28, Y:-247.54, Z:-22.72 [[ 7.30080706e-01 6.81190042e-01 5.44269145e-02 3.17275514e+02] [-6.79264406e-01 7.32106527e-01 -5.11849514e-02 -2.47538086e+02] [-7.47129785e-02 3.98879698e-04 9.97205000e-01 -2.27156522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71864 meters 0.02746247759819151 Centerline is valid? [True, True] Translation: X:317.30, Y:-247.56, Z:-22.72 [[ 7.29289733e-01 6.82048564e-01 5.42792962e-02 3.17299517e+02] [-6.80131776e-01 7.31306800e-01 -5.10992455e-02 -2.47560583e+02] [-7.45469854e-02 3.49080973e-04 9.97217441e-01 -2.27180876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74864 meters 0.02726344395137267 Centerline is valid? [True, True] Translation: X:317.32, Y:-247.58, Z:-22.72 [[ 7.28866964e-01 6.82572897e-01 5.33590567e-02 3.17322805e+02] [-6.80718375e-01 7.30817442e-01 -5.02828089e-02 -2.47583119e+02] [-7.33174118e-02 3.26987868e-04 9.97308603e-01 -2.27211278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77864 meters 0.0273795096566067 Centerline is valid? [True, True] Translation: X:317.35, Y:-247.61, Z:-22.72 [[ 7.28302007e-01 6.83215542e-01 5.28460896e-02 3.17346722e+02] [-6.81394804e-01 7.30216705e-01 -4.98466201e-02 -2.47606344e+02] [-7.26450830e-02 2.94342659e-04 9.97357812e-01 -2.27233110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80864 meters 0.027383837429447597 Centerline is valid? [True, True] Translation: X:317.37, Y:-247.63, Z:-22.72 [[ 7.28031534e-01 6.83525398e-01 5.25653477e-02 3.17370792e+02] [-6.81721007e-01 7.29926668e-01 -4.96339408e-02 -2.47629127e+02] [-7.22949082e-02 3.00172300e-04 9.97383254e-01 -2.27245378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83864 meters 0.027428860629194564 Centerline is valid? [True, True] Translation: X:317.39, Y:-247.65, Z:-22.73 [[ 7.27824735e-01 6.83805685e-01 5.17777990e-02 3.17393851e+02] [-6.82052217e-01 7.29664096e-01 -4.89395645e-02 -2.47650986e+02] [-7.12455533e-02 3.04262930e-04 9.97458760e-01 -2.27262179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86864 meters 0.02730901993957511 Centerline is valid? [True, True] Translation: X:317.42, Y:-247.67, Z:-22.73 [[ 7.27401014e-01 6.84252876e-01 5.18243870e-02 3.17417654e+02] [-6.82494048e-01 7.29244757e-01 -4.90301864e-02 -2.47674140e+02] [-7.13417085e-02 2.94771609e-04 9.97451890e-01 -2.27277505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89864 meters 0.02744746122171112 Centerline is valid? [True, True] Translation: X:317.44, Y:-247.70, Z:-22.73 [[ 7.27362889e-01 6.84274699e-01 5.20707681e-02 3.17440753e+02] [-6.82495410e-01 7.29224263e-01 -4.93151989e-02 -2.47697894e+02] [-7.17164104e-02 3.31985297e-04 9.97425008e-01 -2.27294520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters 0.02741517874012202 Centerline is valid? [True, True] Translation: X:317.46, Y:-247.72, Z:-22.73 [[ 7.27026565e-01 6.84595680e-01 5.25464452e-02 3.17464558e+02] [-6.82780702e-01 7.28922930e-01 -4.98184168e-02 -2.47721269e+02] [-7.24077817e-02 3.41613666e-04 9.97375053e-01 -2.27299844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95864 meters 0.027413971766440448 Centerline is valid? [True, True] Translation: X:317.49, Y:-247.75, Z:-22.73 [[ 7.24833968e-01 6.86905570e-01 5.26920937e-02 3.17487076e+02] [-6.85082756e-01 7.26746665e-01 -5.00090138e-02 -2.47745359e+02] [-7.26452736e-02 1.49787114e-04 9.97357830e-01 -2.27325710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters 0.027305357342726252 Centerline is valid? [True, True] Translation: X:317.51, Y:-247.77, Z:-22.73 [[ 7.23606907e-01 6.88195036e-01 5.27317417e-02 3.17511043e+02] [-6.86369033e-01 7.25525732e-01 -5.00995292e-02 -2.47768567e+02] [-7.27364829e-02 5.89307925e-05 9.97351192e-01 -2.27348181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01864 meters 0.027353521019654797 Centerline is valid? [True, True] Translation: X:317.53, Y:-247.79, Z:-22.74 [[ 7.20437460e-01 6.91553931e-01 5.21826335e-02 3.17534107e+02] [-6.89770809e-01 7.22324791e-01 -4.96299098e-02 -2.47791818e+02] [-7.20145691e-02 -2.38811156e-04 9.97403552e-01 -2.27360595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters 0.027349305191068488 Centerline is valid? [True, True] Translation: X:317.56, Y:-247.81, Z:-22.74 [[ 7.18539923e-01 6.93565174e-01 5.16500564e-02 3.17558405e+02] [-6.91819792e-01 7.20393775e-01 -4.91750337e-02 -2.47814463e+02] [-7.13144699e-02 -3.98306341e-04 9.97453802e-01 -2.27379688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07864 meters 0.02745358896576946 Centerline is valid? [True, True] Translation: X:317.58, Y:-247.84, Z:-22.74 [[ 7.15245066e-01 6.96950443e-01 5.18128821e-02 3.17580590e+02] [-6.95199217e-01 7.17118950e-01 -4.93807699e-02 -2.47837779e+02] [-7.15719491e-02 -7.00923041e-04 9.97435193e-01 -2.27396352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters 0.027436337872155277 Centerline is valid? [True, True] Translation: X:317.60, Y:-247.86, Z:-22.74 [[ 7.14229649e-01 6.97992563e-01 5.17918064e-02 3.17604406e+02] [-6.96242072e-01 7.16104593e-01 -4.94083818e-02 -2.47860733e+02] [-7.15750335e-02 -7.70703399e-04 9.97434921e-01 -2.27408798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13864 meters 0.027414497463939785 Centerline is valid? [True, True] Translation: X:317.63, Y:-247.88, Z:-22.74 [[ 7.13072325e-01 6.99088646e-01 5.29426502e-02 3.17627808e+02] [-6.97258549e-01 7.15034489e-01 -5.05588224e-02 -2.47882657e+02] [-7.32009195e-02 -8.62618411e-04 9.97316841e-01 -2.27427535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters 0.027465101298613757 Centerline is valid? [True, True] Translation: X:317.65, Y:-247.91, Z:-22.74 [[ 7.12484402e-01 6.99697688e-01 5.28121459e-02 3.17652105e+02] [-6.97874688e-01 7.14438491e-01 -5.04832972e-02 -2.47905737e+02] [-7.30540762e-02 -8.87698070e-04 9.97327586e-01 -2.27441684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19864 meters 0.02745126190106863 Centerline is valid? [True, True] Translation: X:317.68, Y:-247.93, Z:-22.75 [[ 7.11864640e-01 7.00348269e-01 5.25455551e-02 3.17675982e+02] [-6.98541529e-01 7.13800722e-01 -5.02818144e-02 -2.47928956e+02] [-7.27218369e-02 -9.11406731e-04 9.97351846e-01 -2.27464848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22864 meters 0.027618587939468205 Centerline is valid? [True, True] Translation: X:317.70, Y:-247.95, Z:-22.75 [[ 7.10262500e-01 7.02036107e-01 5.16960915e-02 3.17699599e+02] [-7.00288118e-01 7.12140607e-01 -4.95207817e-02 -2.47952524e+02] [-7.15802628e-02 -1.02940436e-03 9.97434312e-01 -2.27480416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.25864 meters 0.027682763559941613 Centerline is valid? [True, True] Translation: X:317.72, Y:-247.97, Z:-22.75 [[ 7.08062771e-01 7.04173014e-01 5.27965772e-02 3.17724773e+02] [-7.02351785e-01 7.10027353e-01 -5.06273382e-02 -2.47973006e+02] [-7.31374193e-02 -1.23443692e-03 9.97321109e-01 -2.27492431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28864 meters 0.02756877338460049 Centerline is valid? [True, True] Translation: X:317.75, Y:-247.99, Z:-22.75 [[ 7.07145334e-01 7.05102077e-01 5.26928617e-02 3.17749826e+02] [-7.03286980e-01 7.09104639e-01 -5.05770128e-02 -2.47994563e+02] [-7.30267094e-02 -1.29290498e-03 9.97329147e-01 -2.27505875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31864 meters 0.02759330512422377 Centerline is valid? [True, True] Translation: X:317.77, Y:-248.02, Z:-22.75 [[ 7.06374168e-01 7.05830260e-01 5.32839459e-02 3.17773706e+02] [-7.03972310e-01 7.08379724e-01 -5.11972127e-02 -2.48016027e+02] [-7.38818088e-02 -1.34603396e-03 9.97266096e-01 -2.27521289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34864 meters 0.027582138311136904 Centerline is valid? [True, True] Translation: X:317.80, Y:-248.04, Z:-22.75 [[ 7.06147623e-01 7.06131623e-01 5.22844714e-02 3.17798519e+02] [-7.04340287e-01 7.08079368e-01 -5.02828817e-02 -2.48036127e+02] [-7.25278884e-02 -1.31892223e-03 9.97365513e-01 -2.27522827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37864 meters 0.027445841577792018 Centerline is valid? [True, True] Translation: X:317.82, Y:-248.06, Z:-22.75 [[ 7.05860777e-01 7.06396352e-01 5.25809682e-02 3.17824153e+02] [-7.04581753e-01 7.07815269e-01 -5.06171771e-02 -2.48057612e+02] [-7.29734014e-02 -1.31891084e-03 9.97333015e-01 -2.27538961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40864 meters 0.027326795842316516 Centerline is valid? [True, True] Translation: X:317.85, Y:-248.08, Z:-22.76 [[ 7.06087798e-01 7.06059576e-01 5.40360728e-02 3.17849343e+02] [-7.04137937e-01 7.08151279e-01 -5.20723742e-02 -2.48078357e+02] [-7.50319125e-02 -1.28118078e-03 9.97180310e-01 -2.27567220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43864 meters 0.027475748195726596 Centerline is valid? [True, True] Translation: X:317.87, Y:-248.10, Z:-22.76 [[ 7.06183339e-01 7.05979917e-01 5.38279556e-02 3.17873978e+02] [-7.04069038e-01 7.08230781e-01 -5.19225498e-02 -2.48100628e+02] [-7.47788924e-02 -1.23175732e-03 9.97199378e-01 -2.27579400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46864 meters 0.027676842110738183 Centerline is valid? [True, True] Translation: X:317.90, Y:-248.12, Z:-22.76 [[ 7.04900848e-01 7.07217847e-01 5.43848529e-02 3.17899259e+02] [-7.05266762e-01 7.06994430e-01 -5.25135203e-02 -2.48120700e+02] [-7.55882869e-02 -1.33900416e-03 9.97138214e-01 -2.27586484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49864 meters 0.02747002777554499 Centerline is valid? [True, True] Translation: X:317.92, Y:-248.14, Z:-22.76 [[ 7.03958412e-01 7.08190535e-01 5.39325654e-02 3.17924346e+02] [-7.06270887e-01 7.06019985e-01 -5.21269259e-02 -2.48141520e+02] [-7.49932644e-02 -1.39581282e-03 9.97183063e-01 -2.27609169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52864 meters 0.02785718100774774 Centerline is valid? [True, True] Translation: X:317.95, Y:-248.16, Z:-22.76 [[ 7.02545587e-01 7.09632527e-01 5.33982763e-02 3.17949278e+02] [-7.07750865e-01 7.04570394e-01 -5.16650070e-02 -2.48163070e+02] [-7.42860140e-02 -1.49565367e-03 9.97235855e-01 -2.27626546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55864 meters 0.02763960558365751 Centerline is valid? [True, True] Translation: X:317.97, Y:-248.18, Z:-22.76 [[ 7.00368378e-01 7.11846014e-01 5.25298798e-02 3.17974823e+02] [-7.10028258e-01 7.02333579e-01 -5.08666551e-02 -2.48182289e+02] [-7.31027241e-02 -1.67230236e-03 9.97323014e-01 -2.27636937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58864 meters 0.027607603316742283 Centerline is valid? [True, True] Translation: X:318.00, Y:-248.20, Z:-22.77 [[ 7.00720024e-01 7.11454113e-01 5.31459581e-02 3.18002514e+02] [-7.09590126e-01 7.02730665e-01 -5.14923822e-02 -2.48201125e+02] [-7.39817616e-02 -1.63010383e-03 9.97258262e-01 -2.27659385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61864 meters 0.02751331179523309 Centerline is valid? [True, True] Translation: X:318.03, Y:-248.22, Z:-22.77 [[ 7.01711530e-01 7.10464532e-01 5.33017550e-02 3.18026679e+02] [-7.08582765e-01 7.03731426e-01 -5.16966594e-02 -2.48221961e+02] [-7.42387630e-02 -1.49256296e-03 9.97239379e-01 -2.27684621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64864 meters 0.02718591822166141 Centerline is valid? [True, True] Translation: X:318.05, Y:-248.24, Z:-22.77 [[ 7.03735007e-01 7.08450354e-01 5.34334777e-02 3.18051240e+02] [-7.06549824e-01 7.05759546e-01 -5.18730059e-02 -2.48243066e+02] [-7.44606364e-02 -1.24856411e-03 9.97223172e-01 -2.27703495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67864 meters 0.02685328466815366 Centerline is valid? [True, True] Translation: X:318.08, Y:-248.26, Z:-22.77 [[ 7.08909697e-01 7.03256099e-01 5.36460642e-02 3.18076367e+02] [-7.01321796e-01 7.10936292e-01 -5.21279938e-02 -2.48262967e+02] [-7.47982635e-02 -6.69113796e-04 9.97198462e-01 -2.27729612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70864 meters 0.026697166706058838 Centerline is valid? [True, True] Translation: X:318.10, Y:-248.28, Z:-22.77 [[ 7.13142556e-01 6.98986163e-01 5.33482781e-02 3.18100605e+02] [-6.97057710e-01 7.15135169e-01 -5.18867902e-02 -2.48284668e+02] [-7.44193783e-02 -1.84150299e-04 9.97227016e-01 -2.27745181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73864 meters 0.026587871819537968 Centerline is valid? [True, True] Translation: X:318.12, Y:-248.31, Z:-22.78 [[ 7.14409706e-01 6.97768972e-01 5.23185746e-02 3.18123835e+02] [-6.95907672e-01 7.16322875e-01 -5.09318233e-02 -2.48306500e+02] [-7.30156377e-02 -2.27085685e-05 9.97330796e-01 -2.27754843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76864 meters 0.026654614683890902 Centerline is valid? [True, True] Translation: X:318.15, Y:-248.33, Z:-22.78 [[ 7.15049645e-01 6.97161611e-01 5.16690717e-02 3.18147185e+02] [-6.95341370e-01 7.16913999e-01 -5.03457759e-02 -2.48327956e+02] [-7.21414231e-02 7.20861333e-05 9.97394410e-01 -2.27776600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79864 meters 0.026330088148658667 Centerline is valid? [True, True] Translation: X:318.17, Y:-248.35, Z:-22.78 [[ 7.14560771e-01 6.97783805e-01 5.00066639e-02 3.18171366e+02] [-6.96077391e-01 7.16308425e-01 -4.87699296e-02 -2.48349520e+02] [-6.98510617e-02 4.05702666e-05 9.97557431e-01 -2.27777204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82864 meters 0.026233387311019523 Centerline is valid? [True, True] Translation: X:318.19, Y:-248.37, Z:-22.78 [[ 7.13494993e-01 6.98834424e-01 5.05504038e-02 3.18194934e+02] [-6.97089902e-01 7.15283473e-01 -4.93479593e-02 -2.48373077e+02] [-7.06439211e-02 -2.86542544e-05 9.97501597e-01 -2.27807602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85864 meters 0.026182414543382257 Centerline is valid? [True, True] Translation: X:318.22, Y:-248.40, Z:-22.78 [[ 7.13238253e-01 6.99063481e-01 5.10043535e-02 3.18216874e+02] [-6.97284218e-01 7.15059613e-01 -4.98444485e-02 -2.48398193e+02] [-7.13155869e-02 -1.35633513e-05 9.97453802e-01 -2.27816594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88864 meters 0.02623750913113957 Centerline is valid? [True, True] Translation: X:318.24, Y:-248.42, Z:-22.78 [[ 7.13478043e-01 6.98780593e-01 5.15244053e-02 3.18240604e+02] [-6.96960204e-01 7.15336061e-01 -5.04062909e-02 -2.48421565e+02] [-7.20802030e-02 5.33217834e-05 9.97398838e-01 -2.27834121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91864 meters 0.026228261079679946 Centerline is valid? [True, True] Translation: X:318.26, Y:-248.44, Z:-22.78 [[ 7.14113487e-01 6.98180751e-01 5.08484627e-02 3.18264594e+02] [-6.96402645e-01 7.15921515e-01 -4.97969842e-02 -2.48443987e+02] [-7.11708043e-02 1.49694136e-04 9.97464132e-01 -2.27842189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94864 meters 0.02606630723934753 Centerline is valid? [True, True] Translation: X:318.29, Y:-248.47, Z:-22.79 [[ 7.14501228e-01 6.97839090e-01 5.00859182e-02 3.18287134e+02] [-6.96109685e-01 7.16254534e-01 -4.90993800e-02 -2.48466430e+02] [-7.01377327e-02 2.16274544e-04 9.97537293e-01 -2.27854856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97864 meters 0.026206839405977133 Centerline is valid? [True, True] Translation: X:318.31, Y:-248.49, Z:-22.79 [[ 7.14271133e-01 6.98062701e-01 5.02515032e-02 3.18309900e+02] [-6.96319051e-01 7.16036600e-01 -4.93088901e-02 -2.48490344e+02] [-7.04026125e-02 2.28837821e-04 9.97518631e-01 -2.27871945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00864 meters 0.026151685410117045 Centerline is valid? [True, True] Translation: X:318.33, Y:-248.51, Z:-22.79 [[ 7.14191849e-01 6.98202663e-01 4.94271619e-02 3.18331041e+02] [-6.96512782e-01 7.15900119e-01 -4.85485644e-02 -2.48514553e+02] [-6.92816481e-02 2.46338947e-04 9.97597109e-01 -2.27880254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03864 meters 0.026151685410117045 Centerline is valid? [True, True] Translation: X:318.35, Y:-248.54, Z:-22.79 [[ 7.13826073e-01 6.98578257e-01 4.94040026e-02 3.18354470e+02] [-6.96887645e-01 7.15533619e-01 -4.85721234e-02 -2.48537116e+02] [-6.92816541e-02 2.43009053e-04 9.97597110e-01 -2.27896739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06864 meters 0.025886719939293312 Centerline is valid? [True, True] Translation: X:318.38, Y:-248.56, Z:-22.79 [[ 7.12637485e-01 6.99693797e-01 5.07582933e-02 3.18376803e+02] [-6.97908248e-01 7.14442831e-01 -4.99551575e-02 -2.48560022e+02] [-7.12172126e-02 1.75286251e-04 9.97460815e-01 -2.27921166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09864 meters 0.025735639398750617 Centerline is valid? [True, True] Translation: X:318.40, Y:-248.58, Z:-22.79 [[ 7.11716484e-01 7.00630561e-01 5.07588701e-02 3.18399821e+02] [-6.98843941e-01 7.13524213e-01 -5.00034376e-02 -2.48584070e+02] [-7.12516194e-02 1.15742031e-04 9.97458367e-01 -2.27933818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12864 meters 0.025648683867325595 Centerline is valid? [True, True] Translation: X:318.42, Y:-248.61, Z:-22.80 [[ 7.10789292e-01 7.01580925e-01 5.06239863e-02 3.18422796e+02] [-6.99802472e-01 7.12589786e-01 -4.99229184e-02 -2.48608011e+02] [-7.10991028e-02 5.78851044e-05 9.97469255e-01 -2.27952664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15864 meters 0.02575592257998693 Centerline is valid? [True, True] Translation: X:318.44, Y:-248.63, Z:-22.80 [[ 7.09393529e-01 7.03043190e-01 4.99108688e-02 3.18444338e+02] [-7.01314652e-01 7.11147151e-01 -4.92695463e-02 -2.48631813e+02] [-7.01325912e-02 -5.17262199e-05 9.97537677e-01 -2.27968540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18864 meters 0.025628117296650148 Centerline is valid? [True, True] Translation: X:318.47, Y:-248.66, Z:-22.80 [[ 7.08636245e-01 7.03802566e-01 4.99661886e-02 3.18467370e+02] [-7.02068719e-01 7.10395621e-01 -4.93718082e-02 -2.48656101e+02] [-7.02437669e-02 -9.30452000e-05 9.97529851e-01 -2.27987071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21864 meters 0.02586042709592042 Centerline is valid? [True, True] Translation: X:318.49, Y:-248.68, Z:-22.80 [[ 7.07853151e-01 7.04510134e-01 5.10821598e-02 3.18487784e+02] [-7.02695939e-01 7.09693916e-01 -5.05268616e-02 -2.48680955e+02] [-7.18493841e-02 -1.29628042e-04 9.97415485e-01 -2.28001589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24864 meters 0.02576560370689057 Centerline is valid? [True, True] Translation: X:318.51, Y:-248.71, Z:-22.80 [[ 7.07179272e-01 7.05138263e-01 5.17446396e-02 3.18510582e+02] [-7.03274676e-01 7.09069816e-01 -5.12320737e-02 -2.48705509e+02] [-7.28162575e-02 -1.60434062e-04 9.97345360e-01 -2.28017519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27864 meters 0.02562948602827791 Centerline is valid? [True, True] Translation: X:318.53, Y:-248.73, Z:-22.80 [[ 7.05759139e-01 7.06566429e-01 5.16518961e-02 3.18531629e+02] [-7.04709395e-01 7.07646669e-01 -5.11943356e-02 -2.48730910e+02] [-7.27234911e-02 -2.68706193e-04 9.97352105e-01 -2.28026447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30864 meters 0.02559431056040906 Centerline is valid? [True, True] Translation: X:318.55, Y:-248.75, Z:-22.80 [[ 7.05132163e-01 7.07258921e-01 5.07291965e-02 3.18554104e+02] [-7.05465900e-01 7.06954546e-01 -5.03302602e-02 -2.48754232e+02] [-7.14597615e-02 -2.98233033e-04 9.97443439e-01 -2.28045342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33864 meters 0.025492952701734503 Centerline is valid? [True, True] Translation: X:318.58, Y:-248.78, Z:-22.81 [[ 7.04088924e-01 7.08364451e-01 4.97854611e-02 3.18576393e+02] [-7.06637175e-01 7.05846773e-01 -4.94392166e-02 -2.48777777e+02] [-7.01618906e-02 -3.70652782e-04 9.97535549e-01 -2.28061297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36864 meters 0.025363915266007123 Centerline is valid? [True, True] Translation: X:318.60, Y:-248.80, Z:-22.81 [[ 7.01165755e-01 7.11263361e-01 4.97093129e-02 3.18597929e+02] [-7.09545269e-01 7.02925345e-01 -4.94112479e-02 -2.48803019e+02] [-7.00863462e-02 -6.25532840e-04 9.97540732e-01 -2.28078157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39864 meters 0.02552787606987817 Centerline is valid? [True, True] Translation: X:318.62, Y:-248.83, Z:-22.81 [[ 6.99415934e-01 7.12931781e-01 5.04542172e-02 3.18620498e+02] [-7.11162371e-01 7.01232976e-01 -5.02035478e-02 -2.48826526e+02] [-7.11718656e-02 -7.67979455e-04 9.97463772e-01 -2.28084414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters 0.025742016555465527 Centerline is valid? [True, True] Translation: X:318.65, Y:-248.85, Z:-22.81 [[ 6.95653634e-01 7.16489455e-01 5.20469239e-02 3.18645359e+02] [-7.14612688e-01 6.97597003e-01 -5.18375087e-02 -2.48847709e+02] [-7.34488065e-02 -1.13244092e-03 9.97298346e-01 -2.28090228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45864 meters 0.025872563034280458 Centerline is valid? [True, True] Translation: X:318.67, Y:-248.87, Z:-22.81 [[ 6.93838031e-01 7.18256599e-01 5.19253824e-02 3.18671078e+02] [-7.16390025e-01 6.95777128e-01 -5.17640818e-02 -2.48867756e+02] [-7.33083868e-02 -1.28293735e-03 9.97308495e-01 -2.28110384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters 0.0259810267455677 Centerline is valid? [True, True] Translation: X:318.70, Y:-248.89, Z:-22.81 [[ 6.93622479e-01 7.18430703e-01 5.23944735e-02 3.18695460e+02] [-7.16526907e-01 6.95597364e-01 -5.22828690e-02 -2.48890023e+02] [-7.40070760e-02 -1.27747684e-03 9.97256898e-01 -2.28128492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51864 meters 0.02605867340848729 Centerline is valid? [True, True] Translation: X:318.72, Y:-248.91, Z:-22.81 [[ 6.93927439e-01 7.18115710e-01 5.26738605e-02 3.18720313e+02] [-7.16186394e-01 6.95922668e-01 -5.26183355e-02 -2.48911945e+02] [-7.44429869e-02 -1.21099537e-03 9.97224536e-01 -2.28141506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters 0.025613897017861792 Centerline is valid? [True, True] Translation: X:318.75, Y:-248.93, Z:-22.82 [[ 6.97201039e-01 7.14956070e-01 5.24264162e-02 3.18747848e+02] [-7.13031932e-01 6.99168883e-01 -5.24245936e-02 -2.48930318e+02] [-7.41362003e-02 -8.31227705e-04 9.97247779e-01 -2.28152368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57864 meters 0.02554276347663742 Centerline is valid? [True, True] Translation: X:318.76, Y:-248.92, Z:-22.82 [[ 6.49955806e-01 7.58381816e-01 4.91372685e-02 3.18763140e+02] [-7.56321545e-01 6.51810016e-01 -5.58697062e-02 -2.48922085e+02] [-7.43987330e-02 -8.50734917e-04 9.97228211e-01 -2.28156225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters 0.025318737680941207 Centerline is valid? [True, True] Translation: X:318.70, Y:-249.10, Z:-21.29 [[ 7.11467759e-01 -7.02508590e-01 -1.71845770e-02 3.18697273e+02] [-7.02168690e-01 -7.11665641e-01 2.21618112e-02 -2.49095330e+02] [-2.77985357e-02 -3.70094225e-03 -9.99606695e-01 -2.12934784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63864 meters 0.025546197496052598 Centerline is valid? [True, True] Translation: X:318.78, Y:-248.95, Z:-22.82 [[ 7.06733147e-01 7.05585659e-01 5.17410484e-02 3.18780495e+02] [-7.03712761e-01 7.08624630e-01 -5.13759055e-02 -2.48946982e+02] [-7.29150835e-02 -1.01780651e-04 9.97338147e-01 -2.28174627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters 0.02549985545645286 Centerline is valid? [True, True] Translation: X:318.81, Y:-248.97, Z:-22.82 [[ 7.08519426e-01 7.03725406e-01 5.26381696e-02 3.18807698e+02] [-7.01779723e-01 7.10472055e-01 -5.22941649e-02 -2.48965463e+02] [-7.41986810e-02 1.11031551e-04 9.97243473e-01 -2.28198976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.69864 meters 0.02555969926918083 Centerline is valid? [True, True] Translation: X:318.83, Y:-248.99, Z:-22.82 [[ 7.09346478e-01 7.02906985e-01 5.24342014e-02 3.18832511e+02] [-7.00970394e-01 7.11281742e-01 -5.21420165e-02 -2.48987005e+02] [-7.39464777e-02 2.31932910e-04 9.97262185e-01 -2.28212054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72864 meters 0.0257884101294627 Centerline is valid? [True, True] Translation: X:318.86, Y:-249.01, Z:-22.82 [[ 7.11664529e-01 7.00594245e-01 5.19740588e-02 3.18859098e+02] [-6.98681395e-01 7.13559701e-01 -5.17383974e-02 -2.49007155e+02] [-7.33342173e-02 5.07074303e-04 9.97307292e-01 -2.28228842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.75864 meters 0.025735370206160454 Centerline is valid? [True, True] Translation: X:318.88, Y:-249.03, Z:-22.82 [[ 7.12512074e-01 6.99722993e-01 5.20987232e-02 3.18884360e+02] [-6.97794636e-01 7.14413975e-01 -5.19164566e-02 -2.49028773e+02] [-7.35471944e-02 6.36892580e-04 9.97291534e-01 -2.28243417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78864 meters 0.025972003833996553 Centerline is valid? [True, True] Translation: X:318.91, Y:-249.05, Z:-22.83 [[ 7.15587681e-01 6.96564718e-01 5.22672496e-02 3.18910024e+02] [-6.94611591e-01 7.17493268e-01 -5.21358611e-02 -2.49049250e+02] [-7.38174011e-02 1.00234249e-03 9.97271270e-01 -2.28252837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.81864 meters 0.026306560925066218 Centerline is valid? [True, True] Translation: X:318.93, Y:-249.07, Z:-22.83 [[ 7.17018062e-01 6.95110294e-01 5.20267042e-02 3.18933792e+02] [-6.93167880e-01 7.18902139e-01 -5.19423215e-02 -2.49071509e+02] [-7.35077514e-02 1.18034246e-03 9.97293947e-01 -2.28279883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84864 meters 0.02646872073120968 Centerline is valid? [True, True] Translation: X:318.96, Y:-249.09, Z:-22.83 [[ 7.18470119e-01 6.93608372e-01 5.20395472e-02 3.18957592e+02] [-6.91657656e-01 7.20350995e-01 -5.20012647e-02 -2.49093843e+02] [-7.35552521e-02 1.36780357e-03 9.97290206e-01 -2.28293651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87864 meters 0.02692904038046416 Centerline is valid? [True, True] Translation: X:318.98, Y:-249.12, Z:-22.83 [[ 7.20607617e-01 6.91403037e-01 5.18314779e-02 3.18981536e+02] [-6.89458868e-01 7.22467450e-01 -5.18387217e-02 -2.49115554e+02] [-7.32880053e-02 1.61970568e-03 9.97309503e-01 -2.28319743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90864 meters 0.027149137991546928 Centerline is valid? [True, True] Translation: X:318.90, Y:-249.34, Z:-21.31 [[ 7.38566635e-01 -6.73913190e-01 -1.89825798e-02 3.18902578e+02] [-6.73584723e-01 -7.38804853e-01 2.12370172e-02 -2.49338214e+02] [-2.83363281e-02 -2.89857654e-03 -9.99594243e-01 -2.13098895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93864 meters 0.027521456779040606 Centerline is valid? [True, True] Translation: X:318.91, Y:-249.42, Z:-21.31 [[ 7.86593595e-01 -6.17152571e-01 -1.98298074e-02 3.18909353e+02] [-6.16851346e-01 -7.86837273e-01 1.95326208e-02 -2.49418509e+02] [-2.76574387e-02 -3.13219105e-03 -9.99612553e-01 -2.13140717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96864 meters 0.02789555424748382 Centerline is valid? [True, True] Translation: X:318.91, Y:-249.49, Z:-21.32 [[ 8.31583606e-01 -5.55011300e-01 -2.07644811e-02 3.18911592e+02] [-5.54740241e-01 -8.31836889e-01 1.76254297e-02 -2.49494038e+02] [-2.70549740e-02 -3.13812512e-03 -9.99629021e-01 -2.13153668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99864 meters 0.027767824312859166 Centerline is valid? [True, True] Translation: X:318.92, Y:-249.56, Z:-21.32 [[ 8.72525598e-01 -4.88102552e-01 -2.13302491e-02 3.18918774e+02] [-4.87864901e-01 -8.72780543e-01 1.55551570e-02 -2.49564190e+02] [-2.62091382e-02 -3.16599281e-03 -9.99651468e-01 -2.13163508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02864 meters 0.02758696476050128 Centerline is valid? [True, True] Translation: X:318.96, Y:-249.38, Z:-22.84 [[ 8.96590431e-01 4.38082038e-01 6.48824098e-02 3.18963574e+02] [-4.36776428e-01 8.98932734e-01 -3.38569256e-02 -2.49383050e+02] [-7.31570330e-02 2.01668835e-03 9.97318395e-01 -2.28394606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05864 meters 0.027461838596095408 Centerline is valid? [True, True] Translation: X:318.99, Y:-249.40, Z:-22.84 [[ 8.96028728e-01 4.39232372e-01 6.48647951e-02 3.18990941e+02] [-4.37927872e-01 8.98371362e-01 -3.38832519e-02 -2.49401203e+02] [-7.31552954e-02 1.95426539e-03 9.97318647e-01 -2.28408758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08864 meters 0.026835591209672476 Centerline is valid? [True, True] Translation: X:319.02, Y:-249.42, Z:-22.84 [[ 8.94213807e-01 4.42884227e-01 6.50786410e-02 3.19016568e+02] [-4.41578090e-01 8.96577210e-01 -3.40308240e-02 -2.49421386e+02] [-7.34197416e-02 1.69353062e-03 9.97299691e-01 -2.28417493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11864 meters 0.026514647082246604 Centerline is valid? [True, True] Translation: X:319.04, Y:-249.44, Z:-22.85 [[ 8.92794763e-01 4.45752312e-01 6.49799012e-02 3.19042665e+02] [-4.44455066e-01 8.95155105e-01 -3.40151746e-02 -2.49441078e+02] [-7.33294330e-02 1.48792343e-03 9.97306663e-01 -2.28453759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14864 meters 0.026216988801060333 Centerline is valid? [True, True] Translation: X:319.07, Y:-249.46, Z:-22.85 [[ 8.91848129e-01 4.47600158e-01 6.52764381e-02 3.19069820e+02] [-4.46293264e-01 8.94232748e-01 -3.42069456e-02 -2.49459130e+02] [-7.36833629e-02 1.37496579e-03 9.97280739e-01 -2.28467798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17864 meters 0.02612128125330411 Centerline is valid? [True, True] Translation: X:319.10, Y:-249.48, Z:-22.85 [[ 8.91197780e-01 4.48782791e-01 6.60342520e-02 3.19097276e+02] [-4.47445648e-01 8.93639885e-01 -3.46431475e-02 -2.49477229e+02] [-7.45580898e-02 1.32715745e-03 9.97215789e-01 -2.28487192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20864 meters 0.02577701186395928 Centerline is valid? [True, True] Translation: X:319.12, Y:-249.50, Z:-22.85 [[ 8.89691965e-01 4.51672008e-01 6.66378675e-02 3.19123439e+02] [-4.50315226e-01 8.92183342e-01 -3.50011610e-02 -2.49497109e+02] [-7.52622400e-02 1.13220536e-03 9.97163133e-01 -2.28495988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23864 meters 0.025743826818130762 Centerline is valid? [True, True] Translation: X:319.15, Y:-249.51, Z:-22.85 [[ 8.89073233e-01 4.53027633e-01 6.56867646e-02 3.19150616e+02] [-4.51710320e-01 8.91495873e-01 -3.45383234e-02 -2.49513983e+02] [-7.42062944e-02 1.03570938e-03 9.97242374e-01 -2.28499342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26864 meters 0.025590323522235187 Centerline is valid? [True, True] Translation: X:319.18, Y:-249.53, Z:-22.85 [[ 8.87800819e-01 4.55558253e-01 6.53940684e-02 3.19176830e+02] [-4.54256759e-01 8.90205566e-01 -3.44216120e-02 -2.49533693e+02] [-7.38952131e-02 8.53837736e-04 9.97265646e-01 -2.28536876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29864 meters 0.025453612132547942 Centerline is valid? [True, True] Translation: X:319.20, Y:-249.55, Z:-22.86 [[ 8.86942868e-01 4.57328198e-01 6.46781879e-02 3.19204104e+02] [-4.56057072e-01 8.89297692e-01 -3.40817082e-02 -2.49551362e+02] [-7.31046894e-02 7.31583030e-04 9.97324004e-01 -2.28558543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32864 meters 0.025123461123100085 Centerline is valid? [True, True] Translation: X:319.23, Y:-249.57, Z:-22.86 [[ 8.84537556e-01 4.62001236e-01 6.44062931e-02 3.19230185e+02] [-4.60750404e-01 8.86879200e-01 -3.39757250e-02 -2.49570813e+02] [-7.28174286e-02 3.77579167e-04 9.97345216e-01 -2.28582057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35864 meters 0.02511249415029345 Centerline is valid? [True, True] Translation: X:319.26, Y:-249.59, Z:-22.86 [[ 8.82940354e-01 4.65037907e-01 6.44676423e-02 3.19258882e+02] [-4.63790177e-01 8.85290755e-01 -3.40433825e-02 -2.49587496e+02] [-7.29040710e-02 1.58817008e-04 9.97338945e-01 -2.28586161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38864 meters 0.025126526373685867 Centerline is valid? [True, True] Translation: X:319.29, Y:-249.61, Z:-22.86 [[ 8.80598659e-01 4.69295560e-01 6.56329190e-02 3.19285916e+02] [-4.68011517e-01 8.83041137e-01 -3.46925180e-02 -2.49605086e+02] [-7.42376121e-02 -1.66777160e-04 9.97240567e-01 -2.28600879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41864 meters 0.02509779821285955 Centerline is valid? [True, True] Translation: X:319.31, Y:-249.62, Z:-22.86 [[ 8.79444173e-01 4.71284067e-01 6.68526408e-02 3.19313208e+02] [-4.69954458e-01 8.81981426e-01 -3.53775643e-02 -2.49621893e+02] [-7.56356698e-02 -3.05103865e-04 9.97135473e-01 -2.28622379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44864 meters 0.025282281700580406 Centerline is valid? [True, True] Translation: X:319.34, Y:-249.64, Z:-22.86 [[ 8.77217329e-01 4.75536546e-01 6.59905360e-02 3.19340357e+02] [-4.74249992e-01 8.79695743e-01 -3.49620483e-02 -2.49640535e+02] [-7.46773253e-02 -6.26696552e-04 9.97207553e-01 -2.28644345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47864 meters 0.025306704483491194 Centerline is valid? [True, True] Translation: X:319.37, Y:-249.66, Z:-22.87 [[ 8.76346517e-01 4.77125401e-01 6.60918618e-02 3.19369491e+02] [-4.75836031e-01 8.78834926e-01 -3.50605694e-02 -2.49657037e+02] [-7.48121248e-02 -7.23681331e-04 9.97197384e-01 -2.28658127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50864 meters 0.025470815443137854 Centerline is valid? [True, True] Translation: X:319.40, Y:-249.67, Z:-22.87 [[ 8.75880634e-01 4.78209019e-01 6.44146645e-02 3.19396716e+02] [-4.76984249e-01 8.78245727e-01 -3.42121077e-02 -2.49673988e+02] [-7.29324424e-02 -7.59057801e-04 9.97336595e-01 -2.28671811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53864 meters 0.025393482667627774 Centerline is valid? [True, True] Translation: X:319.43, Y:-249.69, Z:-22.87 [[ 8.75829357e-01 4.78200600e-01 6.51699611e-02 3.19425232e+02] [-4.76943846e-01 8.78250335e-01 -3.46542346e-02 -2.49690618e+02] [-7.38072160e-02 -7.31215882e-04 9.97272260e-01 -2.28701936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56864 meters 0.025352688047981114 Centerline is valid? [True, True] Translation: X:319.45, Y:-249.71, Z:-22.87 [[ 8.76251074e-01 4.77288453e-01 6.61799647e-02 3.19453978e+02] [-4.75986334e-01 8.78746461e-01 -3.52372945e-02 -2.49707214e+02] [-7.49737636e-02 -6.24041652e-04 9.97185311e-01 -2.28720075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59864 meters 0.02532683567750032 Centerline is valid? [True, True] Translation: X:319.48, Y:-249.73, Z:-22.88 [[ 8.76777096e-01 4.76448157e-01 6.52616091e-02 3.19480784e+02] [-4.75176493e-01 8.79202421e-01 -3.47908587e-02 -2.49725841e+02] [-7.39542052e-02 -5.06954453e-04 9.97261510e-01 -2.28753358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62864 meters 0.025378536629391123 Centerline is valid? [True, True] Translation: X:319.51, Y:-249.75, Z:-22.88 [[ 8.77359392e-01 4.75430068e-01 6.48594497e-02 3.19507288e+02] [-4.74168834e-01 8.79753431e-01 -3.46095004e-02 -2.49745404e+02] [-7.35147205e-02 -3.89359382e-04 9.97294056e-01 -2.28778332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65864 meters 0.02538953379900522 Centerline is valid? [True, True] Translation: X:319.53, Y:-249.76, Z:-22.88 [[ 8.77484092e-01 4.75281483e-01 6.42586931e-02 3.19534921e+02] [-4.74041208e-01 8.79833728e-01 -3.43153588e-02 -2.49762404e+02] [-7.28464202e-02 -3.50087035e-04 9.97343109e-01 -2.28788437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68864 meters 0.02543826068336396 Centerline is valid? [True, True] Translation: X:319.56, Y:-249.78, Z:-22.88 [[ 8.77435953e-01 4.75403974e-01 6.40094476e-02 3.19562811e+02] [-4.74170715e-01 8.79767558e-01 -3.42224487e-02 -2.49779569e+02] [-7.25829235e-02 -3.23398672e-04 9.97362329e-01 -2.28799096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71864 meters 0.02550509332222121 Centerline is valid? [True, True] Translation: X:319.59, Y:-249.80, Z:-22.88 [[ 8.77169495e-01 4.75799165e-01 6.47211760e-02 3.19589074e+02] [-4.74536034e-01 8.79553894e-01 -3.46482466e-02 -2.49801331e+02] [-7.34113691e-02 -3.20145148e-04 9.97301694e-01 -2.28817402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74864 meters 0.025588933257561054 Centerline is valid? [True, True] Translation: X:319.61, Y:-249.82, Z:-22.88 [[ 8.76189955e-01 4.77429271e-01 6.59731293e-02 3.19614387e+02] [-4.76118063e-01 8.78670079e-01 -3.53621479e-02 -2.49821141e+02] [-7.48515393e-02 -4.27039816e-04 9.97194597e-01 -2.28824671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77864 meters 0.025490133324805327 Centerline is valid? [True, True] Translation: X:319.64, Y:-249.84, Z:-22.88 [[ 8.75189063e-01 4.79232545e-01 6.61836175e-02 3.19642372e+02] [-4.77915053e-01 8.77687796e-01 -3.55152698e-02 -2.49838375e+02] [-7.51086266e-02 -5.47571410e-04 9.97175207e-01 -2.28848165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80864 meters 0.02556675790508095 Centerline is valid? [True, True] Translation: X:319.67, Y:-249.86, Z:-22.89 [[ 8.74019258e-01 4.81411393e-01 6.58286286e-02 3.19669908e+02] [-4.80110755e-01 8.76494492e-01 -3.53704535e-02 -2.49856155e+02] [-7.47261696e-02 -6.90575075e-04 9.97203852e-01 -2.28861370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83864 meters 0.025818919219736187 Centerline is valid? [True, True] Translation: X:319.70, Y:-249.88, Z:-22.89 [[ 8.72264951e-01 4.84571539e-01 6.59111402e-02 3.19695840e+02] [-4.83273325e-01 8.74751148e-01 -3.54587441e-02 -2.49876727e+02] [-7.48381437e-02 -9.23676244e-04 9.97195266e-01 -2.28875936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86864 meters 0.025783230704121543 Centerline is valid? [True, True] Translation: X:319.72, Y:-249.89, Z:-22.89 [[ 8.71453548e-01 4.86089778e-01 6.54632850e-02 3.19724113e+02] [-4.84810363e-01 8.73908294e-01 -3.52591239e-02 -2.49893834e+02] [-7.43480075e-02 -1.01059033e-03 9.97231845e-01 -2.28895911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89864 meters 0.025783230704121543 Centerline is valid? [True, True] Translation: X:319.75, Y:-249.91, Z:-22.89 [[ 8.71195948e-01 4.86553852e-01 6.54443966e-02 3.19752856e+02] [-4.85273113e-01 8.73650004e-01 -3.52941554e-02 -2.49908967e+02] [-7.43480045e-02 -1.01028087e-03 9.97231845e-01 -2.28912196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters 0.02582911743479912 Centerline is valid? [True, True] Translation: X:319.78, Y:-249.92, Z:-22.89 [[ 8.70610351e-01 4.87558319e-01 6.57609525e-02 3.19781780e+02] [-4.86264612e-01 8.73089777e-01 -3.55101182e-02 -2.49924552e+02] [-7.47284688e-02 -1.06174758e-03 9.97203354e-01 -2.28910817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95864 meters 0.025951322859830137 Centerline is valid? [True, True] Translation: X:319.81, Y:-249.94, Z:-22.89 [[ 8.70332705e-01 4.88109749e-01 6.53441339e-02 3.19810605e+02] [-4.86830635e-01 8.72781612e-01 -3.53297377e-02 -2.49941263e+02] [-7.42759479e-02 -1.06290005e-03 9.97237160e-01 -2.28926911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters 0.02594456956417934 Centerline is valid? [True, True] Translation: X:319.84, Y:-249.96, Z:-22.89 [[ 8.70296521e-01 4.88308110e-01 6.43362612e-02 3.19837195e+02] [-4.87065656e-01 8.72670692e-01 -3.48268579e-02 -2.49959327e+02] [-7.31506067e-02 -1.02629000e-03 9.97320378e-01 -2.28942836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01864 meters 0.0258771702120059 Centerline is valid? [True, True] Translation: X:319.87, Y:-249.97, Z:-22.90 [[ 8.69773521e-01 4.89216012e-01 6.45113570e-02 3.19865797e+02] [-4.87966286e-01 8.72161996e-01 -3.49622008e-02 -2.49974915e+02] [-7.33684224e-02 -1.07017085e-03 9.97304331e-01 -2.28957829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters 0.02605305516720146 Centerline is valid? [True, True] Translation: X:319.89, Y:-249.99, Z:-22.90 [[ 8.68131180e-01 4.92059611e-01 6.50045672e-02 3.19893626e+02] [-4.90795419e-01 8.70560563e-01 -3.52726844e-02 -2.49990245e+02] [-7.39466760e-02 -1.28262666e-03 9.97261372e-01 -2.28966174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07864 meters 0.026216384090835817 Centerline is valid? [True, True] Translation: X:319.92, Y:-250.01, Z:-22.90 [[ 8.67145490e-01 4.93855213e-01 6.45424520e-02 3.19922242e+02] [-4.92610932e-01 8.69543039e-01 -3.50624297e-02 -2.50006448e+02] [-7.34382035e-02 -1.39008965e-03 9.97298801e-01 -2.28984044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters 0.02624105124987563 Centerline is valid? [True, True] Translation: X:319.95, Y:-250.02, Z:-22.90 [[ 8.66407066e-01 4.95315751e-01 6.32542664e-02 3.19950259e+02] [-4.94121488e-01 8.68711814e-01 -3.44055264e-02 -2.50023042e+02] [-7.19913277e-02 -1.44610108e-03 9.97404210e-01 -2.29002376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13864 meters 0.026191329994858015 Centerline is valid? [True, True] Translation: X:319.98, Y:-250.04, Z:-22.90 [[ 8.66105113e-01 4.95739252e-01 6.40665919e-02 3.19979526e+02] [-4.94511994e-01 8.68470182e-01 -3.48916957e-02 -2.50039085e+02] [-7.29371079e-02 -1.46182206e-03 9.97335471e-01 -2.29019151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters 0.026287734252252108 Centerline is valid? [True, True] Translation: X:320.01, Y:-250.06, Z:-22.90 [[ 8.65291941e-01 4.96968748e-01 6.55127561e-02 3.20006640e+02] [-4.95685637e-01 8.67767032e-01 -3.57229360e-02 -2.50055919e+02] [-7.46029927e-02 -1.56296368e-03 9.97212089e-01 -2.29030774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.19864 meters 0.026421073648760465 Centerline is valid? [True, True] Translation: X:320.03, Y:-250.07, Z:-22.91 [[ 8.64896720e-01 4.97576633e-01 6.61147311e-02 3.20034770e+02] [-4.96268500e-01 8.67418556e-01 -3.60919024e-02 -2.50072124e+02] [-7.53076318e-02 -1.59489045e-03 9.97159073e-01 -2.29053457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22864 meters 0.026683041409429134 Centerline is valid? [True, True] Translation: X:320.06, Y:-250.09, Z:-22.91 [[ 8.63963713e-01 4.99147410e-01 6.64722969e-02 3.20062660e+02] [-4.97826536e-01 8.66515410e-01 -3.63288342e-02 -2.50088592e+02] [-7.57327132e-02 -1.70487881e-03 9.97126697e-01 -2.29072233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25864 meters 0.026735623626845104 Centerline is valid? [True, True] Translation: X:320.09, Y:-250.10, Z:-22.91 [[ 8.63313530e-01 5.00294724e-01 6.62943268e-02 3.20091462e+02] [-4.98981254e-01 8.65853378e-01 -3.62717018e-02 -2.50103617e+02] [-7.55477078e-02 -1.76577543e-03 9.97140625e-01 -2.29085710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28864 meters 0.02710354178228714 Centerline is valid? [True, True] Translation: X:320.12, Y:-250.12, Z:-22.91 [[ 8.61153426e-01 5.04303927e-01 6.39712909e-02 3.20120109e+02] [-5.03089179e-01 8.63523893e-01 -3.50394686e-02 -2.50118257e+02] [-7.29112798e-02 -2.00890580e-03 9.97336407e-01 -2.29092989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.31864 meters 0.02755389842609409 Centerline is valid? [True, True] Translation: X:320.15, Y:-250.13, Z:-22.91 [[ 8.59277442e-01 5.07437358e-01 6.44174268e-02 3.20148175e+02] [-5.06211603e-01 8.61685690e-01 -3.53211671e-02 -2.50132871e+02] [-7.34308546e-02 -2.25816674e-03 9.97297754e-01 -2.29114045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34864 meters 0.028456932610002712 Centerline is valid? [True, True] Translation: X:320.18, Y:-250.15, Z:-22.91 [[ 8.56283062e-01 5.12428913e-01 6.47759764e-02 3.20176662e+02] [-5.11201616e-01 8.58725476e-01 -3.55452414e-02 -2.50147617e+02] [-7.38391906e-02 -2.67679566e-03 9.97266569e-01 -2.29127290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.37864 meters 0.028726448671924216 Centerline is valid? [True, True] Translation: X:320.20, Y:-250.16, Z:-22.91 [[ 8.54695392e-01 5.15034345e-01 6.50800219e-02 3.20204942e+02] [-5.13801617e-01 8.57164638e-01 -3.57306905e-02 -2.50161640e+02] [-7.41868262e-02 -2.89936393e-03 9.97240146e-01 -2.29146297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40864 meters 0.029191701990248516 Centerline is valid? [True, True] Translation: X:320.23, Y:-250.18, Z:-22.92 [[ 8.53682709e-01 5.16709511e-01 6.50931165e-02 3.20233620e+02] [-5.15478490e-01 8.56155471e-01 -3.57733964e-02 -2.50175452e+02] [-7.42142820e-02 -3.01497147e-03 9.97237760e-01 -2.29162556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43864 meters 0.029503969515572846 Centerline is valid? [True, True] Translation: X:320.26, Y:-250.19, Z:-22.92 [[ 8.52132026e-01 5.19397308e-01 6.40113084e-02 3.20263993e+02] [-5.18211796e-01 8.54527021e-01 -3.52151335e-02 -2.50186906e+02] [-7.29900382e-02 -3.16347209e-03 9.97327653e-01 -2.29187627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46864 meters 0.02938450076816918 Centerline is valid? [True, True] Translation: X:320.29, Y:-250.20, Z:-22.92 [[ 8.52291494e-01 5.19297571e-01 6.26836658e-02 3.20293716e+02] [-5.18157989e-01 8.54588015e-01 -3.45198958e-02 -2.50199720e+02] [-7.14948075e-02 -3.05902870e-03 9.97436281e-01 -2.29193904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49864 meters 0.029104742117131217 Centerline is valid? [True, True] Translation: X:320.32, Y:-250.21, Z:-22.92 [[ 8.53524134e-01 5.17167741e-01 6.35144067e-02 3.20324956e+02] [-5.15989709e-01 8.55879170e-01 -3.50066650e-02 -2.50210673e+02] [-7.24649755e-02 -2.89374676e-03 9.97366760e-01 -2.29202169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52864 meters 0.028702399112357727 Centerline is valid? [True, True] Translation: X:320.35, Y:-250.22, Z:-22.92 [[ 8.54463189e-01 5.15525801e-01 6.42324436e-02 3.20354547e+02] [-5.14314794e-01 8.56869586e-01 -3.54232365e-02 -2.50224192e+02] [-7.33004197e-02 -2.76784431e-03 9.97306065e-01 -2.29219947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55864 meters 0.028062330417524935 Centerline is valid? [True, True] Translation: X:320.38, Y:-250.24, Z:-22.92 [[ 8.56893948e-01 5.11553042e-01 6.36101276e-02 3.20384084e+02] [-5.10352394e-01 8.59248407e-01 -3.51085311e-02 -2.50236221e+02] [-7.26167767e-02 -2.37929318e-03 9.97357079e-01 -2.29241677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58864 meters 0.027490659573230766 Centerline is valid? [True, True] Translation: X:320.41, Y:-250.25, Z:-22.92 [[ 8.58007234e-01 5.09920717e-01 6.16802173e-02 3.20413825e+02] [-5.08786885e-01 8.60218684e-01 -3.40546832e-02 -2.50249501e+02] [-7.04236638e-02 -2.16292106e-03 9.97514827e-01 -2.29248239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61864 meters 0.02729545492704032 Centerline is valid? [True, True] Translation: X:320.44, Y:-250.26, Z:-22.93 [[ 8.58681104e-01 5.08938098e-01 6.04050917e-02 3.20444384e+02] [-5.07846977e-01 8.60800744e-01 -3.33695477e-02 -2.50260576e+02] [-6.89797820e-02 -2.02274317e-03 9.97616007e-01 -2.29264807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64864 meters 0.027460420385443187 Centerline is valid? [True, True] Translation: X:320.47, Y:-250.28, Z:-22.93 [[ 8.58365463e-01 5.09372393e-01 6.12249727e-02 3.20474307e+02] [-5.08249825e-01 8.60543754e-01 -3.38609263e-02 -2.50275439e+02] [-6.99345889e-02 -2.05253202e-03 9.97549468e-01 -2.29286756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67864 meters 0.027809496930072192 Centerline is valid? [True, True] Translation: X:320.50, Y:-250.29, Z:-22.93 [[ 8.57030472e-01 5.11480549e-01 6.23411393e-02 3.20504151e+02] [-5.10319261e-01 8.59291962e-01 -3.45192205e-02 -2.50287053e+02] [-7.12251498e-02 -2.22986032e-03 9.97457771e-01 -2.29296650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70864 meters 0.027799651181788627 Centerline is valid? [True, True] Translation: X:320.53, Y:-250.30, Z:-22.93 [[ 8.56185575e-01 5.12848590e-01 6.27103368e-02 3.20534174e+02] [-5.11674604e-01 8.58475922e-01 -3.47590365e-02 -2.50299871e+02] [-7.16614371e-02 -2.32710110e-03 9.97426300e-01 -2.29318170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73864 meters 0.027856633460952067 Centerline is valid? [True, True] Translation: X:320.57, Y:-250.31, Z:-22.93 [[ 8.55671078e-01 5.13778082e-01 6.21215579e-02 3.20565151e+02] [-5.12625798e-01 8.57919904e-01 -3.44706974e-02 -2.50311146e+02] [-7.10056098e-02 -2.34953438e-03 9.97473149e-01 -2.29333103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76864 meters 0.02787105264322404 Centerline is valid? [True, True] Translation: X:320.59, Y:-250.33, Z:-22.93 [[ 8.56018350e-01 5.13163838e-01 6.24136142e-02 3.20594651e+02] [-5.11996630e-01 8.58287642e-01 -3.46666242e-02 -2.50325221e+02] [-7.13584916e-02 -2.28029368e-03 9.97448127e-01 -2.29348832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79864 meters 0.027716005862572664 Centerline is valid? [True, True] Translation: X:320.62, Y:-250.34, Z:-22.94 [[ 8.56588945e-01 5.12104465e-01 6.32803009e-02 3.20624396e+02] [-5.10900165e-01 8.58920344e-01 -3.51690823e-02 -2.50338423e+02] [-7.23629819e-02 -2.20446911e-03 9.97375927e-01 -2.29361901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82864 meters 0.027266054958769163 Centerline is valid? [True, True] Translation: X:320.66, Y:-250.35, Z:-22.94 [[ 8.58530895e-01 5.08855274e-01 6.31744638e-02 3.20655803e+02] [-5.07643477e-01 8.60849999e-01 -3.51479536e-02 -2.50347869e+02] [-7.22689587e-02 -1.89450043e-03 9.97383381e-01 -2.29372404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85864 meters 0.02651237413532296 Centerline is valid? [True, True] Translation: X:320.69, Y:-250.36, Z:-22.94 [[ 8.60789606e-01 5.05287467e-01 6.10395824e-02 3.20686726e+02] [-5.04144790e-01 8.62949765e-01 -3.39960764e-02 -2.50358303e+02] [-6.98518847e-02 -1.50931821e-03 9.97556232e-01 -2.29384999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88864 meters 0.026291495105805262 Centerline is valid? [True, True] Translation: X:320.72, Y:-250.37, Z:-22.94 [[ 8.61744775e-01 5.03786825e-01 5.99564630e-02 3.20715781e+02] [-5.02678291e-01 8.63826985e-01 -3.34286559e-02 -2.50372411e+02] [-6.86329271e-02 -1.33184281e-03 9.97641092e-01 -2.29402783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91864 meters 0.026225367892034293 Centerline is valid? [True, True] Translation: X:320.74, Y:-250.39, Z:-22.94 [[ 8.62382590e-01 5.02769870e-01 5.93188473e-02 3.20744686e+02] [-5.01679962e-01 8.64419460e-01 -3.31091058e-02 -2.50386727e+02] [-6.79226268e-02 -1.20636061e-03 9.97689862e-01 -2.29417820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94864 meters 0.026051442792173442 Centerline is valid? [True, True] Translation: X:320.77, Y:-250.40, Z:-22.94 [[ 8.63888519e-01 5.00272144e-01 5.85184469e-02 3.20773822e+02] [-4.99203358e-01 8.65867686e-01 -3.26979713e-02 -2.50400883e+02] [-6.70271164e-02 -9.65203169e-04 9.97750687e-01 -2.29431309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97864 meters 0.026114442930435182 Centerline is valid? [True, True] Translation: X:320.80, Y:-250.42, Z:-22.95 [[ 8.64406564e-01 4.99219418e-01 5.98436670e-02 3.20802646e+02] [-4.98096414e-01 8.66475168e-01 -3.34775411e-02 -2.50416607e+02] [-6.85656900e-02 -8.69709725e-04 9.97646225e-01 -2.29453166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00864 meters 0.025819221486942455 Centerline is valid? [True, True] Translation: X:320.83, Y:-250.43, Z:-22.95 [[ 8.65804451e-01 4.96814133e-01 5.96520776e-02 3.20831224e+02] [-4.95689801e-01 8.67856732e-01 -3.34113036e-02 -2.50431905e+02] [-6.83686649e-02 -6.41271096e-04 9.97659919e-01 -2.29465583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03864 meters 0.025793943319188245 Centerline is valid? [True, True] Translation: X:320.86, Y:-250.45, Z:-22.95 [[ 8.66563210e-01 4.95523316e-01 5.93704176e-02 3.20859196e+02] [-4.94404071e-01 8.68594490e-01 -3.32900282e-02 -2.50446944e+02] [-6.80648028e-02 -5.05062494e-04 9.97680774e-01 -2.29474755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06864 meters 0.02570271320598197 Centerline is valid? [True, True] Translation: X:320.89, Y:-250.46, Z:-22.95 [[ 8.67125294e-01 4.94517898e-01 5.95463910e-02 3.20887938e+02] [-4.93387003e-01 8.69167356e-01 -3.34271101e-02 -2.50463601e+02] [-6.82860835e-02 -3.93922798e-04 9.97665703e-01 -2.29496465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09864 meters 0.02570995142754636 Centerline is valid? [True, True] Translation: X:320.92, Y:-250.48, Z:-22.95 [[ 8.66854595e-01 4.95039646e-01 5.91511599e-02 3.20916341e+02] [-4.93922089e-01 8.68870297e-01 -3.32472181e-02 -2.50479867e+02] [-6.78533769e-02 -3.95560643e-04 9.97695225e-01 -2.29509189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12864 meters 0.02553040897868329 Centerline is valid? [True, True] Translation: X:320.94, Y:-250.50, Z:-22.95 [[ 8.66448586e-01 4.95715006e-01 5.94430885e-02 3.20944648e+02] [-4.94585092e-01 8.68485153e-01 -3.34533329e-02 -2.50496721e+02] [-6.82087589e-02 -4.14072400e-04 9.97670985e-01 -2.29533875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15864 meters 0.025726647756946486 Centerline is valid? [True, True] Translation: X:320.97, Y:-250.51, Z:-22.96 [[ 8.66414804e-01 4.95920366e-01 5.82097764e-02 3.20971342e+02] [-4.94834734e-01 8.68367918e-01 -3.27985543e-02 -2.50514307e+02] [-6.68129733e-02 -3.87066219e-04 9.97765442e-01 -2.29553866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18864 meters 0.02566691890183176 Centerline is valid? [True, True] Translation: X:321.00, Y:-250.53, Z:-22.96 [[ 8.66304729e-01 4.96022333e-01 5.89742420e-02 3.20998918e+02] [-4.94905665e-01 8.68309686e-01 -3.32666947e-02 -2.50531631e+02] [-6.77089291e-02 -3.67591471e-04 9.97705050e-01 -2.29563016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21864 meters 0.02550821630366669 Centerline is valid? [True, True] Translation: X:321.03, Y:-250.55, Z:-22.96 [[ 8.65675335e-01 4.97095681e-01 5.91785237e-02 3.21027362e+02] [-4.95971036e-01 8.67695631e-01 -3.34218867e-02 -2.50548307e+02] [-6.79628220e-02 -4.18330759e-04 9.97687767e-01 -2.29574849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24864 meters 0.025770264001133993 Centerline is valid? [True, True] Translation: X:321.05, Y:-250.56, Z:-22.96 [[ 8.64613361e-01 4.98777499e-01 6.05371134e-02 3.21054871e+02] [-4.97601737e-01 8.66729906e-01 -3.42313055e-02 -2.50564658e+02] [-6.95431315e-02 -5.26528643e-04 9.97578807e-01 -2.29585074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27864 meters 0.025871093560183456 Centerline is valid? [True, True] Translation: X:321.08, Y:-250.58, Z:-22.96 [[ 8.62232971e-01 5.02909590e-01 6.03013090e-02 3.21081766e+02] [-5.01750456e-01 8.64338629e-01 -3.41352272e-02 -2.50581654e+02] [-6.92876839e-02 -8.23690964e-04 9.97596381e-01 -2.29594060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30864 meters 0.02594854431263183 Centerline is valid? [True, True] Translation: X:321.11, Y:-250.60, Z:-22.96 [[ 8.61098094e-01 5.04845611e-01 6.03405454e-02 3.21110348e+02] [-5.03687005e-01 8.63209137e-01 -3.41963029e-02 -2.50597932e+02] [-6.93503635e-02 -9.46377323e-04 9.97591916e-01 -2.29620221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33864 meters 0.02603325647509121 Centerline is valid? [True, True] Translation: X:321.14, Y:-250.61, Z:-22.96 [[ 8.59285389e-01 5.07944170e-01 6.01775757e-02 3.21138260e+02] [-5.06796600e-01 8.61389214e-01 -3.41442131e-02 -2.50612959e+02] [-6.91796686e-02 -1.15816737e-03 9.97603545e-01 -2.29636155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36864 meters 0.026240497578951257 Centerline is valid? [True, True] Translation: X:321.17, Y:-250.63, Z:-22.97 [[ 8.58594942e-01 5.09041031e-01 6.07614508e-02 3.21166529e+02] [-5.07871289e-01 8.60741379e-01 -3.45113370e-02 -2.50628579e+02] [-6.98675815e-02 -1.22773695e-03 9.97555519e-01 -2.29656875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39864 meters 0.026168529288148844 Centerline is valid? [True, True] Translation: X:321.19, Y:-250.65, Z:-22.97 [[ 8.59039054e-01 5.08235251e-01 6.12277238e-02 3.21194199e+02] [-5.07042623e-01 8.61217532e-01 -3.48158099e-02 -2.50646350e+02] [-7.04250110e-02 -1.13692530e-03 9.97516429e-01 -2.29669145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters 0.02615660664673505 Centerline is valid? [True, True] Translation: X:321.22, Y:-250.66, Z:-22.97 [[ 8.59070844e-01 5.08105527e-01 6.18551481e-02 3.21222510e+02] [-5.06884820e-01 8.61294122e-01 -3.52166800e-02 -2.50663984e+02] [-7.11692652e-02 -1.09981264e-03 9.97463647e-01 -2.29685699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45864 meters 0.026059347025189812 Centerline is valid? [True, True] Translation: X:321.25, Y:-250.68, Z:-22.97 [[ 8.59979730e-01 5.06553407e-01 6.19557141e-02 3.21249915e+02] [-5.05321662e-01 8.62208078e-01 -3.53164047e-02 -2.50680424e+02] [-7.13083623e-02 -9.36172207e-04 9.97453879e-01 -2.29704294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters 0.026135856377552592 Centerline is valid? [True, True] Translation: X:321.28, Y:-250.70, Z:-22.97 [[ 8.59943998e-01 5.06518796e-01 6.27298059e-02 3.21278366e+02] [-5.05253038e-01 8.62228439e-01 -3.57978684e-02 -2.50696116e+02] [-7.22197158e-02 -9.10262937e-04 9.97388332e-01 -2.29721496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51864 meters 0.02625099498778167 Centerline is valid? [True, True] Translation: X:321.31, Y:-250.71, Z:-22.97 [[ 8.59069492e-01 5.07964741e-01 6.30192779e-02 3.21306836e+02] [-5.06688016e-01 8.61377283e-01 -3.60059871e-02 -2.50711949e+02] [-7.25731463e-02 -9.99467877e-04 9.97362592e-01 -2.29734263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters 0.026241163799508787 Centerline is valid? [True, True] Translation: X:321.34, Y:-250.73, Z:-22.98 [[ 8.58662398e-01 5.08630519e-01 6.31971602e-02 3.21335506e+02] [-5.07345065e-01 8.60984294e-01 -3.61528627e-02 -2.50727724e+02] [-7.28002117e-02 -1.01966355e-03 9.97346023e-01 -2.29750173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57864 meters 0.02643030562579314 Centerline is valid? [True, True] Translation: X:321.37, Y:-250.74, Z:-22.98 [[ 8.57937158e-01 5.09859374e-01 6.31446885e-02 3.21365178e+02] [-5.08576089e-01 8.60257080e-01 -3.61679245e-02 -2.50742625e+02] [-7.27612207e-02 -1.08407235e-03 9.97348800e-01 -2.29760252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters 0.026383972379374315 Centerline is valid? [True, True] Translation: X:321.39, Y:-250.76, Z:-22.98 [[ 8.57335730e-01 5.10835173e-01 6.34261231e-02 3.21394895e+02] [-5.09539760e-01 8.59677929e-01 -3.63743133e-02 -2.50757742e+02] [-7.31073167e-02 -1.13313312e-03 9.97323436e-01 -2.29780268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63864 meters 0.026416378852495464 Centerline is valid? [True, True] Translation: X:321.42, Y:-250.77, Z:-22.98 [[ 8.56081846e-01 5.12812952e-01 6.43952596e-02 3.21424838e+02] [-5.11479889e-01 8.58499405e-01 -3.69742589e-02 -2.50770397e+02] [-7.42441709e-02 -1.28388844e-03 9.97239267e-01 -2.29787886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters 0.02655071857006242 Centerline is valid? [True, True] Translation: X:321.45, Y:-250.78, Z:-22.98 [[ 8.55107564e-01 5.14460333e-01 6.41998414e-02 3.21454592e+02] [-5.13136909e-01 8.57513056e-01 -3.69035275e-02 -2.50784791e+02] [-7.40376033e-02 -1.38682274e-03 9.97254486e-01 -2.29804051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.69864 meters 0.026850835999925902 Centerline is valid? [True, True] Translation: X:321.48, Y:-250.80, Z:-22.98 [[ 8.53723681e-01 5.16798254e-01 6.38391846e-02 3.21483317e+02] [-5.15492988e-01 8.56105825e-01 -3.67395713e-02 -2.50799013e+02] [-7.36400440e-02 -1.54320996e-03 9.97283692e-01 -2.29833060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72864 meters 0.027001860937543178 Centerline is valid? [True, True] Translation: X:321.51, Y:-250.81, Z:-22.99 [[ 8.52391294e-01 5.19211777e-01 6.20339666e-02 3.21514038e+02] [-5.17982917e-01 8.54643989e-01 -3.57400228e-02 -2.50811904e+02] [-7.15735974e-02 -1.66805077e-03 9.97433927e-01 -2.29850902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.75864 meters 0.027183539472341752 Centerline is valid? [True, True] Translation: X:321.54, Y:-250.83, Z:-22.99 [[ 8.51847794e-01 5.19936307e-01 6.34158705e-02 3.21543252e+02] [-5.18650815e-01 8.54203280e-01 -3.65798934e-02 -2.50825503e+02] [-7.31892593e-02 -1.73019140e-03 9.97316569e-01 -2.29869232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78864 meters 0.02716492718006819 Centerline is valid? [True, True] Translation: X:321.58, Y:-250.84, Z:-22.99 [[ 8.51669039e-01 5.20231925e-01 6.33923652e-02 3.21575689e+02] [-5.18945209e-01 8.54023294e-01 -3.66071661e-02 -2.50836363e+02] [-7.31827730e-02 -1.71997418e-03 9.97317063e-01 -2.29861394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.81864 meters 0.02723431832978124 Centerline is valid? [True, True] Translation: X:321.61, Y:-250.85, Z:-22.99 [[ 8.50739199e-01 5.21717350e-01 6.36696302e-02 3.21605012e+02] [-5.20420296e-01 8.53116463e-01 -3.68105455e-02 -2.50849880e+02] [-7.35223099e-02 -1.81879375e-03 9.97291914e-01 -2.29886263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84864 meters 0.02723431832978124 Centerline is valid? [True, True] Translation: X:321.63, Y:-250.87, Z:-22.99 [[ 8.50464739e-01 5.22166806e-01 6.36518253e-02 3.21633314e+02] [-5.20868707e-01 8.52841432e-01 -3.68413129e-02 -2.50865903e+02] [-7.35222245e-02 -1.82200643e-03 9.97291915e-01 -2.29902552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.87864 meters 0.027560378252492142 Centerline is valid? [True, True] Translation: X:321.66, Y:-250.88, Z:-22.99 [[ 8.49265066e-01 5.24093954e-01 6.38308257e-02 3.21664218e+02] [-5.22790768e-01 8.51658203e-01 -3.69880727e-02 -2.50876459e+02] [-7.37472716e-02 -1.95748842e-03 9.97275041e-01 -2.29923923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90864 meters 0.027815160246781975 Centerline is valid? [True, True] Translation: X:321.69, Y:-250.89, Z:-22.99 [[ 8.48611267e-01 5.25218968e-01 6.32767920e-02 3.21694575e+02] [-5.23938495e-01 8.50964761e-01 -3.67073493e-02 -2.50889828e+02] [-7.31257163e-02 -2.00287698e-03 9.97320720e-01 -2.29944131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93864 meters 0.027658086058768648 Centerline is valid? [True, True] Translation: X:321.73, Y:-250.90, Z:-23.00 [[ 8.47840127e-01 5.26483251e-01 6.31070865e-02 3.21726786e+02] [-5.25209906e-01 8.50182985e-01 -3.66530677e-02 -2.50899603e+02] [-7.29497974e-02 -2.06852545e-03 9.97333469e-01 -2.29957403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96864 meters 0.028053720358990886 Centerline is valid? [True, True] Translation: X:321.76, Y:-250.91, Z:-23.00 [[ 8.47120651e-01 5.27540405e-01 6.39353175e-02 3.21756475e+02] [-5.26233157e-01 8.49527218e-01 -3.71775447e-02 -2.50912188e+02] [-7.39274494e-02 -2.15101813e-03 9.97261302e-01 -2.29976636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99864 meters 0.027902423207209964 Centerline is valid? [True, True] Translation: X:321.79, Y:-250.92, Z:-23.00 [[ 8.48238173e-01 5.26069274e-01 6.11810515e-02 3.21788088e+02] [-5.24865951e-01 8.50439588e-01 -3.56123610e-02 -2.50922262e+02] [-7.07653572e-02 -1.90408671e-03 9.97491172e-01 -2.30004676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02864 meters 0.027802057878622357 Centerline is valid? [True, True] Translation: X:321.82, Y:-250.94, Z:-23.00 [[ 8.48526614e-01 5.25703882e-01 6.03159609e-02 3.21817605e+02] [-5.24530894e-01 8.50665700e-01 -3.51455426e-02 -2.50936139e+02] [-6.97848672e-02 -1.81565665e-03 9.97560412e-01 -2.30015722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05864 meters 0.02735135148549475 Centerline is valid? [True, True] Translation: X:321.85, Y:-250.95, Z:-23.00 [[ 8.50282538e-01 5.22630492e-01 6.22653544e-02 3.21848148e+02] [-5.21369271e-01 8.52557841e-01 -3.63209429e-02 -2.50947338e+02] [-7.20672484e-02 -1.58017894e-03 9.97398524e-01 -2.30025481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08864 meters 0.027325650143563626 Centerline is valid? [True, True] Translation: X:321.88, Y:-250.96, Z:-23.00 [[ 8.51215791e-01 5.20975697e-01 6.33719265e-02 3.21877400e+02] [-5.19661661e-01 8.53570310e-01 -3.70065417e-02 -2.50960578e+02] [-7.33719038e-02 -1.43140790e-03 9.97303622e-01 -2.30034542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11864 meters 0.02720887528329963 Centerline is valid? [True, True] Translation: X:321.91, Y:-250.97, Z:-23.01 [[ 8.52452472e-01 5.18947226e-01 6.33921044e-02 3.21906396e+02] [-5.17623843e-01 8.54805405e-01 -3.70577461e-02 -2.50974699e+02] [-7.34189280e-02 -1.22329746e-03 9.97300438e-01 -2.30054596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14864 meters 0.02693290398769009 Centerline is valid? [True, True] Translation: X:321.94, Y:-250.99, Z:-23.01 [[ 8.55048231e-01 5.14656799e-01 6.34105839e-02 3.21935026e+02] [-5.13317916e-01 8.57395887e-01 -3.71080991e-02 -2.50988983e+02] [-7.34659093e-02 -8.20574289e-04 9.97297391e-01 -2.30073466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17864 meters 0.026918275788929632 Centerline is valid? [True, True] Translation: X:321.96, Y:-251.00, Z:-23.01 [[ 8.55806237e-01 5.13328717e-01 6.39477349e-02 3.21964485e+02] [-5.11960203e-01 8.58191803e-01 -3.74643767e-02 -2.51004220e+02] [-7.41109623e-02 -6.76448050e-04 9.97249772e-01 -2.30099287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20864 meters 0.026647711539595848 Centerline is valid? [True, True] Translation: X:321.99, Y:-251.02, Z:-23.01 [[ 8.57983327e-01 5.09815075e-01 6.28744834e-02 3.21994554e+02] [-5.08479602e-01 8.60283954e-01 -3.68783530e-02 -2.51016963e+02] [-7.28910495e-02 -3.29380286e-04 9.97339855e-01 -2.30116903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23864 meters 0.02657688882597172 Centerline is valid? [True, True] Translation: X:322.02, Y:-251.03, Z:-23.01 [[ 8.59186921e-01 5.07908051e-01 6.18647462e-02 3.22023091e+02] [-5.06607496e-01 8.61411281e-01 -3.63242507e-02 -2.51032305e+02] [-7.17403696e-02 -1.31823002e-04 9.97423331e-01 -2.30129623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26864 meters 0.02648793974361679 Centerline is valid? [True, True] Translation: X:322.05, Y:-251.05, Z:-23.01 [[ 8.60722749e-01 5.05496318e-01 6.02480080e-02 3.22051458e+02] [-5.04254447e-01 8.62828756e-01 -3.54117220e-02 -2.51048398e+02] [-6.98842089e-02 9.93487298e-05 9.97555105e-01 -2.30120688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29864 meters 0.02669555655992815 Centerline is valid? [True, True] Translation: X:322.08, Y:-251.06, Z:-23.01 [[ 8.60639238e-01 5.05711538e-01 5.96317202e-02 3.22080739e+02] [-5.04492831e-01 8.62702630e-01 -3.50878303e-02 -2.51064289e+02] [-6.91887625e-02 1.14188174e-04 9.97603580e-01 -2.30131018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32864 meters 0.0266003128345126 Centerline is valid? [True, True] Translation: X:322.11, Y:-251.08, Z:-23.01 [[ 8.60366596e-01 5.06181065e-01 5.95822903e-02 3.22110236e+02] [-5.04962561e-01 8.62427224e-01 -3.51012153e-02 -2.51079798e+02] [-6.91529597e-02 1.13087205e-04 9.97606062e-01 -2.30140810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35864 meters 0.026528027108797037 Centerline is valid? [True, True] Translation: X:322.14, Y:-251.10, Z:-23.02 [[ 8.60261170e-01 5.06357182e-01 5.96080857e-02 3.22138972e+02] [-5.05135117e-01 8.62323829e-01 -3.51586073e-02 -2.51097024e+02] [-6.92042860e-02 1.35447358e-04 9.97602500e-01 -2.30155405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38864 meters 0.026326046519593506 Centerline is valid? [True, True] Translation: X:322.17, Y:-251.12, Z:-23.02 [[ 8.61036528e-01 5.05135064e-01 5.87764008e-02 3.22166944e+02] [-5.03941249e-01 8.63040264e-01 -3.47090920e-02 -2.51115040e+02] [-6.82591799e-02 2.65943276e-04 9.97667587e-01 -2.30167419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41864 meters 0.02636354263802749 Centerline is valid? [True, True] Translation: X:322.19, Y:-251.13, Z:-23.02 [[ 8.61320020e-01 5.04753256e-01 5.78962394e-02 3.22194984e+02] [-5.03591369e-01 8.63263600e-01 -3.42299434e-02 -2.51131780e+02] [-6.72573915e-02 3.26889045e-04 9.97735605e-01 -2.30178250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44864 meters 0.026544239433422157 Centerline is valid? [True, True] Translation: X:322.22, Y:-251.15, Z:-23.02 [[ 8.61387186e-01 5.04549612e-01 5.86668977e-02 3.22223656e+02] [-5.03353194e-01 8.63382616e-01 -3.47278030e-02 -2.51148986e+02] [-6.81738791e-02 3.83914179e-04 9.97673381e-01 -2.30199178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47864 meters 0.026545671227849628 Centerline is valid? [True, True] Translation: X:322.25, Y:-251.17, Z:-23.02 [[ 8.61169181e-01 5.04827659e-01 5.94699579e-02 3.22251142e+02] [-5.03595945e-01 8.63220060e-01 -3.52456084e-02 -2.51167042e+02] [-6.91286186e-02 4.03602137e-04 9.97607674e-01 -2.30216983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50864 meters 0.026494644411223456 Centerline is valid? [True, True] Translation: X:322.28, Y:-251.19, Z:-23.02 [[ 8.61355163e-01 5.04617333e-01 5.85545019e-02 3.22278110e+02] [-5.03420029e-01 8.63343006e-01 -3.47437603e-02 -2.51186495e+02] [-6.80849234e-02 4.49208295e-04 9.97679428e-01 -2.30223349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53864 meters 0.026430719116335686 Centerline is valid? [True, True] Translation: X:322.31, Y:-251.20, Z:-23.02 [[ 8.61107382e-01 5.05062521e-01 5.83603147e-02 3.22305886e+02] [-5.03871381e-01 8.63082644e-01 -3.46696144e-02 -2.51204860e+02] [-6.78800975e-02 4.48168592e-04 9.97693386e-01 -2.30240628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56864 meters 0.026402038361962428 Centerline is valid? [True, True] Translation: X:322.33, Y:-251.22, Z:-23.03 [[ 8.60662956e-01 5.05836431e-01 5.82132299e-02 3.22333951e+02] [-5.04650284e-01 8.62629310e-01 -3.46231715e-02 -2.51223144e+02] [-6.77300999e-02 4.21558127e-04 9.97703591e-01 -2.30256129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59864 meters 0.026122035258690883 Centerline is valid? [True, True] Translation: X:322.36, Y:-251.24, Z:-23.03 [[ 8.59165511e-01 5.08331937e-01 5.85940817e-02 3.22361635e+02] [-5.07133156e-01 8.61161177e-01 -3.48911061e-02 -2.51241365e+02] [-6.81952119e-02 2.62233457e-04 9.97671962e-01 -2.30264786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62864 meters 0.025829643477002697 Centerline is valid? [True, True] Translation: X:322.39, Y:-251.26, Z:-23.03 [[ 8.56674821e-01 5.12589129e-01 5.79709924e-02 3.22388037e+02] [-5.11422794e-01 8.58634022e-01 -3.45592648e-02 -2.51260213e+02] [-6.74905698e-02 -4.16348840e-05 9.97719911e-01 -2.30271713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65864 meters 0.025831805844261035 Centerline is valid? [True, True] Translation: X:322.42, Y:-251.28, Z:-23.03 [[ 8.55384133e-01 5.14776017e-01 5.76509888e-02 3.22415935e+02] [-5.13625003e-01 8.57324687e-01 -3.44054722e-02 -2.51277845e+02] [-6.71367279e-02 -1.81094325e-04 9.97743768e-01 -2.30283846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68864 meters 0.025851984562270745 Centerline is valid? [True, True] Translation: X:322.44, Y:-251.29, Z:-23.03 [[ 8.54156471e-01 5.16768251e-01 5.80284219e-02 3.22444210e+02] [-5.15603851e-01 8.56125272e-01 -3.46725696e-02 -2.51294540e+02] [-6.75972817e-02 -3.03878078e-04 9.97712642e-01 -2.30292992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71864 meters 0.025618734023903994 Centerline is valid? [True, True] Translation: X:322.47, Y:-251.31, Z:-23.03 [[ 8.52898219e-01 5.18909049e-01 5.74284460e-02 3.22473785e+02] [-5.17770709e-01 8.54829346e-01 -3.43552272e-02 -2.51309928e+02] [-6.69187593e-02 -4.33255164e-04 9.97758333e-01 -2.30297434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74864 meters 0.025844172636482525 Centerline is valid? [True, True] Translation: X:322.50, Y:-251.32, Z:-23.03 [[ 8.51016120e-01 5.21750118e-01 5.95682653e-02 3.22502839e+02] [-5.20529226e-01 8.53098118e-01 -3.56780801e-02 -2.51323579e+02] [-6.94326175e-02 -6.44401716e-04 9.97586436e-01 -2.30321195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77864 meters 0.02584886590572102 Centerline is valid? [True, True] Translation: X:322.53, Y:-251.34, Z:-23.03 [[ 8.50499169e-01 5.22428072e-01 6.09924120e-02 3.22529682e+02] [-5.21146991e-01 8.52683085e-01 -3.65700763e-02 -2.51341046e+02] [-7.11124325e-02 -6.83192540e-04 9.97468072e-01 -2.30344933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80864 meters 0.025517985162960617 Centerline is valid? [True, True] Translation: X:322.56, Y:-251.36, Z:-23.03 [[ 8.50683805e-01 5.22265445e-01 5.97985701e-02 3.22558235e+02] [-5.21031086e-01 8.52782748e-01 -3.58914079e-02 -2.51356930e+02] [-6.97400310e-02 -6.24674435e-04 9.97565004e-01 -2.30349364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83864 meters 0.025509872246239143 Centerline is valid? [True, True] Translation: X:322.59, Y:-251.37, Z:-23.04 [[ 8.50769807e-01 5.22199166e-01 5.91503687e-02 3.22586967e+02] [-5.20988750e-01 8.52823366e-01 -3.55391293e-02 -2.51371439e+02] [-6.90033202e-02 -5.81058513e-04 9.97616261e-01 -2.30360497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86864 meters 0.025231587670531186 Centerline is valid? [True, True] Translation: X:322.62, Y:-251.39, Z:-23.04 [[ 8.51704248e-01 5.20824205e-01 5.78102101e-02 3.22615124e+02] [-5.19662778e-01 8.53663845e-01 -3.47654487e-02 -2.51387974e+02] [-6.74571734e-02 -4.31934013e-04 9.97722077e-01 -2.30382984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89864 meters 0.025268940422819717 Centerline is valid? [True, True] Translation: X:322.64, Y:-251.41, Z:-23.04 [[ 8.52465568e-01 5.19626198e-01 5.73678522e-02 3.22642003e+02] [-5.18478178e-01 8.54393654e-01 -3.45233715e-02 -2.51405297e+02] [-6.69539771e-02 -3.13994008e-04 9.97756015e-01 -2.30404738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters 0.02509993753405469 Centerline is valid? [True, True] Translation: X:322.67, Y:-251.42, Z:-23.04 [[ 8.53349672e-01 5.18217159e-01 5.69676520e-02 3.22669831e+02] [-5.17079505e-01 8.55249056e-01 -3.43196505e-02 -2.51423508e+02] [-6.65065623e-02 -1.70142800e-04 9.97785973e-01 -2.30416237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95864 meters 0.025142981014110177 Centerline is valid? [True, True] Translation: X:322.70, Y:-251.44, Z:-23.04 [[ 8.53243435e-01 5.18332694e-01 5.75053028e-02 3.22698299e+02] [-5.17170877e-01 8.55179044e-01 -3.46855318e-02 -2.51440212e+02] [-6.71559750e-02 -1.44865669e-04 9.97742479e-01 -2.30437366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters 0.025048330776684505 Centerline is valid? [True, True] Translation: X:322.73, Y:-251.46, Z:-23.05 [[ 8.53067750e-01 5.18655222e-01 5.72029279e-02 3.22727284e+02] [-5.17503555e-01 8.54983475e-01 -3.45445795e-02 -2.51456959e+02] [-6.68242846e-02 -1.33851826e-04 9.97764750e-01 -2.30450245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01864 meters 0.025006446985393626 Centerline is valid? [True, True] Translation: X:322.76, Y:-251.47, Z:-23.05 [[ 8.53031715e-01 5.18778230e-01 5.66219195e-02 3.22755325e+02] [-5.17647419e-01 8.54908847e-01 -3.42346825e-02 -2.51474311e+02] [-6.61667879e-02 -1.06920520e-04 9.97808571e-01 -2.30463266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters 0.02495924927632874 Centerline is valid? [True, True] Translation: X:322.78, Y:-251.49, Z:-23.05 [[ 8.52456409e-01 5.19681251e-01 5.70041069e-02 3.22783280e+02] [-5.18534344e-01 8.54360215e-01 -3.45073382e-02 -2.51491870e+02] [-6.66348577e-02 -1.42585580e-04 9.97777418e-01 -2.30483425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07864 meters 0.02504415758918896 Centerline is valid? [True, True] Translation: X:322.81, Y:-251.51, Z:-23.05 [[ 8.52370270e-01 5.19829369e-01 5.69416379e-02 3.22811156e+02] [-5.18682548e-01 8.54270106e-01 -3.45108830e-02 -2.51508940e+02] [-6.65833095e-02 -1.18583145e-04 9.97780862e-01 -2.30495848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters 0.025058821128042176 Centerline is valid? [True, True] Translation: X:322.84, Y:-251.53, Z:-23.05 [[ 8.51927686e-01 5.20606500e-01 5.64631732e-02 3.22839681e+02] [-5.19477878e-01 8.53796727e-01 -3.42619722e-02 -2.51525807e+02] [-6.60450779e-02 -1.42646661e-04 9.97816630e-01 -2.30512125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13864 meters 0.024901536352066742 Centerline is valid? [True, True] Translation: X:322.87, Y:-251.54, Z:-23.05 [[ 8.51477765e-01 5.21415599e-01 5.57798261e-02 3.22867993e+02] [-5.20313249e-01 8.53302845e-01 -3.38877320e-02 -2.51542078e+02] [-6.52666764e-02 -1.68332235e-04 9.97867843e-01 -2.30523923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters 0.024877265817624283 Centerline is valid? [True, True] Translation: X:322.90, Y:-251.56, Z:-23.05 [[ 8.51103166e-01 5.22018514e-01 5.58576103e-02 3.22895825e+02] [-5.20911697e-01 8.52934135e-01 -3.39759449e-02 -2.51559494e+02] [-6.53789348e-02 -1.79848339e-04 9.97860493e-01 -2.30540001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19864 meters 0.02498649585286169 Centerline is valid? [True, True] Translation: X:322.92, Y:-251.58, Z:-23.05 [[ 8.50520952e-01 5.22853173e-01 5.69093176e-02 3.22924530e+02] [-5.21703273e-01 8.52422732e-01 -3.46580440e-02 -2.51576040e+02] [-6.66318642e-02 -2.12384740e-04 9.97777605e-01 -2.30549600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22864 meters 0.02491171168013577 Centerline is valid? [True, True] Translation: X:322.95, Y:-251.59, Z:-23.06 [[ 8.49797735e-01 5.24040450e-01 5.67927463e-02 3.22954125e+02] [-5.22895149e-01 8.51693333e-01 -3.46284536e-02 -2.51591869e+02] [-6.65167138e-02 -2.69470074e-04 9.97785275e-01 -2.30559569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25864 meters 0.024906689023157243 Centerline is valid? [True, True] Translation: X:322.98, Y:-251.61, Z:-23.06 [[ 8.48994784e-01 5.25361917e-01 5.65925117e-02 3.22984189e+02] [-5.24224881e-01 8.50878806e-01 -3.45475283e-02 -2.51606675e+02] [-6.63033245e-02 -3.36531352e-04 9.97799457e-01 -2.30573753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28864 meters 0.024990840336868436 Centerline is valid? [True, True] Translation: X:323.01, Y:-251.62, Z:-23.06 [[ 8.50244051e-01 5.23251874e-01 5.73805703e-02 3.23012771e+02] [-5.22075245e-01 8.52178067e-01 -3.50710873e-02 -2.51623560e+02] [-6.72494757e-02 -1.37992005e-04 9.97736182e-01 -2.30596523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31864 meters 0.024869196333050472 Centerline is valid? [True, True] Translation: X:323.04, Y:-251.64, Z:-23.06 [[ 8.50804083e-01 5.22268248e-01 5.80369656e-02 3.23041637e+02] [-5.21059293e-01 8.52781259e-01 -3.55153067e-02 -2.51640406e+02] [-6.80413536e-02 -2.41323489e-05 9.97682501e-01 -2.30609822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34864 meters 0.02493427349412732 Centerline is valid? [True, True] Translation: X:323.07, Y:-251.66, Z:-23.06 [[ 8.51262249e-01 5.21473599e-01 5.84625398e-02 3.23070429e+02] [-5.20242017e-01 8.53267414e-01 -3.58184862e-02 -2.51656256e+02] [-6.85625751e-02 7.62554488e-05 9.97646815e-01 -2.30625346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37864 meters 0.024928664336130005 Centerline is valid? [True, True] Translation: X:323.10, Y:-251.67, Z:-23.06 [[ 8.52258534e-01 5.19821881e-01 5.86566586e-02 3.23099533e+02] [-5.18575226e-01 8.54274635e-01 -3.59803224e-02 -2.51672307e+02] [-6.88122545e-02 2.46646808e-04 9.97629597e-01 -2.30641802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40864 meters 0.025040991241388963 Centerline is valid? [True, True] Translation: X:323.13, Y:-251.69, Z:-23.07 [[ 8.52887354e-01 5.18821597e-01 5.83721861e-02 3.23128064e+02] [-5.17581774e-01 8.54882459e-01 -3.58481238e-02 -2.51689449e+02] [-6.85001389e-02 3.62031806e-04 9.97651041e-01 -2.30665025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43864 meters 0.025101349859110673 Centerline is valid? [True, True] Translation: X:323.16, Y:-251.71, Z:-23.07 [[ 8.53366300e-01 5.18113619e-01 5.76561881e-02 3.23156309e+02] [-5.16899661e-01 8.55311684e-01 -3.54494634e-02 -2.51706699e+02] [-6.76808611e-02 4.48913336e-04 9.97706921e-01 -2.30678694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46864 meters 0.025167218180620097 Centerline is valid? [True, True] Translation: X:323.18, Y:-251.72, Z:-23.07 [[ 8.53467900e-01 5.17977480e-01 5.73748494e-02 3.23184212e+02] [-5.16772281e-01 8.55394112e-01 -3.53174536e-02 -2.51723743e+02] [-6.73717540e-02 4.92581170e-04 9.97727821e-01 -2.30686528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49864 meters 0.025115097440023933 Centerline is valid? [True, True] Translation: X:323.21, Y:-251.74, Z:-23.07 [[ 8.53124779e-01 5.18632226e-01 5.65572773e-02 3.23211145e+02] [-5.17460010e-01 8.54997307e-01 -3.48531709e-02 -2.51741130e+02] [-6.64322973e-02 4.67974423e-04 9.97790825e-01 -2.30698703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52864 meters 0.02522749683269255 Centerline is valid? [True, True] Translation: X:323.24, Y:-251.76, Z:-23.07 [[ 8.53658347e-01 5.17774139e-01 5.63681425e-02 3.23236822e+02] [-5.16605461e-01 8.55517167e-01 -3.47731966e-02 -2.51761584e+02] [-6.62285755e-02 5.64339279e-04 9.97804318e-01 -2.30719898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55864 meters 0.025326886957284026 Centerline is valid? [True, True] Translation: X:323.26, Y:-251.78, Z:-23.07 [[ 8.54099028e-01 5.17141282e-01 5.54954436e-02 3.23264483e+02] [-5.16004646e-01 8.55899812e-01 -3.42741629e-02 -2.51780419e+02] [-6.52231243e-02 6.37622555e-04 9.97870501e-01 -2.30740745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58864 meters 0.025453546438314524 Centerline is valid? [True, True] Translation: X:323.29, Y:-251.80, Z:-23.08 [[ 8.54750053e-01 5.16058943e-01 5.55474076e-02 3.23291609e+02] [-5.14915274e-01 8.56552740e-01 -3.43462419e-02 -2.51799749e+02] [-6.53039695e-02 7.55243466e-04 9.97865132e-01 -2.30765454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61864 meters 0.025471972367163788 Centerline is valid? [True, True] Translation: X:323.32, Y:-251.82, Z:-23.08 [[ 8.54643162e-01 5.16303960e-01 5.49116235e-02 3.23318612e+02] [-5.15184335e-01 8.56405068e-01 -3.39920566e-02 -2.51818130e+02] [-6.45768261e-02 7.61470448e-04 9.97912448e-01 -2.30776109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64864 meters 0.025490279335450627 Centerline is valid? [True, True] Translation: X:323.35, Y:-251.84, Z:-23.08 [[ 8.54343780e-01 5.16838257e-01 5.45428446e-02 3.23345574e+02] [-5.15732244e-01 8.56082738e-01 -3.38023308e-02 -2.51837304e+02] [-6.41635255e-02 7.49307419e-04 9.97939117e-01 -2.30798398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67864 meters 0.025117637340916196 Centerline is valid? [True, True] Translation: X:323.37, Y:-251.86, Z:-23.08 [[ 8.53510395e-01 5.18433026e-01 5.24137630e-02 3.23369549e+02] [-5.17412821e-01 8.55118003e-01 -3.25142110e-02 -2.51858805e+02] [-6.16763931e-02 6.31664067e-04 9.98095999e-01 -2.30814981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70864 meters 0.025117637340916196 Centerline is valid? [True, True] Translation: X:323.40, Y:-251.88, Z:-23.08 [[ 8.53238243e-01 5.18881570e-01 5.24062693e-02 3.23397344e+02] [-5.17861468e-01 8.54845916e-01 -3.25262843e-02 -2.51875687e+02] [-6.16765748e-02 6.13482111e-04 9.98095999e-01 -2.30831274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73864 meters 0.02522137955512603 Centerline is valid? [True, True] Translation: X:323.42, Y:-251.90, Z:-23.08 [[ 8.52508448e-01 5.20142416e-01 5.17804444e-02 3.23422477e+02] [-5.19146649e-01 8.54079369e-01 -3.21743511e-02 -2.51895406e+02] [-6.09598540e-02 5.47261905e-04 9.98140069e-01 -2.30840238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76864 meters 0.02507857366148837 Centerline is valid? [True, True] Translation: X:323.45, Y:-251.91, Z:-23.09 [[ 8.51985794e-01 5.20875028e-01 5.30038880e-02 3.23449085e+02] [-5.19830808e-01 8.53632777e-01 -3.29698923e-02 -2.51914383e+02] [-6.24190496e-02 5.36825991e-04 9.98049886e-01 -2.30857087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79864 meters 0.02513397418677778 Centerline is valid? [True, True] Translation: X:323.48, Y:-251.93, Z:-23.09 [[ 8.51377478e-01 5.21820770e-01 5.34740435e-02 3.23476073e+02] [-5.20757304e-01 8.53054997e-01 -3.33016791e-02 -2.51934365e+02] [-6.29938078e-02 5.05300877e-04 9.98013790e-01 -2.30869439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82864 meters 0.024955628738775226 Centerline is valid? [True, True] Translation: X:323.50, Y:-251.95, Z:-23.09 [[ 8.51537326e-01 5.21417464e-01 5.48453378e-02 3.23501598e+02] [-5.20295283e-01 8.53301522e-01 -3.41954795e-02 -2.51954283e+02] [-6.46297305e-02 5.82956569e-04 9.97909143e-01 -2.30884382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85864 meters 0.025004916398640435 Centerline is valid? [True, True] Translation: X:323.53, Y:-251.97, Z:-23.09 [[ 8.51824357e-01 5.20933155e-01 5.49901104e-02 3.23528552e+02] [-5.19801677e-01 8.53597225e-01 -3.43219135e-02 -2.51972988e+02] [-6.48188283e-02 6.52290273e-04 9.97896835e-01 -2.30901696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88864 meters 0.02511891014040165 Centerline is valid? [True, True] Translation: X:323.55, Y:-252.00, Z:-23.09 [[ 8.52545462e-01 5.19879795e-01 5.37701965e-02 3.23553809e+02] [-5.18793494e-01 8.54239099e-01 -3.35986974e-02 -2.51995294e+02] [-6.33998881e-02 7.48788909e-04 9.97987923e-01 -2.30916357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91864 meters 0.02503258404281568 Centerline is valid? [True, True] Translation: X:323.58, Y:-252.02, Z:-23.09 [[ 8.53420782e-01 5.18550407e-01 5.27109551e-02 3.23580653e+02] [-5.17501650e-01 8.55046625e-01 -3.29744186e-02 -2.52015418e+02] [-6.21692224e-02 8.63047871e-04 9.98065250e-01 -2.30915414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94864 meters 0.025234815967916126 Centerline is valid? [True, True] Translation: X:323.61, Y:-252.03, Z:-23.09 [[ 8.53946328e-01 5.17566932e-01 5.38529401e-02 3.23606782e+02] [-5.16467785e-01 8.55642153e-01 -3.37273246e-02 -2.52033953e+02] [-6.35349935e-02 9.88016306e-04 9.97979122e-01 -2.30922366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97864 meters 0.025263108045634686 Centerline is valid? [True, True] Translation: X:323.63, Y:-252.06, Z:-23.09 [[ 8.54151589e-01 5.17146743e-01 5.46288273e-02 3.23631388e+02] [-5.16012548e-01 8.55896088e-01 -3.42481628e-02 -2.52055585e+02] [-6.44679254e-02 1.06396234e-03 9.97919212e-01 -2.30944814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00864 meters 0.025346316809813984 Centerline is valid? [True, True] Translation: X:323.66, Y:-252.08, Z:-23.10 [[ 8.53604937e-01 5.18043390e-01 5.46777653e-02 3.23657122e+02] [-5.16906710e-01 8.55353722e-01 -3.43141797e-02 -2.52075852e+02] [-6.45450641e-02 1.02744938e-03 9.97914264e-01 -2.30969211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03864 meters 0.025013972022536805 Centerline is valid? [True, True] Translation: X:323.68, Y:-252.10, Z:-23.10 [[ 8.52627059e-01 5.19707487e-01 5.41408089e-02 3.23680813e+02] [-5.18593981e-01 8.54343767e-01 -3.40148571e-02 -2.52098699e+02] [-6.39326385e-02 9.24889949e-04 9.97953788e-01 -2.30972897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06864 meters 0.024847454648584736 Centerline is valid? [True, True] Translation: X:323.71, Y:-252.12, Z:-23.10 [[ 8.51419277e-01 5.21842391e-01 5.25902405e-02 3.23706763e+02] [-5.20793856e-01 8.53041573e-01 -3.30731644e-02 -2.52118644e+02] [-6.21206406e-02 7.70455602e-04 9.98068351e-01 -2.30979897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09864 meters 0.024605190040400075 Centerline is valid? [True, True] Translation: X:323.73, Y:-252.14, Z:-23.10 [[ 8.50502609e-01 5.23399332e-01 5.19466246e-02 3.23732636e+02] [-5.22377451e-01 8.52087253e-01 -3.26972827e-02 -2.52138761e+02] [-6.13767925e-02 6.73378850e-04 9.98114440e-01 -2.30994701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12864 meters 0.02442645534457851 Centerline is valid? [True, True] Translation: X:323.76, Y:-252.16, Z:-23.10 [[ 8.48208576e-01 5.27100048e-01 5.20360526e-02 3.23756381e+02] [-5.26080594e-01 8.49803132e-01 -3.27695873e-02 -2.52161216e+02] [-6.14932515e-02 4.20287502e-04 9.98107411e-01 -2.30994880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15864 meters 0.024420947494674255 Centerline is valid? [True, True] Translation: X:323.78, Y:-252.18, Z:-23.10 [[ 8.46619372e-01 5.29690578e-01 5.16093964e-02 3.23782401e+02] [-5.28690567e-01 8.48190913e-01 -3.25339819e-02 -2.52179897e+02] [-6.10075647e-02 2.58498336e-04 9.98137270e-01 -2.31004680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18864 meters 0.024135358345458352 Centerline is valid? [True, True] Translation: X:323.81, Y:-252.20, Z:-23.10 [[ 8.44147714e-01 5.33632834e-01 5.14843193e-02 3.23808579e+02] [-5.32642865e-01 8.45716263e-01 -3.24897026e-02 -2.52200073e+02] [-6.08786983e-02 3.35288660e-06 9.98145172e-01 -2.31029307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21864 meters 0.023950773549163626 Centerline is valid? [True, True] Translation: X:323.84, Y:-252.22, Z:-23.10 [[ 8.43089346e-01 5.35380922e-01 5.06717181e-02 3.23836139e+02] [-5.34422853e-01 8.44610715e-01 -3.20148906e-02 -2.52218724e+02] [-5.99380377e-02 -8.87109981e-05 9.98202096e-01 -2.31041372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24864 meters 0.023880745310975008 Centerline is valid? [True, True] Translation: X:323.86, Y:-252.24, Z:-23.10 [[ 8.41849792e-01 5.37428808e-01 4.95903549e-02 3.23863608e+02] [-5.36512584e-01 8.43309099e-01 -3.13689341e-02 -2.52237469e+02] [-5.86785664e-02 -1.97918786e-04 9.98276909e-01 -2.31049989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27864 meters 0.023882376311255997 Centerline is valid? [True, True] Translation: X:323.89, Y:-252.25, Z:-23.11 [[ 8.41058547e-01 5.38657325e-01 4.96870895e-02 3.23891216e+02] [-5.37737410e-01 8.42524909e-01 -3.14683223e-02 -2.52254801e+02] [-5.88132529e-02 -2.51905319e-04 9.98268971e-01 -2.31062807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30864 meters 0.023714260016108338 Centerline is valid? [True, True] Translation: X:323.92, Y:-252.27, Z:-23.11 [[ 8.40450608e-01 5.39692170e-01 4.87353744e-02 3.23919598e+02] [-5.38806967e-01 8.41862386e-01 -3.08994341e-02 -2.52272035e+02] [-5.77046613e-02 -2.89511049e-04 9.98333656e-01 -2.31074624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33864 meters 0.02363990676690869 Centerline is valid? [True, True] Translation: X:323.95, Y:-252.29, Z:-23.11 [[ 8.38951563e-01 5.42100557e-01 4.78253154e-02 3.23948719e+02] [-5.41250999e-01 8.40313513e-01 -3.03406661e-02 -2.52288753e+02] [-5.66359509e-02 -4.31150459e-04 9.98394803e-01 -2.31075609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36864 meters 0.023327973250806225 Centerline is valid? [True, True] Translation: X:323.98, Y:-252.31, Z:-23.11 [[ 8.38360465e-01 5.43053063e-01 4.73825148e-02 3.23976665e+02] [-5.42218658e-01 8.39698255e-01 -3.00959808e-02 -2.52305463e+02] [-5.61307295e-02 -4.60403112e-04 9.98423322e-01 -2.31087801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39864 meters 0.023503682115952225 Centerline is valid? [True, True] Translation: X:324.00, Y:-252.32, Z:-23.11 [[ 8.37343464e-01 5.44629588e-01 4.72708694e-02 3.24004573e+02] [-5.43799615e-01 8.38676532e-01 -3.00608319e-02 -2.52322312e+02] [-5.60169873e-02 -5.34639492e-04 9.98429673e-01 -2.31099549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters 0.02342345049285073 Centerline is valid? [True, True] Translation: X:324.03, Y:-252.34, Z:-23.11 [[ 8.35649439e-01 5.47064770e-01 4.90933042e-02 3.24033261e+02] [-5.46171479e-01 8.37089994e-01 -3.12579158e-02 -2.52337318e+02] [-5.81956182e-02 -6.92702774e-04 9.98304959e-01 -2.31112666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45864 meters 0.02316613789621252 Centerline is valid? [True, True] Translation: X:324.06, Y:-252.35, Z:-23.11 [[ 8.35104159e-01 5.47938518e-01 4.86253547e-02 3.24062312e+02] [-5.47061776e-01 8.36518299e-01 -3.09927278e-02 -2.52352454e+02] [-5.76581083e-02 -7.18917020e-04 9.98336129e-01 -2.31107027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters 0.02320774047321337 Centerline is valid? [True, True] Translation: X:324.09, Y:-252.37, Z:-23.11 [[ 8.35092714e-01 5.47885986e-01 4.94075496e-02 3.24091022e+02] [-5.46978427e-01 8.36552726e-01 -3.15299307e-02 -2.52369320e+02] [-5.86068275e-02 -6.94448358e-04 9.98280901e-01 -2.31127664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51864 meters 0.023153710507319233 Centerline is valid? [True, True] Translation: X:324.12, Y:-252.39, Z:-23.12 [[ 8.35204613e-01 5.47719521e-01 4.93617395e-02 3.24120109e+02] [-5.46811108e-01 8.36661762e-01 -3.15390043e-02 -2.52385863e+02] [-5.85736082e-02 -6.50025545e-04 9.98282881e-01 -2.31150729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters 0.022992608945594392 Centerline is valid? [True, True] Translation: X:324.15, Y:-252.40, Z:-23.12 [[ 8.35631487e-01 5.47159048e-01 4.83424736e-02 3.24148890e+02] [-5.46284784e-01 8.37028466e-01 -3.09237972e-02 -2.52401435e+02] [-5.73842620e-02 -5.67859095e-04 9.98352004e-01 -2.31160024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57864 meters 0.022895418214382523 Centerline is valid? [True, True] Translation: X:324.18, Y:-252.42, Z:-23.12 [[ 8.35780652e-01 5.46939561e-01 4.82474685e-02 3.24179020e+02] [-5.46066488e-01 8.37171931e-01 -3.08957634e-02 -2.52415519e+02] [-5.72895416e-02 -5.24244394e-04 9.98357468e-01 -2.31190146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters 0.022561234695919866 Centerline is valid? [True, True] Translation: X:324.21, Y:-252.43, Z:-23.12 [[ 8.35671777e-01 5.47225748e-01 4.68685732e-02 3.24207854e+02] [-5.46400405e-01 8.36984906e-01 -3.00477179e-02 -2.52431813e+02] [-5.56711732e-02 -4.98977531e-04 9.98449033e-01 -2.31195204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63864 meters 0.022655284930687292 Centerline is valid? [True, True] Translation: X:324.24, Y:-252.45, Z:-23.12 [[ 8.35334613e-01 5.47806263e-01 4.60910218e-02 3.24235856e+02] [-5.47007073e-01 8.36605073e-01 -2.95840131e-02 -2.52448812e+02] [-5.47662903e-02 -4.99564766e-04 9.98499076e-01 -2.31205556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters 0.02245127195730299 Centerline is valid? [True, True] Translation: X:324.26, Y:-252.47, Z:-23.12 [[ 8.35138045e-01 5.48022773e-01 4.70689507e-02 3.24264429e+02] [-5.47187556e-01 8.36463267e-01 -3.02486694e-02 -2.52466132e+02] [-5.59484080e-02 -4.93729427e-04 9.98433539e-01 -2.31219642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.69864 meters 0.022576949252348467 Centerline is valid? [True, True] Translation: X:324.29, Y:-252.48, Z:-23.12 [[ 8.34455494e-01 5.49032827e-01 4.74023499e-02 3.24292977e+02] [-5.48185262e-01 8.35800616e-01 -3.04999907e-02 -2.52483316e+02] [-5.63644094e-02 -5.34384793e-04 9.98410120e-01 -2.31239645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72864 meters 0.022484303676893493 Centerline is valid? [True, True] Translation: X:324.32, Y:-252.50, Z:-23.13 [[ 8.33595144e-01 5.50171126e-01 4.93038252e-02 3.24319673e+02] [-5.49253856e-01 8.35051716e-01 -3.17621462e-02 -2.52501104e+02] [-5.86458596e-02 -6.03545262e-04 9.98278668e-01 -2.31266134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.75864 meters 0.022395486052322378 Centerline is valid? [True, True] Translation: X:324.35, Y:-252.52, Z:-23.13 [[ 8.32793120e-01 5.51469755e-01 4.83397167e-02 3.24347590e+02] [-5.50588337e-01 8.34194630e-01 -3.11737411e-02 -2.52519430e+02] [-5.75161075e-02 -6.54007145e-04 9.98344364e-01 -2.31287323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78864 meters 0.022573545324582805 Centerline is valid? [True, True] Translation: X:324.38, Y:-252.54, Z:-23.13 [[ 8.32017592e-01 5.52595100e-01 4.88403788e-02 3.24376444e+02] [-5.51695040e-01 8.33449551e-01 -3.15345602e-02 -2.52536215e+02] [-5.81318353e-02 -7.07685895e-04 9.98308664e-01 -2.31303889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.81864 meters 0.022487002986398816 Centerline is valid? [True, True] Translation: X:324.41, Y:-252.55, Z:-23.13 [[ 8.31505129e-01 5.53419744e-01 4.82266291e-02 3.24405201e+02] [-5.52541454e-01 8.32902192e-01 -3.11749862e-02 -2.52552149e+02] [-5.74209180e-02 -7.25050817e-04 9.98349795e-01 -2.31325716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84864 meters 0.022451127665344597 Centerline is valid? [True, True] Translation: X:324.43, Y:-252.57, Z:-23.13 [[ 8.30960366e-01 5.54330287e-01 4.71466028e-02 3.24433852e+02] [-5.53490378e-01 8.32296452e-01 -3.05125710e-02 -2.52569453e+02] [-5.61539925e-02 -7.40453860e-04 9.98421845e-01 -2.31333703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.87864 meters 0.022641930514847038 Centerline is valid? [True, True] Translation: X:324.46, Y:-252.59, Z:-23.14 [[ 8.29458886e-01 5.56606265e-01 4.67698754e-02 3.24460399e+02] [-5.55781369e-01 8.30775980e-01 -3.03041215e-02 -2.52587676e+02] [-5.57227529e-02 -8.57802545e-04 9.98445912e-01 -2.31351214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90864 meters 0.023009693682473388 Centerline is valid? [True, True] Translation: X:324.49, Y:-252.60, Z:-23.14 [[ 8.28222142e-01 5.58448631e-01 4.67248364e-02 3.24487140e+02] [-5.57626581e-01 8.29538554e-01 -3.03048385e-02 -2.52604683e+02] [-5.56837487e-02 -9.55872553e-04 9.98447999e-01 -2.31361472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93864 meters 0.023033747286726906 Centerline is valid? [True, True] Translation: X:324.51, Y:-252.62, Z:-23.14 [[ 8.27110340e-01 5.60013757e-01 4.76767956e-02 3.24514521e+02] [-5.59159312e-01 8.28482622e-01 -3.09420300e-02 -2.52621226e+02] [-5.68273591e-02 -1.06645130e-03 9.98383450e-01 -2.31388094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96864 meters 0.02333228770948407 Centerline is valid? [True, True] Translation: X:324.54, Y:-252.64, Z:-23.14 [[ 8.26216185e-01 5.61381046e-01 4.70970994e-02 3.24542499e+02] [-5.60547692e-01 8.27556685e-01 -3.05976745e-02 -2.52638129e+02] [-5.61524739e-02 -1.11987651e-03 9.98421577e-01 -2.31407169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99864 meters 0.02379392947334765 Centerline is valid? [True, True] Translation: X:324.57, Y:-252.65, Z:-23.14 [[ 8.23578509e-01 5.65166484e-01 4.80133877e-02 3.24569916e+02] [-5.64304656e-01 8.24975731e-01 -3.12297598e-02 -2.52654402e+02] [-5.72598932e-02 -1.37401925e-03 9.98358361e-01 -2.31413623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02864 meters 0.02414926714590865 Centerline is valid? [True, True] Translation: X:324.60, Y:-252.67, Z:-23.14 [[ 8.22249196e-01 5.66999348e-01 4.91731570e-02 3.24597731e+02] [-5.66096642e-01 8.23716856e-01 -3.20176996e-02 -2.52670269e+02] [-5.86587730e-02 -1.51023131e-03 9.98276949e-01 -2.31425971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05864 meters 0.025080401660377727 Centerline is valid? [True, True] Translation: X:324.63, Y:-252.68, Z:-23.14 [[ 8.20429779e-01 5.69583957e-01 4.96899761e-02 3.24627255e+02] [-5.68664910e-01 8.21931430e-01 -3.23874178e-02 -2.52684108e+02] [-5.92891067e-02 -1.68534377e-03 9.98239431e-01 -2.31441279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08864 meters 0.025661725064283766 Centerline is valid? [True, True] Translation: X:324.65, Y:-252.70, Z:-23.15 [[ 8.19018132e-01 5.71550832e-01 5.03879552e-02 3.24654786e+02] [-5.70607467e-01 8.20564630e-01 -3.28756255e-02 -2.52699770e+02] [-6.01366649e-02 -1.82601010e-03 9.98188483e-01 -2.31456199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11864 meters 0.02579209226960162 Centerline is valid? [True, True] Translation: X:324.68, Y:-252.72, Z:-23.15 [[ 8.18057395e-01 5.72867300e-01 5.10407232e-02 3.24683348e+02] [-5.71899919e-01 8.19645878e-01 -3.33334413e-02 -2.52715352e+02] [-6.09309569e-02 -1.92151727e-03 9.98140134e-01 -2.31472472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14864 meters 0.026340516288829507 Centerline is valid? [True, True] Translation: X:324.71, Y:-252.73, Z:-23.15 [[ 8.16717326e-01 5.74666250e-01 5.22638512e-02 3.24713478e+02] [-5.73653407e-01 8.18385233e-01 -3.41669420e-02 -2.52728297e+02] [-6.24065525e-02 -2.07660273e-03 9.98048651e-01 -2.31484768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17864 meters 0.0266060646345876 Centerline is valid? [True, True] Translation: X:324.74, Y:-252.74, Z:-23.15 [[ 8.16483504e-01 5.74924919e-01 5.30662311e-02 3.24742697e+02] [-5.73878997e-01 8.18203477e-01 -3.47270527e-02 -2.52743099e+02] [-6.33844227e-02 -2.09952980e-03 9.97986977e-01 -2.31491062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20864 meters 0.026772109468673574 Centerline is valid? [True, True] Translation: X:324.77, Y:-252.76, Z:-23.15 [[ 8.16210394e-01 5.75262409e-01 5.36074088e-02 3.24773741e+02] [-5.74193287e-01 8.17966187e-01 -3.51196011e-02 -2.52755657e+02] [-6.40520341e-02 -2.11603083e-03 9.97944317e-01 -2.31506860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23864 meters 0.02692170645129646 Centerline is valid? [True, True] Translation: X:324.80, Y:-252.77, Z:-23.15 [[ 8.16488176e-01 5.74832636e-01 5.39861084e-02 3.24802212e+02] [-5.73744863e-01 8.18268402e-01 -3.54069824e-02 -2.52771410e+02] [-6.45282156e-02 -2.06486993e-03 9.97913747e-01 -2.31525624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26864 meters 0.026784921900529092 Centerline is valid? [True, True] Translation: X:324.83, Y:-252.79, Z:-23.15 [[ 8.17049558e-01 5.74147199e-01 5.27732278e-02 3.24831080e+02] [-5.73104229e-01 8.18749803e-01 -3.46453946e-02 -2.52786777e+02] [-6.30996261e-02 -1.93755566e-03 9.98005352e-01 -2.31539519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29864 meters 0.026500042216263033 Centerline is valid? [True, True] Translation: X:324.86, Y:-252.80, Z:-23.16 [[ 8.18743028e-01 5.71671142e-01 5.34037446e-02 3.24860809e+02] [-5.70595546e-01 8.20481007e-01 -3.50947172e-02 -2.52799774e+02] [-6.38793952e-02 -1.73838381e-03 9.97956112e-01 -2.31560187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32864 meters 0.026382735515401864 Centerline is valid? [True, True] Translation: X:324.89, Y:-252.82, Z:-23.16 [[ 8.19747860e-01 5.70106127e-01 5.47032804e-02 3.24888720e+02] [-5.68971584e-01 8.21569450e-01 -3.59857588e-02 -2.52816034e+02] [-6.54582456e-02 -1.62536333e-03 9.97853985e-01 -2.31582225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35864 meters 0.026018526067646756 Centerline is valid? [True, True] Translation: X:324.92, Y:-252.83, Z:-23.16 [[ 8.22363923e-01 5.66318994e-01 5.47756739e-02 3.24917204e+02] [-5.65170605e-01 8.24185125e-01 -3.60703065e-02 -2.52830843e+02] [-6.55725954e-02 -1.29468192e-03 9.97846962e-01 -2.31603782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38864 meters 0.02589504708860833 Centerline is valid? [True, True] Translation: X:324.94, Y:-252.85, Z:-23.16 [[ 8.23356837e-01 5.64907403e-01 5.44347806e-02 3.24944626e+02] [-5.63767820e-01 8.25153510e-01 -3.58821548e-02 -2.52847133e+02] [-6.51871452e-02 -1.14476013e-03 9.97872400e-01 -2.31624958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41864 meters 0.025845937237989412 Centerline is valid? [True, True] Translation: X:324.97, Y:-252.86, Z:-23.16 [[ 8.25038621e-01 5.62644471e-01 5.23686289e-02 3.24972325e+02] [-5.61583129e-01 8.26698486e-01 -3.45543238e-02 -2.52863145e+02] [-6.27348655e-02 -9.00686818e-04 9.98029822e-01 -2.31631864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44864 meters 0.025640607592785518 Centerline is valid? [True, True] Translation: X:325.00, Y:-252.88, Z:-23.17 [[ 8.25490418e-01 5.62014599e-01 5.20111536e-02 3.25000071e+02] [-5.60964285e-01 8.27126907e-01 -3.43533066e-02 -2.52880188e+02] [-6.23268845e-02 -8.18074215e-04 9.98055455e-01 -2.31651235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47864 meters 0.02585677850695733 Centerline is valid? [True, True] Translation: X:325.03, Y:-252.90, Z:-23.17 [[ 8.25627488e-01 5.61750676e-01 5.26823385e-02 3.25028652e+02] [-5.60670169e-01 8.27306215e-01 -3.48337316e-02 -2.52897633e+02] [-6.31522983e-02 -7.77729232e-04 9.98003598e-01 -2.31670755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50864 meters 0.025757775902834425 Centerline is valid? [True, True] Translation: X:325.06, Y:-252.91, Z:-23.17 [[ 8.25970845e-01 5.61098731e-01 5.42252476e-02 3.25057052e+02] [-5.59949737e-01 8.27748576e-01 -3.58968984e-02 -2.52914588e+02] [-6.50265756e-02 -7.13621642e-04 9.97883277e-01 -2.31695324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53864 meters 0.02590398041135601 Centerline is valid? [True, True] Translation: X:325.09, Y:-252.93, Z:-23.17 [[ 8.26153465e-01 5.60804035e-01 5.44911568e-02 3.25085120e+02] [-5.59640324e-01 8.27948308e-01 -3.61152006e-02 -2.52932242e+02] [-6.53694112e-02 -6.58750525e-04 9.97860915e-01 -2.31705600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56864 meters 0.025771249053759503 Centerline is valid? [True, True] Translation: X:325.11, Y:-252.95, Z:-23.17 [[ 8.26682994e-01 5.60134543e-01 5.33340520e-02 3.25113329e+02] [-5.59015867e-01 8.28401460e-01 -3.53875788e-02 -2.52947747e+02] [-6.40038118e-02 -5.60271733e-04 9.97949497e-01 -2.31726531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59864 meters 0.025924397367688857 Centerline is valid? [True, True] Translation: X:325.14, Y:-252.96, Z:-23.17 [[ 8.26408490e-01 5.60613067e-01 5.25547127e-02 3.25141442e+02] [-5.59525565e-01 8.28077700e-01 -3.49065050e-02 -2.52964482e+02] [-6.30884284e-02 -5.58673210e-04 9.98007785e-01 -2.31739333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62864 meters 0.025831436751169865 Centerline is valid? [True, True] Translation: X:325.17, Y:-252.98, Z:-23.18 [[ 8.25667427e-01 5.61683811e-01 5.27692835e-02 3.25169170e+02] [-5.60587034e-01 8.27351754e-01 -3.50892159e-02 -2.52981467e+02] [-6.33678038e-02 -6.09753520e-04 9.97990055e-01 -2.31762077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65864 meters 0.025831436751169865 Centerline is valid? [True, True] Translation: X:325.20, Y:-253.00, Z:-23.18 [[ 8.25363765e-01 5.62131610e-01 5.27513857e-02 3.25196421e+02] [-5.61034028e-01 8.27047567e-01 -3.51161053e-02 -2.52999223e+02] [-6.33677780e-02 -6.11761533e-04 9.97990055e-01 -2.31778359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68864 meters 0.025923235086577335 Centerline is valid? [True, True] Translation: X:325.22, Y:-253.02, Z:-23.18 [[ 8.24861853e-01 5.62698072e-01 5.45325855e-02 3.25224827e+02] [-5.61523487e-01 8.26662245e-01 -3.63442828e-02 -2.53015340e+02] [-6.55308874e-02 -6.42315113e-04 9.97850335e-01 -2.31794885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71864 meters 0.025967539937381653 Centerline is valid? [True, True] Translation: X:325.25, Y:-253.03, Z:-23.18 [[ 8.24361934e-01 5.63360821e-01 5.52447913e-02 3.25253155e+02] [-5.62154197e-01 8.26210708e-01 -3.68581621e-02 -2.53031621e+02] [-6.64082826e-02 -6.71625433e-04 9.97792308e-01 -2.31809223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74864 meters 0.0261539693966581 Centerline is valid? [True, True] Translation: X:325.28, Y:-253.05, Z:-23.18 [[ 8.23170749e-01 5.65054905e-01 5.57034321e-02 3.25281314e+02] [-5.63829207e-01 8.25052935e-01 -3.72059127e-02 -2.53047342e+02] [-6.69816636e-02 -7.80402940e-04 9.97753901e-01 -2.31829052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77864 meters 0.02618209942943556 Centerline is valid? [True, True] Translation: X:325.31, Y:-253.06, Z:-23.18 [[ 8.22772729e-01 5.65602410e-01 5.60263384e-02 3.25308280e+02] [-5.64361561e-01 8.24677676e-01 -3.74534330e-02 -2.53064619e+02] [-6.73874225e-02 -8.03448534e-04 9.97726561e-01 -2.31848457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80864 meters 0.02624323619599112 Centerline is valid? [True, True] Translation: X:325.34, Y:-253.08, Z:-23.19 [[ 8.22319381e-01 5.66050455e-01 5.81181463e-02 3.25335379e+02] [-5.64714706e-01 8.24370156e-01 -3.88734754e-02 -2.53081599e+02] [-6.99152137e-02 -8.53759638e-04 9.97552572e-01 -2.31884624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83864 meters 0.026127075452182028 Centerline is valid? [True, True] Translation: X:325.36, Y:-253.10, Z:-23.19 [[ 8.22080101e-01 5.66431272e-01 5.77920646e-02 3.25363376e+02] [-5.65108588e-01 8.24108546e-01 -3.86961013e-02 -2.53099344e+02] [-6.95456162e-02 -8.47497148e-04 9.97578412e-01 -2.31900594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86864 meters 0.026301385462741876 Centerline is valid? [True, True] Translation: X:325.39, Y:-253.12, Z:-23.19 [[ 8.21668025e-01 5.67135781e-01 5.67332700e-02 3.25390597e+02] [-5.65859998e-01 8.23623867e-01 -3.80287939e-02 -2.53116943e+02] [-6.82943649e-02 -8.56044126e-04 9.97664847e-01 -2.31922924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89864 meters 0.026474871159808795 Centerline is valid? [True, True] Translation: X:325.42, Y:-253.13, Z:-23.19 [[ 8.20726290e-01 5.68507850e-01 5.66319863e-02 3.25418493e+02] [-5.67237187e-01 8.22677305e-01 -3.80003290e-02 -2.53134622e+02] [-6.81933352e-02 -9.35899557e-04 9.97671686e-01 -2.31934703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters 0.026478577795048665 Centerline is valid? [True, True] Translation: X:325.45, Y:-253.15, Z:-23.19 [[ 8.20317906e-01 5.69118816e-01 5.64119325e-02 3.25445819e+02] [-5.67856520e-01 8.22254751e-01 -3.78958628e-02 -2.53152440e+02] [-6.79522281e-02 -9.47228835e-04 9.97688126e-01 -2.31944326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95864 meters 0.026506572589303924 Centerline is valid? [True, True] Translation: X:325.47, Y:-253.17, Z:-23.20 [[ 8.19537805e-01 5.70218870e-01 5.66412055e-02 3.25472880e+02] [-5.68945903e-01 8.21492196e-01 -3.80937312e-02 -2.53171103e+02] [-6.82520726e-02 -1.00652897e-03 9.97667601e-01 -2.31969186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters 0.026512195471462666 Centerline is valid? [True, True] Translation: X:325.50, Y:-253.19, Z:-23.20 [[ 8.19311345e-01 5.70658281e-01 5.54801403e-02 3.25499867e+02] [-5.69435288e-01 8.21187038e-01 -3.73537409e-02 -2.53189299e+02] [-6.68757936e-02 -9.88006002e-04 9.97760819e-01 -2.31978653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01864 meters 0.02646227176966727 Centerline is valid? [True, True] Translation: X:325.53, Y:-253.21, Z:-23.20 [[ 8.19048755e-01 5.70961054e-01 5.62371034e-02 3.25527370e+02] [-5.69702428e-01 8.20976545e-01 -3.79032565e-02 -2.53207525e+02] [-6.78106261e-02 -9.93799283e-04 9.97697715e-01 -2.32012829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters 0.02638285358349038 Centerline is valid? [True, True] Translation: X:325.55, Y:-253.23, Z:-23.20 [[ 8.18770855e-01 5.71409694e-01 5.57247525e-02 3.25554473e+02] [-5.70172047e-01 8.20664358e-01 -3.76011714e-02 -2.53227214e+02] [-6.72169921e-02 -9.85952911e-04 9.97737893e-01 -2.32017654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07864 meters 0.026367822123589325 Centerline is valid? [True, True] Translation: X:325.58, Y:-253.25, Z:-23.20 [[ 8.18568364e-01 5.71710309e-01 5.56161460e-02 3.25581596e+02] [-5.70475274e-01 8.20454981e-01 -3.75710893e-02 -2.53245910e+02] [-6.71103231e-02 -9.73130987e-04 9.97745086e-01 -2.32030549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters 0.026284523324178032 Centerline is valid? [True, True] Translation: X:325.61, Y:-253.26, Z:-23.20 [[ 8.17853292e-01 5.72668885e-01 5.62702545e-02 3.25607157e+02] [-5.71403983e-01 8.19786124e-01 -3.80552163e-02 -2.53264694e+02] [-6.79226121e-02 -1.02946367e-03 9.97690062e-01 -2.32047190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13864 meters 0.02633360688384417 Centerline is valid? [True, True] Translation: X:325.63, Y:-253.28, Z:-23.21 [[ 8.17539854e-01 5.73112908e-01 5.63043646e-02 3.25634414e+02] [-5.71844943e-01 8.19475760e-01 -3.81161352e-02 -2.53283781e+02] [-6.79849111e-02 -1.03590654e-03 9.97685812e-01 -2.32071226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters 0.026235516657031693 Centerline is valid? [True, True] Translation: X:325.66, Y:-253.30, Z:-23.21 [[ 8.16972904e-01 5.74066088e-01 5.48032845e-02 3.25660432e+02] [-5.72864345e-01 8.18808293e-01 -3.71405815e-02 -2.53303059e+02] [-6.61945321e-02 -1.05199891e-03 9.97806182e-01 -2.32073010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.19864 meters 0.026276302164428694 Centerline is valid? [True, True] Translation: X:325.69, Y:-253.32, Z:-23.21 [[ 8.15270384e-01 5.76530429e-01 5.42850356e-02 3.25685241e+02] [-5.75354359e-01 8.17074783e-01 -3.68260911e-02 -2.53323128e+02] [-6.55862957e-02 -1.20991039e-03 9.97846167e-01 -2.32093177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22864 meters 0.0261505065293931 Centerline is valid? [True, True] Translation: X:325.71, Y:-253.34, Z:-23.21 [[ 8.13322437e-01 5.79288155e-01 5.41465270e-02 3.25711126e+02] [-5.78121758e-01 8.15121634e-01 -3.67689407e-02 -2.53342980e+02] [-6.54358174e-02 -1.39828091e-03 9.97855801e-01 -2.32111620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.25864 meters 0.02611032580903273 Centerline is valid? [True, True] Translation: X:325.74, Y:-253.36, Z:-23.21 [[ 8.11728631e-01 5.81400684e-01 5.54064586e-02 3.25736655e+02] [-5.80181699e-01 8.13615859e-01 -3.76620543e-02 -2.53361634e+02] [-6.69763175e-02 -1.57444548e-03 9.97753323e-01 -2.32134799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28864 meters 0.025805553762362602 Centerline is valid? [True, True] Translation: X:325.76, Y:-253.38, Z:-23.22 [[ 8.10562547e-01 5.83019901e-01 5.54630717e-02 3.25762660e+02] [-5.81799809e-01 8.12456134e-01 -3.77360997e-02 -2.53379894e+02] [-6.70622099e-02 -1.68093543e-03 9.97747380e-01 -2.32152976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.31864 meters 0.02561610570438718 Centerline is valid? [True, True] Translation: X:325.79, Y:-253.40, Z:-23.22 [[ 8.08480742e-01 5.85901396e-01 5.54837267e-02 3.25788895e+02] [-5.84684623e-01 8.10380147e-01 -3.77876748e-02 -2.53398063e+02] [-6.71027620e-02 -1.88987444e-03 9.97744280e-01 -2.32163245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34864 meters 0.025565059512389493 Centerline is valid? [True, True] Translation: X:325.82, Y:-253.42, Z:-23.22 [[ 8.07256348e-01 5.87629880e-01 5.50301125e-02 3.25815831e+02] [-5.86434473e-01 8.09127417e-01 -3.75157514e-02 -2.53415807e+02] [-6.65717493e-02 -1.98672661e-03 9.97779663e-01 -2.32187097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.37864 meters 0.02523492825357487 Centerline is valid? [True, True] Translation: X:325.84, Y:-253.43, Z:-23.22 [[ 8.06698930e-01 5.88319991e-01 5.58249540e-02 3.25843282e+02] [-5.87088837e-01 8.08625635e-01 -3.80956816e-02 -2.53433435e+02] [-6.75539398e-02 -2.04246175e-03 9.97713533e-01 -2.32211546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40864 meters 0.02514920558126994 Centerline is valid? [True, True] Translation: X:325.87, Y:-253.45, Z:-23.22 [[ 8.06462343e-01 5.88642936e-01 5.58389122e-02 3.25870338e+02] [-5.87409293e-01 8.08390586e-01 -3.81442524e-02 -2.53451972e+02] [-6.75929957e-02 -2.03839280e-03 9.97710896e-01 -2.32224169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43864 meters 0.02520286651315988 Centerline is valid? [True, True] Translation: X:325.90, Y:-253.47, Z:-23.22 [[ 8.06384260e-01 5.88689189e-01 5.64753466e-02 3.25897536e+02] [-5.87424328e-01 8.08356925e-01 -3.86230662e-02 -2.53471501e+02] [-6.83892190e-02 -2.02995987e-03 9.97656651e-01 -2.32239062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46864 meters 0.02513239729437429 Centerline is valid? [True, True] Translation: X:325.92, Y:-253.49, Z:-23.23 [[ 8.05814676e-01 5.89533164e-01 5.57974665e-02 3.25923861e+02] [-5.88297607e-01 8.07741594e-01 -3.82026648e-02 -2.53491324e+02] [-6.75916723e-02 -2.04124803e-03 9.97710980e-01 -2.32253365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49864 meters 0.025108641938097687 Centerline is valid? [True, True] Translation: X:325.95, Y:-253.51, Z:-23.23 [[ 8.05395306e-01 5.90124024e-01 5.56060979e-02 3.25951016e+02] [-5.88895425e-01 8.07310002e-01 -3.81148043e-02 -2.53509706e+02] [-6.73838207e-02 -2.04869215e-03 9.97725024e-01 -2.32270119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52864 meters 0.025205248513529822 Centerline is valid? [True, True] Translation: X:325.98, Y:-253.53, Z:-23.23 [[ 8.05022706e-01 5.90598525e-01 5.59627113e-02 3.25978745e+02] [-5.89352268e-01 8.06962894e-01 -3.84030134e-02 -2.53527642e+02] [-6.78405945e-02 -2.06645314e-03 9.97694033e-01 -2.32296657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55864 meters 0.02505915480765903 Centerline is valid? [True, True] Translation: X:326.01, Y:-253.55, Z:-23.23 [[ 8.05306263e-01 5.90123523e-01 5.68862918e-02 3.26006417e+02] [-5.88831472e-01 8.07310431e-01 -3.90815357e-02 -2.53545692e+02] [-6.89878302e-02 -2.02383343e-03 9.97615449e-01 -2.32317818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58864 meters 0.025080992990865646 Centerline is valid? [True, True] Translation: X:326.03, Y:-253.56, Z:-23.23 [[ 8.05495893e-01 5.89825871e-01 5.72870729e-02 3.26033842e+02] [-5.88511661e-01 8.07528041e-01 -3.94016329e-02 -2.53564167e+02] [-6.95010202e-02 -1.97625698e-03 9.97579923e-01 -2.32340559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61864 meters 0.024821546782971615 Centerline is valid? [True, True] Translation: X:326.06, Y:-253.58, Z:-23.24 [[ 8.06300115e-01 5.88564468e-01 5.89236036e-02 3.26061345e+02] [-5.87167274e-01 8.08448094e-01 -4.05742729e-02 -2.53582640e+02] [-7.15172504e-02 -1.88297077e-03 9.97437586e-01 -2.32368700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64864 meters 0.02495971076264616 Centerline is valid? [True, True] Translation: X:326.09, Y:-253.60, Z:-23.24 [[ 8.06428222e-01 5.88505742e-01 5.77452549e-02 3.26087531e+02] [-5.87160764e-01 8.08491022e-01 -3.98058273e-02 -2.53600561e+02] [-7.01124781e-02 -1.80520547e-03 9.97537459e-01 -2.32388235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67864 meters 0.024684477646262765 Centerline is valid? [True, True] Translation: X:326.12, Y:-253.62, Z:-23.24 [[ 8.07553795e-01 5.87139294e-01 5.58955998e-02 3.26115010e+02] [-5.85873359e-01 8.09484332e-01 -3.85684132e-02 -2.53617812e+02] [-6.78916432e-02 -1.60167440e-03 9.97691415e-01 -2.32400788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70864 meters 0.02481875601518663 Centerline is valid? [True, True] Translation: X:326.14, Y:-253.64, Z:-23.24 [[ 8.08011803e-01 5.86557614e-01 5.53813259e-02 3.26142715e+02] [-5.85310972e-01 8.09906101e-01 -3.82514515e-02 -2.53635124e+02] [-6.72903539e-02 -1.50767341e-03 9.97732296e-01 -2.32415076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73864 meters 0.02479564722068701 Centerline is valid? [True, True] Translation: X:326.17, Y:-253.65, Z:-23.24 [[ 8.08380226e-01 5.86043119e-01 5.54515421e-02 3.26170076e+02] [-5.84789516e-01 8.10278595e-01 -3.83382334e-02 -2.53652603e+02] [-6.73990555e-02 -1.43561073e-03 9.97725066e-01 -2.32431780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76864 meters 0.025058268184558165 Centerline is valid? [True, True] Translation: X:326.20, Y:-253.67, Z:-23.25 [[ 8.08576994e-01 5.85577636e-01 5.74636990e-02 3.26197657e+02] [-5.84227168e-01 8.10615096e-01 -3.97716298e-02 -2.53670052e+02] [-6.98703189e-02 -1.41342921e-03 9.97555082e-01 -2.32456614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79864 meters 0.02499051795423815 Centerline is valid? [True, True] Translation: X:326.23, Y:-253.69, Z:-23.25 [[ 8.08855861e-01 5.85182655e-01 5.75626276e-02 3.26225118e+02] [-5.83823324e-01 8.10900396e-01 -3.98857592e-02 -2.53687634e+02] [-7.00180120e-02 -1.34457446e-03 9.97544821e-01 -2.32481408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82864 meters 0.02500916339781446 Centerline is valid? [True, True] Translation: X:326.25, Y:-253.70, Z:-23.25 [[ 8.09978983e-01 5.83691204e-01 5.69089185e-02 3.26253027e+02] [-5.82356415e-01 8.11974879e-01 -3.94690010e-02 -2.53704656e+02] [-6.92463210e-02 -1.17221242e-03 9.97598904e-01 -2.32492096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85864 meters 0.025004356325679242 Centerline is valid? [True, True] Translation: X:326.28, Y:-253.72, Z:-23.25 [[ 8.10349856e-01 5.83269879e-01 5.59406780e-02 3.26280869e+02] [-5.81978109e-01 8.12277680e-01 -3.88130309e-02 -2.53721774e+02] [-6.80778360e-02 -1.10411606e-03 9.97679402e-01 -2.32505516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88864 meters 0.02528346321490977 Centerline is valid? [True, True] Translation: X:326.31, Y:-253.74, Z:-23.25 [[ 8.10286843e-01 5.83241444e-01 5.71371091e-02 3.26309925e+02] [-5.81891707e-01 8.12298100e-01 -3.96716390e-02 -2.53738029e+02] [-6.95505092e-02 -1.10220275e-03 9.97577822e-01 -2.32524056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91864 meters 0.025246108698178577 Centerline is valid? [True, True] Translation: X:326.34, Y:-253.76, Z:-23.25 [[ 8.10303633e-01 5.83173053e-01 5.75952429e-02 3.26338139e+02] [-5.81798151e-01 8.12347247e-01 -4.00357542e-02 -2.53755515e+02] [-7.01351100e-02 -1.06768871e-03 9.97536930e-01 -2.32540562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94864 meters 0.025501351915759054 Centerline is valid? [True, True] Translation: X:326.37, Y:-253.77, Z:-23.26 [[ 8.10051154e-01 5.83400434e-01 5.88307935e-02 3.26365696e+02] [-5.81963160e-01 8.12183958e-01 -4.09401963e-02 -2.53772756e+02] [-7.16659549e-02 -1.07370120e-03 9.97428112e-01 -2.32552739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97864 meters 0.025429472731795646 Centerline is valid? [True, True] Translation: X:326.39, Y:-253.79, Z:-23.26 [[ 8.10437562e-01 5.82897101e-01 5.84972457e-02 3.26393844e+02] [-5.81471927e-01 8.12545376e-01 -4.07481321e-02 -2.53789030e+02] [-7.12836346e-02 -9.90689336e-04 9.97455594e-01 -2.32563090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00864 meters 0.025438145441889486 Centerline is valid? [True, True] Translation: X:326.42, Y:-253.81, Z:-23.26 [[ 8.10784778e-01 5.82435017e-01 5.82880350e-02 3.26420827e+02] [-5.81015991e-01 8.12876753e-01 -4.06423705e-02 -2.53806458e+02] [-7.10525284e-02 -9.14065089e-04 9.97472156e-01 -2.32575218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03864 meters 0.025492433205403005 Centerline is valid? [True, True] Translation: X:326.45, Y:-253.82, Z:-23.26 [[ 8.12519696e-01 5.79943242e-01 5.89710023e-02 3.26448360e+02] [-5.78481769e-01 8.14656601e-01 -4.11517343e-02 -2.53823923e+02] [-7.19067865e-02 -6.77055116e-04 9.97411127e-01 -2.32605430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06864 meters 0.025510500537999924 Centerline is valid? [True, True] Translation: X:326.48, Y:-253.84, Z:-23.26 [[ 8.13399755e-01 5.78730965e-01 5.87478392e-02 3.26475158e+02] [-5.77275781e-01 8.15518343e-01 -4.10183382e-02 -2.53842287e+02] [-7.16485230e-02 -5.49398478e-04 9.97429791e-01 -2.32626595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09864 meters 0.025383658012947896 Centerline is valid? [True, True] Translation: X:326.50, Y:-253.86, Z:-23.26 [[ 8.14384333e-01 5.77458371e-01 5.76193367e-02 3.26501704e+02] [-5.76052679e-01 8.16420034e-01 -4.02695703e-02 -2.53860363e+02] [-7.02955813e-02 -3.96866142e-04 9.97526127e-01 -2.32647512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12864 meters 0.025541185689736054 Centerline is valid? [True, True] Translation: X:326.53, Y:-253.88, Z:-23.27 [[ 8.16115457e-01 5.75125504e-01 5.64465763e-02 3.26528219e+02] [-5.73768280e-01 8.18065174e-01 -3.94883792e-02 -2.53878339e+02] [-6.88877522e-02 -1.60178340e-04 9.97624404e-01 -2.32664822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15864 meters 0.025672342585065584 Centerline is valid? [True, True] Translation: X:326.56, Y:-253.90, Z:-23.27 [[ 8.17473236e-01 5.73122045e-01 5.71719288e-02 3.26555090e+02] [-5.71721859e-01 8.19470024e-01 -4.00374442e-02 -2.53897081e+02] [-6.97970237e-02 4.30976739e-05 9.97561213e-01 -2.32673121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18864 meters 0.025678172591753305 Centerline is valid? [True, True] Translation: X:326.58, Y:-253.92, Z:-23.27 [[ 8.17533064e-01 5.72990272e-01 5.76353808e-02 3.26581904e+02] [-5.71563692e-01 8.19562164e-01 -4.04079985e-02 -2.53915617e+02] [-7.03891674e-02 9.25838272e-05 9.97519602e-01 -2.32694970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21864 meters 0.025705890343799574 Centerline is valid? [True, True] Translation: X:326.61, Y:-253.93, Z:-23.27 [[ 8.17543349e-01 5.72915175e-01 5.82329343e-02 3.26608992e+02] [-5.71455319e-01 8.19614655e-01 -4.08734172e-02 -2.53933952e+02] [-7.11455673e-02 1.38270371e-04 9.97465934e-01 -2.32710174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24864 meters 0.025702508047343323 Centerline is valid? [True, True] Translation: X:326.64, Y:-253.95, Z:-23.27 [[ 8.17319708e-01 5.73357272e-01 5.70081845e-02 3.26635826e+02] [-5.71956349e-01 8.19305450e-01 -4.00563894e-02 -2.53952348e+02] [-6.96737385e-02 1.32683435e-04 9.97569823e-01 -2.32731160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27864 meters 0.025759971782309262 Centerline is valid? [True, True] Translation: X:326.66, Y:-253.97, Z:-23.28 [[ 8.17131856e-01 5.73590771e-01 5.73511714e-02 3.26662695e+02] [-5.72170581e-01 8.19141994e-01 -4.03388246e-02 -2.53971326e+02] [-7.01167304e-02 1.47485625e-04 9.97538782e-01 -2.32753500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30864 meters 0.025982430605168343 Centerline is valid? [True, True] Translation: X:326.69, Y:-253.99, Z:-23.28 [[ 8.18092793e-01 5.72216570e-01 5.73792542e-02 3.26689490e+02] [-5.70788420e-01 8.20102497e-01 -4.04038888e-02 -2.53990001e+02] [-7.01766443e-02 3.02716408e-04 9.97534534e-01 -2.32772577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33864 meters 0.02611802009169572 Centerline is valid? [True, True] Translation: X:326.72, Y:-254.01, Z:-23.28 [[ 8.18809798e-01 5.71253325e-01 5.67463987e-02 3.26716348e+02] [-5.69851144e-01 8.20773699e-01 -4.00026226e-02 -2.54008481e+02] [-6.94275827e-02 4.17539112e-04 9.97586907e-01 -2.32788883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36864 meters 0.026189524664230218 Centerline is valid? [True, True] Translation: X:326.74, Y:-254.03, Z:-23.28 [[ 8.19401082e-01 5.70433246e-01 5.64604191e-02 3.26742896e+02] [-5.69040170e-01 8.21343802e-01 -3.98452508e-02 -2.54027603e+02] [-6.91024711e-02 5.20995105e-04 9.97609431e-01 -2.32795713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39864 meters 0.026292196692658126 Centerline is valid? [True, True] Translation: X:326.77, Y:-254.05, Z:-23.28 [[ 8.20690758e-01 5.68511775e-01 5.71055279e-02 3.26769541e+02] [-5.67078965e-01 8.22674805e-01 -4.03436780e-02 -2.54045799e+02] [-6.99151350e-02 7.26340013e-04 9.97552679e-01 -2.32820265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters 0.02646457753419241 Centerline is valid? [True, True] Translation: X:326.80, Y:-254.06, Z:-23.28 [[ 8.22083807e-01 5.66549247e-01 5.65700102e-02 3.26796720e+02] [-5.65135828e-01 8.24027372e-01 -4.00048378e-02 -2.54064662e+02] [-6.92799475e-02 9.17589835e-04 9.97596836e-01 -2.32834676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45864 meters 0.02660885572128669 Centerline is valid? [True, True] Translation: X:326.82, Y:-254.08, Z:-23.29 [[ 8.21766937e-01 5.66993255e-01 5.67252172e-02 3.26822720e+02] [-5.65570077e-01 8.23721922e-01 -4.01582296e-02 -2.54084997e+02] [-6.94952503e-02 9.18619858e-04 9.97581859e-01 -2.32860012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters 0.02658968900799121 Centerline is valid? [True, True] Translation: X:326.85, Y:-254.11, Z:-23.29 [[ 8.21319304e-01 5.67729339e-01 5.58390364e-02 3.26847965e+02] [-5.66349220e-01 8.23214813e-01 -3.95718687e-02 -2.54105763e+02] [-6.84336328e-02 8.76745013e-04 9.97655286e-01 -2.32863171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51864 meters 0.02658968900799121 Centerline is valid? [True, True] Translation: X:326.87, Y:-254.12, Z:-23.29 [[ 8.21026982e-01 5.68153817e-01 5.58205565e-02 3.26874688e+02] [-5.66772906e-01 8.22921914e-01 -3.95979230e-02 -2.54124315e+02] [-6.84336703e-02 8.73384215e-04 9.97655286e-01 -2.32879456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters 0.026041891349923352 Centerline is valid? [True, True] Translation: X:326.90, Y:-254.15, Z:-23.29 [[ 8.18237266e-01 5.72167220e-01 5.57893335e-02 3.26898994e+02] [-5.70794269e-01 8.20136785e-01 -3.96176326e-02 -2.54146325e+02] [-6.84227953e-02 5.72391533e-04 9.97656250e-01 -2.32904127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57864 meters 0.02612979655946293 Centerline is valid? [True, True] Translation: X:326.92, Y:-254.17, Z:-23.29 [[ 8.16409680e-01 5.74844996e-01 5.50314929e-02 3.26924282e+02] [-5.73512680e-01 8.18262238e-01 -3.91166792e-02 -2.54165680e+02] [-6.75162199e-02 3.73976574e-04 9.97718107e-01 -2.32910206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters 0.025942677622266694 Centerline is valid? [True, True] Translation: X:326.95, Y:-254.19, Z:-23.29 [[ 8.12801789e-01 5.79845321e-01 5.59701233e-02 3.26948782e+02] [-5.78476112e-01 8.14726582e-01 -3.98244264e-02 -2.54188989e+02] [-6.86923546e-02 -8.01426941e-06 9.97637890e-01 -2.32933360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63864 meters 0.02604656896839559 Centerline is valid? [True, True] Translation: X:326.97, Y:-254.21, Z:-23.30 [[ 8.11317340e-01 5.81936568e-01 5.58032704e-02 3.26974262e+02] [-5.80577399e-01 8.13234166e-01 -3.97501608e-02 -2.54209485e+02] [-6.85131982e-02 -1.48122859e-04 9.97650199e-01 -2.32952872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters 0.02592821513101962 Centerline is valid? [True, True] Translation: X:327.00, Y:-254.23, Z:-23.30 [[ 8.09525781e-01 5.84412136e-01 5.59505709e-02 3.27000816e+02] [-5.83048561e-01 8.11456932e-01 -3.99001677e-02 -2.54229276e+02] [-6.87196208e-02 -3.21685424e-04 9.97635961e-01 -2.32964827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69864 meters 0.026052410121761033 Centerline is valid? [True, True] Translation: X:327.03, Y:-254.25, Z:-23.30 [[ 8.06824709e-01 5.88167244e-01 5.56163755e-02 3.27028417e+02] [-5.86825769e-01 8.08739100e-01 -3.97062446e-02 -2.54247298e+02] [-6.83330500e-02 -6.01143028e-04 9.97662384e-01 -2.32985972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72864 meters 0.026057196321655023 Centerline is valid? [True, True] Translation: X:327.06, Y:-254.27, Z:-23.30 [[ 8.05381358e-01 5.90093160e-01 5.61331591e-02 3.27055441e+02] [-5.88728241e-01 8.07334826e-01 -4.01190323e-02 -2.54265341e+02] [-6.89922207e-02 -7.36055367e-04 9.97616926e-01 -2.33004933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75864 meters 0.026087507230839226 Centerline is valid? [True, True] Translation: X:327.08, Y:-254.28, Z:-23.30 [[ 8.03922745e-01 5.92107985e-01 5.58243096e-02 3.27083176e+02] [-5.90760104e-01 8.05858161e-01 -3.99390000e-02 -2.54283930e+02] [-6.86346763e-02 -8.70904471e-04 9.97641480e-01 -2.33012674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78864 meters 0.02621828973795835 Centerline is valid? [True, True] Translation: X:327.11, Y:-254.30, Z:-23.30 [[ 8.02953376e-01 5.93495178e-01 5.50395259e-02 3.27110881e+02] [-5.92185259e-01 8.04836996e-01 -3.94211797e-02 -2.54301650e+02] [-6.76941268e-02 -9.40226534e-04 9.97705679e-01 -2.33017245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81864 meters 0.026299366367191858 Centerline is valid? [True, True] Translation: X:327.14, Y:-254.32, Z:-23.30 [[ 8.01785752e-01 5.95078849e-01 5.49615444e-02 3.27139116e+02] [-5.93773367e-01 8.03666652e-01 -3.94093996e-02 -2.54318793e+02] [-6.76224606e-02 -1.03680612e-03 9.97710443e-01 -2.33033521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84864 meters 0.026464539664002012 Centerline is valid? [True, True] Translation: X:327.17, Y:-254.33, Z:-23.31 [[ 7.99561239e-01 5.97944581e-01 5.62503592e-02 3.27168205e+02] [-5.96581060e-01 8.01536435e-01 -4.03779865e-02 -2.54333911e+02] [-6.92305106e-02 -1.27322603e-03 9.97599877e-01 -2.33061524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87864 meters 0.026611345568256596 Centerline is valid? [True, True] Translation: X:327.20, Y:-254.35, Z:-23.31 [[ 7.97507434e-01 6.00727034e-01 5.57577225e-02 3.27196829e+02] [-5.99391417e-01 7.99452857e-01 -4.00631886e-02 -2.54349919e+02] [-6.86427110e-02 -1.47000962e-03 9.97640224e-01 -2.33080025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90864 meters 0.02672441384674322 Centerline is valid? [True, True] Translation: X:327.23, Y:-254.37, Z:-23.31 [[ 7.97035192e-01 6.01339924e-01 5.59034821e-02 3.27225476e+02] [-5.99995981e-01 7.98991905e-01 -4.02089281e-02 -2.54366682e+02] [-6.88456634e-02 -1.49393387e-03 9.97626204e-01 -2.33096588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93864 meters 0.02648848869762194 Centerline is valid? [True, True] Translation: X:327.25, Y:-254.38, Z:-23.31 [[ 7.97062739e-01 6.01399571e-01 5.48593310e-02 3.27254116e+02] [-6.00102698e-01 7.98947114e-01 -3.95001299e-02 -2.54382697e+02] [-6.75850653e-02 -1.43715078e-03 9.97712480e-01 -2.33104199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96864 meters 0.0263559262571244 Centerline is valid? [True, True] Translation: X:327.28, Y:-254.40, Z:-23.31 [[ 7.97483050e-01 6.00887256e-01 5.43625833e-02 3.27282235e+02] [-5.99610044e-01 7.99332648e-01 -3.91805113e-02 -2.54398570e+02] [-6.69968576e-02 -1.35055728e-03 9.97752272e-01 -2.33122672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99864 meters 0.0262121848014294 Centerline is valid? [True, True] Translation: X:327.31, Y:-254.41, Z:-23.31 [[ 8.00257776e-01 5.97144761e-01 5.48235977e-02 3.27311900e+02] [-5.95834319e-01 8.02132848e-01 -3.95519659e-02 -2.54411884e+02] [-6.75940578e-02 -1.01401276e-03 9.97712391e-01 -2.33144201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02864 meters 0.025538510375295444 Centerline is valid? [True, True] Translation: X:327.34, Y:-254.43, Z:-23.32 [[ 8.04167206e-01 5.91944263e-01 5.40101260e-02 3.27341900e+02] [-5.90658161e-01 8.05978722e-01 -3.90030179e-02 -2.54425165e+02] [-6.66186250e-02 -5.36573779e-04 9.97778368e-01 -2.33152437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05864 meters 0.025350049530416245 Centerline is valid? [True, True] Translation: X:327.37, Y:-254.44, Z:-23.32 [[ 8.06537933e-01 5.88658640e-01 5.45670986e-02 3.27370913e+02] [-5.87336127e-01 8.08381684e-01 -3.94376420e-02 -2.54440745e+02] [-6.73263518e-02 -2.41274068e-04 9.97730978e-01 -2.33171759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08864 meters 0.025268316929748968 Centerline is valid? [True, True] Translation: X:327.40, Y:-254.46, Z:-23.32 [[ 8.08296384e-01 5.86258999e-01 5.43814477e-02 3.27400051e+02] [-5.84938603e-01 8.10123685e-01 -3.93248694e-02 -2.54457251e+02] [-6.71102574e-02 -2.36582788e-05 9.97745565e-01 -2.33197907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11864 meters 0.025463770774731234 Centerline is valid? [True, True] Translation: X:327.43, Y:-254.47, Z:-23.32 [[ 8.12889080e-01 5.79808434e-01 5.50774262e-02 3.27427667e+02] [-5.78436654e-01 8.14752650e-01 -3.98642264e-02 -2.54473660e+02] [-6.79880937e-02 5.46392165e-04 9.97685983e-01 -2.33216159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14864 meters 0.025609080767738518 Centerline is valid? [True, True] Translation: X:327.45, Y:-254.49, Z:-23.32 [[ 8.14951407e-01 5.76909287e-01 5.50443460e-02 3.27453867e+02] [-5.75531302e-01 8.16807829e-01 -3.98583803e-02 -2.54491744e+02] [-6.79553225e-02 8.02898997e-04 9.97688042e-01 -2.33233300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17864 meters 0.02615027881251004 Centerline is valid? [True, True] Translation: X:327.48, Y:-254.51, Z:-23.32 [[ 8.19101339e-01 5.71050957e-01 5.45325639e-02 3.27481651e+02] [-5.69683429e-01 8.20913581e-01 -3.95181452e-02 -2.54508708e+02] [-6.73333969e-02 1.30306766e-03 9.97729681e-01 -2.33243394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20864 meters 0.026562825505433686 Centerline is valid? [True, True] Translation: X:327.51, Y:-254.53, Z:-23.33 [[ 8.20743755e-01 5.68691563e-01 5.44939895e-02 3.27508422e+02] [-5.67320059e-01 8.22549478e-01 -3.95007285e-02 -2.54526558e+02] [-6.72877336e-02 1.50444286e-03 9.97732478e-01 -2.33266623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23864 meters 0.026801363468722895 Centerline is valid? [True, True] Translation: X:327.53, Y:-254.55, Z:-23.33 [[ 8.21962363e-01 5.66957729e-01 5.41923286e-02 3.27534923e+02] [-5.65596922e-01 8.23745243e-01 -3.92924597e-02 -2.54545478e+02] [-6.69178366e-02 1.64590880e-03 9.97757132e-01 -2.33287676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26864 meters 0.027070875568688875 Centerline is valid? [True, True] Translation: X:327.56, Y:-254.57, Z:-23.33 [[ 8.23196666e-01 5.65104364e-01 5.48115577e-02 3.27559899e+02] [-5.63707418e-01 8.25017408e-01 -3.97520291e-02 -2.54565775e+02] [-6.76845343e-02 1.82605615e-03 9.97705101e-01 -2.33313539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29864 meters 0.02720227860286245 Centerline is valid? [True, True] Translation: X:327.59, Y:-254.58, Z:-23.33 [[ 8.23228600e-01 5.64996528e-01 5.54400196e-02 3.27585174e+02] [-5.63565915e-01 8.25091162e-01 -4.02247861e-02 -2.54584932e+02] [-6.84699347e-02 1.87008897e-03 9.97651428e-01 -2.33328526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32864 meters 0.027093419799810732 Centerline is valid? [True, True] Translation: X:327.61, Y:-254.61, Z:-23.33 [[ 8.22996921e-01 5.65375115e-01 5.50186094e-02 3.27611277e+02] [-5.63964622e-01 8.24831827e-01 -3.99545193e-02 -2.54605947e+02] [-6.79703911e-02 1.85389714e-03 9.97685616e-01 -2.33344148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35864 meters 0.02699057455652814 Centerline is valid? [True, True] Translation: X:327.64, Y:-254.63, Z:-23.34 [[ 8.22952263e-01 5.65471439e-01 5.46957518e-02 3.27637476e+02] [-5.64074902e-01 8.24765760e-01 -3.97611081e-02 -2.54626594e+02] [-6.75949544e-02 1.86899302e-03 9.97711095e-01 -2.33358770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38864 meters 0.027454387536297753 Centerline is valid? [True, True] Translation: X:327.66, Y:-254.65, Z:-23.34 [[ 8.23461651e-01 5.64580641e-01 5.62104022e-02 3.27661689e+02] [-5.63100594e-01 8.25375415e-01 -4.09040991e-02 -2.54648122e+02] [-6.94883466e-02 2.03084614e-03 9.97580696e-01 -2.33393145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41864 meters 0.02779765170354029 Centerline is valid? [True, True] Translation: X:327.69, Y:-254.67, Z:-23.34 [[ 8.24108819e-01 5.63505376e-01 5.75008340e-02 3.27686742e+02] [-5.61951129e-01 8.26109460e-01 -4.18818363e-02 -2.54667807e+02] [-7.11026228e-02 2.20253207e-03 9.97466574e-01 -2.33422605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44864 meters 0.027932332038622117 Centerline is valid? [True, True] Translation: X:327.71, Y:-254.69, Z:-23.34 [[ 8.24466374e-01 5.62984431e-01 5.74780714e-02 3.27711511e+02] [-5.61427465e-01 8.26464363e-01 -4.19029713e-02 -2.54688051e+02] [-7.10942980e-02 2.27782290e-03 9.97466998e-01 -2.33421444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47864 meters 0.028212163966520556 Centerline is valid? [True, True] Translation: X:327.73, Y:-254.71, Z:-23.35 [[ 8.25096976e-01 5.62000414e-01 5.80561296e-02 3.27734799e+02] [-5.60406756e-01 8.27133416e-01 -4.23624899e-02 -2.54710383e+02] [-7.18279017e-02 2.41811504e-03 9.97414109e-01 -2.33452549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50864 meters 0.027964693657469758 Centerline is valid? [True, True] Translation: X:327.76, Y:-254.73, Z:-23.35 [[ 8.24768966e-01 5.62537243e-01 5.75152412e-02 3.27758572e+02] [-5.60971823e-01 8.26768520e-01 -4.20051086e-02 -2.54731960e+02] [-7.11812288e-02 2.38008026e-03 9.97460560e-01 -2.33467124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53864 meters 0.027739986057887783 Centerline is valid? [True, True] Translation: X:327.78, Y:-254.76, Z:-23.35 [[ 8.23090007e-01 5.64934563e-01 5.80670333e-02 3.27780371e+02] [-5.63342098e-01 8.25132708e-01 -4.24463752e-02 -2.54757373e+02] [-7.18924329e-02 2.22558292e-03 9.97409908e-01 -2.33484565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56864 meters 0.027330240616309738 Centerline is valid? [True, True] Translation: X:327.80, Y:-254.78, Z:-23.35 [[ 8.21911067e-01 5.66637376e-01 5.81745761e-02 3.27804337e+02] [-5.65040475e-01 8.23964576e-01 -4.25633565e-02 -2.54779371e+02] [-7.20517786e-02 2.11230363e-03 9.97398656e-01 -2.33497195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59864 meters 0.026983081373045538 Centerline is valid? [True, True] Translation: X:327.83, Y:-254.80, Z:-23.35 [[ 8.20965672e-01 5.67989817e-01 5.83346633e-02 3.27828002e+02] [-5.66384711e-01 8.23033075e-01 -4.27190319e-02 -2.54800762e+02] [-7.22753324e-02 2.03099738e-03 9.97382650e-01 -2.33515347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62864 meters 0.026725392578361457 Centerline is valid? [True, True] Translation: X:327.85, Y:-254.83, Z:-23.35 [[ 8.19862864e-01 5.69667509e-01 5.74788045e-02 3.27849871e+02] [-5.68111146e-01 8.21873100e-01 -4.21228385e-02 -2.54826106e+02] [-7.12362957e-02 1.88060155e-03 9.97457695e-01 -2.33545496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65864 meters 0.02628766113343808 Centerline is valid? [True, True] Translation: X:327.87, Y:-254.85, Z:-23.36 [[ 8.17513610e-01 5.72920827e-01 5.85937227e-02 3.27870181e+02] [-5.71310114e-01 8.19609062e-01 -4.29620729e-02 -2.54852496e+02] [-7.26378124e-02 1.64689284e-03 9.97357025e-01 -2.33571403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68864 meters 0.02593018375518525 Centerline is valid? [True, True] Translation: X:327.89, Y:-254.87, Z:-23.36 [[ 8.15749927e-01 5.75379043e-01 5.90847944e-02 3.27893335e+02] [-5.73744653e-01 8.17885558e-01 -4.33622761e-02 -2.54874646e+02] [-7.32743449e-02 1.47318869e-03 9.97310734e-01 -2.33584948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71864 meters 0.025680041096013736 Centerline is valid? [True, True] Translation: X:327.92, Y:-254.90, Z:-23.36 [[ 8.13954088e-01 5.77916293e-01 5.90889156e-02 3.27917652e+02] [-5.76285379e-01 8.16095046e-01 -4.34055051e-02 -2.54896614e+02] [-7.33069199e-02 1.27801020e-03 9.97308609e-01 -2.33589372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74864 meters 0.02512868556918386 Centerline is valid? [True, True] Translation: X:327.94, Y:-254.92, Z:-23.36 [[ 8.09546057e-01 5.83986261e-01 5.99602319e-02 3.27940170e+02] [-5.82320906e-01 8.11763179e-01 -4.40783882e-02 -2.54921113e+02] [-7.44146816e-02 7.67388804e-04 9.97227089e-01 -2.33608579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77864 meters 0.024975287740351546 Centerline is valid? [True, True] Translation: X:327.96, Y:-254.94, Z:-23.36 [[ 8.07015995e-01 5.87506381e-01 5.96777626e-02 3.27963886e+02] [-5.85864538e-01 8.09219402e-01 -4.38942293e-02 -2.54942853e+02] [-7.40805431e-02 4.60260335e-04 9.97252155e-01 -2.33616861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80864 meters 0.02510080533957619 Centerline is valid? [True, True] Translation: X:327.99, Y:-254.97, Z:-23.37 [[ 8.03097252e-01 5.92675737e-01 6.14025679e-02 3.27986220e+02] [-5.90949123e-01 8.05441165e-01 -4.52068960e-02 -2.54965853e+02] [-7.62491862e-02 1.97403063e-05 9.97088793e-01 -2.33660618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83864 meters 0.025212885513429234 Centerline is valid? [True, True] Translation: X:328.01, Y:-254.99, Z:-23.37 [[ 8.01388567e-01 5.94948841e-01 6.17433530e-02 3.28012078e+02] [-5.93206136e-01 8.03763554e-01 -4.55041653e-02 -2.54986449e+02] [-7.66997073e-02 -1.60018064e-04 9.97054226e-01 -2.33682001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86864 meters 0.02524114327892946 Centerline is valid? [True, True] Translation: X:328.04, Y:-255.01, Z:-23.37 [[ 7.99781575e-01 5.97135581e-01 6.14697538e-02 3.28038005e+02] [-5.95410905e-01 8.02140256e-01 -4.53526566e-02 -2.55007183e+02] [-7.63890490e-02 -3.27542665e-04 9.97078034e-01 -2.33697597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89864 meters 0.025257609130365018 Centerline is valid? [True, True] Translation: X:328.06, Y:-255.03, Z:-23.37 [[ 7.98459212e-01 5.99049499e-01 6.00215304e-02 3.28062830e+02] [-5.97407176e-01 8.00711861e-01 -4.43303562e-02 -2.55028122e+02] [-7.46160290e-02 -4.61311716e-04 9.97212232e-01 -2.33716546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters 0.025268350663089204 Centerline is valid? [True, True] Translation: X:328.09, Y:-255.05, Z:-23.37 [[ 7.98197075e-01 5.99413042e-01 5.98784963e-02 3.28089014e+02] [-5.97776221e-01 8.00439751e-01 -4.42695578e-02 -2.55047536e+02] [-7.44648790e-02 -4.58109742e-04 9.97223532e-01 -2.33736939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95864 meters 0.025312858669085548 Centerline is valid? [True, True] Translation: X:328.12, Y:-255.07, Z:-23.37 [[ 7.97604236e-01 6.00281051e-01 5.90774293e-02 3.28115050e+02] [-5.98686758e-01 7.99788981e-01 -4.37235785e-02 -2.55066063e+02] [-7.34959127e-02 -4.94763203e-04 9.97295396e-01 -2.33746287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters 0.025322907517483444 Centerline is valid? [True, True] Translation: X:328.14, Y:-255.09, Z:-23.38 [[ 7.97608956e-01 6.00247882e-01 5.93500964e-02 3.28142010e+02] [-5.98635387e-01 7.99813897e-01 -4.39704807e-02 -2.55085536e+02] [-7.38622198e-02 -4.57818774e-04 9.97268351e-01 -2.33769274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01864 meters 0.025376460741817774 Centerline is valid? [True, True] Translation: X:328.17, Y:-255.11, Z:-23.38 [[ 7.96891044e-01 6.01225757e-01 5.90952868e-02 3.28167613e+02] [-5.99626171e-01 7.99079053e-01 -4.38306144e-02 -2.55105709e+02] [-7.35739001e-02 -5.06856533e-04 9.97289639e-01 -2.33785035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters 0.025469742663834914 Centerline is valid? [True, True] Translation: X:328.19, Y:-255.13, Z:-23.38 [[ 7.96651851e-01 6.01500417e-01 5.95237543e-02 3.28192941e+02] [-5.99874588e-01 7.98872332e-01 -4.41981458e-02 -2.55126701e+02] [-7.41370836e-02 -4.96252918e-04 9.97247936e-01 -2.33809399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07864 meters 0.025314411704319747 Centerline is valid? [True, True] Translation: X:328.22, Y:-255.15, Z:-23.38 [[ 7.96035330e-01 6.02358151e-01 5.90966317e-02 3.28219381e+02] [-6.00754351e-01 7.98225766e-01 -4.39298984e-02 -2.55146846e+02] [-7.36339865e-02 -5.32807455e-04 9.97285191e-01 -2.33822150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters 0.02547729784170272 Centerline is valid? [True, True] Translation: X:328.25, Y:-255.17, Z:-23.38 [[ 7.96628843e-01 6.01621635e-01 5.85994436e-02 3.28245047e+02] [-6.00039331e-01 7.98781090e-01 -4.36070141e-02 -2.55166678e+02] [-7.30430505e-02 -4.23365713e-04 9.97328699e-01 -2.33841220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13864 meters 0.025629740118484328 Centerline is valid? [True, True] Translation: X:328.27, Y:-255.19, Z:-23.39 [[ 7.96343309e-01 6.01997937e-01 5.86158438e-02 3.28271185e+02] [-6.00412480e-01 7.98497530e-01 -4.36640402e-02 -2.55187372e+02] [-7.30902686e-02 -4.22117927e-04 9.97325240e-01 -2.33864721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16864 meters 0.025716833272374895 Centerline is valid? [True, True] Translation: X:328.30, Y:-255.21, Z:-23.39 [[ 7.97679662e-01 6.00263967e-01 5.82265052e-02 3.28295932e+02] [-5.98691515e-01 7.99801925e-01 -4.34206250e-02 -2.55208501e+02] [-7.26335076e-02 -2.23965152e-04 9.97358673e-01 -2.33880932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.19864 meters 0.025691023778606117 Centerline is valid? [True, True] Translation: X:328.32, Y:-255.23, Z:-23.39 [[ 7.97852448e-01 6.00043703e-01 5.81293888e-02 3.28321498e+02] [-5.98472666e-01 7.99967204e-01 -4.33928680e-02 -2.55228611e+02] [-7.25392218e-02 -1.67744350e-04 9.97365546e-01 -2.33894676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22864 meters 0.025623487786892954 Centerline is valid? [True, True] Translation: X:328.35, Y:-255.25, Z:-23.39 [[ 7.97895099e-01 6.00007512e-01 5.79171487e-02 3.28347411e+02] [-5.98444339e-01 7.99994356e-01 -4.32828216e-02 -2.55248624e+02] [-7.23034101e-02 -1.25038546e-04 9.97382675e-01 -2.33915142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.25864 meters 0.025912601019431592 Centerline is valid? [True, True] Translation: X:328.37, Y:-255.27, Z:-23.39 [[ 7.97881624e-01 5.99922640e-01 5.89723640e-02 3.28371389e+02] [-5.98298154e-01 8.00058010e-01 -4.41191487e-02 -2.55271010e+02] [-7.36493884e-02 -8.11984992e-05 9.97284193e-01 -2.33934207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28864 meters 0.026033447773895862 Centerline is valid? [True, True] Translation: X:328.40, Y:-255.29, Z:-23.40 [[ 7.97519814e-01 6.00455736e-01 5.84384794e-02 3.28396536e+02] [-5.98858741e-01 7.99657990e-01 -4.37642244e-02 -2.55292105e+02] [-7.30092765e-02 -9.35581077e-05 9.97331257e-01 -2.33950762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.31864 meters 0.025863111954015524 Centerline is valid? [True, True] Translation: X:328.42, Y:-255.31, Z:-23.39 [[ 7.97807509e-01 6.00240612e-01 5.66955537e-02 3.28421661e+02] [-5.98733852e-01 7.99819484e-01 -4.25037493e-02 -2.55313073e+02] [-7.08586850e-02 -3.57368714e-05 9.97486364e-01 -2.33949757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34864 meters 0.025865976061981637 Centerline is valid? [True, True] Translation: X:328.45, Y:-255.33, Z:-23.40 [[ 7.97275563e-01 6.00975255e-01 5.63952078e-02 3.28448069e+02] [-5.99483247e-01 7.99267626e-01 -4.23213701e-02 -2.55332946e+02] [-7.05089601e-02 -6.61880764e-05 9.97511144e-01 -2.33975318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.37864 meters 0.025980570223344535 Centerline is valid? [True, True] Translation: X:328.47, Y:-255.35, Z:-23.40 [[ 7.96467141e-01 6.01920366e-01 5.77231866e-02 3.28473322e+02] [-6.00356226e-01 7.98556109e-01 -4.33652275e-02 -2.55353575e+02] [-7.21976169e-02 -1.15495695e-04 9.97390340e-01 -2.33986145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40864 meters 0.026170891157947164 Centerline is valid? [True, True] Translation: X:328.50, Y:-255.37, Z:-23.40 [[ 7.95678157e-01 6.02890390e-01 5.84760424e-02 3.28499845e+02] [-6.01284425e-01 7.97824008e-01 -4.39760358e-02 -2.55373830e+02] [-7.31663199e-02 -1.69962454e-04 9.97319738e-01 -2.34004484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43864 meters 0.026115263636051007 Centerline is valid? [True, True] Translation: X:328.53, Y:-255.39, Z:-23.40 [[ 7.94826531e-01 6.04054607e-01 5.80415134e-02 3.28526206e+02] [-6.02472009e-01 7.96942894e-01 -4.36978606e-02 -2.55394104e+02] [-7.26516657e-02 -2.36168213e-04 9.97357348e-01 -2.34019828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46864 meters 0.026115263636051007 Centerline is valid? [True, True] Translation: X:328.55, Y:-255.41, Z:-23.40 [[ 7.94503548e-01 6.04481616e-01 5.80179983e-02 3.28552356e+02] [-6.02897875e-01 7.96619056e-01 -4.37290651e-02 -2.55413395e+02] [-7.26516589e-02 -2.36030543e-04 9.97357349e-01 -2.34036110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49864 meters 0.026231565974951288 Centerline is valid? [True, True] Translation: X:328.58, Y:-255.43, Z:-23.40 [[ 7.92546207e-01 6.07025584e-01 5.82275654e-02 3.28578406e+02] [-6.05433620e-01 7.94682172e-01 -4.39360595e-02 -2.55434063e+02] [-7.29427203e-02 -4.31568422e-04 9.97336038e-01 -2.34040431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52864 meters 0.02628711474275915 Centerline is valid? [True, True] Translation: X:328.60, Y:-255.45, Z:-23.40 [[ 7.91776908e-01 6.07998040e-01 5.85466605e-02 3.28604757e+02] [-6.06387584e-01 7.93938378e-01 -4.42261221e-02 -2.55453907e+02] [-7.33718362e-02 -4.84745749e-04 9.97304537e-01 -2.34047459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55864 meters 0.026302233125421817 Centerline is valid? [True, True] Translation: X:328.63, Y:-255.47, Z:-23.41 [[ 7.90571011e-01 6.09576063e-01 5.84337214e-02 3.28632259e+02] [-6.07972517e-01 7.92727364e-01 -4.41898641e-02 -2.55472032e+02] [-7.32590933e-02 -5.90871145e-04 9.97312767e-01 -2.34056788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58864 meters 0.026217545232153524 Centerline is valid? [True, True] Translation: X:328.66, Y:-255.49, Z:-23.41 [[ 7.89774618e-01 6.10612366e-01 5.83831390e-02 3.28659449e+02] [-6.09010800e-01 7.91929365e-01 -4.42009654e-02 -2.55490556e+02] [-7.32249783e-02 -6.47161652e-04 9.97315238e-01 -2.34077149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61864 meters 0.02623478597333234 Centerline is valid? [True, True] Translation: X:328.69, Y:-255.51, Z:-23.41 [[ 7.89454239e-01 6.11060178e-01 5.80298589e-02 3.28686305e+02] [-6.09475602e-01 7.91583882e-01 -4.39823591e-02 -2.55509191e+02] [-7.28113691e-02 -6.45723376e-04 9.97345521e-01 -2.34100628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64864 meters 0.026403792158644586 Centerline is valid? [True, True] Translation: X:328.71, Y:-255.53, Z:-23.41 [[ 7.88936661e-01 6.11663464e-01 5.87090533e-02 3.28713398e+02] [-6.10039501e-01 7.91117791e-01 -4.45471481e-02 -2.55528460e+02] [-7.36936394e-02 -6.69963277e-04 9.97280702e-01 -2.34117649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67864 meters 0.026453608721627695 Centerline is valid? [True, True] Translation: X:328.74, Y:-255.55, Z:-23.41 [[ 7.88342194e-01 6.12363349e-01 5.93945644e-02 3.28739768e+02] [-6.10699519e-01 7.90576139e-01 -4.51161393e-02 -2.55547516e+02] [-7.45833956e-02 -7.05275732e-04 9.97214530e-01 -2.34138663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70864 meters 0.02633423467599875 Centerline is valid? [True, True] Translation: X:328.77, Y:-255.57, Z:-23.41 [[ 7.86964061e-01 6.14165472e-01 5.90621694e-02 3.28767449e+02] [-6.12521898e-01 7.89176834e-01 -4.49093423e-02 -2.55565649e+02] [-7.41922633e-02 -8.34833693e-04 9.97243607e-01 -2.34147584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73864 meters 0.0263645284563786 Centerline is valid? [True, True] Translation: X:328.79, Y:-255.58, Z:-23.42 [[ 7.86162999e-01 6.15210622e-01 5.88526064e-02 3.28794448e+02] [-6.13577956e-01 7.88362288e-01 -4.47994968e-02 -2.55584756e+02] [-7.39583017e-02 -8.90955141e-04 9.97260937e-01 -2.34164458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76864 meters 0.026218715939429534 Centerline is valid? [True, True] Translation: X:328.82, Y:-255.60, Z:-23.42 [[ 7.85595285e-01 6.15933509e-01 5.88724131e-02 3.28821241e+02] [-6.14298052e-01 7.87797605e-01 -4.48646437e-02 -2.55604178e+02] [-7.40131835e-02 -9.19756163e-04 9.97256839e-01 -2.34186542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79864 meters 0.02642106260113848 Centerline is valid? [True, True] Translation: X:328.85, Y:-255.62, Z:-23.42 [[ 7.84969405e-01 6.16682222e-01 5.93807162e-02 3.28848630e+02] [-6.15016709e-01 7.87211609e-01 -4.53026578e-02 -2.55623216e+02] [-7.46825329e-02 -9.58932268e-04 9.97206899e-01 -2.34202023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82864 meters 0.02620994390431848 Centerline is valid? [True, True] Translation: X:328.88, Y:-255.64, Z:-23.42 [[ 7.85204784e-01 6.16392749e-01 5.92741664e-02 3.28875329e+02] [-6.14728639e-01 7.87438370e-01 -4.52715504e-02 -2.55642050e+02] [-7.45798084e-02 -8.90089678e-04 9.97214651e-01 -2.34214548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85864 meters 0.02611581323206547 Centerline is valid? [True, True] Translation: X:328.90, Y:-255.66, Z:-23.42 [[ 7.86225074e-01 6.15099808e-01 5.91807332e-02 3.28901601e+02] [-6.13433691e-01 7.88448918e-01 -4.52483233e-02 -2.55660045e+02] [-7.44932200e-02 -7.28089268e-04 9.97221254e-01 -2.34231479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88864 meters 0.026049611146498355 Centerline is valid? [True, True] Translation: X:328.93, Y:-255.68, Z:-23.43 [[ 7.86346144e-01 6.14968485e-01 5.89364524e-02 3.28928078e+02] [-6.13312328e-01 7.88551397e-01 -4.51074610e-02 -2.55679282e+02] [-7.42140889e-02 -6.76374808e-04 9.97242103e-01 -2.34250740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91864 meters 0.02607278477979954 Centerline is valid? [True, True] Translation: X:328.95, Y:-255.70, Z:-23.43 [[ 7.86366765e-01 6.14960519e-01 5.87441194e-02 3.28954642e+02] [-6.13311427e-01 7.88557644e-01 -4.50103851e-02 -2.55698267e+02] [-7.40027342e-02 -6.33768834e-04 9.97257837e-01 -2.34274752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94864 meters 0.02601344036079711 Centerline is valid? [True, True] Translation: X:328.98, Y:-255.72, Z:-23.43 [[ 7.86254354e-01 6.15338894e-01 5.62328825e-02 3.28981000e+02] [-6.13825740e-01 7.88262443e-01 -4.31309818e-02 -2.55716072e+02] [-7.08664400e-02 -6.05268470e-04 9.97485630e-01 -2.34290433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97864 meters 0.025974366070591386 Centerline is valid? [True, True] Translation: X:329.01, Y:-255.74, Z:-23.43 [[ 7.85347223e-01 6.16520243e-01 5.59690103e-02 3.29007857e+02] [-6.15021205e-01 7.87338768e-01 -4.29718680e-02 -2.55735714e+02] [-7.05595981e-02 -6.74291006e-04 9.97507338e-01 -2.34302430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00864 meters 0.02611675024106042 Centerline is valid? [True, True] Translation: X:329.03, Y:-255.75, Z:-23.43 [[ 7.84779127e-01 6.17164664e-01 5.68286816e-02 3.29034328e+02] [-6.15617460e-01 7.86833704e-01 -4.36791068e-02 -2.55754156e+02] [-7.16719233e-02 -7.06277364e-04 9.97428011e-01 -2.34315032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03864 meters 0.026228063376028777 Centerline is valid? [True, True] Translation: X:329.06, Y:-255.77, Z:-23.43 [[ 7.83458121e-01 6.18707037e-01 5.82664160e-02 3.29061861e+02] [-6.17081446e-01 7.85621351e-01 -4.48283649e-02 -2.55771165e+02] [-7.35109653e-02 -8.33977677e-04 9.97294060e-01 -2.34324971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06864 meters 0.026259485707570362 Centerline is valid? [True, True] Translation: X:329.09, Y:-255.79, Z:-23.43 [[ 7.82329298e-01 6.20089627e-01 5.87343549e-02 3.29088312e+02] [-6.18438396e-01 7.84530418e-01 -4.52324330e-02 -2.55789122e+02] [-7.41270505e-02 -9.36922728e-04 9.97248366e-01 -2.34339143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09864 meters 0.026266426165027078 Centerline is valid? [True, True] Translation: X:329.12, Y:-255.81, Z:-23.44 [[ 7.81536218e-01 6.21046061e-01 5.91855490e-02 3.29116559e+02] [-6.19368586e-01 7.83773431e-01 -4.56263462e-02 -2.55806292e+02] [-7.47241234e-02 -9.99027731e-04 9.97203744e-01 -2.34364160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12864 meters 0.026182128806401708 Centerline is valid? [True, True] Translation: X:329.14, Y:-255.82, Z:-23.44 [[ 7.81428593e-01 6.21229345e-01 5.86809679e-02 3.29143366e+02] [-6.19577353e-01 7.83628203e-01 -4.52851418e-02 -2.55823487e+02] [-7.41165203e-02 -9.70294132e-04 9.97249116e-01 -2.34382391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15864 meters 0.02616197110173186 Centerline is valid? [True, True] Translation: X:329.17, Y:-255.84, Z:-23.44 [[ 7.81162512e-01 6.21590285e-01 5.84007495e-02 3.29170969e+02] [-6.19951718e-01 7.83341935e-01 -4.51140754e-02 -2.55842003e+02] [-7.37902271e-02 -9.64220598e-04 9.97273319e-01 -2.34398981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18864 meters 0.026081334692913804 Centerline is valid? [True, True] Translation: X:329.20, Y:-255.86, Z:-23.44 [[ 7.81842537e-01 6.20771521e-01 5.80083351e-02 3.29198576e+02] [-6.19149843e-01 7.83991068e-01 -4.48494852e-02 -2.55859665e+02] [-7.33192997e-02 -8.50616282e-04 9.97308155e-01 -2.34412926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21864 meters 0.025995259961477418 Centerline is valid? [True, True] Translation: X:329.23, Y:-255.88, Z:-23.44 [[ 7.82330510e-01 6.20120201e-01 5.83944287e-02 3.29226027e+02] [-6.18473041e-01 7.84506430e-01 -4.51747663e-02 -2.55878188e+02] [-7.38245899e-02 -7.73781886e-04 9.97270942e-01 -2.34437984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24864 meters 0.0259958046015684 Centerline is valid? [True, True] Translation: X:329.25, Y:-255.90, Z:-23.45 [[ 7.83194127e-01 6.19026691e-01 5.84201672e-02 3.29253197e+02] [-6.17371330e-01 7.85369694e-01 -4.52447167e-02 -2.55896533e+02] [-7.38891162e-02 -6.31539899e-04 9.97266263e-01 -2.34457664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27864 meters 0.02606372403480897 Centerline is valid? [True, True] Translation: X:329.28, Y:-255.91, Z:-23.45 [[ 7.85161236e-01 6.16591433e-01 5.77653723e-02 3.29279319e+02] [-6.14962977e-01 7.87283224e-01 -4.47846293e-02 -2.55914697e+02] [-7.30915273e-02 -3.60410405e-04 9.97325172e-01 -2.34477021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30864 meters 0.02605799133858645 Centerline is valid? [True, True] Translation: X:329.31, Y:-255.93, Z:-23.45 [[ 7.85741246e-01 6.15812549e-01 5.81858930e-02 3.29305631e+02] [-6.14154759e-01 7.87892658e-01 -4.51563071e-02 -2.55934898e+02] [-7.36520585e-02 -2.53970079e-04 9.97283967e-01 -2.34488606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33864 meters 0.026161559406296376 Centerline is valid? [True, True] Translation: X:329.33, Y:-255.95, Z:-23.45 [[ 7.85898157e-01 6.15436170e-01 6.00200570e-02 3.29331128e+02] [-6.13667150e-01 7.88186707e-01 -4.66298553e-02 -2.55954555e+02] [-7.60047107e-02 -1.86019954e-04 9.97107441e-01 -2.34507056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36864 meters 0.025898031968579673 Centerline is valid? [True, True] Translation: X:329.36, Y:-255.97, Z:-23.45 [[ 7.85422948e-01 6.16020996e-01 6.02405525e-02 3.29357356e+02] [-6.14237029e-01 7.87729706e-01 -4.68485034e-02 -2.55974070e+02] [-7.63129345e-02 -2.06088361e-04 9.97083895e-01 -2.34517255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39864 meters 0.025818947580496552 Centerline is valid? [True, True] Translation: X:329.38, Y:-255.99, Z:-23.45 [[ 7.84591811e-01 6.17140821e-01 5.96061827e-02 3.29383693e+02] [-6.15393672e-01 7.86852675e-01 -4.64057756e-02 -2.55994271e+02] [-7.55401828e-02 -2.71676118e-04 9.97142721e-01 -2.34534557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters 0.025795279359754186 Centerline is valid? [True, True] Translation: X:329.41, Y:-256.01, Z:-23.46 [[ 7.84158276e-01 6.17713050e-01 5.93833780e-02 3.29410203e+02] [-6.15976763e-01 7.86403526e-01 -4.62830502e-02 -2.56014665e+02] [-7.52889420e-02 -2.85544054e-04 9.97161719e-01 -2.34557461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45864 meters 0.025633359398521502 Centerline is valid? [True, True] Translation: X:329.44, Y:-256.03, Z:-23.46 [[ 7.82899441e-01 6.19379816e-01 5.86268604e-02 3.29436953e+02] [-6.17688510e-01 7.85091385e-01 -4.57429998e-02 -2.56034211e+02] [-7.43597338e-02 -4.00969077e-04 9.97231402e-01 -2.34566722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters 0.025593254594334546 Centerline is valid? [True, True] Translation: X:329.46, Y:-256.05, Z:-23.46 [[ 7.82620902e-01 6.19808520e-01 5.78093594e-02 3.29463220e+02] [-6.18161831e-01 7.84752980e-01 -4.51520817e-02 -2.56053424e+02] [-7.33517120e-02 -3.98576548e-04 9.97306055e-01 -2.34576040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51864 meters 0.02560338517051415 Centerline is valid? [True, True] Translation: X:329.49, Y:-256.07, Z:-23.46 [[ 7.82011996e-01 6.20682504e-01 5.66609904e-02 3.29487693e+02] [-6.19099949e-01 7.84061884e-01 -4.42968942e-02 -2.56074852e+02] [-7.19200300e-02 -4.38113593e-04 9.97410305e-01 -2.34594670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters 0.025637089507689743 Centerline is valid? [True, True] Translation: X:329.51, Y:-256.10, Z:-23.46 [[ 7.82142437e-01 6.20468634e-01 5.72003823e-02 3.29513520e+02] [-6.18851920e-01 7.84231168e-01 -4.47635560e-02 -2.56096125e+02] [-7.26327051e-02 -3.87089669e-04 9.97358682e-01 -2.34608188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57864 meters 0.025499075838639196 Centerline is valid? [True, True] Translation: X:329.54, Y:-256.12, Z:-23.46 [[ 7.82317618e-01 6.20216293e-01 5.75403707e-02 3.29539445e+02] [-6.18575944e-01 7.84430777e-01 -4.50794722e-02 -2.56115872e+02] [-7.30954609e-02 -3.26623805e-04 9.97324895e-01 -2.34625124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters 0.025330327107115524 Centerline is valid? [True, True] Translation: X:329.57, Y:-256.13, Z:-23.46 [[ 7.82391871e-01 6.20025364e-01 5.85790778e-02 3.29566149e+02] [-6.18320974e-01 7.84581718e-01 -4.59423703e-02 -2.56134402e+02] [-7.44455084e-02 -2.75735316e-04 9.97225045e-01 -2.34635531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63864 meters 0.025421268979768694 Centerline is valid? [True, True] Translation: X:329.59, Y:-256.15, Z:-23.46 [[ 7.81762275e-01 6.20840720e-01 5.83484876e-02 3.29591734e+02] [-6.19148610e-01 7.83936668e-01 -4.58071872e-02 -2.56154819e+02] [-7.41804860e-02 -3.16054189e-04 9.97244782e-01 -2.34649107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66864 meters 0.025325699381827573 Centerline is valid? [True, True] Translation: X:329.62, Y:-256.18, Z:-23.47 [[ 7.81595306e-01 6.21075842e-01 5.80824990e-02 3.29617241e+02] [-6.19396103e-01 7.83750413e-01 -4.56481864e-02 -2.56175430e+02] [-7.38731684e-02 -2.97665305e-04 9.97267600e-01 -2.34664818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69864 meters 0.025381859742737073 Centerline is valid? [True, True] Translation: X:329.64, Y:-256.20, Z:-23.47 [[ 7.80896519e-01 6.22070558e-01 5.68229445e-02 3.29642136e+02] [-6.20462845e-01 7.82961108e-01 -4.46963313e-02 -2.56195926e+02] [-7.22944273e-02 -3.53316208e-04 9.97383272e-01 -2.34689557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72864 meters 0.025205058319670695 Centerline is valid? [True, True] Translation: X:329.67, Y:-256.22, Z:-23.47 [[ 7.80108561e-01 6.23092945e-01 5.64430292e-02 3.29668833e+02] [-6.21507511e-01 7.82147685e-01 -4.44231098e-02 -2.56215785e+02] [-7.18265110e-02 -4.24918320e-04 9.97417050e-01 -2.34703522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75864 meters 0.025489461003413646 Centerline is valid? [True, True] Translation: X:329.69, Y:-256.23, Z:-23.47 [[ 7.77897559e-01 6.25818216e-01 5.68062320e-02 3.29694484e+02] [-6.24216036e-01 7.79968683e-01 -4.47570567e-02 -2.56234591e+02] [-7.23168634e-02 -6.42955781e-04 9.97381501e-01 -2.34706472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78864 meters 0.025565410186086573 Centerline is valid? [True, True] Translation: X:329.72, Y:-256.25, Z:-23.47 [[ 7.76440392e-01 6.27588376e-01 5.72114341e-02 3.29720013e+02] [-6.25964822e-01 7.78544940e-01 -4.51200443e-02 -2.56254473e+02] [-7.28584879e-02 -7.79320248e-04 9.97341984e-01 -2.34722707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81864 meters 0.025711604189268183 Centerline is valid? [True, True] Translation: X:329.75, Y:-256.27, Z:-23.47 [[ 7.74363545e-01 6.30038127e-01 5.84213816e-02 3.29746500e+02] [-6.28348680e-01 7.76563562e-01 -4.61190829e-02 -2.56272466e+02] [-7.44246969e-02 -9.96061479e-04 9.97226139e-01 -2.34737165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84864 meters 0.02583791728141858 Centerline is valid? [True, True] Translation: X:329.77, Y:-256.29, Z:-23.48 [[ 7.72905573e-01 6.31793995e-01 5.87649870e-02 3.29772825e+02] [-6.30086315e-01 7.75135507e-01 -4.64347035e-02 -2.56291368e+02] [-7.48879948e-02 -1.13737294e-03 9.97191303e-01 -2.34756905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87864 meters 0.025742503279242684 Centerline is valid? [True, True] Translation: X:329.80, Y:-256.31, Z:-23.48 [[ 7.71811935e-01 6.33254790e-01 5.73995452e-02 3.29799069e+02] [-6.31626549e-01 7.73942435e-01 -4.53983559e-02 -2.56309821e+02] [-7.31726701e-02 -1.21608375e-03 9.97318546e-01 -2.34773138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90864 meters 0.025966316012816335 Centerline is valid? [True, True] Translation: X:329.83, Y:-256.33, Z:-23.48 [[ 7.70419754e-01 6.35038843e-01 5.63832452e-02 3.29826234e+02] [-6.33469409e-01 7.72479066e-01 -4.46385596e-02 -2.56329329e+02] [-7.19020958e-02 -1.32663283e-03 9.97410812e-01 -2.34793684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93864 meters 0.026103197348387442 Centerline is valid? [True, True] Translation: X:329.85, Y:-256.35, Z:-23.48 [[ 7.68412382e-01 6.37473320e-01 5.63043326e-02 3.29853914e+02] [-6.35911387e-01 7.70470940e-01 -4.46232901e-02 -2.56346451e+02] [-7.18270090e-02 -1.51547761e-03 9.97415953e-01 -2.34795706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96864 meters 0.026210595455254303 Centerline is valid? [True, True] Translation: X:329.88, Y:-256.36, Z:-23.48 [[ 7.67166381e-01 6.38902963e-01 5.70854454e-02 3.29880730e+02] [-6.37298068e-01 7.69285590e-01 -4.52863398e-02 -2.56364405e+02] [-7.28485873e-02 -1.63828672e-03 9.97341666e-01 -2.34821798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99864 meters 0.026275544969407153 Centerline is valid? [True, True] Translation: X:329.91, Y:-256.38, Z:-23.48 [[ 7.66147905e-01 6.40145402e-01 5.68441003e-02 3.29908610e+02] [-6.38554198e-01 7.68251864e-01 -4.51398997e-02 -2.56382800e+02] [-7.25666852e-02 -1.71419922e-03 9.97362090e-01 -2.34829823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02864 meters 0.0264631604299335 Centerline is valid? [True, True] Translation: X:329.94, Y:-256.40, Z:-23.49 [[ 7.65234344e-01 6.41301467e-01 5.61144057e-02 3.29937137e+02] [-6.39750531e-01 7.67286986e-01 -4.46087275e-02 -2.56399381e+02] [-7.16634956e-02 -1.76309051e-03 9.97427308e-01 -2.34853146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05864 meters 0.02646724206270183 Centerline is valid? [True, True] Translation: X:329.96, Y:-256.42, Z:-23.49 [[ 7.64743191e-01 6.41888796e-01 5.60947962e-02 3.29964331e+02] [-6.40337022e-01 7.66795674e-01 -4.46418316e-02 -2.56417830e+02] [-7.16683386e-02 -1.78003803e-03 9.97426930e-01 -2.34866085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08864 meters 0.02644589292647272 Centerline is valid? [True, True] Translation: X:329.99, Y:-256.43, Z:-23.49 [[ 7.64364562e-01 6.42330938e-01 5.61941523e-02 3.29993701e+02] [-6.40771316e-01 7.66425321e-01 -4.47699579e-02 -2.56434129e+02] [-7.18257503e-02 -1.78703170e-03 9.97415595e-01 -2.34871624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11864 meters 0.02635422557222923 Centerline is valid? [True, True] Translation: X:330.02, Y:-256.45, Z:-23.49 [[ 7.64522869e-01 6.42168369e-01 5.58978357e-02 3.30021059e+02] [-6.40621389e-01 7.66561677e-01 -4.45806130e-02 -2.56451268e+02] [-7.14773982e-02 -1.72645101e-03 9.97440726e-01 -2.34890653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14864 meters 0.026207206631209536 Centerline is valid? [True, True] Translation: X:330.05, Y:-256.47, Z:-23.49 [[ 7.64774114e-01 6.41814254e-01 5.65244893e-02 3.30048552e+02] [-6.40228109e-01 7.66858298e-01 -4.51255978e-02 -2.56468927e+02] [-7.23085256e-02 -1.67767779e-03 9.97380901e-01 -2.34915421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17864 meters 0.02631358050987255 Centerline is valid? [True, True] Translation: X:330.08, Y:-256.49, Z:-23.49 [[ 7.64989994e-01 6.41572012e-01 5.63530268e-02 3.30075392e+02] [-6.39991411e-01 7.67061113e-01 -4.50360256e-02 -2.56487537e+02] [-7.21200690e-02 -1.61334417e-03 9.97394652e-01 -2.34937158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20864 meters 0.026076337843955768 Centerline is valid? [True, True] Translation: X:330.10, Y:-256.50, Z:-23.49 [[ 7.66528139e-01 6.39849397e-01 5.50214579e-02 3.30103010e+02] [-6.38335347e-01 7.68499077e-01 -4.40131102e-02 -2.56504546e+02] [-7.04457016e-02 -1.38485394e-03 9.97514654e-01 -2.34949781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23864 meters 0.026001813657563957 Centerline is valid? [True, True] Translation: X:330.13, Y:-256.52, Z:-23.50 [[ 7.66353004e-01 6.40056152e-01 5.50562940e-02 3.30130745e+02] [-6.38537636e-01 7.68326911e-01 -4.40845167e-02 -2.56522803e+02] [-7.05177984e-02 -1.37121409e-03 9.97509579e-01 -2.34964122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26864 meters 0.026009914254961415 Centerline is valid? [True, True] Translation: X:330.16, Y:-256.54, Z:-23.50 [[ 7.66446934e-01 6.39985478e-01 5.45681630e-02 3.30157950e+02] [-6.38490440e-01 7.68385874e-01 -4.37390692e-02 -2.56540471e+02] [-6.99217748e-02 -1.31757490e-03 9.97551607e-01 -2.34978700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29864 meters 0.025938925135608387 Centerline is valid? [True, True] Translation: X:330.19, Y:-256.56, Z:-23.50 [[ 7.66381179e-01 6.40143062e-01 5.36353343e-02 3.30185819e+02] [-6.38696368e-01 7.68254662e-01 -4.30316463e-02 -2.56556988e+02] [-6.87520054e-02 -1.27804942e-03 9.97632963e-01 -2.34996619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32864 meters 0.025938925135608387 Centerline is valid? [True, True] Translation: X:330.21, Y:-256.58, Z:-23.50 [[ 7.66043224e-01 6.40549171e-01 5.36147188e-02 3.30211388e+02] [-6.39101674e-01 7.67916087e-01 -4.30573199e-02 -2.56577117e+02] [-6.87519357e-02 -1.28148840e-03 9.97632963e-01 -2.35012906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35864 meters 0.026093934029057027 Centerline is valid? [True, True] Translation: X:330.24, Y:-256.60, Z:-23.50 [[ 7.65466763e-01 6.41188426e-01 5.42036639e-02 3.30238014e+02] [-6.39707201e-01 7.67382348e-01 -4.35778550e-02 -2.56596229e+02] [-6.95365511e-02 -1.31707450e-03 9.97578535e-01 -2.35039426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38864 meters 0.025996016150149483 Centerline is valid? [True, True] Translation: X:330.27, Y:-256.61, Z:-23.50 [[ 7.65812172e-01 6.40819247e-01 5.36880732e-02 3.30265595e+02] [-6.39362095e-01 7.67690799e-01 -4.32081958e-02 -2.56612964e+02] [-6.89044833e-02 -1.23675670e-03 9.97622495e-01 -2.35040865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41864 meters 0.025986486964053132 Centerline is valid? [True, True] Translation: X:330.29, Y:-256.63, Z:-23.51 [[ 7.65855537e-01 6.40744751e-01 5.39579521e-02 3.30293147e+02] [-6.39269727e-01 7.67753031e-01 -4.34683771e-02 -2.56631624e+02] [-6.92785157e-02 -1.20318808e-03 9.97596632e-01 -2.35063593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44864 meters 0.025923363670184524 Centerline is valid? [True, True] Translation: X:330.32, Y:-256.65, Z:-23.51 [[ 7.66385524e-01 6.40117148e-01 5.38819566e-02 3.30319831e+02] [-6.38642095e-01 7.68276508e-01 -4.34451629e-02 -2.56650589e+02] [-6.92062352e-02 -1.11554167e-03 9.97601751e-01 -2.35076658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47864 meters 0.025741654200180177 Centerline is valid? [True, True] Translation: X:330.35, Y:-256.67, Z:-23.51 [[ 7.67895965e-01 6.38244868e-01 5.45827442e-02 3.30347211e+02] [-6.36724813e-01 7.69832840e-01 -4.40330596e-02 -2.56668175e+02] [-7.01234634e-02 -9.41378807e-04 9.97537876e-01 -2.35096218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50864 meters 0.02564867028386132 Centerline is valid? [True, True] Translation: X:330.37, Y:-256.69, Z:-23.51 [[ 7.68239751e-01 6.37795131e-01 5.50005116e-02 3.30374841e+02] [-6.36247403e-01 7.70205563e-01 -4.44143379e-02 -2.56686884e+02] [-7.06889484e-02 -8.73072873e-04 9.97498025e-01 -2.35114212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53864 meters 0.02556083584402099 Centerline is valid? [True, True] Translation: X:330.40, Y:-256.70, Z:-23.51 [[ 7.69053720e-01 6.36855340e-01 5.45128552e-02 3.30401572e+02] [-6.35329413e-01 7.70982958e-01 -4.40660399e-02 -2.56704367e+02] [-7.00921752e-02 -7.44468380e-04 9.97540241e-01 -2.35123272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56864 meters 0.02534265509136094 Centerline is valid? [True, True] Translation: X:330.43, Y:-256.72, Z:-23.51 [[ 7.71292385e-01 6.34203015e-01 5.38014115e-02 3.30429287e+02] [-6.32707432e-01 7.73166424e-01 -4.35314443e-02 -2.56720992e+02] [-6.92052182e-02 -4.65081322e-04 9.97602336e-01 -2.35147287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59864 meters 0.025380677572955167 Centerline is valid? [True, True] Translation: X:330.46, Y:-256.74, Z:-23.52 [[ 7.72054087e-01 6.33292154e-01 5.36053530e-02 3.30456192e+02] [-6.31802330e-01 7.73912738e-01 -4.34153145e-02 -2.56739828e+02] [-6.89804435e-02 -3.49015932e-04 9.97617951e-01 -2.35166629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62864 meters 0.025221794773813002 Centerline is valid? [True, True] Translation: X:330.48, Y:-256.76, Z:-23.52 [[ 7.72309390e-01 6.33041235e-01 5.28866903e-02 3.30482865e+02] [-6.31587507e-01 7.74118022e-01 -4.28778292e-02 -2.56757763e+02] [-6.80839741e-02 -2.87622771e-04 9.97679553e-01 -2.35180276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65864 meters 0.02522406400571216 Centerline is valid? [True, True] Translation: X:330.51, Y:-256.77, Z:-23.52 [[ 7.72572348e-01 6.32621494e-01 5.40556340e-02 3.30510879e+02] [-6.31098823e-01 7.74461100e-01 -4.38666315e-02 -2.56773499e+02] [-6.96149597e-02 -2.24300495e-04 9.97573911e-01 -2.35197958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68864 meters 0.025121697495381314 Centerline is valid? [True, True] Translation: X:330.54, Y:-256.79, Z:-23.52 [[ 7.73167051e-01 6.31931687e-01 5.36195383e-02 3.30536372e+02] [-6.30429742e-01 7.75024080e-01 -4.35432588e-02 -2.56793028e+02] [-6.90727983e-02 -1.37138718e-04 9.97611613e-01 -2.35202771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71864 meters 0.02533220730347422 Centerline is valid? [True, True] Translation: X:330.56, Y:-256.81, Z:-23.52 [[ 7.75227063e-01 6.29358695e-01 5.41353283e-02 3.30561997e+02] [-6.27820560e-01 7.77114936e-01 -4.39741039e-02 -2.56812462e+02] [-6.97448568e-02 1.02643304e-04 9.97564857e-01 -2.35228322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74864 meters 0.025230255903939874 Centerline is valid? [True, True] Translation: X:330.59, Y:-256.83, Z:-23.52 [[ 7.76542885e-01 6.27707499e-01 5.44467080e-02 3.30587568e+02] [-6.26146691e-01 7.78449245e-01 -4.42390487e-02 -2.56832422e+02] [-7.01531813e-02 2.61892456e-04 9.97536196e-01 -2.35245818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77864 meters 0.02536822818095594 Centerline is valid? [True, True] Translation: X:330.61, Y:-256.85, Z:-23.53 [[ 7.78011132e-01 6.25942300e-01 5.38044187e-02 3.30613433e+02] [-6.24412997e-01 7.79869255e-01 -4.37304808e-02 -2.56852596e+02] [-6.93331697e-02 4.26622527e-04 9.97593469e-01 -2.35265510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80864 meters 0.025429383133426183 Centerline is valid? [True, True] Translation: X:330.64, Y:-256.87, Z:-23.53 [[ 7.79107318e-01 6.24563038e-01 5.39703431e-02 3.30638545e+02] [-6.23019845e-01 7.80974195e-01 -4.38814280e-02 -2.56872699e+02] [-6.95561633e-02 5.63746931e-04 9.97577878e-01 -2.35289295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83864 meters 0.025720319051526396 Centerline is valid? [True, True] Translation: X:330.66, Y:-256.89, Z:-23.53 [[ 7.80458753e-01 6.22840746e-01 5.43464730e-02 3.30662392e+02] [-6.21270934e-01 7.82348304e-01 -4.41990660e-02 -2.56893666e+02] [-7.00468503e-02 7.31663939e-04 9.97543434e-01 -2.35304465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86864 meters 0.02563559670606831 Centerline is valid? [True, True] Translation: X:330.69, Y:-256.92, Z:-23.53 [[ 7.80773689e-01 6.22494141e-01 5.37911834e-02 3.30686835e+02] [-6.20954670e-01 7.82624087e-01 -4.37588463e-02 -2.56915044e+02] [-6.93379012e-02 7.63869348e-04 9.97592939e-01 -2.35313255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89864 meters 0.025467413091170076 Centerline is valid? [True, True] Translation: X:330.71, Y:-256.94, Z:-23.53 [[ 7.80733171e-01 6.22621333e-01 5.28998272e-02 3.30710992e+02] [-6.21132050e-01 7.82522917e-01 -4.30448707e-02 -2.56936920e+02] [-6.81959818e-02 7.48780303e-04 9.97671663e-01 -2.35324947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters 0.025528730084357357 Centerline is valid? [True, True] Translation: X:330.73, Y:-256.96, Z:-23.54 [[ 7.79352487e-01 6.24380762e-01 5.25201487e-02 3.30733771e+02] [-6.22916027e-01 7.81119905e-01 -4.27471478e-02 -2.56960494e+02] [-6.77150302e-02 5.99453572e-04 9.97704523e-01 -2.35353238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95864 meters 0.025515922953787663 Centerline is valid? [True, True] Translation: X:330.76, Y:-256.98, Z:-23.54 [[ 7.78692160e-01 6.25227444e-01 5.22413904e-02 3.30758474e+02] [-6.23778799e-01 7.80442409e-01 -4.25400632e-02 -2.56982678e+02] [-6.73686115e-02 5.38541917e-04 9.97728009e-01 -2.35363296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters 0.025310084653395584 Centerline is valid? [True, True] Translation: X:330.78, Y:-257.01, Z:-23.54 [[ 7.76415661e-01 6.28090679e-01 5.17766332e-02 3.30780666e+02] [-6.26671215e-01 7.78140088e-01 -4.22041675e-02 -2.57006466e+02] [-6.67975181e-02 3.21050971e-04 9.97766500e-01 -2.35375257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01864 meters 0.025277149507325142 Centerline is valid? [True, True] Translation: X:330.81, Y:-257.03, Z:-23.54 [[ 7.74915812e-01 6.29914041e-01 5.20940022e-02 3.30805405e+02] [-6.28478450e-01 7.76664832e-01 -4.25038308e-02 -2.57028267e+02] [-6.72333393e-02 1.96932769e-04 9.97737260e-01 -2.35396207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters 0.025205265130258288 Centerline is valid? [True, True] Translation: X:330.83, Y:-257.05, Z:-23.54 [[ 7.73524333e-01 6.31592541e-01 5.24496793e-02 3.30829833e+02] [-6.30138429e-01 7.75300493e-01 -4.28334521e-02 -2.57050027e+02] [-6.77175511e-02 8.21589552e-05 9.97704529e-01 -2.35412476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07864 meters 0.02531577795064814 Centerline is valid? [True, True] Translation: X:330.85, Y:-257.07, Z:-23.54 [[ 7.71319413e-01 6.34193743e-01 5.35225198e-02 3.30853673e+02] [-6.32683914e-01 7.73174159e-01 -4.37354007e-02 -2.57070949e+02] [-6.91189467e-02 -1.28873750e-04 9.97608417e-01 -2.35430992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters 0.025549943398564014 Centerline is valid? [True, True] Translation: X:330.88, Y:-257.09, Z:-23.54 [[ 7.70474892e-01 6.35159934e-01 5.42245157e-02 3.30879589e+02] [-6.33609641e-01 7.72380621e-01 -4.43508673e-02 -2.57092187e+02] [-7.00518590e-02 -1.85946249e-04 9.97543334e-01 -2.35449915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13864 meters 0.02557289101658486 Centerline is valid? [True, True] Translation: X:330.91, Y:-257.11, Z:-23.55 [[ 7.69349649e-01 6.36468842e-01 5.48500836e-02 3.30905378e+02] [-6.34882387e-01 7.71302366e-01 -4.49111882e-02 -2.57113163e+02] [-7.08905712e-02 -2.70945106e-04 9.97484062e-01 -2.35475931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16864 meters 0.025399404677070164 Centerline is valid? [True, True] Translation: X:330.93, Y:-257.13, Z:-23.55 [[ 7.68772925e-01 6.37213124e-01 5.42920236e-02 3.30931429e+02] [-6.35657344e-01 7.70687579e-01 -4.45016390e-02 -2.57133254e+02] [-7.01992166e-02 -2.99468323e-04 9.97532947e-01 -2.35490297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.19864 meters 0.02560361181346577 Centerline is valid? [True, True] Translation: X:330.96, Y:-257.15, Z:-23.55 [[ 7.69576758e-01 6.36289134e-01 5.37378132e-02 3.30956729e+02] [-6.34759576e-01 7.71450651e-01 -4.40927814e-02 -2.57152415e+02] [-6.95118286e-02 -1.77811774e-04 9.97581112e-01 -2.35513342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22864 meters 0.025522730257813757 Centerline is valid? [True, True] Translation: X:330.98, Y:-257.17, Z:-23.55 [[ 7.70946139e-01 6.34744418e-01 5.23600564e-02 3.30982903e+02] [-6.33286109e-01 7.72722152e-01 -4.30020983e-02 -2.57172062e+02] [-6.77551173e-02 -6.59473606e-06 9.97701982e-01 -2.35515967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.25864 meters 0.02556373370818093 Centerline is valid? [True, True] Translation: X:331.01, Y:-257.19, Z:-23.55 [[ 7.71361228e-01 6.34225790e-01 5.25309719e-02 3.31008947e+02] [-6.32753860e-01 7.73147878e-01 -4.31846191e-02 -2.57192638e+02] [-6.80030087e-02 7.17655540e-05 9.97685114e-01 -2.35539283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28864 meters 0.025611295253042773 Centerline is valid? [True, True] Translation: X:331.03, Y:-257.21, Z:-23.55 [[ 7.72156740e-01 6.33266205e-01 5.24202546e-02 3.31034518e+02] [-6.31795107e-01 7.73934026e-01 -4.31400705e-02 -2.57212916e+02] [-6.78889674e-02 1.92035838e-04 9.97692864e-01 -2.35547960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.31864 meters 0.02560621980858663 Centerline is valid? [True, True] Translation: X:331.06, Y:-257.23, Z:-23.56 [[ 7.72418189e-01 6.32879909e-01 5.32274585e-02 3.31060136e+02] [-6.31358899e-01 7.74249927e-01 -4.38519140e-02 -2.57234413e+02] [-6.89643512e-02 2.66386384e-04 9.97619089e-01 -2.35564290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34864 meters 0.025678512912738705 Centerline is valid? [True, True] Translation: X:331.09, Y:-257.26, Z:-23.56 [[ 7.72972490e-01 6.32164146e-01 5.36844721e-02 3.31085371e+02] [-6.30611835e-01 7.74834405e-01 -4.42759279e-02 -2.57256309e+02] [-6.95862302e-02 3.70010743e-04 9.97575872e-01 -2.35580370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.37864 meters 0.025634122581160216 Centerline is valid? [True, True] Translation: X:331.11, Y:-257.28, Z:-23.56 [[ 7.73896457e-01 6.31191063e-01 5.17891458e-02 3.31110296e+02] [-6.29741929e-01 7.75627244e-01 -4.27490528e-02 -2.57277528e+02] [-6.71518925e-02 4.69543906e-04 9.97742654e-01 -2.35586192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40864 meters 0.02581957932572864 Centerline is valid? [True, True] Translation: X:331.13, Y:-257.30, Z:-23.56 [[ 7.74370004e-01 6.30677796e-01 5.09569854e-02 3.31134809e+02] [-6.29272397e-01 7.76044615e-01 -4.20833188e-02 -2.57299785e+02] [-6.60859089e-02 5.22235407e-04 9.97813800e-01 -2.35608859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43864 meters 0.025907516550161724 Centerline is valid? [True, True] Translation: X:331.16, Y:-257.32, Z:-23.56 [[ 7.74653560e-01 6.30297623e-01 5.13494850e-02 3.31159510e+02] [-6.28866617e-01 7.76353369e-01 -4.24526067e-02 -2.57321666e+02] [-6.66231228e-02 5.94085995e-04 9.97778035e-01 -2.35637057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46864 meters 0.025808973944171 Centerline is valid? [True, True] Translation: X:331.18, Y:-257.34, Z:-23.56 [[ 7.74662434e-01 6.30275911e-01 5.14819381e-02 3.31183745e+02] [-6.28834443e-01 7.76370966e-01 -4.26071246e-02 -2.57343629e+02] [-6.68233263e-02 6.32522991e-04 9.97764623e-01 -2.35642247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49864 meters 0.026129520460702004 Centerline is valid? [True, True] Translation: X:331.21, Y:-257.37, Z:-23.56 [[ 7.76029427e-01 6.28601303e-01 5.13685731e-02 3.31206206e+02] [-6.27159629e-01 7.77727297e-01 -4.25564637e-02 -2.57366761e+02] [-6.67017900e-02 8.08772886e-04 9.97772628e-01 -2.35637949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52864 meters 0.02613605768676759 Centerline is valid? [True, True] Translation: X:331.23, Y:-257.39, Z:-23.57 [[ 7.76490008e-01 6.27951085e-01 5.23517214e-02 3.31229993e+02] [-6.26449405e-01 7.78252274e-01 -4.34113022e-02 -2.57388789e+02] [-6.80030205e-02 9.12737661e-04 9.97684698e-01 -2.35662013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55864 meters 0.026377786337004057 Centerline is valid? [True, True] Translation: X:331.25, Y:-257.41, Z:-23.57 [[ 7.77525346e-01 6.26689246e-01 5.21049579e-02 3.31253370e+02] [-6.25196223e-01 7.79268561e-01 -4.32457319e-02 -2.57410393e+02] [-6.77053906e-02 1.04882974e-03 9.97704806e-01 -2.35682499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58864 meters 0.026832258372320325 Centerline is valid? [True, True] Translation: X:331.28, Y:-257.43, Z:-23.57 [[ 7.79126103e-01 6.24544577e-01 5.39127727e-02 3.31275082e+02] [-6.22937973e-01 7.80988062e-01 -4.47876051e-02 -2.57434054e+02] [-7.00770878e-02 1.31087890e-03 9.97540718e-01 -2.35724202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61864 meters 0.026855457802763886 Centerline is valid? [True, True] Translation: X:331.30, Y:-257.46, Z:-23.57 [[ 7.79314220e-01 6.24248143e-01 5.46223643e-02 3.31297183e+02] [-6.22595257e-01 7.81224891e-01 -4.54182250e-02 -2.57457399e+02] [-7.10245932e-02 1.38744359e-03 9.97473600e-01 -2.35737674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64864 meters 0.02723195008972611 Centerline is valid? [True, True] Translation: X:331.32, Y:-257.48, Z:-23.58 [[ 7.80167367e-01 6.23082953e-01 5.57361068e-02 3.31317772e+02] [-6.21355857e-01 7.82154211e-01 -4.63863064e-02 -2.57483531e+02] [-7.24967474e-02 1.55712608e-03 9.97367433e-01 -2.35760781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67864 meters 0.02716898511542429 Centerline is valid? [True, True] Translation: X:331.34, Y:-257.51, Z:-23.58 [[ 7.80272442e-01 6.23061225e-01 5.44942752e-02 3.31340614e+02] [-6.21407443e-01 7.82171522e-01 -4.53927230e-02 -2.57506247e+02] [-7.09063158e-02 1.55554264e-03 9.97481767e-01 -2.35769360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70864 meters 0.02702616747363 Centerline is valid? [True, True] Translation: X:331.36, Y:-257.53, Z:-23.58 [[ 7.80074684e-01 6.23422581e-01 5.31768074e-02 3.31362853e+02] [-6.21846056e-01 7.81883615e-01 -4.43338985e-02 -2.57529522e+02] [-6.92168279e-02 1.51596390e-03 9.97600487e-01 -2.35780942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73864 meters 0.027016992840520886 Centerline is valid? [True, True] Translation: X:331.38, Y:-257.56, Z:-23.58 [[ 7.79453846e-01 6.24217048e-01 5.29601729e-02 3.31382368e+02] [-6.22652478e-01 7.81249586e-01 -4.41924928e-02 -2.57556587e+02] [-6.89608205e-02 1.47022555e-03 9.97618286e-01 -2.35806268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76864 meters 0.027035276331250784 Centerline is valid? [True, True] Translation: X:331.41, Y:-257.58, Z:-23.58 [[ 7.78465031e-01 6.25428213e-01 5.32141577e-02 3.31405757e+02] [-6.23848499e-01 7.80280453e-01 -4.44462032e-02 -2.57580580e+02] [-6.93198764e-02 1.40224253e-03 9.97593499e-01 -2.35817200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79864 meters 0.026847801496046184 Centerline is valid? [True, True] Translation: X:331.43, Y:-257.60, Z:-23.58 [[ 7.77483789e-01 6.26669913e-01 5.29507108e-02 3.31427911e+02] [-6.25105651e-01 7.79283696e-01 -4.42701434e-02 -2.57604295e+02] [-6.90063926e-02 1.31953029e-03 9.97615345e-01 -2.35817934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82864 meters 0.02652926036657314 Centerline is valid? [True, True] Translation: X:331.45, Y:-257.63, Z:-23.58 [[ 7.75274324e-01 6.29353666e-01 5.35134197e-02 3.31448004e+02] [-6.27759985e-01 7.77118210e-01 -4.47737561e-02 -2.57631157e+02] [-6.97647804e-02 1.11835997e-03 9.97562843e-01 -2.35838294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85864 meters 0.026436308834592994 Centerline is valid? [True, True] Translation: X:331.47, Y:-257.65, Z:-23.59 [[ 7.73944153e-01 6.30927085e-01 5.42352352e-02 3.31470775e+02] [-6.29292199e-01 7.75841476e-01 -4.54019053e-02 -2.57654676e+02] [-7.07232367e-02 1.00872875e-03 9.97495467e-01 -2.35864955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88864 meters 0.026245656079709412 Centerline is valid? [True, True] Translation: X:331.49, Y:-257.68, Z:-23.59 [[ 7.70988651e-01 6.34545995e-01 5.41098895e-02 3.31491167e+02] [-6.32924334e-01 7.72884775e-01 -4.53421677e-02 -2.57680449e+02] [-7.05924007e-02 7.10830969e-04 9.97504991e-01 -2.35884386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91864 meters 0.026261240850125867 Centerline is valid? [True, True] Translation: X:331.51, Y:-257.70, Z:-23.59 [[ 7.69863399e-01 6.35909838e-01 5.41204662e-02 3.31514499e+02] [-6.34287841e-01 7.71763108e-01 -4.53942761e-02 -2.57703423e+02] [-7.06348460e-02 6.19437998e-04 9.97502048e-01 -2.35903119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94864 meters 0.02617678812172173 Centerline is valid? [True, True] Translation: X:331.54, Y:-257.73, Z:-23.59 [[ 7.68207576e-01 6.37940747e-01 5.37468483e-02 3.31537303e+02] [-6.36342831e-01 7.70085312e-01 -4.51266423e-02 -2.57726162e+02] [-7.01777824e-02 4.65206893e-04 9.97534392e-01 -2.35913272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97864 meters 0.026196760436797757 Centerline is valid? [True, True] Translation: X:331.56, Y:-257.75, Z:-23.59 [[ 7.67022107e-01 6.39392935e-01 5.34206042e-02 3.31560797e+02] [-6.37814871e-01 7.68880057e-01 -4.48959715e-02 -2.57749003e+02] [-6.97802042e-02 3.63746880e-04 9.97562324e-01 -2.35926665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00864 meters 0.025912028406815425 Centerline is valid? [True, True] Translation: X:331.58, Y:-257.77, Z:-23.59 [[ 7.65849229e-01 6.40782043e-01 5.36034676e-02 3.31583037e+02] [-6.39193682e-01 7.67722802e-01 -4.50903144e-02 -2.57773740e+02] [-7.00456681e-02 2.69384734e-04 9.97543749e-01 -2.35927015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03864 meters 0.025943524966987545 Centerline is valid? [True, True] Translation: X:331.61, Y:-257.80, Z:-23.60 [[ 7.65022000e-01 6.41746301e-01 5.38797294e-02 3.31607255e+02] [-6.40141797e-01 7.66916973e-01 -4.53523548e-02 -2.57796044e+02] [-7.04259849e-02 2.04882374e-04 9.97516987e-01 -2.35950000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06864 meters 0.02599633513394181 Centerline is valid? [True, True] Translation: X:331.63, Y:-257.82, Z:-23.60 [[ 7.62586641e-01 6.44561759e-01 5.47882727e-02 3.31630029e+02] [-6.42906194e-01 7.64552248e-01 -4.61680303e-02 -2.57819771e+02] [-7.16466438e-02 -1.65966896e-05 9.97430077e-01 -2.35980103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09864 meters 0.02599556097320658 Centerline is valid? [True, True] Translation: X:331.65, Y:-257.84, Z:-23.60 [[ 7.60964444e-01 6.46431757e-01 5.53091243e-02 3.31654290e+02] [-6.44745737e-01 7.62971795e-01 -4.66580576e-02 -2.57841600e+02] [-7.23605520e-02 -1.55199262e-04 9.97378527e-01 -2.35998977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12864 meters 0.026038258571330068 Centerline is valid? [True, True] Translation: X:331.68, Y:-257.86, Z:-23.60 [[ 7.59844445e-01 6.47722212e-01 5.56089437e-02 3.31679175e+02] [-6.46017532e-01 7.61876550e-01 -4.69624358e-02 -2.57863676e+02] [-7.27857630e-02 -2.40206604e-04 9.97347570e-01 -2.36009100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15864 meters 0.025950104316502704 Centerline is valid? [True, True] Translation: X:331.70, Y:-257.89, Z:-23.60 [[ 7.58073559e-01 6.49807044e-01 5.54552533e-02 3.31703361e+02] [-6.48113652e-01 7.60099103e-01 -4.68833470e-02 -2.57886754e+02] [-7.26166174e-02 -4.00281081e-04 9.97359848e-01 -2.36020026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18864 meters 0.02605381937815245 Centerline is valid? [True, True] Translation: X:331.73, Y:-257.91, Z:-23.60 [[ 7.57752868e-01 6.50253122e-01 5.46028258e-02 3.31727212e+02] [-6.48609195e-01 7.59717524e-01 -4.62103395e-02 -2.57908154e+02] [-7.15311412e-02 -3.99877588e-04 9.97438287e-01 -2.36028952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21864 meters 0.026029762689543275 Centerline is valid? [True, True] Translation: X:331.75, Y:-257.93, Z:-23.60 [[ 7.58427519e-01 6.49464212e-01 5.46254052e-02 3.31751170e+02] [-6.47813583e-01 7.60392104e-01 -4.62753575e-02 -2.57930777e+02] [-7.15909154e-02 -2.90574908e-04 9.97434036e-01 -2.36033344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24864 meters 0.026037048595421886 Centerline is valid? [True, True] Translation: X:331.77, Y:-257.95, Z:-23.61 [[ 7.59041302e-01 6.48650729e-01 5.57542259e-02 3.31774900e+02] [-6.46925222e-01 7.61086197e-01 -4.72816839e-02 -2.57951791e+02] [-7.31030705e-02 -1.80064115e-04 9.97324375e-01 -2.36055084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27864 meters 0.026037048595421886 Centerline is valid? [True, True] Translation: X:331.80, Y:-257.97, Z:-23.61 [[ 7.58690863e-01 6.49062581e-01 5.57309680e-02 3.31799885e+02] [-6.47336171e-01 7.60734995e-01 -4.73090864e-02 -2.57972568e+02] [-7.31030554e-02 -1.83699887e-04 9.97324375e-01 -2.36071366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30864 meters 0.026178271104818338 Centerline is valid? [True, True] Translation: X:331.82, Y:-257.99, Z:-23.61 [[ 7.59291420e-01 6.48228030e-01 5.72447389e-02 3.31823237e+02] [-6.46400215e-01 7.61446266e-01 -4.86450987e-02 -2.57993958e+02] [-7.51219092e-02 -6.72054678e-05 9.97174355e-01 -2.36096742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33864 meters 0.02621231140507348 Centerline is valid? [True, True] Translation: X:331.85, Y:-258.02, Z:-23.61 [[ 7.60673857e-01 6.46579420e-01 5.75355323e-02 3.31846557e+02] [-6.44724680e-01 7.62846667e-01 -4.89392449e-02 -2.58017605e+02] [-7.55338976e-02 1.32226468e-04 9.97143226e-01 -2.36117759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36864 meters 0.026187247747648645 Centerline is valid? [True, True] Translation: X:331.87, Y:-258.04, Z:-23.61 [[ 7.60955402e-01 6.46261589e-01 5.73832302e-02 3.31870585e+02] [-6.44411774e-01 7.63115926e-01 -4.88625559e-02 -2.58039964e+02] [-7.53680499e-02 2.03796750e-04 9.97155763e-01 -2.36137825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39864 meters 0.026303992460926472 Centerline is valid? [True, True] Translation: X:331.89, Y:-258.06, Z:-23.62 [[ 7.60480937e-01 6.46868533e-01 5.68317216e-02 3.31893417e+02] [-6.45051970e-01 7.62601513e-01 -4.84447022e-02 -2.58064218e+02] [-7.46773103e-02 1.81858634e-04 9.97207735e-01 -2.36166220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters 0.02617732486006522 Centerline is valid? [True, True] Translation: X:331.92, Y:-258.09, Z:-23.62 [[ 7.59837621e-01 6.47667838e-01 5.63308249e-02 3.31918020e+02] [-6.45881562e-01 7.61922799e-01 -4.80692879e-02 -2.58086924e+02] [-7.40526716e-02 1.41812148e-04 9.97254322e-01 -2.36171543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45864 meters 0.026197258244827992 Centerline is valid? [True, True] Translation: X:331.94, Y:-258.11, Z:-23.62 [[ 7.58784953e-01 6.48876256e-01 5.66127176e-02 3.31942044e+02] [-6.47071472e-01 7.60893948e-01 -4.83622892e-02 -2.58108861e+02] [-7.44574154e-02 6.41028907e-05 9.97224192e-01 -2.36182752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters 0.026395407074100825 Centerline is valid? [True, True] Translation: X:331.97, Y:-258.13, Z:-23.62 [[ 7.57799884e-01 6.49958001e-01 5.73927998e-02 3.31966053e+02] [-6.48102235e-01 7.59970129e-01 -4.90805040e-02 -2.58130646e+02] [-7.55170798e-02 -3.20157602e-06 9.97144508e-01 -2.36199949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51864 meters 0.026553657672251974 Centerline is valid? [True, True] Translation: X:331.99, Y:-258.15, Z:-23.62 [[ 7.56599560e-01 6.51391054e-01 5.69806964e-02 3.31989434e+02] [-6.49562265e-01 7.58742171e-01 -4.87768580e-02 -2.58154350e+02] [-7.50064663e-02 -1.07960846e-04 9.97183042e-01 -2.36212310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters 0.026514185007182417 Centerline is valid? [True, True] Translation: X:332.01, Y:-258.18, Z:-23.63 [[ 7.56607644e-01 6.51313384e-01 5.77559430e-02 3.32011161e+02] [-6.49430207e-01 7.58808851e-01 -4.94927695e-02 -2.58177653e+02] [-7.60610239e-02 -6.18462830e-05 9.97103163e-01 -2.36253365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57864 meters 0.026435851969141427 Centerline is valid? [True, True] Translation: X:332.03, Y:-258.20, Z:-23.63 [[ 7.56698719e-01 6.51264178e-01 5.71140810e-02 3.32034620e+02] [-6.49419067e-01 7.58851085e-01 -4.89888283e-02 -2.58200357e+02] [-7.52457514e-02 -2.11895917e-05 9.97165020e-01 -2.36263340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters 0.026227221314713552 Centerline is valid? [True, True] Translation: X:332.06, Y:-258.22, Z:-23.63 [[ 7.56385846e-01 6.51655776e-01 5.67908635e-02 3.32057243e+02] [-6.49828993e-01 7.58514831e-01 -4.87599243e-02 -2.58223937e+02] [-7.48513985e-02 -2.30330699e-05 9.97194699e-01 -2.36280847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63864 meters 0.026256354287323924 Centerline is valid? [True, True] Translation: X:332.08, Y:-258.25, Z:-23.63 [[ 7.55694054e-01 6.52428337e-01 5.71293487e-02 3.32079776e+02] [-6.50577806e-01 7.57850422e-01 -4.91045391e-02 -2.58247895e+02] [-7.53326938e-02 -5.90780932e-05 9.97158454e-01 -2.36300338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66864 meters 0.026100227730567138 Centerline is valid? [True, True] Translation: X:332.10, Y:-258.27, Z:-23.63 [[ 7.55286796e-01 6.52970120e-01 5.63194364e-02 3.32100386e+02] [-6.51169496e-01 7.57383666e-01 -4.84589552e-02 -2.58272991e+02] [-7.42976710e-02 -7.30900309e-05 9.97236106e-01 -2.36315370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69864 meters 0.026217301871229504 Centerline is valid? [True, True] Translation: X:332.12, Y:-258.30, Z:-23.63 [[ 7.54072575e-01 6.54456486e-01 5.53286464e-02 3.32123190e+02] [-6.52719434e-01 7.56099646e-01 -4.76515045e-02 -2.58295946e+02] [-7.30198062e-02 -1.81390060e-04 9.97330474e-01 -2.36333004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72864 meters 0.026286627608522684 Centerline is valid? [True, True] Translation: X:332.14, Y:-258.32, Z:-23.64 [[ 7.52885760e-01 6.55846094e-01 5.50357353e-02 3.32143179e+02] [-6.54127660e-01 7.54894577e-01 -4.74466231e-02 -2.58322656e+02] [-7.26638606e-02 -2.78509867e-04 9.97356449e-01 -2.36353228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75864 meters 0.026128976832622584 Centerline is valid? [True, True] Translation: X:332.17, Y:-258.35, Z:-23.64 [[ 7.52448163e-01 6.56383189e-01 5.46156608e-02 3.32165386e+02] [-6.54688623e-01 7.54427614e-01 -4.71357760e-02 -2.58346970e+02] [-7.21426937e-02 -2.89023724e-04 9.97394279e-01 -2.36365058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78864 meters 0.026303970416617087 Centerline is valid? [True, True] Translation: X:332.19, Y:-258.37, Z:-23.64 [[ 7.51234929e-01 6.57744256e-01 5.49415573e-02 3.32187866e+02] [-6.56029193e-01 7.53241227e-01 -4.74694810e-02 -2.58370919e+02] [-7.26070246e-02 -3.82533324e-04 9.97360554e-01 -2.36378771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81864 meters 0.026534118487381592 Centerline is valid? [True, True] Translation: X:332.21, Y:-258.40, Z:-23.64 [[ 7.48829784e-01 6.60449408e-01 5.53220987e-02 3.32208639e+02] [-6.58714101e-01 7.50870300e-01 -4.78489891e-02 -2.58396736e+02] [-7.31415574e-02 -6.10698358e-04 9.97321382e-01 -2.36392296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84864 meters 0.026454897830298654 Centerline is valid? [True, True] Translation: X:332.23, Y:-258.42, Z:-23.64 [[ 7.47770724e-01 6.61671129e-01 5.50478126e-02 3.32231380e+02] [-6.59952834e-01 7.49793865e-01 -4.76593794e-02 -2.58420795e+02] [-7.28093475e-02 -6.90671267e-04 9.97345638e-01 -2.36392359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87864 meters 0.02659751842865793 Centerline is valid? [True, True] Translation: X:332.25, Y:-258.45, Z:-23.64 [[ 7.45900039e-01 6.63808451e-01 5.46943565e-02 3.32252666e+02] [-6.62114137e-01 7.47902140e-01 -4.74052627e-02 -2.58446843e+02] [-7.23740403e-02 -8.54319423e-04 9.97377195e-01 -2.36410039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90864 meters 0.026645895702275352 Centerline is valid? [True, True] Translation: X:332.28, Y:-258.47, Z:-23.64 [[ 7.44815812e-01 6.65039777e-01 5.45114870e-02 3.32277050e+02] [-6.63356336e-01 7.46807356e-01 -4.72984647e-02 -2.58469138e+02] [-7.21649399e-02 -9.31895942e-04 9.97392276e-01 -2.36433014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93864 meters 0.02692789915058567 Centerline is valid? [True, True] Translation: X:332.30, Y:-258.49, Z:-23.65 [[ 7.42524112e-01 6.67514144e-01 5.55230614e-02 3.32299603e+02] [-6.65770731e-01 7.44596220e-01 -4.82265894e-02 -2.58491623e+02] [-7.35341922e-02 -1.15622369e-03 9.97292026e-01 -2.36467607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96864 meters 0.02707463244040102 Centerline is valid? [True, True] Translation: X:332.32, Y:-258.51, Z:-23.65 [[ 7.41283104e-01 6.68848068e-01 5.60501687e-02 3.32323188e+02] [-6.67071742e-01 7.43398048e-01 -4.87302127e-02 -2.58513786e+02] [-7.42606946e-02 -1.26660029e-03 9.97238058e-01 -2.36481243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99864 meters 0.027228707865247608 Centerline is valid? [True, True] Translation: X:332.35, Y:-258.54, Z:-23.65 [[ 7.40490256e-01 6.69727198e-01 5.60326840e-02 3.32347747e+02] [-6.67950985e-01 7.42606047e-01 -4.87620852e-02 -2.58535060e+02] [-7.42675046e-02 -1.31923758e-03 9.97237483e-01 -2.36492388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02864 meters 0.02726427889388376 Centerline is valid? [True, True] Translation: X:332.37, Y:-258.56, Z:-23.65 [[ 7.39080688e-01 6.71318295e-01 5.56011079e-02 3.32373141e+02] [-6.69570107e-01 7.41167796e-01 -4.84372738e-02 -2.58555745e+02] [-7.37265787e-02 -1.42978611e-03 9.97277468e-01 -2.36504306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05864 meters 0.02764314620062533 Centerline is valid? [True, True] Translation: X:332.40, Y:-258.57, Z:-23.65 [[ 7.36422976e-01 6.74256085e-01 5.53166508e-02 3.32400068e+02] [-6.72530419e-01 7.38495711e-01 -4.82381686e-02 -2.58574436e+02] [-7.33759881e-02 -1.67843464e-03 9.97302937e-01 -2.36508767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08864 meters 0.027730558398643104 Centerline is valid? [True, True] Translation: X:332.43, Y:-258.59, Z:-23.65 [[ 7.34156537e-01 6.76664941e-01 5.60244364e-02 3.32427474e+02] [-6.74898378e-01 7.36288605e-01 -4.89006178e-02 -2.58591881e+02] [-7.43394878e-02 -1.91009303e-03 9.97231163e-01 -2.36532657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11863999999997 meters 0.027651573358962574 Centerline is valid? [True, True] Translation: X:332.45, Y:-258.61, Z:-23.65 [[ 7.33555362e-01 6.77296883e-01 5.62624440e-02 3.32453821e+02] [-6.75513569e-01 7.35707237e-01 -4.91556618e-02 -2.58611212e+02] [-7.46856638e-02 -1.94764508e-03 9.97205224e-01 -2.36541309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14864 meters 0.027582986954713805 Centerline is valid? [True, True] Translation: X:332.48, Y:-258.63, Z:-23.66 [[ 7.33518562e-01 6.77336153e-01 5.62694905e-02 3.32480495e+02] [-6.75548642e-01 7.35671172e-01 -4.92134061e-02 -2.58630886e+02] [-7.47298612e-02 -1.91383101e-03 9.97201978e-01 -2.36562704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17864 meters 0.027454233493779474 Centerline is valid? [True, True] Translation: X:332.51, Y:-258.65, Z:-23.66 [[ 7.35056182e-01 6.75796601e-01 5.46933617e-02 3.32508861e+02] [-6.74100246e-01 7.37086261e-01 -4.78821727e-02 -2.58647776e+02] [-7.26723350e-02 -1.67272157e-03 9.97354467e-01 -2.36570574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20864 meters 0.02714804040481637 Centerline is valid? [True, True] Translation: X:332.54, Y:-258.67, Z:-23.66 [[ 7.36306154e-01 6.74406806e-01 5.50336998e-02 3.32535000e+02] [-6.72682132e-01 7.38358431e-01 -4.82242320e-02 -2.58666774e+02] [-7.31573465e-02 -1.51238776e-03 9.97319265e-01 -2.36595373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23864 meters 0.026724753940411003 Centerline is valid? [True, True] Translation: X:332.56, Y:-258.69, Z:-23.66 [[ 7.37715289e-01 6.72864060e-01 5.50464326e-02 3.32560858e+02] [-6.71131023e-01 7.39764961e-01 -4.82799431e-02 -2.58686452e+02] [-7.32072606e-02 -1.32651643e-03 9.97315866e-01 -2.36615058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26864 meters 0.026552820722956106 Centerline is valid? [True, True] Translation: X:332.59, Y:-258.70, Z:-23.66 [[ 7.40450513e-01 6.69817840e-01 5.54716112e-02 3.32588478e+02] [-6.68045948e-01 7.42524790e-01 -4.86985413e-02 -2.58704336e+02] [-7.38081983e-02 -9.98725215e-04 9.97271955e-01 -2.36624971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29864 meters 0.02639566346711914 Centerline is valid? [True, True] Translation: X:332.61, Y:-258.72, Z:-23.66 [[ 7.41417586e-01 6.68689586e-01 5.61622711e-02 3.32614928e+02] [-6.66866335e-01 7.43541186e-01 -4.93537797e-02 -2.58724790e+02] [-7.47613203e-02 -8.60967674e-04 9.97201085e-01 -2.36639489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32864 meters 0.02631461425484289 Centerline is valid? [True, True] Translation: X:332.64, Y:-258.75, Z:-23.67 [[ 7.42177499e-01 6.67862524e-01 5.59661449e-02 3.32640134e+02] [-6.66045841e-01 7.44284291e-01 -4.92324277e-02 -2.58745396e+02] [-7.45352159e-02 -7.36818003e-04 9.97218110e-01 -2.36658162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35864 meters 0.02599955019527594 Centerline is valid? [True, True] Translation: X:332.67, Y:-258.77, Z:-23.67 [[ 7.43471754e-01 6.66566657e-01 5.42092496e-02 3.32665271e+02] [-6.64855736e-01 7.45445226e-01 -4.77311871e-02 -2.58766048e+02] [-7.22260441e-02 -5.54541149e-04 9.97388135e-01 -2.36669041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38864 meters 0.02589266662123747 Centerline is valid? [True, True] Translation: X:332.69, Y:-258.79, Z:-23.67 [[ 7.43807549e-01 6.66245250e-01 5.35499419e-02 3.32689761e+02] [-6.64571736e-01 7.45732548e-01 -4.71950712e-02 -2.58786571e+02] [-7.13774266e-02 -4.83727611e-04 9.97449261e-01 -2.36690544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41864 meters 0.025988778223414 Centerline is valid? [True, True] Translation: X:332.71, Y:-258.81, Z:-23.67 [[ 7.44188020e-01 6.65913210e-01 5.23811732e-02 3.32714407e+02] [-6.64308154e-01 7.46029107e-01 -4.62087398e-02 -2.58807084e+02] [-6.98488902e-02 -4.09249881e-04 9.97557500e-01 -2.36708572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44864 meters 0.02602912874479077 Centerline is valid? [True, True] Translation: X:332.74, Y:-258.83, Z:-23.67 [[ 7.44660468e-01 6.65308007e-01 5.33483242e-02 3.32739674e+02] [-6.63638080e-01 7.46568920e-01 -4.71099529e-02 -2.58828024e+02] [-7.11708297e-02 -3.23059842e-04 9.97464089e-01 -2.36718758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47864 meters 0.025868235898498657 Centerline is valid? [True, True] Translation: X:332.76, Y:-258.85, Z:-23.67 [[ 7.44507053e-01 6.65414555e-01 5.41545762e-02 3.32764982e+02] [-6.63690121e-01 7.46473966e-01 -4.78752698e-02 -2.58849440e+02] [-7.22818825e-02 -2.98381203e-04 9.97384199e-01 -2.36723499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50864 meters 0.025786396499577955 Centerline is valid? [True, True] Translation: X:332.79, Y:-258.87, Z:-23.67 [[ 7.44269268e-01 6.65643200e-01 5.46112356e-02 3.32790470e+02] [-6.63886212e-01 7.46270092e-01 -4.83326742e-02 -2.58871011e+02] [-7.29270477e-02 -2.83122387e-04 9.97337238e-01 -2.36744508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53864 meters 0.025889085664061468 Centerline is valid? [True, True] Translation: X:332.82, Y:-258.89, Z:-23.68 [[ 7.43862407e-01 6.66048157e-01 5.52138711e-02 3.32815317e+02] [-6.64249215e-01 7.45908688e-01 -4.89204418e-02 -2.58893245e+02] [-7.37678762e-02 -2.85692982e-04 9.97275398e-01 -2.36774506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56864 meters 0.02584876750556737 Centerline is valid? [True, True] Translation: X:332.84, Y:-258.91, Z:-23.68 [[ 7.44108465e-01 6.65835141e-01 5.44624379e-02 3.32839624e+02] [-6.64080636e-01 7.46098864e-01 -4.83052203e-02 -2.58914160e+02] [-7.27976762e-02 -2.23127085e-04 9.97346704e-01 -2.36792371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59864 meters 0.025622539289951986 Centerline is valid? [True, True] Translation: X:332.87, Y:-258.93, Z:-23.68 [[ 7.44606451e-01 6.65333867e-01 5.37780523e-02 3.32865789e+02] [-6.63618660e-01 7.46545931e-01 -4.77435590e-02 -2.58933460e+02] [-7.19131928e-02 -1.37956962e-04 9.97410885e-01 -2.36825798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62864 meters 0.025467960429983106 Centerline is valid? [True, True] Translation: X:332.89, Y:-258.95, Z:-23.68 [[ 7.44043765e-01 6.66024369e-01 5.30133597e-02 3.32890340e+02] [-6.64356210e-01 7.45929964e-01 -4.71096052e-02 -2.58953700e+02] [-7.09203986e-02 -1.68146763e-04 9.97481964e-01 -2.36827795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65864 meters 0.025363523296657035 Centerline is valid? [True, True] Translation: X:332.91, Y:-258.97, Z:-23.68 [[ 7.44128924e-01 6.66005729e-01 5.20433840e-02 3.32914784e+02] [-6.64395016e-01 7.45946615e-01 -4.62915858e-02 -2.58974604e+02] [-6.96520475e-02 -1.30456984e-04 9.97571338e-01 -2.36845881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68864 meters 0.025297808458952437 Centerline is valid? [True, True] Translation: X:332.94, Y:-259.00, Z:-23.69 [[ 7.43980666e-01 6.66163244e-01 5.21469215e-02 3.32940378e+02] [-6.64543233e-01 7.45805953e-01 -4.64302830e-02 -2.58995254e+02] [-6.98216324e-02 -1.10650977e-04 9.97559486e-01 -2.36853000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71864 meters 0.025217636647075412 Centerline is valid? [True, True] Translation: X:332.97, Y:-259.02, Z:-23.69 [[ 7.43923738e-01 6.66214255e-01 5.23071536e-02 3.32965575e+02] [-6.64580795e-01 7.45760391e-01 -4.66241001e-02 -2.59015811e+02] [-7.00702434e-02 -7.75549013e-05 9.97542057e-01 -2.36869012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74864 meters 0.025399631578103404 Centerline is valid? [True, True] Translation: X:332.99, Y:-259.04, Z:-23.69 [[ 7.43280947e-01 6.66892000e-01 5.28061908e-02 3.32990581e+02] [-6.65225202e-01 7.45154379e-01 -4.71209239e-02 -2.59037472e+02] [-7.07733315e-02 -1.03923985e-04 9.97492418e-01 -2.36898582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77864 meters 0.025355194141604663 Centerline is valid? [True, True] Translation: X:333.01, Y:-259.06, Z:-23.69 [[ 7.42886401e-01 6.67316648e-01 5.29932715e-02 3.33014876e+02] [-6.65635359e-01 7.44774114e-01 -4.73401356e-02 -2.59059685e+02] [-7.10588774e-02 -1.05852334e-04 9.97472117e-01 -2.36917706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80864 meters 0.02534536244362566 Centerline is valid? [True, True] Translation: X:333.04, Y:-259.08, Z:-23.69 [[ 7.41426013e-01 6.68940210e-01 5.29760637e-02 3.33038800e+02] [-6.67260432e-01 7.43316182e-01 -4.73768834e-02 -2.59082482e+02] [-7.10702678e-02 -2.22377386e-04 9.97471287e-01 -2.36929014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83864 meters 0.02529613229668238 Centerline is valid? [True, True] Translation: X:333.06, Y:-259.11, Z:-23.69 [[ 7.39316088e-01 6.71345713e-01 5.20255325e-02 3.33062505e+02] [-6.69728169e-01 7.41144229e-01 -4.65769468e-02 -2.59106139e+02] [-6.98276567e-02 -4.07878494e-04 9.97558987e-01 -2.36944072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters 0.02518501629128306 Centerline is valid? [True, True] Translation: X:333.09, Y:-259.13, Z:-23.70 [[ 7.38329181e-01 6.72513102e-01 5.09524134e-02 3.33086378e+02] [-6.70961178e-01 7.40085066e-01 -4.56639169e-02 -2.59127790e+02] [-6.84187026e-02 -4.72088904e-04 9.97656583e-01 -2.36954537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89864 meters 0.025306269741597276 Centerline is valid? [True, True] Translation: X:333.11, Y:-259.15, Z:-23.70 [[ 7.37385493e-01 6.73642064e-01 4.96890780e-02 3.33109668e+02] [-6.72165984e-01 7.39057567e-01 -4.45735533e-02 -2.59150270e+02] [-6.67497095e-02 -5.31416414e-04 9.97769610e-01 -2.36978676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters 0.025308337422716105 Centerline is valid? [True, True] Translation: X:333.13, Y:-259.17, Z:-23.70 [[ 7.36322469e-01 6.74781167e-01 4.99959781e-02 3.33133392e+02] [-6.73286380e-01 7.38017622e-01 -4.48936557e-02 -2.59173179e+02] [-6.71913062e-02 -6.05403771e-04 9.97739927e-01 -2.37002485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95864 meters 0.025372353455245758 Centerline is valid? [True, True] Translation: X:333.16, Y:-259.20, Z:-23.70 [[ 7.35300800e-01 6.75895656e-01 4.99779477e-02 3.33156921e+02] [-6.74401177e-01 7.36997024e-01 -4.49270535e-02 -2.59195934e+02] [-6.71995990e-02 -6.70288369e-04 9.97739327e-01 -2.37012476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters 0.02556959465325283 Centerline is valid? [True, True] Translation: X:333.18, Y:-259.22, Z:-23.70 [[ 7.34274625e-01 6.76882225e-01 5.16839320e-02 3.33179952e+02] [-6.75282751e-01 7.36090954e-01 -4.65114395e-02 -2.59218154e+02] [-6.95268415e-02 -7.49098028e-04 9.97579800e-01 -2.37030298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01864 meters 0.02556959463431109 Centerline is valid? [True, True] Translation: X:333.20, Y:-259.24, Z:-23.70 [[ 7.33700386e-01 6.77458521e-01 5.22847533e-02 3.33204298e+02] [-6.75819807e-01 7.35560565e-01 -4.70982414e-02 -2.59239650e+02] [-7.03657077e-02 -7.79073983e-04 9.97520957e-01 -2.37041073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters 0.025626681511920286 Centerline is valid? [True, True] Translation: X:333.23, Y:-259.26, Z:-23.71 [[ 7.32754951e-01 6.78443433e-01 5.27701706e-02 3.33228917e+02] [-6.76773108e-01 7.34652159e-01 -4.75853516e-02 -2.59261212e+02] [-7.10516891e-02 -8.45030426e-04 9.97472277e-01 -2.37069396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07864 meters 0.025740809116294956 Centerline is valid? [True, True] Translation: X:333.25, Y:-259.28, Z:-23.71 [[ 7.30962945e-01 6.80472151e-01 5.14861600e-02 3.33254318e+02] [-6.78883780e-01 7.32773288e-01 -4.64771215e-02 -2.59282573e+02] [-6.93540696e-02 -9.80065346e-04 9.97591626e-01 -2.37078397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters 0.025683105193016788 Centerline is valid? [True, True] Translation: X:333.28, Y:-259.30, Z:-23.71 [[ 7.30220883e-01 6.81247176e-01 5.17662841e-02 3.33280202e+02] [-6.79639837e-01 7.32052758e-01 -4.67808773e-02 -2.59303305e+02] [-6.97649916e-02 -1.02205541e-03 9.97562931e-01 -2.37098132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13864 meters 0.025683105193016788 Centerline is valid? [True, True] Translation: X:333.30, Y:-259.32, Z:-23.71 [[ 7.29854853e-01 6.81641225e-01 5.17410288e-02 3.33304495e+02] [-6.80032897e-01 7.31685859e-01 -4.68087980e-02 -2.59324853e+02] [-6.97649855e-02 -1.02197333e-03 9.97562932e-01 -2.37114414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16864 meters 0.02584796293067011 Centerline is valid? [True, True] Translation: X:333.33, Y:-259.34, Z:-23.71 [[ 7.27359858e-01 6.84268008e-01 5.22008549e-02 3.33330806e+02] [-6.82634165e-01 7.29229548e-01 -4.72743376e-02 -2.59343244e+02] [-7.04147226e-02 -1.24863151e-03 9.97517021e-01 -2.37132780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.19864 meters 0.026158525378315527 Centerline is valid? [True, True] Translation: X:333.36, Y:-259.36, Z:-23.72 [[ 7.25500056e-01 6.86255044e-01 5.19969477e-02 3.33355312e+02] [-6.84635929e-01 7.27359639e-01 -4.71338467e-02 -2.59363659e+02] [-7.01663212e-02 -1.40337020e-03 9.97534319e-01 -2.37150376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22864 meters 0.02639888787009104 Centerline is valid? [True, True] Translation: X:333.38, Y:-259.38, Z:-23.72 [[ 7.23997170e-01 6.87810936e-01 5.23852446e-02 3.33379989e+02] [-6.86168407e-01 7.25888260e-01 -4.75305297e-02 -2.59384198e+02] [-7.07178521e-02 -1.53313087e-03 9.97495180e-01 -2.37177998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.25864 meters 0.026545737295795117 Centerline is valid? [True, True] Translation: X:333.41, Y:-259.40, Z:-23.72 [[ 7.22755908e-01 6.89108880e-01 5.24675942e-02 3.33405043e+02] [-6.87461433e-01 7.24655983e-01 -4.76495989e-02 -2.59404612e+02] [-7.08567178e-02 -1.63041833e-03 9.97485171e-01 -2.37183986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28864 meters 0.02631727993689428 Centerline is valid? [True, True] Translation: X:333.43, Y:-259.42, Z:-23.72 [[ 7.21991128e-01 6.89975437e-01 5.16014291e-02 3.33433034e+02] [-6.88381101e-01 7.23830890e-01 -4.69073725e-02 -2.59422520e+02] [-6.97156433e-02 -1.65474180e-03 9.97565532e-01 -2.37180997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.31864 meters 0.02645059602755213 Centerline is valid? [True, True] Translation: X:333.46, Y:-259.44, Z:-23.72 [[ 7.21379777e-01 6.90564407e-01 5.22687103e-02 3.33458375e+02] [-6.88926622e-01 7.23268909e-01 -4.75625330e-02 -2.59442768e+02] [-7.06493255e-02 -1.69865667e-03 9.97499768e-01 -2.37204993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34864 meters 0.0260681781825702 Centerline is valid? [True, True] Translation: X:333.48, Y:-259.46, Z:-23.72 [[ 7.22159331e-01 6.89796214e-01 5.16438282e-02 3.33483587e+02] [-6.88192974e-01 7.24001859e-01 -4.70291170e-02 -2.59462242e+02] [-6.98307345e-02 -1.57840401e-03 9.97557606e-01 -2.37212274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.37864 meters 0.026120001118544452 Centerline is valid? [True, True] Translation: X:333.51, Y:-259.48, Z:-23.72 [[ 7.23710340e-01 6.88139541e-01 5.20318702e-02 3.33510677e+02] [-6.86506687e-01 7.25576986e-01 -4.73983756e-02 -2.59480984e+02] [-7.03698240e-02 -1.41753225e-03 9.97519964e-01 -2.37226046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40864 meters 0.025874602570303596 Centerline is valid? [True, True] Translation: X:333.54, Y:-259.50, Z:-23.72 [[ 7.24494180e-01 6.87372492e-01 5.12566082e-02 3.33536185e+02] [-6.85784442e-01 7.26303898e-01 -4.67155988e-02 -2.59500680e+02] [-6.93388919e-02 -1.30580502e-03 9.97592308e-01 -2.37243675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43864 meters 0.025799062108003604 Centerline is valid? [True, True] Translation: X:333.56, Y:-259.52, Z:-23.73 [[ 7.25557250e-01 6.86296763e-01 5.06303209e-02 3.33562634e+02] [-6.84741759e-01 7.27320710e-01 -4.61877566e-02 -2.59519221e+02] [-6.85229888e-02 -1.15683326e-03 9.97648867e-01 -2.37265556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46864 meters 0.02571654002928081 Centerline is valid? [True, True] Translation: X:333.59, Y:-259.54, Z:-23.73 [[ 7.26174838e-01 6.85655951e-01 5.04581114e-02 3.33587500e+02] [-6.84107026e-01 7.27924990e-01 -4.60737138e-02 -2.59539485e+02] [-6.83204362e-02 -1.06117686e-03 9.97662865e-01 -2.37283034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49864 meters 0.02554738992031949 Centerline is valid? [True, True] Translation: X:333.61, Y:-259.56, Z:-23.73 [[ 7.27323694e-01 6.84416787e-01 5.07336803e-02 3.33612301e+02] [-6.82844843e-01 7.29090405e-01 -4.63691915e-02 -2.59559794e+02] [-6.87252926e-02 -9.17820275e-04 9.97635200e-01 -2.37307385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52864 meters 0.025708365620876663 Centerline is valid? [True, True] Translation: X:333.64, Y:-259.58, Z:-23.73 [[ 7.28613116e-01 6.83021017e-01 5.10413351e-02 3.33636561e+02] [-6.81423424e-01 7.30398327e-01 -4.66947706e-02 -2.59580364e+02] [-6.91740155e-02 -7.58339023e-04 9.97604321e-01 -2.37322100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55864 meters 0.025560041317673424 Centerline is valid? [True, True] Translation: X:333.66, Y:-259.60, Z:-23.73 [[ 7.29245648e-01 6.82379857e-01 5.05817760e-02 3.33660389e+02] [-6.80806376e-01 7.30997467e-01 -4.63182594e-02 -2.59601414e+02] [-6.85817974e-02 -6.59006497e-04 9.97645279e-01 -2.37331573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58864 meters 0.025677005782427043 Centerline is valid? [True, True] Translation: X:333.68, Y:-259.62, Z:-23.73 [[ 7.30251452e-01 6.81312890e-01 5.04535792e-02 3.33684588e+02] [-6.79742326e-01 7.31992121e-01 -4.62374952e-02 -2.59623297e+02] [-6.84338239e-02 -5.30435264e-04 9.97655517e-01 -2.37346644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61863999999997 meters 0.025533971958225675 Centerline is valid? [True, True] Translation: X:333.71, Y:-259.65, Z:-23.74 [[ 7.31497509e-01 6.80049660e-01 4.94353645e-02 3.33708167e+02] [-6.78537526e-01 7.33165950e-01 -4.53267624e-02 -2.59645049e+02] [-6.70687753e-02 -3.87336180e-04 9.97748280e-01 -2.37366254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64864 meters 0.02562662608144326 Centerline is valid? [True, True] Translation: X:333.73, Y:-259.67, Z:-23.74 [[ 7.31662922e-01 6.79834193e-01 4.99483599e-02 3.33732501e+02] [-6.78286844e-01 7.33365773e-01 -4.58432234e-02 -2.59667551e+02] [-6.77962083e-02 -3.37528601e-04 9.97699133e-01 -2.37390790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67864 meters 0.025663511779689025 Centerline is valid? [True, True] Translation: X:333.76, Y:-259.69, Z:-23.74 [[ 7.31155330e-01 6.80386885e-01 4.98554933e-02 3.33756339e+02] [-6.78843155e-01 7.32853030e-01 -4.58083832e-02 -2.59690064e+02] [-6.77041725e-02 -3.51016843e-04 9.97705378e-01 -2.37399677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70864 meters 0.02568742002184358 Centerline is valid? [True, True] Translation: X:333.78, Y:-259.71, Z:-23.74 [[ 7.30560497e-01 6.80973807e-01 5.05572471e-02 3.33780179e+02] [-6.79384189e-01 7.32307678e-01 -4.65036513e-02 -2.59712048e+02] [-6.86912287e-02 -3.74063695e-04 9.97637898e-01 -2.37423268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73864 meters 0.02552638308392604 Centerline is valid? [True, True] Translation: X:333.80, Y:-259.73, Z:-23.74 [[ 7.30467679e-01 6.81130609e-01 4.97801616e-02 3.33804180e+02] [-6.79587280e-01 7.32161846e-01 -4.58275086e-02 -2.59734149e+02] [-6.76616538e-02 -3.54450763e-04 9.97708261e-01 -2.37437540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76864 meters 0.025640710649034962 Centerline is valid? [True, True] Translation: X:333.83, Y:-259.76, Z:-23.74 [[ 7.28522087e-01 6.83257728e-01 4.91370153e-02 3.33828542e+02] [-6.81757286e-01 7.30177102e-01 -4.52592830e-02 -2.59755739e+02] [-6.68024783e-02 -5.27130923e-04 9.97766080e-01 -2.37449187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79864 meters 0.02577013190616392 Centerline is valid? [True, True] Translation: X:333.85, Y:-259.78, Z:-23.75 [[ 7.26776654e-01 6.85140938e-01 4.87605344e-02 3.33853626e+02] [-6.83664403e-01 7.28410228e-01 -4.49613621e-02 -2.59777738e+02] [-6.63225418e-02 -6.58973332e-04 9.97798019e-01 -2.37457995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82864 meters 0.025734551569765483 Centerline is valid? [True, True] Translation: X:333.88, Y:-259.80, Z:-23.75 [[ 7.24451485e-01 6.87561499e-01 4.92872310e-02 3.33877687e+02] [-6.86055175e-01 7.26125647e-01 -4.54955084e-02 -2.59799044e+02] [-6.70696825e-02 -8.54471295e-04 9.97747928e-01 -2.37478605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85864 meters 0.025960699402353318 Centerline is valid? [True, True] Translation: X:333.90, Y:-259.82, Z:-23.75 [[ 7.22350526e-01 6.89752296e-01 4.95125052e-02 3.33902276e+02] [-6.88234324e-01 7.24044687e-01 -4.57472119e-02 -2.59819877e+02] [-6.74035107e-02 -1.03068294e-03 9.97725265e-01 -2.37488739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88864 meters 0.026273332132557423 Centerline is valid? [True, True] Translation: X:333.93, Y:-259.84, Z:-23.75 [[ 7.19272657e-01 6.92951294e-01 4.96522718e-02 3.33928725e+02] [-6.91429361e-01 7.20983223e-01 -4.59198342e-02 -2.59839119e+02] [-6.76186635e-02 -1.30215738e-03 9.97710389e-01 -2.37508752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91864 meters 0.02644413100731634 Centerline is valid? [True, True] Translation: X:333.95, Y:-259.86, Z:-23.75 [[ 7.17897610e-01 6.94374265e-01 4.96729515e-02 3.33954010e+02] [-6.92851522e-01 7.19612677e-01 -4.59822048e-02 -2.59859724e+02] [-6.76741453e-02 -1.40546515e-03 9.97706487e-01 -2.37526846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94864 meters 0.026478428125237895 Centerline is valid? [True, True] Translation: X:333.98, Y:-259.88, Z:-23.75 [[ 7.16559681e-01 6.95766186e-01 4.95140091e-02 3.33980793e+02] [-6.94253603e-01 7.18266775e-01 -4.58778211e-02 -2.59878767e+02] [-6.74845043e-02 -1.50108232e-03 9.97719193e-01 -2.37540330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97864 meters 0.026378936149124732 Centerline is valid? [True, True] Translation: X:334.01, Y:-259.90, Z:-23.76 [[ 7.16727004e-01 6.95547546e-01 5.01598805e-02 3.34006917e+02] [-6.93991570e-01 7.18478572e-01 -4.65214200e-02 -2.59899291e+02] [-6.83966588e-02 -1.46737626e-03 9.97657127e-01 -2.37566240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00864 meters 0.026121399195539574 Centerline is valid? [True, True] Translation: X:334.03, Y:-259.92, Z:-23.76 [[ 7.17145431e-01 6.95109995e-01 5.02446603e-02 3.34032383e+02] [-6.93544387e-01 7.18902047e-01 -4.66479396e-02 -2.59919078e+02] [-6.85464382e-02 -1.39354540e-03 9.97646954e-01 -2.37578997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03864 meters 0.026012413487427267 Centerline is valid? [True, True] Translation: X:334.06, Y:-259.94, Z:-23.76 [[ 7.17185177e-01 6.95094194e-01 4.98947283e-02 3.34059744e+02] [-6.93547872e-01 7.18917395e-01 -4.63586899e-02 -2.59937000e+02] [-6.80938443e-02 -1.35661744e-03 9.97677998e-01 -2.37587713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06864 meters 0.026133613005725115 Centerline is valid? [True, True] Translation: X:334.09, Y:-259.96, Z:-23.76 [[ 7.16923281e-01 6.95334413e-01 5.03096690e-02 3.34085600e+02] [-6.93761078e-01 7.18685028e-01 -4.67696159e-02 -2.59958021e+02] [-6.86773293e-02 -1.37266372e-03 9.97637981e-01 -2.37604339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09864 meters 0.02595893241037731 Centerline is valid? [True, True] Translation: X:334.11, Y:-259.98, Z:-23.76 [[ 7.17826118e-01 6.94383246e-01 5.05724437e-02 3.34111638e+02] [-6.92787620e-01 7.19604293e-01 -4.70635208e-02 -2.59977202e+02] [-6.90722680e-02 -1.25253852e-03 9.97610873e-01 -2.37616700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12864 meters 0.02599947437250681 Centerline is valid? [True, True] Translation: X:334.14, Y:-260.00, Z:-23.76 [[ 7.18537881e-01 6.93613301e-01 5.10284452e-02 3.34137981e+02] [-6.91983512e-01 7.20346620e-01 -4.75348904e-02 -2.59997678e+02] [-6.97290003e-02 -1.15522335e-03 9.97565302e-01 -2.37640082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15864 meters 0.025698416225901917 Centerline is valid? [True, True] Translation: X:334.16, Y:-260.02, Z:-23.77 [[ 7.19524223e-01 6.92544177e-01 5.16474221e-02 3.34164063e+02] [-6.90868088e-01 7.21374736e-01 -4.81640486e-02 -2.60018181e+02] [-7.06128769e-02 -1.02635612e-03 9.97503267e-01 -2.37663141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18864 meters 0.02552584258315615 Centerline is valid? [True, True] Translation: X:334.19, Y:-260.04, Z:-23.77 [[ 7.21983067e-01 6.90024239e-01 5.10587957e-02 3.34189885e+02] [-6.88376412e-01 7.23785886e-01 -4.76645182e-02 -2.60037170e+02] [-6.98453086e-02 -7.34695621e-04 9.97557564e-01 -2.37690368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21864 meters 0.02552150533769662 Centerline is valid? [True, True] Translation: X:334.21, Y:-260.06, Z:-23.77 [[ 7.23099943e-01 6.88844240e-01 5.11867589e-02 3.34214670e+02] [-6.87181847e-01 7.24909144e-01 -4.78313893e-02 -2.60059368e+02] [-7.00541266e-02 -5.87736661e-04 9.97543019e-01 -2.37708639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24864 meters 0.025380512204685058 Centerline is valid? [True, True] Translation: X:334.24, Y:-260.08, Z:-23.77 [[ 7.25938900e-01 6.85898849e-01 5.05517747e-02 3.34238997e+02] [-6.84266941e-01 7.27696846e-01 -4.72869322e-02 -2.60079847e+02] [-6.92204194e-02 -2.63484639e-04 9.97601355e-01 -2.37722921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27864 meters 0.025326848813621575 Centerline is valid? [True, True] Translation: X:334.26, Y:-260.10, Z:-23.77 [[ 7.27223141e-01 6.84558849e-01 5.02561911e-02 3.34264544e+02] [-6.82939606e-01 7.28957592e-01 -4.70565926e-02 -2.60101456e+02] [-6.88476390e-02 -1.01300333e-04 9.97627181e-01 -2.37735283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30864 meters 0.0252958398655243 Centerline is valid? [True, True] Translation: X:334.29, Y:-260.12, Z:-23.77 [[ 7.27845393e-01 6.83920401e-01 4.99396550e-02 3.34289346e+02] [-6.82316558e-01 7.29556636e-01 -4.68105743e-02 -2.60122857e+02] [-6.84485134e-02 -3.79258195e-06 9.97654650e-01 -2.37747318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33864 meters 0.025445782648215978 Centerline is valid? [True, True] Translation: X:334.31, Y:-260.14, Z:-23.78 [[ 7.28903449e-01 6.82689566e-01 5.13295104e-02 3.34313419e+02] [-6.80988507e-01 7.30708514e-01 -4.81634790e-02 -2.60143534e+02] [-7.03876149e-02 1.51719304e-04 9.97519704e-01 -2.37763023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters 0.0255207138936678 Centerline is valid? [True, True] Translation: X:334.34, Y:-260.17, Z:-23.78 [[ 7.28968461e-01 6.82621204e-01 5.13154459e-02 3.34337758e+02] [-6.80917740e-01 7.30772369e-01 -4.81951791e-02 -2.60165690e+02] [-7.03989612e-02 1.91168089e-04 9.97518897e-01 -2.37775580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39864 meters 0.025523255332611523 Centerline is valid? [True, True] Translation: X:334.36, Y:-260.19, Z:-23.78 [[ 7.29278097e-01 6.82238588e-01 5.19996743e-02 3.34362029e+02] [-6.80484551e-01 7.31129562e-01 -4.88911049e-02 -2.60188484e+02] [-7.13738974e-02 2.70236999e-04 9.97449595e-01 -2.37804370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters 0.025471467059291427 Centerline is valid? [True, True] Translation: X:334.38, Y:-260.21, Z:-23.78 [[ 7.29336466e-01 6.82280089e-01 5.06181701e-02 3.34384853e+02] [-6.80614868e-01 7.31090824e-01 -4.76404094e-02 -2.60210604e+02] [-6.95105825e-02 2.94408629e-04 9.97581171e-01 -2.37818150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45864 meters 0.02540957898983508 Centerline is valid? [True, True] Translation: X:334.41, Y:-260.23, Z:-23.78 [[ 7.29079524e-01 6.82657837e-01 4.92069560e-02 3.34407501e+02] [-6.81082289e-01 7.30738118e-01 -4.63542617e-02 -2.60233163e+02] [-6.76014985e-02 2.81956840e-04 9.97712362e-01 -2.37825649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters 0.025458571938367817 Centerline is valid? [True, True] Translation: X:334.43, Y:-260.26, Z:-23.78 [[ 7.28275457e-01 6.83566284e-01 4.84973635e-02 3.34431010e+02] [-6.82035114e-01 7.29888406e-01 -4.57276641e-02 -2.60255688e+02] [-6.66555527e-02 2.25430658e-04 9.97776020e-01 -2.37837646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51864 meters 0.025435958074402416 Centerline is valid? [True, True] Translation: X:334.45, Y:-260.28, Z:-23.79 [[ 7.27722634e-01 6.84093652e-01 4.93522387e-02 3.34454991e+02] [-6.82506071e-01 7.29394153e-01 -4.65793222e-02 -2.60277789e+02] [-6.78618530e-02 2.13624540e-04 9.97694704e-01 -2.37853026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters 0.0256934355445155 Centerline is valid? [True, True] Translation: X:334.48, Y:-260.30, Z:-23.79 [[ 7.27085095e-01 6.84613824e-01 5.14895793e-02 3.34477400e+02] [-6.82883202e-01 7.28905939e-01 -4.86483656e-02 -2.60300462e+02] [-7.08364037e-02 2.10132764e-04 9.97487925e-01 -2.37883529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57864 meters 0.025634561799220038 Centerline is valid? [True, True] Translation: X:334.50, Y:-260.32, Z:-23.79 [[ 7.27176649e-01 6.84611692e-01 5.02090886e-02 3.34499924e+02] [-6.82963147e-01 7.28907933e-01 -4.74822679e-02 -2.60322790e+02] [-6.91047188e-02 2.37039301e-04 9.97609383e-01 -2.37898897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters 0.02572295802958737 Centerline is valid? [True, True] Translation: X:334.52, Y:-260.35, Z:-23.79 [[ 7.26992911e-01 6.84811272e-01 5.01480634e-02 3.34523543e+02] [-6.83164041e-01 7.28720425e-01 -4.74703508e-02 -2.60345808e+02] [-6.90521494e-02 2.51254910e-04 9.97613020e-01 -2.37921459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63864 meters 0.02563934716062624 Centerline is valid? [True, True] Translation: X:334.55, Y:-260.37, Z:-23.79 [[ 7.26932286e-01 6.84972598e-01 4.88056530e-02 3.34546791e+02] [-6.83409699e-01 7.28568782e-01 -4.62462227e-02 -2.60368279e+02] [-6.72356705e-02 2.63615757e-04 9.97737087e-01 -2.37928003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66864 meters 0.025566871414493784 Centerline is valid? [True, True] Translation: X:334.57, Y:-260.39, Z:-23.80 [[ 7.25672264e-01 6.86349230e-01 4.82130649e-02 3.34568435e+02] [-6.84824329e-01 7.27272100e-01 -4.57266993e-02 -2.60392017e+02] [-6.64485019e-02 1.65117585e-04 9.97789842e-01 -2.37951917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.69864 meters 0.02558868788353487 Centerline is valid? [True, True] Translation: X:334.59, Y:-260.42, Z:-23.80 [[ 7.24594994e-01 6.87559219e-01 4.71637036e-02 3.34590394e+02] [-6.86099918e-01 7.26128304e-01 -4.47726385e-02 -2.60415600e+02] [-6.50307404e-02 8.30165880e-05 9.97883258e-01 -2.37959247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72864 meters 0.025408756107724386 Centerline is valid? [True, True] Translation: X:334.61, Y:-260.44, Z:-23.80 [[ 7.22569569e-01 6.89673075e-01 4.73736927e-02 3.34612428e+02] [-6.88202401e-01 7.24120876e-01 -4.50156796e-02 -2.60440633e+02] [-6.53503821e-02 -7.57288317e-05 9.97862376e-01 -2.37974827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.75864 meters 0.025339912543636506 Centerline is valid? [True, True] Translation: X:334.64, Y:-260.46, Z:-23.80 [[ 7.21483121e-01 6.90794130e-01 4.75980723e-02 3.34635953e+02] [-6.89308694e-01 7.23051485e-01 -4.52777472e-02 -2.60463244e+02] [-6.56934588e-02 -1.42634632e-04 9.97839841e-01 -2.37980078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78864 meters 0.025471883918751867 Centerline is valid? [True, True] Translation: X:334.66, Y:-260.49, Z:-23.80 [[ 7.19666368e-01 6.92578381e-01 4.91477841e-02 3.34658479e+02] [-6.90995287e-01 7.21342573e-01 -4.68017662e-02 -2.60485758e+02] [-6.78662805e-02 -2.79230076e-04 9.97694387e-01 -2.37995287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.81864 meters 0.025382968090427265 Centerline is valid? [True, True] Translation: X:334.68, Y:-260.51, Z:-23.80 [[ 7.17767027e-01 6.94497500e-01 4.98369162e-02 3.34680292e+02] [-6.92871147e-01 7.19494985e-01 -4.75030553e-02 -2.60509768e+02] [-6.88481644e-02 -4.34434524e-04 9.97627055e-01 -2.38013529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84864 meters 0.025556870980295833 Centerline is valid? [True, True] Translation: X:334.70, Y:-260.53, Z:-23.80 [[ 7.17130946e-01 6.95166601e-01 4.96649149e-02 3.34703615e+02] [-6.93549908e-01 7.18848511e-01 -4.73850561e-02 -2.60532828e+02] [-6.86420585e-02 -4.63807099e-04 9.97641245e-01 -2.38023722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.87864 meters 0.02531273019749995 Centerline is valid? [True, True] Translation: X:334.73, Y:-260.56, Z:-23.80 [[ 7.16757375e-01 6.95554359e-01 4.96286181e-02 3.34727152e+02] [-6.93937458e-01 7.18473325e-01 -4.74013276e-02 -2.60556104e+02] [-6.86270384e-02 -4.63905950e-04 9.97642278e-01 -2.38031727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90864 meters 0.025484749511910598 Centerline is valid? [True, True] Translation: X:334.75, Y:-260.58, Z:-23.81 [[ 7.17499688e-01 6.94805189e-01 4.93958236e-02 3.34749957e+02] [-6.93198160e-01 7.19197904e-01 -4.72301375e-02 -2.60579357e+02] [-6.83411174e-02 -3.53485103e-04 9.97661950e-01 -2.38054298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93864 meters 0.025346120797960545 Centerline is valid? [True, True] Translation: X:334.77, Y:-260.60, Z:-23.81 [[ 7.17749631e-01 6.94586385e-01 4.88387263e-02 3.34773642e+02] [-6.93011528e-01 7.19409250e-01 -4.67477677e-02 -2.60602995e+02] [-6.76053944e-02 -2.92607287e-04 9.97712095e-01 -2.38073557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96864 meters 0.025295993701911264 Centerline is valid? [True, True] Translation: X:334.80, Y:-260.63, Z:-23.81 [[ 7.18452213e-01 6.93946928e-01 4.75823410e-02 3.34795334e+02] [-6.92448103e-01 7.20026126e-01 -4.55851146e-02 -2.60627321e+02] [-6.58941789e-02 -1.97575322e-04 9.97826597e-01 -2.38088600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99864 meters 0.025192312754411618 Centerline is valid? [True, True] Translation: X:334.82, Y:-260.65, Z:-23.81 [[ 7.18153732e-01 6.94240639e-01 4.78032703e-02 3.34818274e+02] [-6.92726905e-01 7.19742935e-01 -4.58207762e-02 -2.60651086e+02] [-6.62167110e-02 -2.08250030e-04 9.97805243e-01 -2.38112760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02864 meters 0.025085490081981025 Centerline is valid? [True, True] Translation: X:334.84, Y:-260.67, Z:-23.81 [[ 7.17934806e-01 6.94528244e-01 4.69055619e-02 3.34840687e+02] [-6.93068436e-01 7.19465412e-01 -4.50073801e-02 -2.60673876e+02] [-6.50058262e-02 -1.96399684e-04 9.97884865e-01 -2.38120442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05864 meters 0.025299928205952355 Centerline is valid? [True, True] Translation: X:334.86, Y:-260.70, Z:-23.81 [[ 7.15941661e-01 6.96474134e-01 4.84904013e-02 3.34861918e+02] [-6.94915297e-01 7.17581812e-01 -4.65733174e-02 -2.60698409e+02] [-6.72329409e-02 -3.52943342e-04 9.97737244e-01 -2.38142690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08864 meters 0.025299928205952355 Centerline is valid? [True, True] Translation: X:334.89, Y:-260.72, Z:-23.82 [[ 7.15566760e-01 6.96860903e-01 4.84674536e-02 3.34885563e+02] [-6.95301336e-01 7.17206215e-01 -4.65971891e-02 -2.60720690e+02] [-6.72329182e-02 -3.56085642e-04 9.97737244e-01 -2.38158970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11863999999997 meters 0.02529473418204198 Centerline is valid? [True, True] Translation: X:334.91, Y:-260.74, Z:-23.82 [[ 7.14865532e-01 6.97591586e-01 4.83037288e-02 3.34908314e+02] [-6.96041329e-01 7.16495517e-01 -4.64827166e-02 -2.60744866e+02] [-6.70353571e-02 -3.92499594e-04 9.97750523e-01 -2.38168662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14864 meters 0.025291605132175297 Centerline is valid? [True, True] Translation: X:334.93, Y:-260.77, Z:-23.82 [[ 7.12862156e-01 6.99629978e-01 4.84297589e-02 3.34929958e+02] [-6.98074301e-01 7.14505127e-01 -4.66336165e-02 -2.60769698e+02] [-6.72295871e-02 -5.64229667e-04 9.97737372e-01 -2.38189429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17864 meters 0.025399197297198774 Centerline is valid? [True, True] Translation: X:334.95, Y:-260.80, Z:-23.82 [[ 7.10466924e-01 7.02185595e-01 4.66062254e-02 3.34950595e+02] [-7.00747368e-01 7.11993568e-01 -4.49253259e-02 -2.60795957e+02] [-6.47292494e-02 -7.41231695e-04 9.97902588e-01 -2.38204646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20864 meters 0.025490721573030718 Centerline is valid? [True, True] Translation: X:334.97, Y:-260.82, Z:-23.82 [[ 7.09321049e-01 7.03395314e-01 4.58113699e-02 3.34973657e+02] [-7.02005283e-01 7.10798415e-01 -4.42062959e-02 -2.60819774e+02] [-6.36571505e-02 -8.03367464e-04 9.97971504e-01 -2.38219396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23864 meters 0.025660703245926803 Centerline is valid? [True, True] Translation: X:335.00, Y:-260.84, Z:-23.82 [[ 7.07020273e-01 7.05614086e-01 4.72344811e-02 3.34995607e+02] [-7.04137945e-01 7.08595628e-01 -4.56288306e-02 -2.60843174e+02] [-6.56664924e-02 -9.99082262e-04 9.97841126e-01 -2.38248496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26864 meters 0.025739346981600294 Centerline is valid? [True, True] Translation: X:335.02, Y:-260.87, Z:-23.83 [[ 7.05867192e-01 7.06794157e-01 4.68350936e-02 3.35018589e+02] [-7.05342646e-01 7.07418460e-01 -4.52865889e-02 -2.60866899e+02] [-6.51403062e-02 -1.06847147e-03 9.97875543e-01 -2.38251043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29864 meters 0.02589334651584967 Centerline is valid? [True, True] Translation: X:335.04, Y:-260.89, Z:-23.83 [[ 7.04530449e-01 7.08119056e-01 4.69494276e-02 3.35041030e+02] [-7.06660276e-01 7.06092102e-01 -4.54444474e-02 -2.60890540e+02] [-6.53306992e-02 -1.16029853e-03 9.97862993e-01 -2.38271209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32864 meters 0.025942174193042452 Centerline is valid? [True, True] Translation: X:335.06, Y:-260.91, Z:-23.83 [[ 7.03133819e-01 7.09458195e-01 4.76644680e-02 3.35063297e+02] [-7.07954763e-01 7.04746371e-01 -4.61801456e-02 -2.60914240e+02] [-6.63542436e-02 -1.27346497e-03 9.97795316e-01 -2.38276498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35864 meters 0.02606671128911843 Centerline is valid? [True, True] Translation: X:335.09, Y:-260.94, Z:-23.83 [[ 7.02461124e-01 7.10111928e-01 4.78478651e-02 3.35086769e+02] [-7.08595402e-01 7.04087592e-01 -4.64027910e-02 -2.60937745e+02] [-6.66402635e-02 -1.30862053e-03 9.97776209e-01 -2.38290821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38864 meters 0.026263496122907442 Centerline is valid? [True, True] Translation: X:335.11, Y:-260.96, Z:-23.83 [[ 7.02210445e-01 7.10257148e-01 4.93485081e-02 3.35108351e+02] [-7.08640771e-01 7.03941062e-01 -4.79086504e-02 -2.60961003e+02] [-6.87659026e-02 -1.32841016e-03 9.97631939e-01 -2.38320601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41864 meters 0.026232705192087723 Centerline is valid? [True, True] Translation: X:335.13, Y:-260.98, Z:-23.83 [[ 7.01410391e-01 7.11069755e-01 4.90231300e-02 3.35131282e+02] [-7.09473484e-01 7.03120144e-01 -4.76386350e-02 -2.60984232e+02] [-6.83435428e-02 -1.36637721e-03 9.97660911e-01 -2.38333061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44864 meters 0.026150624308192646 Centerline is valid? [True, True] Translation: X:335.15, Y:-261.01, Z:-23.83 [[ 7.01396058e-01 7.11082618e-01 4.90416197e-02 3.35154538e+02] [-7.09481692e-01 7.03107201e-01 -4.77073644e-02 -2.61007606e+02] [-6.84053935e-02 -1.33237398e-03 9.97656718e-01 -2.38347954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47864 meters 0.026125383677957095 Centerline is valid? [True, True] Translation: X:335.18, Y:-261.03, Z:-23.84 [[ 7.01429872e-01 7.11055166e-01 4.89559576e-02 3.35177024e+02] [-7.09456305e-01 7.03135038e-01 -4.76746166e-02 -2.61031969e+02] [-6.83219315e-02 -1.29171256e-03 9.97662491e-01 -2.38355337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50864 meters 0.0260474561997431 Centerline is valid? [True, True] Translation: X:335.20, Y:-261.06, Z:-23.84 [[ 7.00682085e-01 7.11822234e-01 4.85151802e-02 3.35199983e+02] [-7.10250496e-01 7.02358433e-01 -4.72955047e-02 -2.61055306e+02] [-6.77410377e-02 -1.31881793e-03 9.97702066e-01 -2.38368207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53864 meters 0.02618447750351704 Centerline is valid? [True, True] Translation: X:335.22, Y:-261.08, Z:-23.84 [[ 7.00003677e-01 7.12440728e-01 4.92246009e-02 3.35222523e+02] [-7.10820701e-01 7.01730967e-01 -4.80372947e-02 -2.61078125e+02] [-6.87661520e-02 -1.36358242e-03 9.97631875e-01 -2.38390074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56864 meters 0.025958115109433372 Centerline is valid? [True, True] Translation: X:335.25, Y:-261.10, Z:-23.84 [[ 6.99821696e-01 7.12614145e-01 4.93018739e-02 3.35245136e+02] [-7.10986766e-01 7.01554875e-01 -4.81515927e-02 -2.61101478e+02] [-6.89014760e-02 -1.35545065e-03 9.97622549e-01 -2.38403151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59864 meters 0.026088182318533056 Centerline is valid? [True, True] Translation: X:335.27, Y:-261.12, Z:-23.84 [[ 6.99918421e-01 7.12554903e-01 4.87823070e-02 3.35267028e+02] [-7.10959613e-01 7.01615122e-01 -4.76723151e-02 -2.61124698e+02] [-6.81955462e-02 -1.31551858e-03 9.97671107e-01 -2.38421821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62864 meters 0.025806986096858796 Centerline is valid? [True, True] Translation: X:335.29, Y:-261.15, Z:-23.84 [[ 7.01667365e-01 7.10874549e-01 4.81693215e-02 3.35288748e+02] [-7.09312708e-01 7.03317950e-01 -4.71098972e-02 -2.61149196e+02] [-6.73675754e-02 -1.11163444e-03 9.97727605e-01 -2.38434165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65864 meters 0.025702348605848992 Centerline is valid? [True, True] Translation: X:335.31, Y:-261.17, Z:-23.84 [[ 7.02655940e-01 7.09913324e-01 4.79343457e-02 3.35311367e+02] [-7.08362931e-01 7.04288347e-01 -4.69029016e-02 -2.61171451e+02] [-6.70565958e-02 -9.98311196e-04 9.97748674e-01 -2.38442218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68864 meters 0.025528582780944203 Centerline is valid? [True, True] Translation: X:335.33, Y:-261.19, Z:-23.85 [[ 7.05047497e-01 7.07532990e-01 4.80114170e-02 3.35332982e+02] [-7.05969105e-01 7.06679927e-01 -4.70223800e-02 -2.61194752e+02] [-6.71985897e-02 -7.41565802e-04 9.97739345e-01 -2.38454535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71864 meters 0.025352537447726906 Centerline is valid? [True, True] Translation: X:335.35, Y:-261.22, Z:-23.85 [[ 7.05892705e-01 7.06736193e-01 4.73227497e-02 3.35354986e+02] [-7.05212234e-01 7.07476899e-01 -4.63912011e-02 -2.61218165e+02] [-6.62660930e-02 -6.25371648e-04 9.97801791e-01 -2.38466546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74864 meters 0.02518515601011926 Centerline is valid? [True, True] Translation: X:335.38, Y:-261.24, Z:-23.85 [[ 7.06302214e-01 7.06400843e-01 4.62063986e-02 3.35377410e+02] [-7.04944552e-01 7.07811802e-01 -4.53390756e-02 -2.61241700e+02] [-6.47329954e-02 -5.49859470e-04 9.97902469e-01 -2.38473660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77864 meters 0.025077505630511174 Centerline is valid? [True, True] Translation: X:335.40, Y:-261.27, Z:-23.85 [[ 7.06863193e-01 7.05802939e-01 4.67614882e-02 3.35399949e+02] [-7.04307110e-01 7.08408068e-01 -4.59293298e-02 -2.61265611e+02] [-6.55432714e-02 -4.68695883e-04 9.97849618e-01 -2.38494122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80864 meters 0.024965033161223085 Centerline is valid? [True, True] Translation: X:335.42, Y:-261.29, Z:-23.85 [[ 7.06307898e-01 7.06326089e-01 4.72505002e-02 3.35422817e+02] [-7.04796547e-01 7.07886445e-01 -4.64608193e-02 -2.61289048e+02] [-6.62644774e-02 -4.86345780e-04 9.97801976e-01 -2.38513854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83864 meters 0.02504224680662544 Centerline is valid? [True, True] Translation: X:335.45, Y:-261.31, Z:-23.85 [[ 7.05482428e-01 7.07183936e-01 4.67485313e-02 3.35445646e+02] [-7.05685345e-01 7.07029423e-01 -4.60172609e-02 -2.61312629e+02] [-6.55952548e-02 -5.25384455e-04 9.97846174e-01 -2.38520622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters 0.025057338546899503 Centerline is valid? [True, True] Translation: X:335.47, Y:-261.34, Z:-23.85 [[ 7.03247678e-01 7.09411254e-01 4.66730820e-02 3.35467915e+02] [-7.07919099e-01 7.04794430e-01 -4.59930519e-02 -2.61337075e+02] [-6.55229168e-02 -6.96259256e-04 9.97850822e-01 -2.38534056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89864 meters 0.02519841711189283 Centerline is valid? [True, True] Translation: X:335.49, Y:-261.36, Z:-23.85 [[ 7.01975130e-01 7.10693859e-01 4.63158292e-02 3.35492014e+02] [-7.09224050e-01 7.03500987e-01 -4.56903549e-02 -2.61359156e+02] [-6.50550861e-02 -7.74807137e-04 9.97881373e-01 -2.38549950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters 0.025192791863429518 Centerline is valid? [True, True] Translation: X:335.52, Y:-261.38, Z:-23.86 [[ 6.99419482e-01 7.13234908e-01 4.59168191e-02 3.35516304e+02] [-7.11792746e-01 7.00924410e-01 -4.53437913e-02 -2.61380436e+02] [-6.45249941e-02 -9.68927651e-04 9.97915621e-01 -2.38572372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95864 meters 0.02516433541098867 Centerline is valid? [True, True] Translation: X:335.54, Y:-261.40, Z:-23.86 [[ 6.99005223e-01 7.13650873e-01 4.57616630e-02 3.35539430e+02] [-7.12216520e-01 7.00500881e-01 -4.52343279e-02 -2.61403335e+02] [-6.43376028e-02 -9.73180836e-04 9.97927716e-01 -2.38588254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters 0.025248192669956794 Centerline is valid? [True, True] Translation: X:335.56, Y:-261.43, Z:-23.86 [[ 6.98226095e-01 7.14362358e-01 4.65482710e-02 3.35562425e+02] [-7.12876491e-01 6.99775234e-01 -4.60622485e-02 -2.61426726e+02] [-6.54784637e-02 -1.02130422e-03 9.97853460e-01 -2.38603846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01864 meters 0.02531047896575159 Centerline is valid? [True, True] Translation: X:335.59, Y:-261.45, Z:-23.86 [[ 6.98007568e-01 7.14610238e-01 4.60178522e-02 3.35587668e+02] [-7.13155450e-01 6.99522130e-01 -4.55861165e-02 -2.61447678e+02] [-6.47668116e-02 -9.98427729e-04 9.97899927e-01 -2.38615280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters 0.025288331573035876 Centerline is valid? [True, True] Translation: X:335.61, Y:-261.47, Z:-23.86 [[ 6.97137118e-01 7.15497683e-01 4.54192094e-02 3.35612827e+02] [-7.14079349e-01 6.98614341e-01 -4.50409242e-02 -2.61469233e+02] [-6.39571880e-02 -1.03321943e-03 9.97952108e-01 -2.38633094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07864 meters 0.025410547516060034 Centerline is valid? [True, True] Translation: X:335.64, Y:-261.49, Z:-23.87 [[ 6.96016683e-01 7.16598302e-01 4.52509772e-02 3.35638166e+02] [-7.15189705e-01 6.97485248e-01 -4.49223174e-02 -2.61489770e+02] [-6.37531455e-02 -1.09635069e-03 9.97965097e-01 -2.38657476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters 0.025421862608480252 Centerline is valid? [True, True] Translation: X:335.66, Y:-261.51, Z:-23.87 [[ 6.94945830e-01 7.17588305e-01 4.60143261e-02 3.35661616e+02] [-7.16130806e-01 6.96466543e-01 -4.57276989e-02 -2.61511067e+02] [-6.48611006e-02 -1.17400276e-03 9.97893611e-01 -2.38666858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13864 meters 0.02555827071967075 Centerline is valid? [True, True] Translation: X:335.69, Y:-261.53, Z:-23.87 [[ 6.94041515e-01 7.18408968e-01 4.68500755e-02 3.35685064e+02] [-7.16897102e-01 6.95619872e-01 -4.65997712e-02 -2.61532413e+02] [-6.60675370e-02 -1.24450756e-03 9.97814377e-01 -2.38682065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16864 meters 0.02589850559168546 Centerline is valid? [True, True] Translation: X:335.71, Y:-261.55, Z:-23.87 [[ 6.91963063e-01 7.20291369e-01 4.86565843e-02 3.35710053e+02] [-7.18661983e-01 6.93670131e-01 -4.84427942e-02 -2.61552901e+02] [-6.86445457e-02 -1.44701303e-03 9.97640132e-01 -2.38708066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.19864 meters 0.025852956837375405 Centerline is valid? [True, True] Translation: X:335.73, Y:-261.57, Z:-23.87 [[ 6.91072460e-01 7.21155226e-01 4.85179995e-02 3.35734662e+02] [-7.19534057e-01 6.92771898e-01 -4.83512021e-02 -2.61574461e+02] [-6.84806286e-02 -1.49616884e-03 9.97651324e-01 -2.38730278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22864 meters 0.026148803217604853 Centerline is valid? [True, True] Translation: X:335.76, Y:-261.60, Z:-23.88 [[ 6.89989771e-01 7.22174162e-01 4.87708560e-02 3.35758927e+02] [-7.20535151e-01 6.91709485e-01 -4.86526944e-02 -2.61595495e+02] [-6.88709825e-02 -1.57125460e-03 9.97624338e-01 -2.38750259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.25864 meters 0.02633220342643692 Centerline is valid? [True, True] Translation: X:335.78, Y:-261.62, Z:-23.88 [[ 6.88376655e-01 7.23710654e-01 4.87900680e-02 3.35784502e+02] [-7.22071109e-01 6.90101455e-01 -4.87164895e-02 -2.61615198e+02] [-6.89267394e-02 -1.69460446e-03 9.97620285e-01 -2.38755499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28864 meters 0.026342839713358428 Centerline is valid? [True, True] Translation: X:335.81, Y:-261.64, Z:-23.88 [[ 6.87717523e-01 7.24321156e-01 4.90252164e-02 3.35809497e+02] [-7.22664051e-01 6.89460559e-01 -4.89980189e-02 -2.61636853e+02] [-6.92912548e-02 -1.73196540e-03 9.97594969e-01 -2.38761646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.31864 meters 0.026241124292439858 Centerline is valid? [True, True] Translation: X:335.89, Y:-261.71, Z:-22.38 [[ 7.72887612e-01 -6.34249497e-01 -1.92954848e-02 3.35891983e+02] [-6.33899366e-01 -7.73115873e-01 2.15276673e-02 -2.61710196e+02] [-2.85715577e-02 -4.40707178e-03 -9.99582035e-01 -2.23772399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34864 meters 0.026413657035354785 Centerline is valid? [True, True] Translation: X:335.86, Y:-261.69, Z:-23.88 [[ 7.38918317e-01 6.71627472e-01 5.40024042e-02 3.35857027e+02] [-6.70014927e-01 7.40886863e-01 -4.65473430e-02 -2.61685590e+02] [-7.12721461e-02 -1.78773251e-03 9.97455305e-01 -2.38797826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.37864 meters 0.026342261367739647 Centerline is valid? [True, True] Translation: X:335.88, Y:-261.71, Z:-23.88 [[ 7.39001758e-01 6.71471648e-01 5.47925903e-02 3.35882856e+02] [-6.69807556e-01 7.41028150e-01 -4.72770525e-02 -2.61705714e+02] [-7.23480522e-02 -1.76266610e-03 9.97377888e-01 -2.38829666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40864 meters 0.02631136291603134 Centerline is valid? [True, True] Translation: X:335.91, Y:-261.73, Z:-23.89 [[ 7.39705516e-01 6.70576651e-01 5.62379324e-02 3.35909892e+02] [-6.68816980e-01 7.41838346e-01 -4.85768977e-02 -2.61725078e+02] [-7.42939882e-02 -1.68028494e-03 9.97234967e-01 -2.38852163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43864 meters 0.026236066381120613 Centerline is valid? [True, True] Translation: X:335.94, Y:-261.74, Z:-23.89 [[ 7.40440717e-01 6.69826176e-01 5.55016950e-02 3.35935449e+02] [-6.68106658e-01 7.42516329e-01 -4.79895295e-02 -2.61744042e+02] [-7.33555579e-02 -1.54765041e-03 9.97304651e-01 -2.38863488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46864 meters 0.025963458752856005 Centerline is valid? [True, True] Translation: X:335.96, Y:-261.76, Z:-23.89 [[ 7.41497651e-01 6.68714390e-01 5.47932322e-02 3.35961796e+02] [-6.67032332e-01 7.43518085e-01 -4.74207264e-02 -2.61762327e+02] [-7.24506812e-02 -1.38650015e-03 9.97371033e-01 -2.38882566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49864 meters 0.0257295608041077 Centerline is valid? [True, True] Translation: X:335.99, Y:-261.78, Z:-23.89 [[ 7.42583086e-01 6.67602552e-01 5.36394766e-02 3.35987168e+02] [-6.65984718e-01 7.44516855e-01 -4.64651226e-02 -2.61782636e+02] [-7.09557288e-02 -1.21885759e-03 9.97478721e-01 -2.38889147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52864 meters 0.025677898073083415 Centerline is valid? [True, True] Translation: X:336.01, Y:-261.80, Z:-23.89 [[ 7.42822864e-01 6.67306576e-01 5.40011819e-02 3.36013536e+02] [-6.65662713e-01 7.44782236e-01 -4.68249240e-02 -2.61803011e+02] [-7.14657007e-02 -1.16394915e-03 9.97442379e-01 -2.38910285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55864 meters 0.02567393756496386 Centerline is valid? [True, True] Translation: X:336.04, Y:-261.82, Z:-23.89 [[ 7.42984158e-01 6.67055609e-01 5.48758184e-02 3.36039876e+02] [-6.65353508e-01 7.45007089e-01 -4.76355645e-02 -2.61823534e+02] [-7.26584442e-02 -1.11934853e-03 9.97356254e-01 -2.38926633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58864 meters 0.025604819357086212 Centerline is valid? [True, True] Translation: X:336.07, Y:-261.85, Z:-23.90 [[ 7.42848283e-01 6.67246968e-01 5.43866851e-02 3.36065004e+02] [-6.65571944e-01 7.44835751e-01 -4.72619494e-02 -2.61845104e+02] [-7.20445399e-02 -1.08979377e-03 9.97400820e-01 -2.38950387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61863999999997 meters 0.02551424642554937 Centerline is valid? [True, True] Translation: X:336.09, Y:-261.87, Z:-23.90 [[ 7.42431773e-01 6.67727066e-01 5.41814398e-02 3.36090241e+02] [-6.66062275e-01 7.44405379e-01 -4.71346758e-02 -2.61866396e+02] [-7.18060540e-02 -1.09393217e-03 9.97418014e-01 -2.38963961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64864 meters 0.025537643120648445 Centerline is valid? [True, True] Translation: X:336.12, Y:-261.89, Z:-23.90 [[ 7.42227263e-01 6.67931624e-01 5.44613202e-02 3.36115901e+02] [-6.66246371e-01 7.44221860e-01 -4.74299035e-02 -2.61887704e+02] [-7.22112375e-02 -1.08088953e-03 9.97388775e-01 -2.38973336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67864 meters 0.025541191073201415 Centerline is valid? [True, True] Translation: X:336.14, Y:-261.91, Z:-23.90 [[ 7.42031960e-01 6.68132848e-01 5.46540728e-02 3.36141226e+02] [-6.66432401e-01 7.44041237e-01 -4.76496992e-02 -2.61909215e+02] [-7.25012132e-02 -1.06564523e-03 9.97367755e-01 -2.38989886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70864 meters 0.025529653331742914 Centerline is valid? [True, True] Translation: X:336.17, Y:-261.93, Z:-23.90 [[ 7.42711620e-01 6.67302590e-01 5.55581091e-02 3.36165324e+02] [-6.65539076e-01 7.44786097e-01 -4.84913228e-02 -2.61932005e+02] [-7.37372925e-02 -9.61023677e-04 9.97277237e-01 -2.39008461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73864 meters 0.025438005346642277 Centerline is valid? [True, True] Translation: X:336.19, Y:-261.95, Z:-23.90 [[ 7.43140129e-01 6.66750547e-01 5.64487222e-02 3.36189516e+02] [-6.64924278e-01 7.45280440e-01 -4.93231228e-02 -2.61954125e+02] [-7.49563476e-02 -8.80133989e-04 9.97186428e-01 -2.39032952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76864 meters 0.025236824875250807 Centerline is valid? [True, True] Translation: X:336.21, Y:-261.98, Z:-23.90 [[ 7.44566042e-01 6.65224228e-01 5.56608925e-02 3.36212844e+02] [-6.63440633e-01 7.46643333e-01 -4.86853259e-02 -2.61976363e+02] [-7.39454926e-02 -6.78257332e-04 9.97262054e-01 -2.39044042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79864 meters 0.025287485827831024 Centerline is valid? [True, True] Translation: X:336.24, Y:-262.00, Z:-23.91 [[ 7.45106948e-01 6.64671393e-01 5.50234102e-02 3.36236516e+02] [-6.62923620e-01 7.47135597e-01 -4.81733699e-02 -2.61997723e+02] [-7.31294093e-02 -5.82005681e-04 9.97322290e-01 -2.39060777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82864 meters 0.025340425731055796 Centerline is valid? [True, True] Translation: X:336.26, Y:-262.02, Z:-23.91 [[ 7.45765089e-01 6.63944888e-01 5.48782075e-02 3.36260830e+02] [-6.62200873e-01 7.47781359e-01 -4.80940954e-02 -2.62020801e+02] [-7.29687294e-02 -4.73499648e-04 9.97334117e-01 -2.39068575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85864 meters 0.02526595102914232 Centerline is valid? [True, True] Translation: X:336.28, Y:-262.04, Z:-23.91 [[ 7.47383034e-01 6.62105232e-01 5.50932150e-02 3.36283786e+02] [-6.60338598e-01 7.49410833e-01 -4.83356977e-02 -2.62044686e+02] [-7.32907705e-02 -2.54895973e-04 9.97310583e-01 -2.39080084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88864 meters 0.025440678523855943 Centerline is valid? [True, True] Translation: X:336.31, Y:-262.07, Z:-23.91 [[ 7.47164187e-01 6.62291142e-01 5.58222235e-02 3.36307887e+02] [-6.60473857e-01 7.49246546e-01 -4.90295533e-02 -2.62066785e+02] [-7.42964470e-02 -2.35992930e-04 9.97236172e-01 -2.39100437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91864 meters 0.02540492296804815 Centerline is valid? [True, True] Translation: X:336.33, Y:-262.09, Z:-23.91 [[ 7.46779083e-01 6.62759856e-01 5.54109584e-02 3.36332436e+02] [-6.60966643e-01 7.48831967e-01 -4.87214636e-02 -2.62088245e+02] [-7.37841272e-02 -2.40625247e-04 9.97274207e-01 -2.39117055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94864 meters 0.025422742988163168 Centerline is valid? [True, True] Translation: X:336.36, Y:-262.11, Z:-23.91 [[ 7.45994331e-01 6.63721844e-01 5.44589010e-02 3.36355949e+02] [-6.61989231e-01 7.47979428e-01 -4.79273722e-02 -2.62110805e+02] [-7.25445815e-02 -2.97658083e-04 9.97365126e-01 -2.39139857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97864 meters 0.025422742988163168 Centerline is valid? [True, True] Translation: X:336.38, Y:-262.13, Z:-23.92 [[ 7.45633718e-01 6.64128295e-01 5.44423109e-02 3.36380539e+02] [-6.62395389e-01 7.47618559e-01 -4.79462114e-02 -2.62132037e+02] [-7.25445177e-02 -3.12023751e-04 9.97365127e-01 -2.39156094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00864 meters 0.025483310356356165 Centerline is valid? [True, True] Translation: X:336.40, Y:-262.15, Z:-23.92 [[ 7.44994609e-01 6.64942418e-01 5.32410782e-02 3.36403830e+02] [-6.63283842e-01 7.46894544e-01 -4.69370333e-02 -2.62154672e+02] [-7.09758953e-02 -3.46110044e-04 9.97477971e-01 -2.39162761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03864 meters 0.025419031190543076 Centerline is valid? [True, True] Translation: X:336.43, Y:-262.18, Z:-23.92 [[ 7.43858327e-01 6.66229042e-01 5.30438846e-02 3.36426520e+02] [-6.64582695e-01 7.45747060e-01 -4.68098704e-02 -2.62179264e+02] [-7.07434161e-02 -4.32135899e-04 9.97494452e-01 -2.39169504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06864 meters 0.025642796564901992 Centerline is valid? [True, True] Translation: X:336.45, Y:-262.20, Z:-23.92 [[ 7.43122343e-01 6.66975170e-01 5.39750413e-02 3.36450224e+02] [-6.65268707e-01 7.45079793e-01 -4.76828008e-02 -2.62201046e+02] [-7.20189568e-02 -4.73751323e-04 9.97403151e-01 -2.39191272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09864 meters 0.02568629632129533 Centerline is valid? [True, True] Translation: X:336.47, Y:-262.22, Z:-23.92 [[ 7.41894576e-01 6.68335795e-01 5.40342806e-02 3.36474396e+02] [-6.66625720e-01 7.43859489e-01 -4.77829568e-02 -2.62224043e+02] [-7.21289728e-02 -5.70724712e-04 9.97395150e-01 -2.39201230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12864 meters 0.025756501477624674 Centerline is valid? [True, True] Translation: X:336.50, Y:-262.25, Z:-23.92 [[ 7.41476855e-01 6.68849011e-01 5.34141737e-02 3.36499163e+02] [-6.67175670e-01 7.43398056e-01 -4.72858952e-02 -2.62246512e+02] [-7.13351171e-02 -5.75240292e-04 9.97452240e-01 -2.39219813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15864 meters 0.02582109901354143 Centerline is valid? [True, True] Translation: X:336.52, Y:-262.27, Z:-23.92 [[ 7.40867322e-01 6.69546805e-01 5.31289675e-02 3.36523830e+02] [-6.67889443e-01 7.42769625e-01 -4.70847776e-02 -2.62268753e+02] [-7.09880457e-02 -6.00703409e-04 9.97476985e-01 -2.39232789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18864 meters 0.0259208386743942 Centerline is valid? [True, True] Translation: X:336.55, Y:-262.29, Z:-23.92 [[ 7.40554599e-01 6.69915253e-01 5.28435431e-02 3.36548362e+02] [-6.68273002e-01 7.42437338e-01 -4.68827683e-02 -2.62290850e+02] [-7.06405010e-02 -5.94663544e-04 9.97501662e-01 -2.39240583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21864 meters 0.02602688992560004 Centerline is valid? [True, True] Translation: X:336.57, Y:-262.31, Z:-23.93 [[ 7.39641459e-01 6.70852152e-01 5.37392059e-02 3.36572264e+02] [-6.69152492e-01 7.41590829e-01 -4.77282461e-02 -2.62312183e+02] [-7.18710989e-02 -6.57933960e-04 9.97413712e-01 -2.39266103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24864 meters 0.025954102761412745 Centerline is valid? [True, True] Translation: X:336.60, Y:-262.33, Z:-23.93 [[ 7.39298553e-01 6.71244026e-01 5.35640417e-02 3.36597488e+02] [-6.69553061e-01 7.41236146e-01 -4.76201054e-02 -2.62334050e+02] [-7.16683150e-02 -6.58493056e-04 9.97428303e-01 -2.39288280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27864 meters 0.026031455458221914 Centerline is valid? [True, True] Translation: X:336.62, Y:-262.36, Z:-23.93 [[ 7.38586098e-01 6.72052161e-01 5.32585044e-02 3.36622279e+02] [-6.70378854e-01 7.40503485e-01 -4.74002297e-02 -2.62355673e+02] [-7.12935349e-02 -6.94224414e-04 9.97455137e-01 -2.39302734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30864 meters 0.026054067603825563 Centerline is valid? [True, True] Translation: X:336.65, Y:-262.38, Z:-23.93 [[ 7.37542696e-01 6.73188465e-01 5.33672301e-02 3.36647635e+02] [-6.71507536e-01 7.39470555e-01 -4.75492106e-02 -2.62376720e+02] [-7.14730754e-02 -7.66924158e-04 9.97442235e-01 -2.39313680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33864 meters 0.02619524935965731 Centerline is valid? [True, True] Translation: X:336.67, Y:-262.40, Z:-23.93 [[ 7.35723562e-01 6.75136765e-01 5.38626874e-02 3.36674060e+02] [-6.73425964e-01 7.37692001e-01 -4.80414709e-02 -2.62395387e+02] [-7.21686369e-02 -9.27290122e-04 9.97392013e-01 -2.39321423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters 0.026465058226164715 Centerline is valid? [True, True] Translation: X:336.70, Y:-262.42, Z:-23.93 [[ 7.34043748e-01 6.76967877e-01 5.37984131e-02 3.36699270e+02] [-6.75262758e-01 7.36011783e-01 -4.80298198e-02 -2.62415001e+02] [-7.21109111e-02 -1.07207583e-03 9.97396043e-01 -2.39335740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39864 meters 0.026649475300597674 Centerline is valid? [True, True] Translation: X:336.73, Y:-262.43, Z:-23.94 [[ 7.31421994e-01 6.79796944e-01 5.38329159e-02 3.36725321e+02] [-6.78093953e-01 7.33399195e-01 -4.81062527e-02 -2.62434149e+02] [-7.21835007e-02 -1.31780356e-03 9.97390498e-01 -2.39352835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters 0.026821362636973437 Centerline is valid? [True, True] Translation: X:336.75, Y:-262.45, Z:-23.94 [[ 7.30248936e-01 6.81042193e-01 5.40187354e-02 3.36750495e+02] [-6.79327490e-01 7.32242813e-01 -4.83179467e-02 -2.62454292e+02] [-7.24613911e-02 -1.41228279e-03 9.97370218e-01 -2.39377498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45864 meters 0.0266692848304377 Centerline is valid? [True, True] Translation: X:336.78, Y:-262.47, Z:-23.94 [[ 7.29521482e-01 6.81859905e-01 5.35301604e-02 3.36778515e+02] [-6.80174961e-01 7.31481360e-01 -4.79274718e-02 -2.62471893e+02] [-7.18361359e-02 -1.44575450e-03 9.97415400e-01 -2.39390777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters 0.026686095352051378 Centerline is valid? [True, True] Translation: X:336.81, Y:-262.49, Z:-23.94 [[ 7.29289870e-01 6.82135894e-01 5.31686717e-02 3.36805296e+02] [-6.80470764e-01 7.31224035e-01 -4.76544802e-02 -2.62491219e+02] [-7.13850421e-02 -1.42579697e-03 9.97447815e-01 -2.39410479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51864 meters 0.026686240248231453 Centerline is valid? [True, True] Translation: X:336.83, Y:-262.51, Z:-23.94 [[ 7.29105218e-01 6.82373618e-01 5.26481351e-02 3.36831555e+02] [-6.80738021e-01 7.31002251e-01 -4.72382874e-02 -2.62510832e+02] [-7.07200663e-02 -1.39790545e-03 9.97495222e-01 -2.39425000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters 0.026657701284567896 Centerline is valid? [True, True] Translation: X:336.86, Y:-262.53, Z:-23.94 [[ 7.29540561e-01 6.81910264e-01 5.26209219e-02 3.36857468e+02] [-6.80271696e-01 7.31434658e-01 -4.72626784e-02 -2.62530526e+02] [-7.07176715e-02 -1.31648289e-03 9.97495503e-01 -2.39440417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57864 meters 0.026401025170192386 Centerline is valid? [True, True] Translation: X:336.89, Y:-262.55, Z:-23.95 [[ 7.30309785e-01 6.81076286e-01 5.27513970e-02 3.36885317e+02] [-6.79424227e-01 7.32211471e-01 -4.74244891e-02 -2.62547048e+02] [-7.09248729e-02 -1.20600865e-03 9.97480931e-01 -2.39458458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters 0.026412466904098 Centerline is valid? [True, True] Translation: X:336.92, Y:-262.56, Z:-23.95 [[ 7.31986837e-01 6.79336070e-01 5.19401045e-02 3.36915208e+02] [-6.77727624e-01 7.33826624e-01 -4.67306531e-02 -2.62562583e+02] [-6.98608498e-02 -9.95020621e-04 9.97556250e-01 -2.39477768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63864 meters 0.026285066791423645 Centerline is valid? [True, True] Translation: X:336.94, Y:-262.58, Z:-23.95 [[ 7.32552601e-01 6.78765821e-01 5.14164130e-02 3.36941340e+02] [-6.77186651e-01 7.34354223e-01 -4.62829871e-02 -2.62581325e+02] [-6.91731698e-02 -9.13786003e-04 9.97604249e-01 -2.39487868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66864 meters 0.02620323627347725 Centerline is valid? [True, True] Translation: X:336.97, Y:-262.60, Z:-23.95 [[ 7.33272194e-01 6.78023708e-01 5.09484101e-02 3.36967135e+02] [-6.76468421e-01 7.35039594e-01 -4.59050203e-02 -2.62600931e+02] [-6.85737908e-02 -8.04115631e-04 9.97645723e-01 -2.39502137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.69864 meters 0.025988382811413836 Centerline is valid? [True, True] Translation: X:336.99, Y:-262.62, Z:-23.95 [[ 7.33869455e-01 6.77492168e-01 4.93962008e-02 3.36993217e+02] [-6.76026347e-01 7.35529653e-01 -4.45478070e-02 -2.62620518e+02] [-6.65131608e-02 -7.00858355e-04 9.97785302e-01 -2.39498798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72864 meters 0.025729672288884183 Centerline is valid? [True, True] Translation: X:337.02, Y:-262.64, Z:-23.95 [[ 7.36021179e-01 6.75223999e-01 4.84290793e-02 3.37021175e+02] [-6.73807501e-01 7.37612597e-01 -4.37162248e-02 -2.62637173e+02] [-6.52401431e-02 -4.55809541e-04 9.97869488e-01 -2.39516986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.75864 meters 0.025575484610415672 Centerline is valid? [True, True] Translation: X:337.05, Y:-262.66, Z:-23.95 [[ 7.36229913e-01 6.74972600e-01 4.87596554e-02 3.37046550e+02] [-6.73533280e-01 7.37842683e-01 -4.40578699e-02 -2.62657805e+02] [-6.57148100e-02 -4.04528869e-04 9.97838364e-01 -2.39541865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78864 meters 0.025635765856710582 Centerline is valid? [True, True] Translation: X:337.07, Y:-262.68, Z:-23.96 [[ 7.38138876e-01 6.72849542e-01 4.92391466e-02 3.37073446e+02] [-6.71373784e-01 7.39779333e-01 -4.45396577e-02 -2.62677829e+02] [-6.63945913e-02 -1.81419282e-04 9.97793428e-01 -2.39556719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.81864 meters 0.025589538605709776 Centerline is valid? [True, True] Translation: X:337.10, Y:-262.70, Z:-23.96 [[ 7.38780420e-01 6.72098691e-01 4.98682371e-02 3.37099475e+02] [-6.70579907e-01 7.40461575e-01 -4.51580028e-02 -2.62698896e+02] [-6.72761479e-02 -7.87895518e-05 9.97734390e-01 -2.39570059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84864 meters 0.025452370773147492 Centerline is valid? [True, True] Translation: X:337.12, Y:-262.72, Z:-23.96 [[ 7.39450703e-01 6.71423455e-01 4.90224656e-02 3.37124102e+02] [-6.69951294e-01 7.41073913e-01 -4.44378163e-02 -2.62719151e+02] [-6.61658625e-02 1.69102641e-05 9.97808638e-01 -2.39581153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87864 meters 0.025538826100629134 Centerline is valid? [True, True] Translation: X:337.15, Y:-262.74, Z:-23.96 [[ 7.41004869e-01 6.69800739e-01 4.77363016e-02 3.37147527e+02] [-6.68398948e-01 7.42540864e-01 -4.33118044e-02 -2.62740625e+02] [-6.44564333e-02 1.87364186e-04 9.97920504e-01 -2.39599056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90864 meters 0.025666917892866858 Centerline is valid? [True, True] Translation: X:337.17, Y:-262.76, Z:-23.96 [[ 7.41519550e-01 6.69113527e-01 4.93542934e-02 3.37170289e+02] [-6.67610582e-01 7.43160148e-01 -4.48230465e-02 -2.62762948e+02] [-6.66698507e-02 2.87716749e-04 9.97775049e-01 -2.39623356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93864 meters 0.025920180078444238 Centerline is valid? [True, True] Translation: X:337.19, Y:-262.79, Z:-23.96 [[ 7.43682566e-01 6.66655693e-01 5.00642292e-02 3.37193721e+02] [-6.65100674e-01 7.45365606e-01 -4.55105197e-02 -2.62785623e+02] [-6.76560016e-02 5.47627562e-04 9.97708557e-01 -2.39631592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96864 meters 0.025854684764597693 Centerline is valid? [True, True] Translation: X:337.22, Y:-262.81, Z:-23.96 [[ 7.44602670e-01 6.65692198e-01 4.92012349e-02 3.37217086e+02] [-6.64185479e-01 7.46226150e-01 -4.47680866e-02 -2.62808384e+02] [-6.65170141e-02 6.55691065e-04 9.97785076e-01 -2.39647762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99864 meters 0.0259812488067479 Centerline is valid? [True, True] Translation: X:337.24, Y:-262.83, Z:-23.97 [[ 7.46088542e-01 6.64057831e-01 4.87758570e-02 3.37240414e+02] [-6.62570528e-01 7.47680753e-01 -4.44273204e-02 -2.62831947e+02] [-6.59710795e-02 8.29269383e-04 9.97821191e-01 -2.39672613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02864 meters 0.02627143327581688 Centerline is valid? [True, True] Translation: X:337.26, Y:-262.86, Z:-23.97 [[ 7.48420562e-01 6.61519579e-01 4.75237744e-02 3.37261256e+02] [-6.60099822e-01 7.49927147e-01 -4.33301117e-02 -2.62856408e+02] [-6.43030858e-02 1.05871152e-03 9.97929853e-01 -2.39683391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05864 meters 0.026070584083696544 Centerline is valid? [True, True] Translation: X:337.28, Y:-262.88, Z:-23.97 [[ 7.49150585e-01 6.60753989e-01 4.66644182e-02 3.37284526e+02] [-6.59381182e-01 7.50601679e-01 -4.25861007e-02 -2.62879380e+02] [-6.31653265e-02 1.13376301e-03 9.98002433e-01 -2.39689619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08864 meters 0.026347474135459802 Centerline is valid? [True, True] Translation: X:337.31, Y:-262.90, Z:-23.97 [[ 7.48762902e-01 6.61181124e-01 4.68362777e-02 3.37305298e+02] [-6.59796178e-01 7.50225454e-01 -4.27875125e-02 -2.62904956e+02] [-6.34280633e-02 1.13530499e-03 9.97985767e-01 -2.39711081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11863999999997 meters 0.026118434954087076 Centerline is valid? [True, True] Translation: X:337.33, Y:-262.93, Z:-23.97 [[ 7.47327467e-01 6.62777881e-01 4.71925661e-02 3.37326086e+02] [-6.61372106e-01 7.48815329e-01 -4.31571538e-02 -2.62929176e+02] [-6.39421238e-02 1.04067958e-03 9.97953066e-01 -2.39731245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14864 meters 0.026002558892918685 Centerline is valid? [True, True] Translation: X:337.35, Y:-262.95, Z:-23.98 [[ 7.45794905e-01 6.64482033e-01 4.74719681e-02 3.37347941e+02] [-6.63060430e-01 7.47303662e-01 -4.34523086e-02 -2.62953259e+02] [-6.43492540e-02 9.29726797e-04 9.97927006e-01 -2.39752836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17864 meters 0.025713009148161402 Centerline is valid? [True, True] Translation: X:337.37, Y:-262.98, Z:-23.98 [[ 7.43147689e-01 6.67459827e-01 4.72111379e-02 3.37369334e+02] [-6.66057608e-01 7.44645485e-01 -4.32477180e-02 -2.62978311e+02] [-6.40216751e-02 6.94104114e-04 9.97948267e-01 -2.39762352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20864 meters 0.02576395558529241 Centerline is valid? [True, True] Translation: X:337.39, Y:-263.00, Z:-23.98 [[ 7.41166014e-01 6.69643682e-01 4.74370987e-02 3.37391747e+02] [-6.68231271e-01 7.42682346e-01 -4.34729963e-02 -2.63002125e+02] [-6.43421130e-02 5.21754667e-04 9.97927763e-01 -2.39785036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23864 meters 0.02557197248357446 Centerline is valid? [True, True] Translation: X:337.41, Y:-263.03, Z:-23.98 [[ 7.39008080e-01 6.71999781e-01 4.77844291e-02 3.37412560e+02] [-6.70569669e-01 7.40551266e-01 -4.38194174e-02 -2.63028069e+02] [-6.48334584e-02 3.40114716e-04 9.97896040e-01 -2.39798164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26864 meters 0.025525587712826366 Centerline is valid? [True, True] Translation: X:337.44, Y:-263.05, Z:-23.98 [[ 7.38169276e-01 6.72974720e-01 4.70228240e-02 3.37435335e+02] [-6.71589023e-01 7.39665429e-01 -4.31652434e-02 -2.63050235e+02] [-6.38302748e-02 2.83244025e-04 9.97960729e-01 -2.39814077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29864 meters 0.0255281521347972 Centerline is valid? [True, True] Translation: X:337.46, Y:-263.07, Z:-23.98 [[ 7.37478567e-01 6.73778909e-01 4.63394497e-02 3.37460094e+02] [-6.72432246e-01 7.38932963e-01 -4.25787502e-02 -2.63072483e+02] [-6.29304107e-02 2.40775486e-04 9.98017888e-01 -2.39828762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32864 meters 0.02539575575248973 Centerline is valid? [True, True] Translation: X:337.48, Y:-263.10, Z:-23.98 [[ 7.36802071e-01 6.74518566e-01 4.63401746e-02 3.37483818e+02] [-6.73170429e-01 7.38257854e-01 -4.26252874e-02 -2.63095500e+02] [-6.29625456e-02 2.11564817e-04 9.98015868e-01 -2.39849638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35864 meters 0.02539267171008639 Centerline is valid? [True, True] Translation: X:337.51, Y:-263.12, Z:-23.99 [[ 7.36594945e-01 6.74684666e-01 4.72068607e-02 3.37507447e+02] [-6.73282838e-01 7.38106053e-01 -4.34703849e-02 -2.63118952e+02] [-6.41724717e-02 2.36496662e-04 9.97938795e-01 -2.39870558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38864 meters 0.025528965430664314 Centerline is valid? [True, True] Translation: X:337.53, Y:-263.14, Z:-23.99 [[ 7.36069406e-01 6.75206947e-01 4.79312875e-02 3.37532045e+02] [-6.73759647e-01 7.37628312e-01 -4.41860995e-02 -2.63141241e+02] [-6.51902360e-02 2.29868706e-04 9.97872828e-01 -2.39884739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41864 meters 0.025511791456552968 Centerline is valid? [True, True] Translation: X:337.56, Y:-263.16, Z:-23.99 [[ 7.35213023e-01 6.76163317e-01 4.75917990e-02 3.37556794e+02] [-6.74735411e-01 7.36751747e-01 -4.39202502e-02 -2.63163632e+02] [-6.47606031e-02 1.78867833e-04 9.97900813e-01 -2.39897755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44864 meters 0.025530874128293548 Centerline is valid? [True, True] Translation: X:337.58, Y:-263.19, Z:-23.99 [[ 7.34366725e-01 6.76985642e-01 4.89484750e-02 3.37580100e+02] [-6.75473653e-01 7.35996209e-01 -4.52208406e-02 -2.63186212e+02] [-6.66397518e-02 1.45275416e-04 9.97777091e-01 -2.39904006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47864 meters 0.025513676413327996 Centerline is valid? [True, True] Translation: X:337.60, Y:-263.21, Z:-23.99 [[ 7.34364297e-01 6.76963125e-01 4.92950864e-02 3.37604501e+02] [-6.75426535e-01 7.36016911e-01 -4.55862067e-02 -2.63208347e+02] [-6.71421982e-02 1.81673213e-04 9.97743400e-01 -2.39913102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50864 meters 0.025525320326985724 Centerline is valid? [True, True] Translation: X:337.63, Y:-263.23, Z:-23.99 [[ 7.34212961e-01 6.77095627e-01 4.97276539e-02 3.37629787e+02] [-6.75528819e-01 7.35895012e-01 -4.60363681e-02 -2.63229271e+02] [-6.77653560e-02 2.08034842e-04 9.97701265e-01 -2.39934256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53864 meters 0.025590346228995118 Centerline is valid? [True, True] Translation: X:337.65, Y:-263.25, Z:-24.00 [[ 7.33366049e-01 6.78006242e-01 4.98173976e-02 3.37653877e+02] [-6.76432450e-01 7.35056127e-01 -4.61695911e-02 -2.63251148e+02] [-6.79218543e-02 1.61106305e-04 9.97690631e-01 -2.39960660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56864 meters 0.02546691841241431 Centerline is valid? [True, True] Translation: X:337.68, Y:-263.27, Z:-24.00 [[ 7.32628490e-01 6.78770861e-01 5.02554916e-02 3.37677675e+02] [-6.77167539e-01 7.34350122e-01 -4.66264096e-02 -2.63273471e+02] [-6.85537746e-02 1.28448532e-04 9.97647414e-01 -2.39979946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59864 meters 0.025509181898669176 Centerline is valid? [True, True] Translation: X:337.70, Y:-263.30, Z:-24.00 [[ 7.32472711e-01 6.78938334e-01 5.02639745e-02 3.37702164e+02] [-6.77331399e-01 7.34195285e-01 -4.66846809e-02 -2.63295869e+02] [-6.85995925e-02 1.49886525e-04 9.97644262e-01 -2.39989658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62864 meters 0.02541383068118001 Centerline is valid? [True, True] Translation: X:337.73, Y:-263.32, Z:-24.00 [[ 7.32680274e-01 6.78711840e-01 5.02976653e-02 3.37726620e+02] [-6.77098736e-01 7.34404653e-01 -4.67665074e-02 -2.63317508e+02] [-6.86798217e-02 2.08411780e-04 9.97638732e-01 -2.39996938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65864 meters 0.025380033671770958 Centerline is valid? [True, True] Translation: X:337.75, Y:-263.34, Z:-24.00 [[ 7.34435210e-01 6.76822844e-01 5.01573488e-02 3.37751231e+02] [-6.75210874e-01 7.36145815e-01 -4.66863568e-02 -2.63340110e+02] [-6.85215152e-02 4.21316994e-04 9.97649550e-01 -2.40017462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68864 meters 0.02548784122354421 Centerline is valid? [True, True] Translation: X:337.77, Y:-263.36, Z:-24.00 [[ 7.35704544e-01 6.75418983e-01 5.04779245e-02 3.37774974e+02] [-6.73779642e-01 7.37433961e-01 -4.70334770e-02 -2.63362202e+02] [-6.89914390e-02 5.91744879e-04 9.97617076e-01 -2.40030490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71864 meters 0.02539321377590872 Centerline is valid? [True, True] Translation: X:337.80, Y:-263.39, Z:-24.00 [[ 7.35594833e-01 6.75518969e-01 5.07381912e-02 3.37799123e+02] [-6.73859716e-01 7.37342349e-01 -4.73217075e-02 -2.63385092e+02] [-6.93781281e-02 6.19180451e-04 9.97590243e-01 -2.40042136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74864 meters 0.025421372871302025 Centerline is valid? [True, True] Translation: X:337.82, Y:-263.41, Z:-24.01 [[ 7.34537389e-01 6.76563340e-01 5.21236197e-02 3.37823212e+02] [-6.74811105e-01 7.36384220e-01 -4.86646970e-02 -2.63406899e+02] [-7.13077609e-02 5.72442022e-04 9.97454197e-01 -2.40059941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77864 meters 0.025335632007787316 Centerline is valid? [True, True] Translation: X:337.85, Y:-263.43, Z:-24.01 [[ 7.33064616e-01 6.78149029e-01 5.22509771e-02 3.37847487e+02] [-6.76388826e-01 7.34924274e-01 -4.88310044e-02 -2.63429706e+02] [-7.15152096e-02 4.54304436e-04 9.97439406e-01 -2.40072655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80864 meters 0.024981978795690057 Centerline is valid? [True, True] Translation: X:337.87, Y:-263.45, Z:-24.01 [[ 7.31407869e-01 6.80016482e-01 5.11870502e-02 3.37871311e+02] [-6.78328492e-01 7.33196763e-01 -4.78849020e-02 -2.63451765e+02] [-7.00927021e-02 3.01759544e-04 9.97540436e-01 -2.40099090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83864 meters 0.025179791964393395 Centerline is valid? [True, True] Translation: X:337.90, Y:-263.47, Z:-24.01 [[ 7.30233579e-01 6.81309896e-01 5.07518168e-02 3.37896153e+02] [-6.79650436e-01 7.31995070e-01 -4.75237077e-02 -2.63474121e+02] [-6.95284520e-02 2.09912771e-04 9.97579947e-01 -2.40108401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters 0.025179791964393395 Centerline is valid? [True, True] Translation: X:337.92, Y:-263.50, Z:-24.01 [[ 7.29869924e-01 6.81701346e-01 5.07264130e-02 3.37920084e+02] [-6.80040947e-01 7.31630528e-01 -4.75508121e-02 -2.63496096e+02] [-6.95284450e-02 2.09869633e-04 9.97579947e-01 -2.40124637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89864 meters 0.025202218256309545 Centerline is valid? [True, True] Translation: X:337.95, Y:-263.52, Z:-24.01 [[ 7.31074943e-01 6.80385261e-01 5.10423822e-02 3.37945339e+02] [-6.78697264e-01 7.32854526e-01 -4.78985204e-02 -2.63516870e+02] [-6.99960882e-02 3.75082923e-04 9.97547195e-01 -2.40145806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters 0.02514473008060954 Centerline is valid? [True, True] Translation: X:337.97, Y:-263.54, Z:-24.02 [[ 7.31521454e-01 6.79841998e-01 5.18769705e-02 3.37968116e+02] [-6.78093308e-01 7.33358463e-01 -4.87322300e-02 -2.63539284e+02] [-7.11746320e-02 4.71245223e-04 9.97463759e-01 -2.40159153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95864 meters 0.025356709150341498 Centerline is valid? [True, True] Translation: X:337.99, Y:-263.56, Z:-24.02 [[ 7.32623293e-01 6.78598458e-01 5.26045943e-02 3.37991077e+02] [-6.76793761e-01 7.34509176e-01 -4.94618544e-02 -2.63561785e+02] [-7.22032954e-02 6.34445435e-04 9.97389734e-01 -2.40174263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters 0.025499297681058113 Centerline is valid? [True, True] Translation: X:338.01, Y:-263.58, Z:-24.02 [[ 7.33921643e-01 6.77089054e-01 5.39391743e-02 3.38013537e+02] [-6.75183876e-01 7.35900612e-01 -5.07643962e-02 -2.63584427e+02] [-7.40658884e-02 8.38228323e-04 9.97252998e-01 -2.40197098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01864 meters 0.025444916343667728 Centerline is valid? [True, True] Translation: X:338.04, Y:-263.61, Z:-24.02 [[ 7.33727074e-01 6.77418073e-01 5.24341031e-02 3.38036579e+02] [-6.75615498e-01 7.35597777e-01 -4.93923986e-02 -2.63606765e+02] [-7.20297132e-02 8.15247419e-04 9.97402154e-01 -2.40207705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters 0.025312251287554263 Centerline is valid? [True, True] Translation: X:338.06, Y:-263.63, Z:-24.02 [[ 7.32381674e-01 6.78950511e-01 5.14129165e-02 3.38057846e+02] [-6.77218199e-01 7.34183721e-01 -4.84744816e-02 -2.63631736e+02] [-7.06583004e-02 6.84059301e-04 9.97500344e-01 -2.40217417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07864 meters 0.025469787283286357 Centerline is valid? [True, True] Translation: X:338.08, Y:-263.66, Z:-24.02 [[ 7.31536935e-01 6.79843656e-01 5.16363851e-02 3.38080175e+02] [-6.78095094e-01 7.33356802e-01 -4.87323661e-02 -2.63655464e+02] [-7.09982842e-02 6.35146297e-04 9.97476235e-01 -2.40233802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters 0.025240873779271398 Centerline is valid? [True, True] Translation: X:338.10, Y:-263.68, Z:-24.02 [[ 7.28653439e-01 6.82821521e-01 5.30936610e-02 3.38100842e+02] [-6.80976621e-01 7.30585118e-01 -5.01620124e-02 -2.63681424e+02] [-7.30411402e-02 3.95181013e-04 9.97328850e-01 -2.40242910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13864 meters 0.025170823927041577 Centerline is valid? [True, True] Translation: X:338.12, Y:-263.71, Z:-24.03 [[ 7.26719432e-01 6.84801155e-01 5.40947838e-02 3.38123488e+02] [-6.82887276e-01 7.28729936e-01 -5.11629633e-02 -2.63705187e+02] [-7.44569448e-02 2.40480075e-04 9.97224200e-01 -2.40265581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16864 meters 0.02501360905004553 Centerline is valid? [True, True] Translation: X:338.15, Y:-263.73, Z:-24.03 [[ 7.24756761e-01 6.86829566e-01 5.47063551e-02 3.38146609e+02] [-6.84873628e-01 7.26818507e-01 -5.17974074e-02 -2.63729027e+02] [-7.53375821e-02 7.35813474e-05 9.97158083e-01 -2.40281683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19864 meters 0.02511645422682863 Centerline is valid? [True, True] Translation: X:338.17, Y:-263.75, Z:-24.03 [[ 7.21093947e-01 6.90729593e-01 5.40013861e-02 3.38168791e+02] [-6.88830605e-01 7.23113094e-01 -5.11844813e-02 -2.63753580e+02] [-7.44037453e-02 -2.88987785e-04 9.97228158e-01 -2.40293363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22864 meters 0.0248930274518385 Centerline is valid? [True, True] Translation: X:338.19, Y:-263.78, Z:-24.03 [[ 7.19435127e-01 6.92461033e-01 5.39519790e-02 3.38192514e+02] [-6.90566271e-01 7.21455151e-01 -5.11926862e-02 -2.63776630e+02] [-7.43728735e-02 -4.27600311e-04 9.97230411e-01 -2.40313519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25864 meters 0.025148204715637945 Centerline is valid? [True, True] Translation: X:338.22, Y:-263.80, Z:-24.03 [[ 7.16893668e-01 6.95017917e-01 5.48959356e-02 3.38215449e+02] [-6.93059475e-01 7.18992109e-01 -5.21431887e-02 -2.63799048e+02] [-7.57101949e-02 -6.65026504e-04 9.97129643e-01 -2.40334500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28864 meters 0.025002942276806755 Centerline is valid? [True, True] Translation: X:338.24, Y:-263.82, Z:-24.03 [[ 7.15761413e-01 6.96215364e-01 5.44955661e-02 3.38240067e+02] [-6.94285023e-01 7.17832575e-01 -5.18140955e-02 -2.63821709e+02] [-7.51924619e-02 -7.48925203e-04 9.97168758e-01 -2.40344538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31864 meters 0.024964568419080017 Centerline is valid? [True, True] Translation: X:338.26, Y:-263.84, Z:-24.04 [[ 7.15057450e-01 6.96919328e-01 5.47384057e-02 3.38264328e+02] [-6.94969495e-01 7.17149101e-01 -5.21015170e-02 -2.63844483e+02] [-7.55661527e-02 -7.85944305e-04 9.97140481e-01 -2.40363873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34864 meters 0.024821860373712944 Centerline is valid? [True, True] Translation: X:338.29, Y:-263.87, Z:-24.04 [[ 7.14450279e-01 6.97659851e-01 5.32121336e-02 3.38287982e+02] [-6.95815610e-01 7.16428704e-01 -5.07005953e-02 -2.63865896e+02] [-7.34944696e-02 -8.02778747e-04 9.97295302e-01 -2.40383526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.37864 meters 0.02500954342773514 Centerline is valid? [True, True] Translation: X:338.31, Y:-263.89, Z:-24.04 [[ 7.13943203e-01 6.98129806e-01 5.38504968e-02 3.38312228e+02] [-6.96238518e-01 7.15970735e-01 -5.13598428e-02 -2.63887697e+02] [-7.44112169e-02 -8.24779403e-04 9.97227301e-01 -2.40407864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40864 meters 0.024588874400103402 Centerline is valid? [True, True] Translation: X:338.34, Y:-263.91, Z:-24.04 [[ 7.13732199e-01 6.98352456e-01 5.37605335e-02 3.38336772e+02] [-6.96464016e-01 7.15753586e-01 -5.13291257e-02 -2.63910044e+02] [-7.43251156e-02 -8.07027273e-04 9.97233737e-01 -2.40422269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43864 meters 0.02472238644384248 Centerline is valid? [True, True] Translation: X:338.36, Y:-263.93, Z:-24.04 [[ 7.12668349e-01 6.99461527e-01 5.34546187e-02 3.38360764e+02] [-6.97593584e-01 7.14669715e-01 -5.10919809e-02 -2.63933143e+02] [-7.39392721e-02 -8.77961374e-04 9.97262359e-01 -2.40435152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46864 meters 0.02459816510787129 Centerline is valid? [True, True] Translation: X:338.38, Y:-263.96, Z:-24.05 [[ 7.12750326e-01 6.99420482e-01 5.28957664e-02 3.38384789e+02] [-6.97587493e-01 7.14709945e-01 -5.06101163e-02 -2.63955024e+02] [-7.32028823e-02 -8.27048183e-04 9.97316727e-01 -2.40450359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49864 meters 0.02468671214529189 Centerline is valid? [True, True] Translation: X:338.41, Y:-263.98, Z:-24.05 [[ 7.13110990e-01 6.99073857e-01 5.26161372e-02 3.38409295e+02] [-6.97255826e-01 7.15049072e-01 -5.03898599e-02 -2.63976090e+02] [-7.28493537e-02 -7.53345317e-04 9.97342671e-01 -2.40461760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52864 meters 0.02460627604982067 Centerline is valid? [True, True] Translation: X:338.43, Y:-264.00, Z:-24.05 [[ 7.13129886e-01 6.99053729e-01 5.26274667e-02 3.38433564e+02] [-6.97231214e-01 7.15068789e-01 -5.04505853e-02 -2.63998166e+02] [-7.28999286e-02 -7.15692328e-04 9.97339004e-01 -2.40481466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55864 meters 0.024716730820130386 Centerline is valid? [True, True] Translation: X:338.46, Y:-264.02, Z:-24.05 [[ 7.13590553e-01 6.98468968e-01 5.41259984e-02 3.38456837e+02] [-6.96535215e-01 7.15640061e-01 -5.19422431e-02 -2.64020836e+02] [-7.50147778e-02 -6.35169992e-04 9.97182220e-01 -2.40490718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58864 meters 0.024669600945092508 Centerline is valid? [True, True] Translation: X:338.48, Y:-264.04, Z:-24.05 [[ 7.13791486e-01 6.98282684e-01 5.38795648e-02 3.38480546e+02] [-6.96362154e-01 7.15821878e-01 -5.17570226e-02 -2.64043446e+02] [-7.47092039e-02 -5.75967646e-04 9.97205196e-01 -2.40507530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61863999999997 meters 0.024716137515950146 Centerline is valid? [True, True] Translation: X:338.50, Y:-264.07, Z:-24.05 [[ 7.14577828e-01 6.97502490e-01 5.35612239e-02 3.38503876e+02] [-6.95598444e-01 7.16582215e-01 -5.15046901e-02 -2.64065449e+02] [-7.43056701e-02 -4.52994508e-04 9.97235410e-01 -2.40524457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64864 meters 0.024684185180914746 Centerline is valid? [True, True] Translation: X:338.53, Y:-264.09, Z:-24.05 [[ 7.15927093e-01 6.96160838e-01 5.29951469e-02 3.38527157e+02] [-6.94289649e-01 7.17885793e-01 -5.10085416e-02 -2.64087746e+02] [-7.35546121e-02 -2.75585035e-04 9.97291153e-01 -2.40534338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67864 meters 0.024401009930734414 Centerline is valid? [True, True] Translation: X:338.55, Y:-264.11, Z:-24.05 [[ 7.16375193e-01 6.95697777e-01 5.30206105e-02 3.38551138e+02] [-6.93819765e-01 7.18334578e-01 -5.10839325e-02 -2.64111045e+02] [-7.36255162e-02 -1.91485458e-04 9.97285940e-01 -2.40543957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70864 meters 0.024765990529080423 Centerline is valid? [True, True] Translation: X:338.57, Y:-264.13, Z:-24.06 [[ 7.17150984e-01 6.94847804e-01 5.36749114e-02 3.38573993e+02] [-6.92916441e-01 7.19156816e-01 -5.17714174e-02 -2.64134739e+02] [-7.45739340e-02 -6.43056602e-05 9.97215485e-01 -2.40566415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73864 meters 0.024616938431936984 Centerline is valid? [True, True] Translation: X:338.60, Y:-264.16, Z:-24.06 [[ 7.16886898e-01 6.95126890e-01 5.35890108e-02 3.38596747e+02] [-6.93198268e-01 7.18887059e-01 -5.17451239e-02 -2.64158338e+02] [-7.44938735e-02 -5.24081157e-05 9.97221470e-01 -2.40589216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76864 meters 0.024750352420553418 Centerline is valid? [True, True] Translation: X:338.62, Y:-264.18, Z:-24.06 [[ 7.16604271e-01 6.95444461e-01 5.32477229e-02 3.38619942e+02] [-6.93537088e-01 7.18579849e-01 -5.14714292e-02 -2.64182025e+02] [-7.40582611e-02 -4.46246534e-05 9.97253916e-01 -2.40607643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79864 meters 0.024805470284621392 Centerline is valid? [True, True] Translation: X:338.64, Y:-264.21, Z:-24.06 [[ 7.15738898e-01 6.96348026e-01 5.30778321e-02 3.38643074e+02] [-6.94451181e-01 7.17704268e-01 -5.13628351e-02 -2.64205987e+02] [-7.38605955e-02 -9.75842279e-05 9.97268571e-01 -2.40625066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82864 meters 0.02477737769397148 Centerline is valid? [True, True] Translation: X:338.67, Y:-264.23, Z:-24.06 [[ 7.14891803e-01 6.97294098e-01 5.20639160e-02 3.38666203e+02] [-6.95467852e-01 7.16785127e-01 -5.04336102e-02 -2.64228905e+02] [-7.24856994e-02 -1.54205308e-04 9.97369440e-01 -2.40638546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85864 meters 0.024555094689117953 Centerline is valid? [True, True] Translation: X:338.69, Y:-264.25, Z:-24.06 [[ 7.13219874e-01 6.99114821e-01 5.05556892e-02 3.38687814e+02] [-6.97394309e-01 7.15009356e-01 -4.90183564e-02 -2.64253413e+02] [-7.04172502e-02 -2.96383947e-04 9.97517580e-01 -2.40647265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88864 meters 0.02467834036933138 Centerline is valid? [True, True] Translation: X:338.71, Y:-264.28, Z:-24.07 [[ 7.11808537e-01 7.00625352e-01 4.95249709e-02 3.38710396e+02] [-6.98974890e-01 7.13529223e-01 -4.80640258e-02 -2.64276319e+02] [-6.90123890e-02 -4.04327282e-04 9.97615721e-01 -2.40652133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91864 meters 0.02475497988809779 Centerline is valid? [True, True] Translation: X:338.73, Y:-264.30, Z:-24.07 [[ 7.10320186e-01 7.02080386e-01 5.02828588e-02 3.38733104e+02] [-7.00379297e-01 7.12097508e-01 -4.88464907e-02 -2.64298561e+02] [-7.01004615e-02 -5.20424903e-04 9.97539801e-01 -2.40672448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94864 meters 0.025100306895391743 Centerline is valid? [True, True] Translation: X:338.76, Y:-264.32, Z:-24.07 [[ 7.07072686e-01 7.05275472e-01 5.13295682e-02 3.38756063e+02] [-7.03507640e-01 7.08932886e-01 -4.99115682e-02 -2.64320437e+02] [-7.15906237e-02 -8.19636742e-04 9.97433763e-01 -2.40691776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97864 meters 0.025404059218153422 Centerline is valid? [True, True] Translation: X:338.78, Y:-264.34, Z:-24.07 [[ 7.05847821e-01 7.06447438e-01 5.20660292e-02 3.38779308e+02] [-7.04628084e-01 7.07764916e-01 -5.06763051e-02 -2.64342304e+02] [-7.26506547e-02 -9.17426922e-04 9.97357028e-01 -2.40712669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00864 meters 0.025547323557615617 Centerline is valid? [True, True] Translation: X:338.80, Y:-264.36, Z:-24.07 [[ 7.03830687e-01 7.08523804e-01 5.11506000e-02 3.38803733e+02] [-7.06769944e-01 7.05686091e-01 -4.98336002e-02 -2.64364199e+02] [-7.14045590e-02 -1.07728966e-03 9.97446855e-01 -2.40721495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03864 meters 0.025599842976803892 Centerline is valid? [True, True] Translation: X:338.83, Y:-264.39, Z:-24.07 [[ 7.03247156e-01 7.09084825e-01 5.14018316e-02 3.38828465e+02] [-7.07311298e-01 7.05122327e-01 -5.01321424e-02 -2.64386500e+02] [-7.17925206e-02 -1.10180963e-03 9.97418979e-01 -2.40741762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06864 meters 0.025473061847665672 Centerline is valid? [True, True] Translation: X:338.85, Y:-264.41, Z:-24.08 [[ 7.01957730e-01 7.10453927e-01 5.01055179e-02 3.38852788e+02] [-7.08768707e-01 7.03742737e-01 -4.89191306e-02 -2.64408217e+02] [-7.00161827e-02 -1.17406123e-03 9.97545165e-01 -2.40753789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09864 meters 0.02575743650995925 Centerline is valid? [True, True] Translation: X:338.88, Y:-264.43, Z:-24.08 [[ 7.00854313e-01 7.11569159e-01 4.97248795e-02 3.38877491e+02] [-7.09908685e-01 7.02614970e-01 -4.85990072e-02 -2.64430554e+02] [-6.95189994e-02 -1.23930001e-03 9.97579858e-01 -2.40762956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12864 meters 0.02567159762895978 Centerline is valid? [True, True] Translation: X:338.90, Y:-264.45, Z:-24.08 [[ 6.99516612e-01 7.12857254e-01 5.01103228e-02 3.38901261e+02] [-7.11170640e-01 7.01307874e-01 -4.90263921e-02 -2.64451716e+02] [-7.00915832e-02 -1.34221461e-03 9.97539658e-01 -2.40786552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15864 meters 0.025987076005733852 Centerline is valid? [True, True] Translation: X:338.93, Y:-264.47, Z:-24.08 [[ 6.97423163e-01 7.14805269e-01 5.15204762e-02 3.38926632e+02] [-7.13024111e-01 6.99321838e-01 -5.04537868e-02 -2.64472001e+02] [-7.20940267e-02 -1.54770218e-03 9.97396639e-01 -2.40803605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18864 meters 0.025892781215034785 Centerline is valid? [True, True] Translation: X:338.95, Y:-264.49, Z:-24.08 [[ 6.97101336e-01 7.15114046e-01 5.15909743e-02 3.38951304e+02] [-7.13325292e-01 6.99006085e-01 -5.05719393e-02 -2.64493248e+02] [-7.22271090e-02 -1.54738040e-03 9.97387011e-01 -2.40819614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21864 meters 0.025955940161350166 Centerline is valid? [True, True] Translation: X:338.98, Y:-264.51, Z:-24.08 [[ 6.97665785e-01 7.14569805e-01 5.15018975e-02 3.38977611e+02] [-7.12782041e-01 6.99562638e-01 -5.05359077e-02 -2.64512177e+02] [-7.21402370e-02 -1.45245382e-03 9.97393441e-01 -2.40832467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24864 meters 0.025793424506506853 Centerline is valid? [True, True] Translation: X:339.00, Y:-264.53, Z:-24.08 [[ 6.98707901e-01 7.13571312e-01 5.12176914e-02 3.39001838e+02] [-7.11797253e-01 7.00581379e-01 -5.03031025e-02 -2.64533618e+02] [-7.17770117e-02 -1.30943684e-03 9.97419844e-01 -2.40848102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27864 meters 0.025788166910495954 Centerline is valid? [True, True] Translation: X:339.03, Y:-264.55, Z:-24.09 [[ 6.99705530e-01 7.12602896e-01 5.10811560e-02 3.39025489e+02] [-7.10832393e-01 7.01566628e-01 -5.02152844e-02 -2.64554849e+02] [-7.16203915e-02 -1.17422817e-03 9.97431271e-01 -2.40857641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30864 meters 0.025560836320762274 Centerline is valid? [True, True] Translation: X:339.05, Y:-264.57, Z:-24.09 [[ 7.02627090e-01 7.09657877e-01 5.19699056e-02 3.39051169e+02] [-7.07813545e-01 7.04545930e-01 -5.11372459e-02 -2.64574306e+02] [-7.29051349e-02 -8.54588871e-04 9.97338514e-01 -2.40882405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33864 meters 0.025495675429588957 Centerline is valid? [True, True] Translation: X:339.08, Y:-264.59, Z:-24.09 [[ 7.03514704e-01 7.08795424e-01 5.17311083e-02 3.39076191e+02] [-7.06962208e-01 7.05413721e-01 -5.09501611e-02 -2.64594753e+02] [-7.26050747e-02 -7.27751034e-04 9.97360503e-01 -2.40888794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters 0.025412332771644685 Centerline is valid? [True, True] Translation: X:339.10, Y:-264.62, Z:-24.09 [[ 7.04192474e-01 7.08099514e-01 5.20388050e-02 3.39102347e+02] [-7.06238762e-01 7.06112377e-01 -5.13042103e-02 -2.64615572e+02] [-7.30737307e-02 -6.23782482e-04 9.97326346e-01 -2.40908899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39864 meters 0.02569038036063126 Centerline is valid? [True, True] Translation: X:339.13, Y:-264.64, Z:-24.09 [[ 7.03985709e-01 7.08308187e-01 5.19964778e-02 3.39127273e+02] [-7.06446949e-01 7.05903071e-01 -5.13182526e-02 -2.64637582e+02] [-7.30536118e-02 -6.05436712e-04 9.97327831e-01 -2.40925082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters 0.025785692781393813 Centerline is valid? [True, True] Translation: X:339.15, Y:-264.66, Z:-24.10 [[ 7.03387595e-01 7.08929026e-01 5.16287506e-02 3.39154628e+02] [-7.07091721e-01 7.05279550e-01 -5.10103323e-02 -2.64657083e+02] [-7.25754072e-02 -6.26227215e-04 9.97362731e-01 -2.40953435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45864 meters 0.02582269212950677 Centerline is valid? [True, True] Translation: X:339.18, Y:-264.68, Z:-24.10 [[ 7.03306697e-01 7.08997621e-01 5.17886361e-02 3.39179891e+02] [-7.07145022e-01 7.05210620e-01 -5.12240109e-02 -2.64678312e+02] [-7.28395980e-02 -5.95886280e-04 9.97343490e-01 -2.40976231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters 0.02578629892677088 Centerline is valid? [True, True] Translation: X:339.20, Y:-264.70, Z:-24.10 [[ 7.04439775e-01 7.07914003e-01 5.12090514e-02 3.39203312e+02] [-7.06096029e-01 7.06298499e-01 -5.07033375e-02 -2.64700371e+02] [-7.20624788e-02 -4.41060140e-04 9.97400022e-01 -2.40985714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51864 meters 0.025864009723080006 Centerline is valid? [True, True] Translation: X:339.23, Y:-264.72, Z:-24.10 [[ 7.05755300e-01 7.06602694e-01 5.12063462e-02 3.39226654e+02] [-7.04777822e-01 7.07610457e-01 -5.07509881e-02 -2.64723293e+02] [-7.20949310e-02 -2.71318311e-04 9.97397738e-01 -2.40995047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters 0.02592056066182208 Centerline is valid? [True, True] Translation: X:339.25, Y:-264.75, Z:-24.10 [[ 7.07549719e-01 7.04788756e-01 5.14412721e-02 3.39251084e+02] [-7.02938251e-01 7.09417231e-01 -5.10392822e-02 -2.64746190e+02] [-7.24652370e-02 -4.72080229e-05 9.97370938e-01 -2.41013056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57864 meters 0.026293067792407827 Centerline is valid? [True, True] Translation: X:339.28, Y:-264.77, Z:-24.10 [[ 7.10515767e-01 7.01819029e-01 5.11604928e-02 3.39275036e+02] [-6.99977015e-01 7.12355223e-01 -5.08154986e-02 -2.64768821e+02] [-7.21077281e-02 2.94043936e-04 9.97396806e-01 -2.41045092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters 0.02644886776829447 Centerline is valid? [True, True] Translation: X:339.30, Y:-264.79, Z:-24.11 [[ 7.11559077e-01 7.00783676e-01 5.08519373e-02 3.39297890e+02] [-6.98957299e-01 7.13373709e-01 -5.05632709e-02 -2.64792944e+02] [-7.17103500e-02 4.35421600e-04 9.97425404e-01 -2.41057442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63864 meters 0.026444566255238684 Centerline is valid? [True, True] Translation: X:339.32, Y:-264.82, Z:-24.11 [[ 7.12096486e-01 7.00271511e-01 5.03825957e-02 3.39320055e+02] [-6.98473690e-01 7.13876418e-01 -5.01494194e-02 -2.64817782e+02] [-7.10851566e-02 5.20307775e-04 9.97470115e-01 -2.41071637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66864 meters 0.026379169685301226 Centerline is valid? [True, True] Translation: X:339.34, Y:-264.84, Z:-24.11 [[ 7.10781275e-01 7.01641706e-01 4.98888383e-02 3.39342689e+02] [-6.99878778e-01 7.12529820e-01 -4.97086758e-02 -2.64840600e+02] [-7.04249650e-02 4.15856743e-04 9.97516993e-01 -2.41077330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.69864 meters 0.02638010599710243 Centerline is valid? [True, True] Translation: X:339.37, Y:-264.87, Z:-24.11 [[ 7.07063170e-01 7.05337610e-01 5.06016751e-02 3.39365319e+02] [-7.03529671e-01 7.08871532e-01 -5.04693243e-02 -2.64865301e+02] [-7.14679995e-02 8.52205528e-05 9.97442890e-01 -2.41091504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72864 meters 0.026315187829131247 Centerline is valid? [True, True] Translation: X:339.39, Y:-264.89, Z:-24.11 [[ 7.05211327e-01 7.07181447e-01 5.07088203e-02 3.39387307e+02] [-7.05366567e-01 7.07032105e-01 -5.06320977e-02 -2.64889723e+02] [-7.16588441e-02 -6.19777137e-05 9.97429199e-01 -2.41097535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75864 meters 0.026447760097703145 Centerline is valid? [True, True] Translation: X:339.41, Y:-264.91, Z:-24.11 [[ 7.03571963e-01 7.08791703e-01 5.09981707e-02 3.39409523e+02] [-7.06956138e-01 7.05417810e-01 -5.09777731e-02 -2.64913624e+02] [-7.21076405e-02 -1.86937930e-04 9.97396838e-01 -2.41122856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78864 meters 0.026447760097703145 Centerline is valid? [True, True] Translation: X:339.48, Y:-265.00, Z:-22.63 [[ 7.58714163e-01 -6.51162117e-01 -1.84585119e-02 3.39476370e+02] [-6.50840706e-01 -7.58929309e-01 2.08009408e-02 -2.65002394e+02] [-2.75534903e-02 -3.76841745e-03 -9.99613227e-01 -2.26283011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81864 meters 0.026235382717192383 Centerline is valid? [True, True] Translation: X:339.45, Y:-264.97, Z:-24.11 [[ 7.51088520e-01 6.58031587e-01 5.34833158e-02 3.39450887e+02] [-6.56415514e-01 7.52990167e-01 -4.60920977e-02 -2.64969446e+02] [-7.06024671e-02 -4.88032704e-04 9.97504413e-01 -2.41140435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84864 meters 0.026387627224600405 Centerline is valid? [True, True] Translation: X:339.48, Y:-264.99, Z:-24.12 [[ 7.49354080e-01 6.59992170e-01 5.36544413e-02 3.39475912e+02] [-6.58367099e-01 7.51272209e-01 -4.62907322e-02 -2.64990284e+02] [-7.08606114e-02 -6.36169820e-04 9.97486025e-01 -2.41152789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87864 meters 0.026376994997865583 Centerline is valid? [True, True] Translation: X:339.50, Y:-265.01, Z:-24.12 [[ 7.46783968e-01 6.62841792e-01 5.43549861e-02 3.39499992e+02] [-6.61177959e-01 7.48758961e-01 -4.69438514e-02 -2.65010860e+02] [-7.18151295e-02 -8.81403115e-04 9.97417571e-01 -2.41156412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90864 meters 0.026400131566487392 Centerline is valid? [True, True] Translation: X:339.52, Y:-265.03, Z:-24.12 [[ 7.45228182e-01 6.64555352e-01 5.47826703e-02 3.39523944e+02] [-6.62866694e-01 7.47238341e-01 -4.73561773e-02 -2.65031841e+02] [-7.24065127e-02 -1.02244966e-03 9.97374680e-01 -2.41166913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93864 meters 0.026585950967985262 Centerline is valid? [True, True] Translation: X:339.55, Y:-265.05, Z:-24.12 [[ 7.43834856e-01 6.66042453e-01 5.56521190e-02 3.39548714e+02] [-6.64300441e-01 7.45912948e-01 -4.81538999e-02 -2.65052845e+02] [-7.35841777e-02 -1.15117803e-03 9.97288345e-01 -2.41180265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96864 meters 0.02652416715990429 Centerline is valid? [True, True] Translation: X:339.57, Y:-265.07, Z:-24.12 [[ 7.41327927e-01 6.68835828e-01 5.56016119e-02 3.39573564e+02] [-6.67101444e-01 7.43408834e-01 -4.81556613e-02 -2.65072724e+02] [-7.35429612e-02 -1.39277902e-03 9.97291077e-01 -2.41194936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99864 meters 0.026597266193627775 Centerline is valid? [True, True] Translation: X:339.60, Y:-265.09, Z:-24.12 [[ 7.40449508e-01 6.69820621e-01 5.54514312e-02 3.39599783e+02] [-6.68094897e-01 7.42521534e-01 -4.80726588e-02 -2.65093089e+02] [-7.33739400e-02 -1.45144160e-03 9.97303443e-01 -2.41220901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02864 meters 0.027024292366423074 Centerline is valid? [True, True] Translation: X:339.63, Y:-265.11, Z:-24.12 [[ 7.37813734e-01 6.72744545e-01 5.51875977e-02 3.39625046e+02] [-6.71039850e-01 7.39872891e-01 -4.78918127e-02 -2.65112427e+02] [-7.30507632e-02 -1.69784005e-03 9.97326779e-01 -2.41226940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05864 meters 0.026958631704077758 Centerline is valid? [True, True] Translation: X:339.65, Y:-265.13, Z:-24.12 [[ 7.36941812e-01 6.73670792e-01 5.55376352e-02 3.39650275e+02] [-6.71943831e-01 7.39029454e-01 -4.82385159e-02 -2.65132361e+02] [-7.35408275e-02 -1.76919204e-03 9.97290638e-01 -2.41238005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08864 meters 0.02684038993244509 Centerline is valid? [True, True] Translation: X:339.68, Y:-265.15, Z:-24.13 [[ 7.36396356e-01 6.74254559e-01 5.56883856e-02 3.39676122e+02] [-6.72516379e-01 7.38496823e-01 -4.84165473e-02 -2.65152359e+02] [-7.37707737e-02 -1.79758246e-03 9.97273604e-01 -2.41253378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11863999999997 meters 0.026656349142632443 Centerline is valid? [True, True] Translation: X:339.70, Y:-265.17, Z:-24.13 [[ 7.36517287e-01 6.74139251e-01 5.54847375e-02 3.39701708e+02] [-6.72409849e-01 7.38602215e-01 -4.82883319e-02 -2.65171359e+02] [-7.35342099e-02 -1.74329272e-03 9.97291172e-01 -2.41265130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14864 meters 0.026714232070051882 Centerline is valid? [True, True] Translation: X:339.73, Y:-265.19, Z:-24.13 [[ 7.36468487e-01 6.74165344e-01 5.58144896e-02 3.39727293e+02] [-6.72411868e-01 7.38578450e-01 -4.86225671e-02 -2.65191845e+02] [-7.40030288e-02 -1.72133682e-03 9.97256531e-01 -2.41283729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17864 meters 0.02623612404622221 Centerline is valid? [True, True] Translation: X:339.75, Y:-265.21, Z:-24.13 [[ 7.37078040e-01 6.73518419e-01 5.55778978e-02 3.39753629e+02] [-6.71774317e-01 7.39168681e-01 -4.84657501e-02 -2.65210185e+02] [-7.37240168e-02 -1.61276424e-03 9.97277378e-01 -2.41280891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20864 meters 0.02626905965852061 Centerline is valid? [True, True] Translation: X:339.78, Y:-265.23, Z:-24.13 [[ 7.37467522e-01 6.73037852e-01 5.62290320e-02 3.39779870e+02] [-6.71247582e-01 7.39606419e-01 -4.90818554e-02 -2.65230727e+02] [-7.46212996e-02 -1.54732748e-03 9.97210744e-01 -2.41313531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23864 meters 0.026058177226230102 Centerline is valid? [True, True] Translation: X:339.81, Y:-265.25, Z:-24.13 [[ 7.38792135e-01 6.71640230e-01 5.55480333e-02 3.39805442e+02] [-6.69885510e-01 7.40876220e-01 -4.85368964e-02 -2.65250660e+02] [-7.37535492e-02 -1.35214525e-03 9.97275582e-01 -2.41329429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26864 meters 0.026058841386129503 Centerline is valid? [True, True] Translation: X:339.83, Y:-265.27, Z:-24.13 [[ 7.38865298e-01 6.71537130e-01 5.58207350e-02 3.39830762e+02] [-6.69761262e-01 7.40969742e-01 -4.88230723e-02 -2.65271308e+02] [-7.41479815e-02 -1.31289207e-03 9.97246385e-01 -2.41345052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29864 meters 0.025707589022262525 Centerline is valid? [True, True] Translation: X:339.86, Y:-265.29, Z:-24.14 [[ 7.38144122e-01 6.72425388e-01 5.46566833e-02 3.39856978e+02] [-6.70721801e-01 7.40163705e-01 -4.78534750e-02 -2.65290457e+02] [-7.26327848e-02 -1.33666774e-03 9.97357856e-01 -2.41356390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32864 meters 0.025722968925342038 Centerline is valid? [True, True] Translation: X:339.88, Y:-265.31, Z:-24.14 [[ 7.37340570e-01 6.73339391e-01 5.42489505e-02 3.39882483e+02] [-6.71660274e-01 7.39332237e-01 -4.75428187e-02 -2.65311378e+02] [-7.21204504e-02 -1.38161593e-03 9.97394973e-01 -2.41370378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35864 meters 0.025754263608572994 Centerline is valid? [True, True] Translation: X:339.91, Y:-265.33, Z:-24.14 [[ 7.36393564e-01 6.74429949e-01 5.35608417e-02 3.39907110e+02] [-6.72792529e-01 7.38337452e-01 -4.69895773e-02 -2.65333206e+02] [-7.12371535e-02 -1.43251185e-03 9.97458378e-01 -2.41382388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38864 meters 0.02574313861379606 Centerline is valid? [True, True] Translation: X:339.93, Y:-265.35, Z:-24.14 [[ 7.34584114e-01 6.76330988e-01 5.44295293e-02 3.39931750e+02] [-6.74641617e-01 7.36596098e-01 -4.78003866e-02 -2.65353049e+02] [-7.24214615e-02 -1.60702102e-03 9.97372824e-01 -2.41401369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41864 meters 0.025812669609924888 Centerline is valid? [True, True] Translation: X:339.96, Y:-265.37, Z:-24.14 [[ 7.33528500e-01 6.77425210e-01 5.50547452e-02 3.39957736e+02] [-6.75696654e-01 7.35589685e-01 -4.83926342e-02 -2.65372193e+02] [-7.32800930e-02 -1.70293076e-03 9.97309946e-01 -2.41416340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44864 meters 0.025769727779438006 Centerline is valid? [True, True] Translation: X:339.98, Y:-265.39, Z:-24.14 [[ 7.32950699e-01 6.77960712e-01 5.61475304e-02 3.39982655e+02] [-6.76160836e-01 7.35096038e-01 -4.93997945e-02 -2.65392424e+02] [-7.47649470e-02 -1.75714713e-03 9.97199637e-01 -2.41444715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47864 meters 0.025638135959268775 Centerline is valid? [True, True] Translation: X:340.01, Y:-265.41, Z:-24.15 [[ 7.32901170e-01 6.78007238e-01 5.62321989e-02 3.40007146e+02] [-6.76198425e-01 7.35053193e-01 -4.95226526e-02 -2.65414158e+02] [-7.49103742e-02 -1.72891434e-03 9.97188772e-01 -2.41455106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50864 meters 0.02535560730819903 Centerline is valid? [True, True] Translation: X:340.03, Y:-265.43, Z:-24.15 [[ 7.33814450e-01 6.77023229e-01 5.61773995e-02 3.40032803e+02] [-6.75211299e-01 7.35959931e-01 -4.95245641e-02 -2.65433649e+02] [-7.48735954e-02 -1.58977412e-03 9.97191766e-01 -2.41475261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53864 meters 0.02524941509343127 Centerline is valid? [True, True] Translation: X:340.06, Y:-265.45, Z:-24.15 [[ 7.33873534e-01 6.76968040e-01 5.60705738e-02 3.40058681e+02] [-6.75159222e-01 7.36010791e-01 -4.94786985e-02 -2.65453902e+02] [-7.47640449e-02 -1.54545767e-03 9.97200055e-01 -2.41503484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56864 meters 0.025127729135596008 Centerline is valid? [True, True] Translation: X:340.08, Y:-265.47, Z:-24.15 [[ 7.34579502e-01 6.76326326e-01 5.45495851e-02 3.40082919e+02] [-6.74609120e-01 7.36600795e-01 -4.81851111e-02 -2.65474767e+02] [-7.27701268e-02 -1.40385268e-03 9.97347752e-01 -2.41521193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59864 meters 0.02511150746508684 Centerline is valid? [True, True] Translation: X:340.11, Y:-265.50, Z:-24.15 [[ 7.34699914e-01 6.76178797e-01 5.47564694e-02 3.40107750e+02] [-6.74444628e-01 7.36736308e-01 -4.84154582e-02 -2.65495815e+02] [-7.30785854e-02 -1.35937369e-03 9.97325259e-01 -2.41542522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62864 meters 0.024920034399663584 Centerline is valid? [True, True] Translation: X:340.13, Y:-265.52, Z:-24.15 [[ 7.34825742e-01 6.76086984e-01 5.41988836e-02 3.40132851e+02] [-6.74384192e-01 7.36820670e-01 -4.79714755e-02 -2.65515870e+02] [-7.23677479e-02 -1.30019521e-03 9.97377170e-01 -2.41546807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65864 meters 0.02514286250171713 Centerline is valid? [True, True] Translation: X:340.16, Y:-265.54, Z:-24.16 [[ 7.33154423e-01 6.77838118e-01 5.49552418e-02 3.40158457e+02] [-6.76088907e-01 7.35209736e-01 -4.86870966e-02 -2.65535091e+02] [-7.34055988e-02 -1.45946920e-03 9.97301102e-01 -2.41562646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68864 meters 0.0251508151845327 Centerline is valid? [True, True] Translation: X:340.18, Y:-265.56, Z:-24.16 [[ 7.32787771e-01 6.78242360e-01 5.48578554e-02 3.40183760e+02] [-6.76496977e-01 7.34836828e-01 -4.86485054e-02 -2.65555801e+02] [-7.33070495e-02 -1.46214347e-03 9.97308347e-01 -2.41579659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71864 meters 0.02493109421003669 Centerline is valid? [True, True] Translation: X:340.21, Y:-265.58, Z:-24.16 [[ 7.34065267e-01 6.76886232e-01 5.45271646e-02 3.40209358e+02] [-6.75154506e-01 7.36086533e-01 -4.84046387e-02 -2.65575114e+02] [-7.29011451e-02 -1.28209678e-03 9.97338347e-01 -2.41603629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74864 meters 0.024910185255847993 Centerline is valid? [True, True] Translation: X:340.23, Y:-265.60, Z:-24.16 [[ 7.34897373e-01 6.76003165e-01 5.42731301e-02 3.40234525e+02] [-6.74281869e-01 7.36897813e-01 -4.82242218e-02 -2.65595880e+02] [-7.25934774e-02 -1.15553369e-03 9.97360944e-01 -2.41610430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77864 meters 0.02471853577674916 Centerline is valid? [True, True] Translation: X:340.26, Y:-265.61, Z:-24.16 [[ 7.36600813e-01 6.74177590e-01 5.38870976e-02 3.40261011e+02] [-6.72472581e-01 7.38568685e-01 -4.79262420e-02 -2.65614848e+02] [-7.21101211e-02 -9.35086804e-04 9.97396238e-01 -2.41621800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80864 meters 0.02464850487897037 Centerline is valid? [True, True] Translation: X:340.29, Y:-265.63, Z:-24.16 [[ 7.37071671e-01 6.73697364e-01 5.34529181e-02 3.40286168e+02] [-6.72015304e-01 7.39006863e-01 -4.75845296e-02 -2.65634795e+02] [-7.15596455e-02 -8.47970294e-04 9.97435962e-01 -2.41633459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83864 meters 0.02464065539689736 Centerline is valid? [True, True] Translation: X:340.31, Y:-265.66, Z:-24.17 [[ 7.36924821e-01 6.73878230e-01 5.31971712e-02 3.40311346e+02] [-6.72209408e-01 7.38841964e-01 -4.74032111e-02 -2.65655604e+02] [-7.12482944e-02 -8.27036058e-04 9.97458268e-01 -2.41651539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters 0.024647487355347313 Centerline is valid? [True, True] Translation: X:340.34, Y:-265.67, Z:-24.17 [[ 7.35853677e-01 6.75100714e-01 5.25203958e-02 3.40338325e+02] [-6.73473694e-01 7.37725032e-01 -4.68503985e-02 -2.65674650e+02] [-7.03743482e-02 -8.96067015e-04 9.97520250e-01 -2.41668590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89864 meters 0.0247264976788001 Centerline is valid? [True, True] Translation: X:340.36, Y:-265.69, Z:-24.17 [[ 7.35744021e-01 6.75290627e-01 5.16072148e-02 3.40364356e+02] [-6.73716933e-01 7.37551235e-01 -4.60832928e-02 -2.65693399e+02] [-6.91825807e-02 -8.63147352e-04 9.97603642e-01 -2.41688189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters 0.02461417105173924 Centerline is valid? [True, True] Translation: X:340.39, Y:-265.71, Z:-24.17 [[ 7.36324014e-01 6.74680836e-01 5.13100000e-02 3.40390576e+02] [-6.73120809e-01 7.38109191e-01 -4.58606492e-02 -2.65712228e+02] [-6.88136837e-02 -7.69531435e-04 9.97629232e-01 -2.41706708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95864 meters 0.024457234462416304 Centerline is valid? [True, True] Translation: X:340.42, Y:-265.73, Z:-24.17 [[ 7.36737799e-01 6.74219762e-01 5.14308105e-02 3.40415033e+02] [-6.72648134e-01 7.38530453e-01 -4.60136767e-02 -2.65733712e+02] [-6.90065499e-02 -6.94823868e-04 9.97615965e-01 -2.41726555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters 0.02444789389481892 Centerline is valid? [True, True] Translation: X:340.44, Y:-265.75, Z:-24.17 [[ 7.38972880e-01 6.71718781e-01 5.20861071e-02 3.40441369e+02] [-6.70097035e-01 7.40806112e-01 -4.66504913e-02 -2.65753327e+02] [-6.99217176e-02 -4.29298118e-04 9.97552389e-01 -2.41736774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01864 meters 0.024370270172602397 Centerline is valid? [True, True] Translation: X:340.47, Y:-265.77, Z:-24.18 [[ 7.39771011e-01 6.70877166e-01 5.16011475e-02 3.40467027e+02] [-6.69280150e-01 7.41568426e-01 -4.62639136e-02 -2.65772712e+02] [-6.93031850e-02 -3.10921632e-04 9.97595595e-01 -2.41750341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters 0.024584547633826552 Centerline is valid? [True, True] Translation: X:340.49, Y:-265.79, Z:-24.18 [[ 7.40798540e-01 6.69722087e-01 5.18637528e-02 3.40492833e+02] [-6.68102710e-01 7.42611808e-01 -4.65453751e-02 -2.65793402e+02] [-6.96871010e-02 -1.69567850e-04 9.97568884e-01 -2.41777385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07864 meters 0.024776274317562793 Centerline is valid? [True, True] Translation: X:340.52, Y:-265.81, Z:-24.18 [[ 7.43178486e-01 6.67101439e-01 5.15888438e-02 3.40518355e+02] [-6.65489403e-01 7.44966884e-01 -4.63486416e-02 -2.65814123e+02] [-6.93512257e-02 1.13484406e-04 9.97592299e-01 -2.41798319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10864 meters 0.024661025865054566 Centerline is valid? [True, True] Translation: X:340.54, Y:-265.84, Z:-24.18 [[ 7.43771500e-01 6.66428823e-01 5.17356728e-02 3.40543467e+02] [-6.64802487e-01 7.45568627e-01 -4.65303697e-02 -2.65835300e+02] [-6.95816740e-02 2.13958873e-04 9.97576235e-01 -2.41810660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13864 meters 0.02509031084837158 Centerline is valid? [True, True] Translation: X:340.57, Y:-265.86, Z:-24.18 [[ 7.45280319e-01 6.64727578e-01 5.19085115e-02 3.40569634e+02] [-6.63082746e-01 7.47085723e-01 -4.67353658e-02 -2.65856021e+02] [-6.98463944e-02 4.11310020e-04 9.97557674e-01 -2.41829253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16864 meters 0.02507916709653134 Centerline is valid? [True, True] Translation: X:340.59, Y:-265.88, Z:-24.18 [[ 7.45688928e-01 6.64332724e-01 5.10886860e-02 3.40594196e+02] [-6.62735249e-01 7.47436823e-01 -4.60454771e-02 -2.65877888e+02] [-6.87750824e-02 4.77329376e-04 9.97632077e-01 -2.41842198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.19864 meters 0.025417150383116902 Centerline is valid? [True, True] Translation: X:340.62, Y:-265.90, Z:-24.19 [[ 7.47202194e-01 6.62676101e-01 5.04902591e-02 3.40619114e+02] [-6.61108858e-01 7.48905837e-01 -4.55535525e-02 -2.65900087e+02] [-6.79997003e-02 6.58156919e-04 9.97685124e-01 -2.41865792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22864 meters 0.02541850693462386 Centerline is valid? [True, True] Translation: X:340.64, Y:-265.92, Z:-24.19 [[ 7.47216163e-01 6.62588832e-01 5.14202810e-02 3.40643819e+02] [-6.60959745e-01 7.48982997e-01 -4.64401220e-02 -2.65920781e+02] [-6.92836224e-02 7.14073932e-04 9.97596747e-01 -2.41892835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.25864 meters 0.0255923308642451 Centerline is valid? [True, True] Translation: X:340.67, Y:-265.94, Z:-24.19 [[ 7.47924035e-01 6.61882272e-01 5.02144962e-02 3.40670556e+02] [-6.60324332e-01 7.49607383e-01 -4.53932561e-02 -2.65941001e+02] [-6.76861486e-02 7.92853559e-04 9.97706348e-01 -2.41890551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28864 meters 0.025699355481768844 Centerline is valid? [True, True] Translation: X:340.70, Y:-265.96, Z:-24.19 [[ 7.47877104e-01 6.61975105e-01 4.96869935e-02 3.40695759e+02] [-6.60446849e-01 7.49525385e-01 -4.49628519e-02 -2.65962604e+02] [-6.70059515e-02 8.11069204e-04 9.97752246e-01 -2.41906205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.31864 meters 0.02574151756430299 Centerline is valid? [True, True] Translation: X:340.72, Y:-265.98, Z:-24.19 [[ 7.47829585e-01 6.62017572e-01 4.98361941e-02 3.40720525e+02] [-6.60477028e-01 7.49487839e-01 -4.51450477e-02 -2.65984225e+02] [-6.72384362e-02 8.45140949e-04 9.97736578e-01 -2.41925481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34864 meters 0.02581727109737646 Centerline is valid? [True, True] Translation: X:340.74, Y:-266.01, Z:-24.19 [[ 7.48820895e-01 6.61004046e-01 4.83830369e-02 3.40744175e+02] [-6.59547602e-01 7.50381752e-01 -4.38655425e-02 -2.66005795e+02] [-6.53010490e-02 9.36518812e-04 9.97865169e-01 -2.41942925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.37864 meters 0.02583367059931232 Centerline is valid? [True, True] Translation: X:340.77, Y:-266.03, Z:-24.20 [[ 7.48650847e-01 6.61177767e-01 4.86402086e-02 3.40768794e+02] [-6.59704697e-01 7.50228680e-01 -4.41207524e-02 -2.66027664e+02] [-6.56629400e-02 9.42864626e-04 9.97841415e-01 -2.41969736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40864 meters 0.02594785764528832 Centerline is valid? [True, True] Translation: X:340.79, Y:-266.05, Z:-24.20 [[ 7.48781682e-01 6.61007786e-01 4.89356638e-02 3.40791967e+02] [-6.59513300e-01 7.50378377e-01 -4.44353252e-02 -2.66050679e+02] [-6.60923599e-02 9.98636463e-04 9.97813010e-01 -2.41974143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43864 meters 0.025964163217644356 Centerline is valid? [True, True] Translation: X:340.82, Y:-266.07, Z:-24.20 [[ 7.48483250e-01 6.61364910e-01 4.86752510e-02 3.40815706e+02] [-6.59884065e-01 7.50063640e-01 -4.42442857e-02 -2.66073450e+02] [-6.57711539e-02 9.96084263e-04 9.97834236e-01 -2.41991507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46864 meters 0.026006794474375334 Centerline is valid? [True, True] Translation: X:340.84, Y:-266.10, Z:-24.20 [[ 7.48059130e-01 6.61782331e-01 4.95144897e-02 3.40839754e+02] [-6.60247651e-01 7.49695353e-01 -4.50545943e-02 -2.66096258e+02] [-6.69371173e-02 1.01167505e-03 9.97756683e-01 -2.42010996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49864 meters 0.025948096103454162 Centerline is valid? [True, True] Translation: X:340.86, Y:-266.12, Z:-24.20 [[ 7.45958497e-01 6.64063441e-01 5.06524256e-02 3.40862716e+02] [-6.62459218e-01 7.47675734e-01 -4.61387249e-02 -2.66119794e+02] [-6.85106299e-02 8.62407665e-04 9.97650014e-01 -2.42028183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52864 meters 0.0257839963002266 Centerline is valid? [True, True] Translation: X:340.88, Y:-266.14, Z:-24.20 [[ 7.42866281e-01 6.67426831e-01 5.18759465e-02 3.40884987e+02] [-6.65748697e-01 7.44675138e-01 -4.73033980e-02 -2.66144165e+02] [-7.02022846e-02 6.03755611e-04 9.97532593e-01 -2.42047720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55864 meters 0.0257043743137528 Centerline is valid? [True, True] Translation: X:340.91, Y:-266.17, Z:-24.21 [[ 7.41217863e-01 6.69220564e-01 5.23442098e-02 3.40908098e+02] [-6.67512829e-01 7.43063665e-01 -4.77808804e-02 -2.66168285e+02] [-7.08710281e-02 4.75610466e-04 9.97485374e-01 -2.42074687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58864 meters 0.025782045303987127 Centerline is valid? [True, True] Translation: X:340.93, Y:-266.19, Z:-24.21 [[ 7.40227091e-01 6.70322622e-01 5.22631491e-02 3.40930463e+02] [-6.68620068e-01 7.42069689e-01 -4.77470570e-02 -2.66192200e+02] [-7.07888312e-02 3.99474783e-04 9.97491244e-01 -2.42089738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61863999999997 meters 0.025673813608823065 Centerline is valid? [True, True] Translation: X:340.95, Y:-266.22, Z:-24.21 [[ 7.38070224e-01 6.72699942e-01 5.22219501e-02 3.40952004e+02] [-6.71004157e-01 7.39915368e-01 -4.77354195e-02 -2.66216877e+02] [-7.07514373e-02 1.90946198e-04 9.97493959e-01 -2.42112902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64864 meters 0.025515726782994963 Centerline is valid? [True, True] Translation: X:340.97, Y:-266.24, Z:-24.21 [[ 7.36004493e-01 6.75054538e-01 5.09780073e-02 3.40972829e+02] [-6.73441060e-01 7.37767830e-01 -4.66451307e-02 -2.66241167e+02] [-6.90979410e-02 3.42531045e-07 9.97609881e-01 -2.42128068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67864 meters 0.025515726782994963 Centerline is valid? [True, True] Translation: X:341.00, Y:-266.26, Z:-24.21 [[ 7.35643610e-01 6.75449495e-01 5.09554656e-02 3.40997027e+02] [-6.73835258e-01 7.37406252e-01 -4.66697458e-02 -2.66262878e+02] [-6.90979351e-02 -3.28898332e-06 9.97609881e-01 -2.42144260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70864 meters 0.02559647448302268 Centerline is valid? [True, True] Translation: X:341.02, Y:-266.29, Z:-24.22 [[ 7.34557394e-01 6.76605697e-01 5.12851444e-02 3.41020120e+02] [-6.74969748e-01 7.36345520e-01 -4.70224820e-02 -2.66286125e+02] [-6.95792656e-02 -7.52091592e-05 9.97576423e-01 -2.42157119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73864 meters 0.025415503620777095 Centerline is valid? [True, True] Translation: X:341.04, Y:-266.31, Z:-24.22 [[ 7.33522177e-01 6.77721678e-01 5.13667449e-02 3.41043586e+02] [-6.76079694e-01 7.35318507e-01 -4.71480733e-02 -2.66309471e+02] [-6.97241895e-02 -1.43855799e-04 9.97566297e-01 -2.42171766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76864 meters 0.025568738780941243 Centerline is valid? [True, True] Translation: X:341.07, Y:-266.33, Z:-24.22 [[ 7.32905064e-01 6.78398725e-01 5.12380404e-02 3.41067076e+02] [-6.76763088e-01 7.34693909e-01 -4.70805991e-02 -2.66332481e+02] [-6.95836947e-02 -1.70404911e-04 9.97576103e-01 -2.42185663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79864 meters 0.02569367409477239 Centerline is valid? [True, True] Translation: X:341.09, Y:-266.35, Z:-24.22 [[ 7.32147767e-01 6.79292177e-01 5.02173887e-02 3.41090659e+02] [-6.77719992e-01 7.33867898e-01 -4.61900421e-02 -2.66354741e+02] [-6.82294638e-02 -2.15392144e-04 9.97669632e-01 -2.42207105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82864 meters 0.025379052164741605 Centerline is valid? [True, True] Translation: X:341.11, Y:-266.38, Z:-24.22 [[ 7.31400260e-01 6.80081000e-01 5.04330622e-02 3.41113499e+02] [-6.78494016e-01 7.33136936e-01 -4.64338489e-02 -2.66378475e+02] [-6.85531191e-02 -2.56801747e-04 9.97647435e-01 -2.42226114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85864 meters 0.02549162755363207 Centerline is valid? [True, True] Translation: X:341.14, Y:-266.40, Z:-24.22 [[ 7.30899195e-01 6.80573415e-01 5.10508830e-02 3.41137636e+02] [-6.78944896e-01 7.32679844e-01 -4.70539511e-02 -2.66401615e+02] [-6.94276212e-02 -2.69041426e-04 9.97586955e-01 -2.42244702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88864 meters 0.025525414755578523 Centerline is valid? [True, True] Translation: X:341.16, Y:-266.42, Z:-24.23 [[ 7.29698897e-01 6.81872702e-01 5.08835760e-02 3.41161616e+02] [-6.80254471e-01 7.31470774e-01 -4.69506272e-02 -2.66424077e+02] [-6.92341997e-02 -3.53959233e-04 9.97600371e-01 -2.42255284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91864 meters 0.02553057288900624 Centerline is valid? [True, True] Translation: X:341.19, Y:-266.45, Z:-24.23 [[ 7.29216893e-01 6.82409540e-01 5.05958818e-02 3.41186503e+02] [-6.80807388e-01 7.30969963e-01 -4.67355733e-02 -2.66446214e+02] [-6.88768709e-02 -3.65680617e-04 9.97625101e-01 -2.42280634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94864 meters 0.02551231990297047 Centerline is valid? [True, True] Translation: X:341.21, Y:-266.47, Z:-24.23 [[ 7.28840058e-01 6.82777180e-01 5.10636117e-02 3.41209797e+02] [-6.81142569e-01 7.30626572e-01 -4.72187795e-02 -2.66469035e+02] [-6.95483367e-02 -3.66661670e-04 9.97578515e-01 -2.42299882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97864 meters 0.02560776024337932 Centerline is valid? [True, True] Translation: X:341.23, Y:-266.49, Z:-24.23 [[ 7.28156162e-01 6.83536940e-01 5.06542750e-02 3.41234124e+02] [-6.81926840e-01 7.29915811e-01 -4.68902273e-02 -2.66491857e+02] [-6.90245588e-02 -3.99101773e-04 9.97614881e-01 -2.42310377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00864 meters 0.02555244953952581 Centerline is valid? [True, True] Translation: X:341.26, Y:-266.51, Z:-24.23 [[ 7.26975921e-01 6.84733502e-01 5.14396833e-02 3.41258157e+02] [-6.83072504e-01 7.28793384e-01 -4.76671526e-02 -2.66512854e+02] [-7.01281972e-02 -4.84161130e-04 9.97537870e-01 -2.42327822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03864 meters 0.025486076901404694 Centerline is valid? [True, True] Translation: X:341.28, Y:-266.53, Z:-24.23 [[ 7.25307372e-01 6.86497382e-01 5.14835878e-02 3.41282865e+02] [-6.84834682e-01 7.27132009e-01 -4.77545800e-02 -2.66534872e+02] [-7.02187588e-02 -6.20997550e-04 9.97531423e-01 -2.42338220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06864 meters 0.025395637794444145 Centerline is valid? [True, True] Translation: X:341.31, Y:-266.56, Z:-24.23 [[ 7.24516652e-01 6.87344358e-01 5.13162254e-02 3.41306795e+02] [-6.85690999e-01 7.26331393e-01 -4.76504033e-02 -2.66557940e+02] [-7.00248214e-02 -6.63563166e-04 9.97545029e-01 -2.42348326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09864 meters 0.02546778129415216 Centerline is valid? [True, True] Translation: X:341.33, Y:-266.58, Z:-24.24 [[ 7.24384091e-01 6.87543648e-01 5.05115923e-02 3.41330174e+02] [-6.85938932e-01 7.26142773e-01 -4.69516255e-02 -2.66579328e+02] [-6.89599196e-02 -6.36857112e-04 9.97619228e-01 -2.42364918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12864 meters 0.025337867527664135 Centerline is valid? [True, True] Translation: X:341.35, Y:-266.60, Z:-24.24 [[ 7.25347124e-01 6.86555368e-01 5.01325915e-02 3.41354782e+02] [-6.84969303e-01 7.27077348e-01 -4.66431545e-02 -2.66599575e+02] [-6.84733798e-02 -5.06808297e-04 9.97652815e-01 -2.42390379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15864 meters 0.025266880670176177 Centerline is valid? [True, True] Translation: X:341.38, Y:-266.62, Z:-24.24 [[ 7.25403817e-01 6.86489631e-01 5.02124395e-02 3.41380012e+02] [-6.84895179e-01 7.27139442e-01 -4.67635135e-02 -2.66621578e+02] [-6.86141124e-02 -4.67826561e-04 9.97643165e-01 -2.42407115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18864 meters 0.02510954915703712 Centerline is valid? [True, True] Translation: X:341.40, Y:-266.64, Z:-24.24 [[ 7.26614013e-01 6.85218049e-01 5.00829400e-02 3.41404864e+02] [-6.83625346e-01 7.28337922e-01 -4.66932276e-02 -2.66642814e+02] [-6.84723468e-02 -3.10013635e-04 9.97652967e-01 -2.42420538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21864 meters 0.025092595764176495 Centerline is valid? [True, True] Translation: X:341.43, Y:-266.66, Z:-24.24 [[ 7.26618399e-01 6.85158982e-01 5.08219513e-02 3.41429737e+02] [-6.83515191e-01 7.28393503e-01 -4.74329913e-02 -2.66663771e+02] [-6.95175192e-02 -2.71891509e-04 9.97580694e-01 -2.42437185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24864 meters 0.02509459485098922 Centerline is valid? [True, True] Translation: X:341.46, Y:-266.68, Z:-24.24 [[ 7.27649358e-01 6.84178008e-01 4.92632199e-02 3.41455073e+02] [-6.82628354e-01 7.29315044e-01 -4.60227749e-02 -2.66683843e+02] [-6.74161778e-02 -1.40028111e-04 9.97724932e-01 -2.42447938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27864 meters 0.02502439345300029 Centerline is valid? [True, True] Translation: X:341.48, Y:-266.71, Z:-24.25 [[ 7.27678639e-01 6.84131749e-01 4.94727086e-02 3.41479209e+02] [-6.82565673e-01 7.29358444e-01 -4.62640554e-02 -2.66705725e+02] [-6.77340469e-02 -1.03007786e-04 9.97703407e-01 -2.42478457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30864 meters 0.025158651305150524 Centerline is valid? [True, True] Translation: X:341.50, Y:-266.73, Z:-24.25 [[ 7.27505240e-01 6.84293755e-01 4.97813605e-02 3.41503041e+02] [-6.82704974e-01 7.29206453e-01 -4.66033058e-02 -2.66727897e+02] [-6.81912404e-02 -8.18332363e-05 9.97672265e-01 -2.42492585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33864 meters 0.025228864198290978 Centerline is valid? [True, True] Translation: X:341.53, Y:-266.75, Z:-24.25 [[ 7.26880934e-01 6.84998575e-01 4.92042593e-02 3.41528457e+02] [-6.83444756e-01 7.28544398e-01 -4.61121033e-02 -2.66749020e+02] [-6.74342125e-02 -1.10384201e-04 9.97723717e-01 -2.42508580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters 0.02524843434351843 Centerline is valid? [True, True] Translation: X:341.55, Y:-266.77, Z:-24.25 [[ 7.25900044e-01 6.86044801e-01 4.91086160e-02 3.41554092e+02] [-6.84496066e-01 7.27559277e-01 -4.60720589e-02 -2.66770232e+02] [-6.73369256e-02 -1.70944810e-04 9.97730279e-01 -2.42525508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39864 meters 0.0251617041312755 Centerline is valid? [True, True] Translation: X:341.58, Y:-266.79, Z:-24.25 [[ 7.25915181e-01 6.86024844e-01 4.91636510e-02 3.41579618e+02] [-6.84469208e-01 7.27578103e-01 -4.61736630e-02 -2.66790853e+02] [-6.74466759e-02 -1.32842330e-04 9.97722872e-01 -2.42549381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters 0.025305157460248234 Centerline is valid? [True, True] Translation: X:341.60, Y:-266.81, Z:-24.26 [[ 7.26364195e-01 6.85519680e-01 4.95764581e-02 3.41604762e+02] [-6.83933161e-01 7.28054096e-01 -4.66118612e-02 -2.66812316e+02] [-6.80476916e-02 -4.97966238e-05 9.97682068e-01 -2.42566646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45864 meters 0.025286812160085312 Centerline is valid? [True, True] Translation: X:341.63, Y:-266.83, Z:-24.26 [[ 7.28723428e-01 6.83075117e-01 4.86882947e-02 3.41631888e+02] [-6.81536271e-01 7.30348095e-01 -4.58254363e-02 -2.66831373e+02] [-6.68616186e-02 2.11230233e-04 9.97762236e-01 -2.42574272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters 0.025451729008704387 Centerline is valid? [True, True] Translation: X:341.66, Y:-266.85, Z:-24.26 [[ 7.30752521e-01 6.80940186e-01 4.81790086e-02 3.41657425e+02] [-6.79425548e-01 7.32338905e-01 -4.53944250e-02 -2.66852841e+02] [-6.61942506e-02 4.38041149e-04 9.97806659e-01 -2.42590562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51864 meters 0.02575439002401808 Centerline is valid? [True, True] Translation: X:341.68, Y:-266.87, Z:-24.26 [[ 7.33278194e-01 6.78229888e-01 4.80344518e-02 3.41680933e+02] [-6.76715429e-01 7.34849445e-01 -4.53047556e-02 -2.66874351e+02] [-6.60251296e-02 7.15334674e-04 9.97817704e-01 -2.42602432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters 0.0265596756054164 Centerline is valid? [True, True] Translation: X:341.70, Y:-266.90, Z:-24.26 [[ 7.38721514e-01 6.72318471e-01 4.77325800e-02 3.41704894e+02] [-6.70807884e-01 7.40260944e-01 -4.50612654e-02 -2.66895530e+02] [-6.56300858e-02 1.26833513e-03 9.97843216e-01 -2.42620400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57864 meters 0.027263059024928565 Centerline is valid? [True, True] Translation: X:341.73, Y:-266.92, Z:-24.26 [[ 7.41407105e-01 6.69413936e-01 4.69093454e-02 3.41729398e+02] [-6.67946673e-01 7.42888043e-01 -4.43237819e-02 -2.66916912e+02] [-6.45193491e-02 1.52902562e-03 9.97915285e-01 -2.42632892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60864 meters 0.028363295689804946 Centerline is valid? [True, True] Translation: X:341.75, Y:-266.94, Z:-24.27 [[ 7.46365293e-01 6.64021748e-01 4.48772409e-02 3.41750564e+02] [-6.62666980e-01 7.47710751e-01 -4.24394473e-02 -2.66940906e+02] [-6.17359115e-02 1.93666482e-03 9.98090640e-01 -2.42650537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63864 meters 0.028712716274394902 Centerline is valid? [True, True] Translation: X:341.77, Y:-266.97, Z:-24.27 [[ 7.47413066e-01 6.62842725e-01 4.48690360e-02 3.41771786e+02] [-6.61484159e-01 7.48755820e-01 -4.24668064e-02 -2.66965771e+02] [-6.17447655e-02 2.06008946e-03 9.98089846e-01 -2.42671505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66864 meters 0.028757435757959336 Centerline is valid? [True, True] Translation: X:341.79, Y:-266.99, Z:-24.27 [[ 7.48189241e-01 6.62050638e-01 4.36097867e-02 3.41792111e+02] [-6.60763892e-01 7.49456188e-01 -4.13098293e-02 -2.66990470e+02] [-6.00328233e-02 2.09179742e-03 9.98194212e-01 -2.42676828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.69864 meters 0.028719285451592975 Centerline is valid? [True, True] Translation: X:341.81, Y:-267.02, Z:-24.27 [[ 7.47595653e-01 6.62728766e-01 4.34893329e-02 3.41810600e+02] [-6.61448252e-01 7.48856696e-01 -4.12293313e-02 -2.67017342e+02] [-5.98911420e-02 2.05692566e-03 9.98202795e-01 -2.42691320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72864 meters 0.028373549436100577 Centerline is valid? [True, True] Translation: X:341.83, Y:-267.04, Z:-24.27 [[ 7.46305989e-01 6.64149820e-01 4.39589397e-02 3.41831231e+02] [-6.62841707e-01 7.47596851e-01 -4.17111516e-02 -2.67042427e+02] [-6.05660187e-02 1.99146359e-03 9.98162207e-01 -2.42713537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.75864 meters 0.02790888423081382 Centerline is valid? [True, True] Translation: X:341.85, Y:-267.07, Z:-24.27 [[ 7.43492868e-01 6.67162052e-01 4.59690397e-02 3.41849154e+02] [-6.65734886e-01 7.44910304e-01 -4.36543195e-02 -2.67070962e+02] [-6.33673167e-02 1.85348178e-03 9.97988551e-01 -2.42737792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78864 meters 0.02760585733411995 Centerline is valid? [True, True] Translation: X:341.87, Y:-267.10, Z:-24.28 [[ 7.41798578e-01 6.69040666e-01 4.60375601e-02 3.41870932e+02] [-6.67611589e-01 7.43223831e-01 -4.37390409e-02 -2.67095428e+02] [-6.34794088e-02 1.71034967e-03 9.97981683e-01 -2.42751497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.81864 meters 0.027115689590076653 Centerline is valid? [True, True] Translation: X:341.89, Y:-267.12, Z:-24.28 [[ 7.39582027e-01 6.71479700e-01 4.61891492e-02 3.41892882e+02] [-6.70044670e-01 7.41021390e-01 -4.39026292e-02 -2.67119313e+02] [-6.37068718e-02 1.52080229e-03 9.97967495e-01 -2.42771722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84864 meters 0.026732478068094024 Centerline is valid? [True, True] Translation: X:341.91, Y:-267.15, Z:-24.28 [[ 7.36115339e-01 6.75250593e-01 4.65923198e-02 3.41912589e+02] [-6.73795313e-01 7.37587359e-01 -4.43256601e-02 -2.67145004e+02] [-6.42968344e-02 1.23511163e-03 9.97930053e-01 -2.42798441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.87864 meters 0.02594907120104885 Centerline is valid? [True, True] Translation: X:341.93, Y:-267.17, Z:-24.28 [[ 7.30952338e-01 6.80928100e-01 4.52283451e-02 3.41934552e+02] [-6.79565489e-01 7.32349899e-01 -4.30624137e-02 -2.67169294e+02] [-6.24453815e-02 7.40949533e-04 9.98048108e-01 -2.42805429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90864 meters 0.02546991890333477 Centerline is valid? [True, True] Translation: X:341.96, Y:-267.19, Z:-24.28 [[ 7.27362604e-01 6.84830360e-01 4.41703705e-02 3.41958975e+02] [-6.83536696e-01 7.28702414e-01 -4.20758492e-02 -2.67190585e+02] [-6.10018746e-02 4.12330129e-04 9.98137566e-01 -2.42813397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93864 meters 0.025204340938670557 Centerline is valid? [True, True] Translation: X:341.98, Y:-267.21, Z:-24.28 [[ 7.22775444e-01 6.89702943e-01 4.36521278e-02 3.41983946e+02] [-6.88447115e-01 7.24092432e-01 -4.16019091e-02 -2.67211691e+02] [-6.03011345e-02 1.66568518e-05 9.98180231e-01 -2.42827573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96864 meters 0.025122325775865387 Centerline is valid? [True, True] Translation: X:342.01, Y:-267.23, Z:-24.28 [[ 7.18365768e-01 6.94268921e-01 4.40600537e-02 3.42009404e+02] [-6.92996791e-01 7.19715596e-01 -4.20108082e-02 -2.67233375e+02] [-6.08775064e-02 -3.54349316e-04 9.98145182e-01 -2.42843307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99864 meters 0.025547331685180544 Centerline is valid? [True, True] Translation: X:342.04, Y:-267.25, Z:-24.29 [[ 7.11898269e-01 7.00691788e-01 4.72427106e-02 3.42035628e+02] [-6.99240232e-01 7.13463484e-01 -4.50883110e-02 -2.67252843e+02] [-6.52989582e-02 -9.35713338e-04 9.97865307e-01 -2.42863605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02864 meters 0.02583810106539967 Centerline is valid? [True, True] Translation: X:342.06, Y:-267.27, Z:-24.29 [[ 7.08894551e-01 7.03681898e-01 4.79614560e-02 3.42060501e+02] [-7.02191257e-01 7.10514117e-01 -4.57944154e-02 -2.67273176e+02] [-6.63019927e-02 -1.21470353e-03 9.97798863e-01 -2.42876247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05864 meters 0.02619743470719775 Centerline is valid? [True, True] Translation: X:342.09, Y:-267.29, Z:-24.29 [[ 7.04863392e-01 7.07624263e-01 4.93507924e-02 3.42088175e+02] [-7.06052426e-01 7.06587112e-01 -4.71659347e-02 -2.67290632e+02] [-6.82463936e-02 -1.59870599e-03 9.97667216e-01 -2.42886500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08864 meters 0.026419330457708144 Centerline is valid? [True, True] Translation: X:342.11, Y:-267.31, Z:-24.29 [[ 7.03580247e-01 7.08840106e-01 5.02049849e-02 3.42114327e+02] [-7.07213306e-01 7.05367112e-01 -4.80268278e-02 -2.67310290e+02] [-6.94562870e-02 -1.71490604e-03 9.97583522e-01 -2.42915010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11863999999997 meters 0.026668813129156275 Centerline is valid? [True, True] Translation: X:342.14, Y:-267.33, Z:-24.29 [[ 7.01363844e-01 7.11024861e-01 5.03230224e-02 3.42143061e+02] [-7.09392865e-01 7.03164293e-01 -4.81844443e-02 -2.67327296e+02] [-6.96456903e-02 -1.90396594e-03 9.97569974e-01 -2.42917969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14864 meters 0.026621552874182823 Centerline is valid? [True, True] Translation: X:342.17, Y:-267.35, Z:-24.29 [[ 7.00641009e-01 7.11820283e-01 4.91331013e-02 3.42169691e+02] [-7.10263575e-01 7.02359066e-01 -4.70892382e-02 -2.67347784e+02] [-6.80281540e-02 -1.90480084e-03 9.97681584e-01 -2.42924270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17864 meters 0.02667770033799882 Centerline is valid? [True, True] Translation: X:342.19, Y:-267.37, Z:-24.29 [[ 7.00784644e-01 7.11716921e-01 4.85788711e-02 3.42194954e+02] [-7.10191749e-01 7.02463976e-01 -4.66051653e-02 -2.67367330e+02] [-6.72945917e-02 -1.84012927e-03 9.97731453e-01 -2.42945293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20864 meters 0.026405349452859595 Centerline is valid? [True, True] Translation: X:342.22, Y:-267.38, Z:-24.30 [[ 7.02651850e-01 7.09860272e-01 4.87726572e-02 3.42222885e+02] [-7.08315980e-01 7.04340609e-01 -4.68271242e-02 -2.67384881e+02] [-6.75932783e-02 -1.64328706e-03 9.97711606e-01 -2.42966329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23864 meters 0.026200139105211972 Centerline is valid? [True, True] Translation: X:342.25, Y:-267.41, Z:-24.30 [[ 7.03928807e-01 7.08643153e-01 4.80532651e-02 3.42248434e+02] [-7.07140283e-01 7.05565484e-01 -4.61515674e-02 -2.67405488e+02] [-6.66097175e-02 -1.49298170e-03 9.97777990e-01 -2.42974452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26864 meters 0.02602521858604405 Centerline is valid? [True, True] Translation: X:342.28, Y:-267.42, Z:-24.30 [[ 7.06512601e-01 7.05965630e-01 4.95224548e-02 3.42276225e+02] [-7.04361101e-01 7.08244971e-01 -4.75867764e-02 -2.67422692e+02] [-6.86686581e-02 -1.26103361e-03 9.97638725e-01 -2.42979307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29864 meters 0.02593429359801048 Centerline is valid? [True, True] Translation: X:342.30, Y:-267.44, Z:-24.30 [[ 7.07441167e-01 7.05075154e-01 4.89491757e-02 3.42301604e+02] [-7.03502491e-01 7.09131688e-01 -4.70796680e-02 -2.67443135e+02] [-6.79061157e-02 -1.12977175e-03 9.97691076e-01 -2.42991166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32864 meters 0.025791711402874538 Centerline is valid? [True, True] Translation: X:342.33, Y:-267.46, Z:-24.30 [[ 7.09951663e-01 7.02540088e-01 4.90516130e-02 3.42327694e+02] [-7.00951713e-01 7.11643654e-01 -4.72229389e-02 -2.67461868e+02] [-6.80832768e-02 -8.56808125e-04 9.97679274e-01 -2.43014969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35864 meters 0.025852665285827973 Centerline is valid? [True, True] Translation: X:342.35, Y:-267.48, Z:-24.30 [[ 7.10445585e-01 7.02042363e-01 4.90264383e-02 3.42352840e+02] [-7.00451281e-01 7.12134762e-01 -4.72449447e-02 -2.67483276e+02] [-6.80813836e-02 -7.75669166e-04 9.97679469e-01 -2.43041398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38864 meters 0.02567579611396249 Centerline is valid? [True, True] Translation: X:342.38, Y:-267.50, Z:-24.31 [[ 7.11469404e-01 7.01056046e-01 4.82877601e-02 3.42377987e+02] [-6.99507119e-01 7.13105893e-01 -4.65808466e-02 -2.67504186e+02] [-6.70900704e-02 -6.36784862e-04 9.97746720e-01 -2.43056143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41864 meters 0.025538639779496466 Centerline is valid? [True, True] Translation: X:342.40, Y:-267.52, Z:-24.31 [[ 7.13632565e-01 6.98944654e-01 4.69567075e-02 3.42403724e+02] [-6.97472754e-01 7.15175652e-01 -4.53381155e-02 -2.67523869e+02] [-6.52711273e-02 -3.96268388e-04 9.97867488e-01 -2.43072187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44864 meters 0.025321128189151314 Centerline is valid? [True, True] Translation: X:342.43, Y:-267.54, Z:-24.31 [[ 7.15122071e-01 6.97488318e-01 4.59398395e-02 3.42428001e+02] [-6.96073924e-01 7.16596116e-01 -4.43970517e-02 -2.67544556e+02] [-6.38867355e-02 -2.28212797e-04 9.97957130e-01 -2.43088884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47864 meters 0.025390513000144093 Centerline is valid? [True, True] Translation: X:342.45, Y:-267.57, Z:-24.31 [[ 7.16263439e-01 6.96369372e-01 4.51263122e-02 3.42452031e+02] [-6.94999927e-01 7.17683557e-01 -4.36510362e-02 -2.67565807e+02] [-6.27836570e-02 -9.71424103e-05 9.98027155e-01 -2.43092874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50864 meters 0.025359751417530507 Centerline is valid? [True, True] Translation: X:342.48, Y:-267.59, Z:-24.31 [[ 7.19071938e-01 6.93436956e-01 4.56150847e-02 3.42477868e+02] [-6.92028988e-01 7.20517280e-01 -4.41670606e-02 -2.67587193e+02] [-6.34935289e-02 1.92332949e-04 9.97982232e-01 -2.43117346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53864 meters 0.025338921759353535 Centerline is valid? [True, True] Translation: X:342.50, Y:-267.61, Z:-24.31 [[ 7.20224331e-01 6.92253278e-01 4.54126853e-02 3.42501924e+02] [-6.90852467e-01 7.21654551e-01 -4.40179373e-02 -2.67609282e+02] [-6.32438324e-02 3.29323808e-04 9.97998051e-01 -2.43125529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56864 meters 0.02551427700251557 Centerline is valid? [True, True] Translation: X:342.52, Y:-267.63, Z:-24.31 [[ 7.22468161e-01 6.89897492e-01 4.56202448e-02 3.42524862e+02] [-6.88476240e-01 7.23906848e-01 -4.42644682e-02 -2.67631945e+02] [-6.35627532e-02 5.71214356e-04 9.97977680e-01 -2.43146253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59864 meters 0.02551427700251557 Centerline is valid? [True, True] Translation: X:342.55, Y:-267.65, Z:-24.32 [[ 7.22109164e-01 6.90274620e-01 4.55993951e-02 3.42548423e+02] [-6.88852763e-01 7.23547252e-01 -4.42859385e-02 -2.67654368e+02] [-6.35627764e-02 5.68012693e-04 9.97977681e-01 -2.43162445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62864 meters 0.0256006622170392 Centerline is valid? [True, True] Translation: X:342.57, Y:-267.68, Z:-24.32 [[ 7.21888597e-01 6.90407393e-01 4.70583135e-02 3.42570307e+02] [-6.88890162e-01 7.23420528e-01 -4.57502264e-02 -2.67678300e+02] [-6.56292446e-02 6.08557458e-04 9.97843892e-01 -2.43185948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65864 meters 0.025618952582656625 Centerline is valid? [True, True] Translation: X:342.59, Y:-267.70, Z:-24.32 [[ 7.21865935e-01 6.90474192e-01 4.64215708e-02 3.42592867e+02] [-6.88995199e-01 7.23356758e-01 -4.51731775e-02 -2.67702754e+02] [-6.47702703e-02 6.24738568e-04 9.97900006e-01 -2.43198606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68864 meters 0.02561222330753676 Centerline is valid? [True, True] Translation: X:342.62, Y:-267.73, Z:-24.32 [[ 7.22055945e-01 6.90280272e-01 4.63503911e-02 3.42615336e+02] [-6.88802378e-01 7.23541768e-01 -4.51507922e-02 -2.67727253e+02] [-6.47031450e-02 6.75138359e-04 9.97904328e-01 -2.43217029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71864 meters 0.02538985878534927 Centerline is valid? [True, True] Translation: X:342.64, Y:-267.75, Z:-24.32 [[ 7.21924773e-01 6.90442848e-01 4.59706032e-02 3.42636058e+02] [-6.88986434e-01 7.23386618e-01 -4.48273780e-02 -2.67752959e+02] [-6.42052617e-02 6.88872630e-04 9.97936476e-01 -2.43232986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74864 meters 0.025340093695553203 Centerline is valid? [True, True] Translation: X:342.66, Y:-267.78, Z:-24.32 [[ 7.21400918e-01 6.90994364e-01 4.59075757e-02 3.42657521e+02] [-6.89540527e-01 7.22859837e-01 -4.48053367e-02 -2.67777395e+02] [-6.41449778e-02 6.67477092e-04 9.97940367e-01 -2.43246514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77864 meters 0.025172470390057045 Centerline is valid? [True, True] Translation: X:342.68, Y:-267.80, Z:-24.33 [[ 7.19310106e-01 6.93140823e-01 4.63548429e-02 3.42677084e+02] [-6.91661465e-01 7.20802020e-01 -4.52644001e-02 -2.67804658e+02] [-6.47872679e-02 4.97281934e-04 9.97898974e-01 -2.43271972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80864 meters 0.024983897830440294 Centerline is valid? [True, True] Translation: X:342.70, Y:-267.83, Z:-24.33 [[ 7.17713233e-01 6.94720126e-01 4.74516753e-02 3.42698497e+02] [-6.93169970e-01 7.19280048e-01 -4.63854013e-02 -2.67829916e+02] [-6.63559151e-02 3.99340063e-04 9.97795938e-01 -2.43279288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83864 meters 0.02496212764526551 Centerline is valid? [True, True] Translation: X:342.72, Y:-267.85, Z:-24.33 [[ 7.15959638e-01 6.96443735e-01 4.86612823e-02 3.42719959e+02] [-6.94813917e-01 7.17611346e-01 -4.76190789e-02 -2.67854998e+02] [-6.80838975e-02 2.82802337e-04 9.97679559e-01 -2.43299619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters 0.02489478422565171 Centerline is valid? [True, True] Translation: X:342.74, Y:-267.88, Z:-24.33 [[ 7.12868942e-01 6.99539522e-01 4.96218680e-02 3.42740675e+02] [-6.97848476e-01 7.14593911e-01 -4.86111789e-02 -2.67881339e+02] [-6.94649255e-02 2.48546861e-05 9.97584394e-01 -2.43325855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89864 meters 0.02471067095738992 Centerline is valid? [True, True] Translation: X:342.76, Y:-267.91, Z:-24.33 [[ 7.11012749e-01 7.01467043e-01 4.90393502e-02 3.42763352e+02] [-6.99816612e-01 7.12701882e-01 -4.80909256e-02 -2.67905571e+02] [-6.86846366e-02 -1.25290652e-04 9.97638414e-01 -2.43338237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters 0.02473512474428298 Centerline is valid? [True, True] Translation: X:342.79, Y:-267.93, Z:-24.34 [[ 7.08878265e-01 7.03659401e-01 4.85288889e-02 3.42785865e+02] [-7.02044886e-01 7.10537373e-01 -4.76405242e-02 -2.67929589e+02] [-6.80042920e-02 -2.98126136e-04 9.97684984e-01 -2.43352388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95864 meters 0.024813462332015986 Centerline is valid? [True, True] Translation: X:342.81, Y:-267.95, Z:-24.34 [[ 7.04578277e-01 7.07914698e-01 4.92567882e-02 3.42808697e+02] [-7.06258167e-01 7.06297610e-01 -4.84054464e-02 -2.67952246e+02] [-6.90568787e-02 -6.82582931e-04 9.97612491e-01 -2.43368112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters 0.02470572088512884 Centerline is valid? [True, True] Translation: X:342.83, Y:-267.97, Z:-24.34 [[ 7.03156030e-01 7.09259066e-01 5.02312122e-02 3.42832558e+02] [-7.07536377e-01 7.04947474e-01 -4.94098664e-02 -2.67974251e+02] [-7.04547619e-02 -7.97564384e-04 9.97514657e-01 -2.43391405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01864 meters 0.025005846804237064 Centerline is valid? [True, True] Translation: X:342.86, Y:-268.00, Z:-24.34 [[ 7.00624523e-01 7.11689328e-01 5.12208765e-02 3.42856863e+02] [-7.09901026e-01 7.02493589e-01 -5.04310509e-02 -2.67995151e+02] [-7.18735781e-02 -1.02852180e-03 9.97413220e-01 -2.43412293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters 0.025037600218920434 Centerline is valid? [True, True] Translation: X:342.88, Y:-268.02, Z:-24.34 [[ 7.00419270e-01 7.11870700e-01 5.15068220e-02 3.42881923e+02] [-7.10059228e-01 7.02309811e-01 -5.07624155e-02 -2.68016940e+02] [-7.23100226e-02 -1.01792027e-03 9.97381684e-01 -2.43437579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07864 meters 0.025090824823787078 Centerline is valid? [True, True] Translation: X:342.91, Y:-268.04, Z:-24.35 [[ 7.01104741e-01 7.11236501e-01 5.09390025e-02 3.42907074e+02] [-7.09459446e-01 7.02952217e-01 -5.02540992e-02 -2.68037916e+02] [-7.15502344e-02 -9.05769256e-04 9.97436586e-01 -2.43451236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10864 meters 0.024845905377800258 Centerline is valid? [True, True] Translation: X:342.93, Y:-268.06, Z:-24.35 [[ 7.03173776e-01 7.09226220e-01 5.04461101e-02 3.42933194e+02] [-7.07474946e-01 7.04980661e-01 -4.98143481e-02 -2.68057621e+02] [-7.08931738e-02 -6.61215701e-04 9.97483694e-01 -2.43472967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13864 meters 0.024868596441718953 Centerline is valid? [True, True] Translation: X:342.96, Y:-268.08, Z:-24.35 [[ 7.04510725e-01 7.07913860e-01 5.02255404e-02 3.42957160e+02] [-7.06171254e-01 7.06298607e-01 -4.96430967e-02 -2.68078677e+02] [-7.06172655e-02 -4.93738848e-04 9.97503362e-01 -2.43488648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16864 meters 0.0247405021313121 Centerline is valid? [True, True] Translation: X:342.98, Y:-268.10, Z:-24.35 [[ 7.07556354e-01 7.04933860e-01 4.93179324e-02 3.42982270e+02] [-7.03243342e-01 7.09273027e-01 -4.87911296e-02 -2.68099356e+02] [-6.93743985e-02 -1.60033805e-04 9.97590681e-01 -2.43509833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.19864 meters 0.024988809150710875 Centerline is valid? [True, True] Translation: X:343.01, Y:-268.12, Z:-24.35 [[ 7.08642022e-01 7.03837486e-01 4.93890481e-02 3.43006015e+02] [-7.02136076e-01 7.10361030e-01 -4.89094747e-02 -2.68121622e+02] [-6.95083768e-02 -1.85233915e-05 9.97581368e-01 -2.43527830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22864 meters 0.024880931873877812 Centerline is valid? [True, True] Translation: X:343.03, Y:-268.14, Z:-24.36 [[ 7.10272882e-01 7.02157024e-01 4.98793213e-02 3.43029732e+02] [-7.00413740e-01 7.12022106e-01 -4.94480967e-02 -2.68144123e+02] [-7.02355078e-02 1.85480200e-04 9.97530420e-01 -2.43552939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.25864 meters 0.025012423848347173 Centerline is valid? [True, True] Translation: X:343.05, Y:-268.17, Z:-24.36 [[ 7.13918400e-01 6.98567710e-01 4.82044894e-02 3.43052470e+02] [-6.96928088e-01 7.15543740e-01 -4.78371803e-02 -2.68167905e+02] [-6.79099302e-02 5.56780586e-04 9.97691301e-01 -2.43558350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28864 meters 0.02525976218279191 Centerline is valid? [True, True] Translation: X:343.07, Y:-268.19, Z:-24.36 [[ 7.14976045e-01 6.97529786e-01 4.75547342e-02 3.43074654e+02] [-6.95928524e-01 7.16555464e-01 -4.72414751e-02 -2.68191802e+02] [-6.70279407e-02 6.81827067e-04 9.97750866e-01 -2.43577622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.31864 meters 0.02532123972710523 Centerline is valid? [True, True] Translation: X:343.09, Y:-268.22, Z:-24.36 [[ 7.15522665e-01 6.96910611e-01 4.84036765e-02 3.43094432e+02] [-6.95246810e-01 7.17157569e-01 -4.81341384e-02 -2.68217266e+02] [-6.82582548e-02 7.88565289e-04 9.97667374e-01 -2.43587542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34864 meters 0.025356853035051995 Centerline is valid? [True, True] Translation: X:343.12, Y:-268.24, Z:-24.36 [[ 7.14510447e-01 6.97911481e-01 4.89324700e-02 3.43116010e+02] [-6.96210216e-01 7.16183654e-01 -4.87063514e-02 -2.68241832e+02] [-6.90373570e-02 7.33911419e-04 9.97613805e-01 -2.43597885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.37864 meters 0.025314301746450378 Centerline is valid? [True, True] Translation: X:343.14, Y:-268.27, Z:-24.36 [[ 7.13928434e-01 6.98492798e-01 4.91324942e-02 3.43138469e+02] [-6.96775404e-01 7.15616725e-01 -4.89565030e-02 -2.68266458e+02] [-6.93557993e-02 7.17126018e-04 9.97591730e-01 -2.43612926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40864 meters 0.02520597374529336 Centerline is valid? [True, True] Translation: X:343.16, Y:-268.29, Z:-24.36 [[ 7.11860661e-01 7.00510556e-01 5.03920729e-02 3.43159672e+02] [-6.98705088e-01 7.13641810e-01 -5.02649657e-02 -2.68292273e+02] [-7.11730292e-02 5.72454007e-04 9.97463820e-01 -2.43641028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43864 meters 0.02508770388446941 Centerline is valid? [True, True] Translation: X:343.18, Y:-268.32, Z:-24.37 [[ 7.10331648e-01 7.02077568e-01 5.01601185e-02 3.43180995e+02] [-7.00289663e-01 7.12100338e-01 -5.00749054e-02 -2.68316632e+02] [-7.08755051e-02 4.43177634e-04 9.97485071e-01 -2.43658115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46864 meters 0.024918310946407833 Centerline is valid? [True, True] Translation: X:343.20, Y:-268.34, Z:-24.37 [[ 7.08271194e-01 7.04182342e-01 4.97910116e-02 3.43201026e+02] [-7.02424112e-01 7.10019131e-01 -4.97312732e-02 -2.68342288e+02] [-7.03724552e-02 2.48821081e-04 9.97520755e-01 -2.43667287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49864 meters 0.025058844744918374 Centerline is valid? [True, True] Translation: X:343.22, Y:-268.37, Z:-24.37 [[ 7.07203437e-01 7.05269480e-01 4.95808345e-02 3.43224226e+02] [-7.03525397e-01 7.08939299e-01 -4.95690100e-02 -2.68366162e+02] [-7.01093120e-02 1.73998033e-04 9.97539300e-01 -2.43685921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52864 meters 0.024970108664577217 Centerline is valid? [True, True] Translation: X:343.23, Y:-268.49, Z:-22.88 [[ 7.54091887e-01 -6.56474881e-01 -1.96508542e-02 3.43228154e+02] [-6.56123806e-01 -7.54339721e-01 2.17516973e-02 -2.68491976e+02] [-2.91028628e-02 -3.50938523e-03 -9.99570261e-01 -2.28834857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55864 meters 0.02493976395973169 Centerline is valid? [True, True] Translation: X:343.25, Y:-268.40, Z:-24.37 [[ 7.55869865e-01 6.52635620e-01 5.22254208e-02 3.43251246e+02] [-6.51065976e-01 7.57671902e-01 -4.52369823e-02 -2.68404455e+02] [-6.90929999e-02 1.91077110e-04 9.97610205e-01 -2.43713949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58864 meters 0.025065874049754633 Centerline is valid? [True, True] Translation: X:343.28, Y:-268.43, Z:-24.37 [[ 7.55275215e-01 6.53304998e-01 5.24588250e-02 3.43276636e+02] [-6.51719168e-01 7.57094809e-01 -4.54925950e-02 -2.68425357e+02] [-6.94368438e-02 1.71007668e-04 9.97586335e-01 -2.43733716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61863999999997 meters 0.02516370240360005 Centerline is valid? [True, True] Translation: X:343.30, Y:-268.44, Z:-24.37 [[ 7.56189843e-01 6.52202334e-01 5.30003554e-02 3.43303795e+02] [-6.50577359e-01 7.58044866e-01 -4.60117618e-02 -2.68444649e+02] [-7.01856257e-02 3.12795714e-04 9.97533899e-01 -2.43746372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64864 meters 0.025196889389489028 Centerline is valid? [True, True] Translation: X:343.33, Y:-268.47, Z:-24.38 [[ 7.56591794e-01 6.51745298e-01 5.28859611e-02 3.43329843e+02] [-6.50122793e-01 7.58437811e-01 -4.59612879e-02 -2.68465180e+02] [-7.00657659e-02 3.91564426e-04 9.97542297e-01 -2.43758704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67864 meters 0.025295650349139002 Centerline is valid? [True, True] Translation: X:343.36, Y:-268.49, Z:-24.38 [[ 7.57189490e-01 6.51095120e-01 5.23375720e-02 3.43355727e+02] [-6.49501234e-01 7.58995989e-01 -4.55327982e-02 -2.68485778e+02] [-6.93701900e-02 4.83638648e-04 9.97590869e-01 -2.43778933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70864 meters 0.025362714438551225 Centerline is valid? [True, True] Translation: X:343.38, Y:-268.51, Z:-24.38 [[ 7.57901670e-01 6.50313391e-01 5.17450637e-02 3.43381861e+02] [-6.48750340e-01 7.59665815e-01 -4.50648972e-02 -2.68506237e+02] [-6.86152621e-02 5.85133155e-04 9.97643024e-01 -2.43791601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73864 meters 0.025187154415293966 Centerline is valid? [True, True] Translation: X:343.41, Y:-268.53, Z:-24.38 [[ 7.57858867e-01 6.50407051e-01 5.11918626e-02 3.43407328e+02] [-6.48874298e-01 7.59585611e-01 -4.46300874e-02 -2.68526585e+02] [-6.79123258e-02 6.06223583e-04 9.97691109e-01 -2.43803024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76864 meters 0.025315906160314844 Centerline is valid? [True, True] Translation: X:343.43, Y:-268.55, Z:-24.38 [[ 7.57575042e-01 6.50826958e-01 5.00432513e-02 3.43431914e+02] [-6.49360289e-01 7.59225872e-01 -4.36725439e-02 -2.68547259e+02] [-6.64174000e-02 5.89129215e-04 9.97791753e-01 -2.43824556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79864 meters 0.025394475664133324 Centerline is valid? [True, True] Translation: X:343.46, Y:-268.57, Z:-24.38 [[ 7.57354474e-01 6.51116013e-01 4.96199467e-02 3.43456456e+02] [-6.49671987e-01 7.58977990e-01 -4.33441990e-02 -2.68569201e+02] [-6.58825494e-02 5.90233633e-04 9.97827210e-01 -2.43839472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82864 meters 0.025401707077112787 Centerline is valid? [True, True] Translation: X:343.48, Y:-268.59, Z:-24.39 [[ 7.57447051e-01 6.50926071e-01 5.06874351e-02 3.43480719e+02] [-6.49415625e-01 7.59140844e-01 -4.43229501e-02 -2.68590793e+02] [-6.73298661e-02 6.55075469e-04 9.97730555e-01 -2.43861487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85864 meters 0.02558146973117791 Centerline is valid? [True, True] Translation: X:343.51, Y:-268.61, Z:-24.39 [[ 7.57665120e-01 6.50680609e-01 5.05797482e-02 3.43505023e+02] [-6.49173184e-01 7.59351200e-01 -4.42711278e-02 -2.68613303e+02] [-6.72141569e-02 7.07673134e-04 9.97738321e-01 -2.43875072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88864 meters 0.025665139362015362 Centerline is valid? [True, True] Translation: X:343.53, Y:-268.64, Z:-24.39 [[ 7.57334343e-01 6.51082845e-01 5.03569477e-02 3.43529066e+02] [-6.49586443e-01 7.59006345e-01 -4.41227905e-02 -2.68635309e+02] [-6.69488348e-02 7.04513935e-04 9.97756161e-01 -2.43888681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91864 meters 0.025490234456835542 Centerline is valid? [True, True] Translation: X:343.55, Y:-268.66, Z:-24.39 [[ 7.56848108e-01 6.51729922e-01 4.92854017e-02 3.43551823e+02] [-6.50295085e-01 7.58450832e-01 -4.32277544e-02 -2.68657682e+02] [-6.55533749e-02 6.66789654e-04 9.97848842e-01 -2.43906102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94864 meters 0.025594222851370092 Centerline is valid? [True, True] Translation: X:343.58, Y:-268.68, Z:-24.39 [[ 7.56372349e-01 6.52214928e-01 5.01652893e-02 3.43576504e+02] [-6.50726562e-01 7.58033799e-01 -4.40420364e-02 -2.68679964e+02] [-6.67518585e-02 6.68292352e-04 9.97769384e-01 -2.43926264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97864 meters 0.02576029159805123 Centerline is valid? [True, True] Translation: X:343.60, Y:-268.70, Z:-24.40 [[ 7.56073042e-01 6.52488698e-01 5.11082606e-02 3.43600719e+02] [-6.50941244e-01 7.57798140e-01 -4.49163133e-02 -2.68701407e+02] [-6.80371316e-02 6.91538880e-04 9.97682550e-01 -2.43953660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00864 meters 0.025917569045349826 Centerline is valid? [True, True] Translation: X:343.62, Y:-268.72, Z:-24.40 [[ 7.56392999e-01 6.52052148e-01 5.19386923e-02 3.43624666e+02] [-6.50449964e-01 7.58173724e-01 -4.56886007e-02 -2.68722224e+02] [-6.91699020e-02 7.75017186e-04 9.97604593e-01 -2.43973262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03864 meters 0.02609309161945417 Centerline is valid? [True, True] Translation: X:343.65, Y:-268.74, Z:-24.40 [[ 7.57825023e-01 6.50398360e-01 5.17996937e-02 3.43649297e+02] [-6.48797980e-01 7.59592693e-01 -4.56083527e-02 -2.68743279e+02] [-6.90102667e-02 9.55614300e-04 9.97615492e-01 -2.43976041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06864 meters 0.02643532075757631 Centerline is valid? [True, True] Translation: X:343.67, Y:-268.77, Z:-24.40 [[ 7.61211543e-01 6.46478847e-01 5.12063260e-02 3.43672476e+02] [-6.44903259e-01 7.62930755e-01 -4.51270452e-02 -2.68766227e+02] [-6.82405611e-02 1.32810116e-03 9.97668012e-01 -2.43982406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09864 meters 0.02682849088716845 Centerline is valid? [True, True] Translation: X:343.69, Y:-268.79, Z:-24.40 [[ 7.63191559e-01 6.44175311e-01 5.07623203e-02 3.43694779e+02] [-6.42619456e-01 7.64876311e-01 -4.47712270e-02 -2.68788724e+02] [-6.76674154e-02 1.54816785e-03 9.97706733e-01 -2.44007780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12864 meters 0.027224425515281363 Centerline is valid? [True, True] Translation: X:343.72, Y:-268.81, Z:-24.40 [[ 7.64697096e-01 6.42421934e-01 5.03230498e-02 3.43717369e+02] [-6.40887356e-01 7.66349227e-01 -4.44101193e-02 -2.68811270e+02] [-6.70950651e-02 1.70888296e-03 9.97745124e-01 -2.44022754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15864 meters 0.02781467182738748 Centerline is valid? [True, True] Translation: X:343.74, Y:-268.84, Z:-24.40 [[ 7.67059325e-01 6.39544960e-01 5.10121200e-02 3.43739594e+02] [-6.37958900e-01 7.68751044e-01 -4.50585621e-02 -2.68835244e+02] [-6.80325968e-02 2.01895420e-03 9.97681056e-01 -2.44039622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18864 meters 0.02815342848283011 Centerline is valid? [True, True] Translation: X:343.76, Y:-268.86, Z:-24.40 [[ 7.67733158e-01 6.38771023e-01 5.05705264e-02 3.43762595e+02] [-6.37208044e-01 7.69394030e-01 -4.47072230e-02 -2.68857702e+02] [-6.74663397e-02 2.09927131e-03 9.97719342e-01 -2.44049705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21864 meters 0.028562908938412897 Centerline is valid? [True, True] Translation: X:343.78, Y:-268.88, Z:-24.41 [[ 7.68601838e-01 6.37704058e-01 5.08404206e-02 3.43782290e+02] [-6.36119273e-01 7.70278220e-01 -4.49859435e-02 -2.68884111e+02] [-6.78489874e-02 2.23570744e-03 9.97693097e-01 -2.44080843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24864 meters 0.028728357867775146 Centerline is valid? [True, True] Translation: X:343.80, Y:-268.91, Z:-24.41 [[ 7.68932219e-01 6.37347665e-01 5.03110006e-02 3.43804615e+02] [-6.35792269e-01 7.70573020e-01 -4.45579498e-02 -2.68908791e+02] [-6.71672049e-02 2.27469793e-03 9.97739140e-01 -2.44096910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27864 meters 0.028603124499581845 Centerline is valid? [True, True] Translation: X:343.83, Y:-268.93, Z:-24.41 [[ 7.68368593e-01 6.38078202e-01 4.96579615e-02 3.43825611e+02] [-6.36561669e-01 7.69968378e-01 -4.40220311e-02 -2.68933551e+02] [-6.63245585e-02 2.21479132e-03 9.97795644e-01 -2.44116588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30864 meters 0.028602059979401937 Centerline is valid? [True, True] Translation: X:343.84, Y:-268.96, Z:-24.41 [[ 7.68060398e-01 6.38445006e-01 4.97111607e-02 3.43844328e+02] [-6.36923314e-01 7.69664253e-01 -4.41092964e-02 -2.68962204e+02] [-6.64222633e-02 2.21640649e-03 9.97789141e-01 -2.44141843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33864 meters 0.02833249573380458 Centerline is valid? [True, True] Translation: X:343.86, Y:-268.99, Z:-24.42 [[ 7.67167465e-01 6.39583262e-01 4.88603328e-02 3.43864969e+02] [-6.38112842e-01 7.68718924e-01 -4.33960479e-02 -2.68987070e+02] [-6.53152483e-02 2.11363023e-03 9.97862441e-01 -2.44151739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters 0.02805635308802568 Centerline is valid? [True, True] Translation: X:343.88, Y:-269.02, Z:-24.42 [[ 7.65177364e-01 6.41933268e-01 4.92471474e-02 3.43882861e+02] [-6.40441729e-01 7.66758009e-01 -4.37783939e-02 -2.69015932e+02] [-6.58634522e-02 1.95830779e-03 9.97826724e-01 -2.44164715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39864 meters 0.027730643175452534 Centerline is valid? [True, True] Translation: X:343.90, Y:-269.04, Z:-24.42 [[ 7.64056427e-01 6.43250541e-01 4.94622866e-02 3.43903907e+02] [-6.41746077e-01 7.65653443e-01 -4.40088261e-02 -2.69041282e+02] [-6.61796713e-02 1.88299796e-03 9.97805946e-01 -2.44174115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters 0.0275761694220015 Centerline is valid? [True, True] Translation: X:343.92, Y:-269.07, Z:-24.42 [[ 7.62490805e-01 6.45065037e-01 4.99887055e-02 3.43924908e+02] [-6.43529523e-01 7.64125610e-01 -4.45174656e-02 -2.69066538e+02] [-6.69143107e-02 1.77495035e-03 9.97757147e-01 -2.44194230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45864 meters 0.027345323226113404 Centerline is valid? [True, True] Translation: X:343.95, Y:-269.09, Z:-24.42 [[ 7.61182480e-01 6.46572775e-01 5.04467989e-02 3.43946150e+02] [-6.45009485e-01 7.62850441e-01 -4.49663121e-02 -2.69090901e+02] [-6.75573559e-02 1.68890518e-03 9.97713963e-01 -2.44204893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters 0.027345323226113404 Centerline is valid? [True, True] Translation: X:343.97, Y:-269.11, Z:-24.42 [[ 7.60852176e-01 6.46963056e-01 5.04259026e-02 3.43970598e+02] [-6.45399071e-01 7.62519484e-01 -4.49897362e-02 -2.69112288e+02] [-6.75574304e-02 1.68570797e-03 9.97713963e-01 -2.44221045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51864 meters 0.026934096562039784 Centerline is valid? [True, True] Translation: X:343.99, Y:-269.14, Z:-24.42 [[ 7.58346981e-01 6.49913734e-01 5.02194691e-02 3.43989002e+02] [-6.48365973e-01 7.60006600e-01 -4.48501183e-02 -2.69139773e+02] [-6.73158358e-02 1.45135676e-03 9.97730661e-01 -2.44237275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters 0.02687000184950294 Centerline is valid? [True, True] Translation: X:344.01, Y:-269.16, Z:-24.43 [[ 7.57037199e-01 6.51454753e-01 5.00138338e-02 3.44009973e+02] [-6.49920296e-01 7.58686305e-01 -4.47068068e-02 -2.69164963e+02] [-6.70692725e-02 1.33971013e-03 9.97747422e-01 -2.44251906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57864 meters 0.026719555885842617 Centerline is valid? [True, True] Translation: X:344.03, Y:-269.19, Z:-24.43 [[ 7.55819425e-01 6.52898648e-01 4.96019393e-02 3.44027685e+02] [-6.51390247e-01 7.57444288e-01 -4.43722585e-02 -2.69193137e+02] [-6.65412932e-02 1.22719539e-03 9.97782917e-01 -2.44262558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60864 meters 0.026734215245033062 Centerline is valid? [True, True] Translation: X:344.05, Y:-269.22, Z:-24.43 [[ 7.55003584e-01 6.53784733e-01 5.03498786e-02 3.44050833e+02] [-6.52230800e-01 7.56679668e-01 -4.50651169e-02 -2.69217032e+02] [-6.75616149e-02 1.18458321e-03 9.97714401e-01 -2.44276076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63864 meters 0.026495232683446182 Centerline is valid? [True, True] Translation: X:344.07, Y:-269.24, Z:-24.43 [[ 7.53040458e-01 6.55941704e-01 5.16773592e-02 3.44071409e+02] [-6.54306221e-01 7.54810815e-01 -4.63033785e-02 -2.69243412e+02] [-6.93789467e-02 1.05549978e-03 9.97589819e-01 -2.44305744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66864 meters 0.026304422526008276 Centerline is valid? [True, True] Translation: X:344.09, Y:-269.27, Z:-24.43 [[ 7.51771796e-01 6.57367095e-01 5.20352742e-02 3.44093681e+02] [-6.55708783e-01 7.53569881e-01 -4.66736080e-02 -2.69268502e+02] [-6.98939095e-02 9.67915770e-04 9.97553961e-01 -2.44316860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69864 meters 0.026300372450401874 Centerline is valid? [True, True] Translation: X:344.12, Y:-269.29, Z:-24.43 [[ 7.50947422e-01 6.58229317e-01 5.30295827e-02 3.44115866e+02] [-6.56505404e-01 7.52816894e-01 -4.76169935e-02 -2.69292750e+02] [-7.12644669e-02 9.43650854e-04 9.97457009e-01 -2.44328914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72864 meters 0.026395434553799987 Centerline is valid? [True, True] Translation: X:344.14, Y:-269.32, Z:-24.43 [[ 7.50334468e-01 6.59027734e-01 5.17748158e-02 3.44138140e+02] [-6.57383141e-01 7.52118120e-01 -4.65375071e-02 -2.69316245e+02] [-6.96102850e-02 8.82804637e-04 9.97573871e-01 -2.44342785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.75864 meters 0.026317298997688796 Centerline is valid? [True, True] Translation: X:344.16, Y:-269.34, Z:-24.44 [[ 7.48881656e-01 6.60729812e-01 5.11114526e-02 3.44158349e+02] [-6.59128152e-01 7.50623445e-01 -4.59839380e-02 -2.69341317e+02] [-6.87484134e-02 7.47530351e-04 9.97633749e-01 -2.44353197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78864 meters 0.026258203309345845 Centerline is valid? [True, True] Translation: X:344.18, Y:-269.37, Z:-24.44 [[ 7.46060774e-01 6.63910148e-01 5.11530684e-02 3.44179179e+02] [-6.62310315e-01 7.47812194e-01 -4.60648374e-02 -2.69366342e+02] [-6.88358014e-02 4.87963367e-04 9.97627884e-01 -2.44365563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.81864 meters 0.026148270178929574 Centerline is valid? [True, True] Translation: X:344.20, Y:-269.39, Z:-24.44 [[ 7.43981371e-01 6.66241655e-01 5.11251078e-02 3.44202805e+02] [-6.64645893e-01 7.45735853e-01 -4.60855012e-02 -2.69388597e+02] [-6.88299065e-02 3.06661451e-04 9.97628363e-01 -2.44395116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84864 meters 0.026086642186728425 Centerline is valid? [True, True] Translation: X:344.23, Y:-269.41, Z:-24.44 [[ 7.41265759e-01 6.69263073e-01 5.11078736e-02 3.44226536e+02] [-6.67672022e-01 7.43025528e-01 -4.61208745e-02 -2.69411022e+02] [-6.88414530e-02 6.45276480e-05 9.97627611e-01 -2.44421224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.87864 meters 0.02621194035975318 Centerline is valid? [True, True] Translation: X:344.25, Y:-269.43, Z:-24.44 [[ 7.38971177e-01 6.71765238e-01 5.15079071e-02 3.44250488e+02] [-6.70151628e-01 7.40764097e-01 -4.65333028e-02 -2.69433318e+02] [-6.94146635e-02 -1.31338274e-04 9.97587884e-01 -2.44439060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90864 meters 0.025974206801971832 Centerline is valid? [True, True] Translation: X:344.27, Y:-269.46, Z:-24.44 [[ 7.35819228e-01 6.75224750e-01 5.13965052e-02 3.44273155e+02] [-6.73622972e-01 7.37611932e-01 -4.64836495e-02 -2.69456704e+02] [-6.92975861e-02 -4.18303440e-04 9.97595945e-01 -2.44445544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93864 meters 0.0260684490834546 Centerline is valid? [True, True] Translation: X:344.30, Y:-269.48, Z:-24.45 [[ 7.34852263e-01 6.76200988e-01 5.23867798e-02 3.44296928e+02] [-6.74535708e-01 7.36717035e-01 -4.74298332e-02 -2.69478790e+02] [-7.06663332e-02 -4.82833278e-04 9.97499893e-01 -2.44471041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96864 meters 0.026197467379588384 Centerline is valid? [True, True] Translation: X:344.32, Y:-269.50, Z:-24.45 [[ 7.34113605e-01 6.77021256e-01 5.21481988e-02 3.44322121e+02] [-6.75369889e-01 7.35963276e-01 -4.72606503e-02 -2.69499960e+02] [-7.03756241e-02 -5.24636887e-04 9.97520424e-01 -2.44481567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99864 meters 0.026240138968406393 Centerline is valid? [True, True] Translation: X:344.35, Y:-269.52, Z:-24.45 [[ 7.33086955e-01 6.78103081e-01 5.25331198e-02 3.44346898e+02] [-6.76426303e-01 7.34966569e-01 -4.76612843e-02 -2.69521537e+02] [-7.09293505e-02 -5.94918282e-04 9.97481164e-01 -2.44497767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02864 meters 0.02648725473109012 Centerline is valid? [True, True] Translation: X:344.37, Y:-269.54, Z:-24.45 [[ 7.32517955e-01 6.78757294e-01 5.20190462e-02 3.44371737e+02] [-6.77111310e-01 7.34362416e-01 -4.72452690e-02 -2.69543823e+02] [-7.02689034e-02 -6.14676638e-04 9.97527896e-01 -2.44514293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05864 meters 0.026480853693638434 Centerline is valid? [True, True] Translation: X:344.40, Y:-269.56, Z:-24.45 [[ 7.31302452e-01 6.80120348e-01 5.13131149e-02 3.44396719e+02] [-6.78518691e-01 7.33100146e-01 -4.66536369e-02 -2.69564795e+02] [-6.93477398e-02 -6.98988511e-04 9.97592303e-01 -2.44515444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08864 meters 0.026327980637385 Centerline is valid? [True, True] Translation: X:344.42, Y:-269.59, Z:-24.45 [[ 7.30445373e-01 6.81074988e-01 5.08568367e-02 3.44422464e+02] [-6.79500643e-01 7.32213291e-01 -4.62879333e-02 -2.69585668e+02] [-6.87636054e-02 -7.46446540e-04 9.97632703e-01 -2.44532472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11863999999997 meters 0.026424763633224893 Centerline is valid? [True, True] Translation: X:344.45, Y:-269.61, Z:-24.46 [[ 7.29864395e-01 6.81661719e-01 5.13348510e-02 3.44448003e+02] [-6.80055529e-01 7.31667073e-01 -4.67736350e-02 -2.69605831e+02] [-6.94438165e-02 -7.72138463e-04 9.97585565e-01 -2.44558365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14864 meters 0.026483271606435575 Centerline is valid? [True, True] Translation: X:344.47, Y:-269.63, Z:-24.46 [[ 7.29831956e-01 6.81640999e-01 5.20659637e-02 3.44472691e+02] [-6.79984980e-01 7.31686405e-01 -4.74913821e-02 -2.69626936e+02] [-7.04680310e-02 -7.43345012e-04 9.97513761e-01 -2.44573431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17864 meters 0.02646147345248203 Centerline is valid? [True, True] Translation: X:344.50, Y:-269.65, Z:-24.46 [[ 7.29786841e-01 6.81642302e-01 5.26776888e-02 3.44497888e+02] [-6.79943395e-01 7.31685220e-01 -4.81011198e-02 -2.69647869e+02] [-7.13312444e-02 -7.14282353e-04 9.97452427e-01 -2.44596401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20864 meters 0.0263760142673849 Centerline is valid? [True, True] Translation: X:344.52, Y:-269.67, Z:-24.46 [[ 7.31188424e-01 6.80107321e-01 5.30803203e-02 3.44523604e+02] [-6.78374478e-01 7.33112373e-01 -4.85212977e-02 -2.69667825e+02] [-7.19135294e-02 -5.30123384e-04 9.97410729e-01 -2.44616159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23864 meters 0.02645038303924065 Centerline is valid? [True, True] Translation: X:344.55, Y:-269.69, Z:-24.46 [[ 7.32079028e-01 6.79108322e-01 5.35927650e-02 3.44548146e+02] [-6.77335255e-01 7.34037962e-01 -4.90430671e-02 -2.69689716e+02] [-7.26446790e-02 -3.96868276e-04 9.97357806e-01 -2.44638412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26864 meters 0.02643845873421503 Centerline is valid? [True, True] Translation: X:344.57, Y:-269.71, Z:-24.46 [[ 7.33868910e-01 6.77346244e-01 5.13662185e-02 3.44571821e+02] [-6.75710366e-01 7.35664348e-01 -4.70475162e-02 -2.69711680e+02] [-6.96557541e-02 -1.81976831e-04 9.97571072e-01 -2.44638809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29864 meters 0.026290552348177898 Centerline is valid? [True, True] Translation: X:344.60, Y:-269.73, Z:-24.47 [[ 7.33938154e-01 6.77277788e-01 5.12794739e-02 3.44596614e+02] [-6.75645021e-01 7.35727378e-01 -4.70003284e-02 -2.69733265e+02] [-6.95599913e-02 -1.51386955e-04 9.97577759e-01 -2.44665148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32864 meters 0.026300324465358734 Centerline is valid? [True, True] Translation: X:344.62, Y:-269.76, Z:-24.47 [[ 7.33737906e-01 6.77506812e-01 5.11195149e-02 3.44621775e+02] [-6.75881189e-01 7.35516487e-01 -4.69053963e-02 -2.69755115e+02] [-6.93779715e-02 -1.34451312e-04 9.97590437e-01 -2.44680569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35864 meters 0.026202070620515 Centerline is valid? [True, True] Translation: X:344.65, Y:-269.78, Z:-24.47 [[ 7.32955411e-01 6.78213049e-01 5.29473770e-02 3.44645865e+02] [-6.76466966e-01 7.34865315e-01 -4.86355064e-02 -2.69776217e+02] [-7.18944260e-02 -1.69493893e-04 9.97412233e-01 -2.44693003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38864 meters 0.02609743143964951 Centerline is valid? [True, True] Translation: X:344.67, Y:-269.80, Z:-24.47 [[ 7.32061070e-01 6.79100454e-01 5.39366559e-02 3.44669845e+02] [-6.77287271e-01 7.34045313e-01 -4.95926487e-02 -2.69797825e+02] [-7.32703397e-02 -2.25762996e-04 9.97312091e-01 -2.44707517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41864 meters 0.025882478917003102 Centerline is valid? [True, True] Translation: X:344.69, Y:-269.82, Z:-24.47 [[ 7.31077724e-01 6.80159192e-01 5.39336247e-02 3.44694711e+02] [-6.78345439e-01 7.33064381e-01 -4.96394882e-02 -2.69819200e+02] [-7.32995733e-02 -2.95304273e-04 9.97309924e-01 -2.44718369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44864 meters 0.025879914593696204 Centerline is valid? [True, True] Translation: X:344.72, Y:-269.84, Z:-24.47 [[ 7.30464876e-01 6.80859492e-01 5.33986631e-02 3.44720225e+02] [-6.79079593e-01 7.32413986e-01 -4.92001963e-02 -2.69840446e+02] [-7.26083484e-02 -3.22927134e-04 9.97360478e-01 -2.44737358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47864 meters 0.026015626070204086 Centerline is valid? [True, True] Translation: X:344.75, Y:-269.86, Z:-24.48 [[ 7.29848321e-01 6.81541661e-01 5.31261877e-02 3.44745639e+02] [-6.79777865e-01 7.31779230e-01 -4.90021682e-02 -2.69861929e+02] [-7.22736599e-02 -3.49856282e-04 9.97384778e-01 -2.44759545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50864 meters 0.025933733330579804 Centerline is valid? [True, True] Translation: X:344.77, Y:-269.88, Z:-24.48 [[ 7.29643030e-01 6.81778566e-01 5.29059070e-02 3.44772011e+02] [-6.80026189e-01 7.31558525e-01 -4.88518876e-02 -2.69881438e+02] [-7.20099372e-02 -3.32962981e-04 9.97403859e-01 -2.44782390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53864 meters 0.025887925798753743 Centerline is valid? [True, True] Translation: X:344.80, Y:-269.90, Z:-24.48 [[ 7.29941378e-01 6.81417928e-01 5.34340024e-02 3.44798140e+02] [-6.79625438e-01 7.31894487e-01 -4.93935648e-02 -2.69902033e+02] [-7.27657124e-02 -2.60700524e-04 9.97349028e-01 -2.44802479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56864 meters 0.025702929071637057 Centerline is valid? [True, True] Translation: X:344.83, Y:-269.92, Z:-24.48 [[ 7.31540269e-01 6.79693457e-01 5.35316699e-02 3.44827407e+02] [-6.77886536e-01 7.33496286e-01 -4.95282035e-02 -2.69918911e+02] [-7.29292769e-02 -5.65229824e-05 9.97337113e-01 -2.44814396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59864 meters 0.025669781138174818 Centerline is valid? [True, True] Translation: X:344.85, Y:-269.94, Z:-24.48 [[ 7.32210765e-01 6.78970256e-01 5.35423853e-02 3.44853328e+02] [-6.77158221e-01 7.34165779e-01 -4.95717067e-02 -2.69939262e+02] [-7.29667014e-02 4.02709824e-05 9.97334377e-01 -2.44832442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62864 meters 0.025670348108938812 Centerline is valid? [True, True] Translation: X:344.88, Y:-269.96, Z:-24.49 [[ 7.35386145e-01 6.75597574e-01 5.26795580e-02 3.44877795e+02] [-6.73831050e-01 7.37270473e-01 -4.88258679e-02 -2.69960627e+02] [-7.18257205e-02 4.08744892e-04 9.97417114e-01 -2.44850420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65864 meters 0.025713599160862667 Centerline is valid? [True, True] Translation: X:344.90, Y:-269.98, Z:-24.49 [[ 7.36937650e-01 6.73908639e-01 5.26312292e-02 3.44902621e+02] [-6.72137232e-01 7.38814437e-01 -4.88340989e-02 -2.69982825e+02] [-7.17944330e-02 6.12277373e-04 9.97419262e-01 -2.44868178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68864 meters 0.02576760753914883 Centerline is valid? [True, True] Translation: X:344.93, Y:-270.00, Z:-24.49 [[ 7.38364875e-01 6.72393315e-01 5.20052152e-02 3.44927884e+02] [-6.70656412e-01 7.40193629e-01 -4.83049633e-02 -2.70004827e+02] [-7.09738634e-02 7.89057140e-04 9.97477863e-01 -2.44871569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71864 meters 0.026057977893209593 Centerline is valid? [True, True] Translation: X:344.95, Y:-270.03, Z:-24.49 [[ 7.39917522e-01 6.70711638e-01 5.16522915e-02 3.44952922e+02] [-6.68990681e-01 7.41717559e-01 -4.80263629e-02 -2.70025580e+02] [-7.05232521e-02 9.80645753e-04 9.97509654e-01 -2.44894076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74864 meters 0.02605843485813874 Centerline is valid? [True, True] Translation: X:344.98, Y:-270.05, Z:-24.49 [[ 7.39878109e-01 6.70749350e-01 5.17271018e-02 3.44977018e+02] [-6.69020163e-01 7.41683411e-01 -4.81428981e-02 -2.70048127e+02] [-7.06569510e-02 1.01340231e-03 9.97500160e-01 -2.44910351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77864 meters 0.02614958462896919 Centerline is valid? [True, True] Translation: X:345.00, Y:-270.07, Z:-24.49 [[ 7.39481264e-01 6.71153043e-01 5.21637157e-02 3.45001035e+02] [-6.69391798e-01 7.41318116e-01 -4.86011418e-02 -2.70071366e+02] [-7.12887117e-02 1.02167034e-03 9.97455200e-01 -2.44928491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80864 meters 0.02611626544310332 Centerline is valid? [True, True] Translation: X:345.02, Y:-270.09, Z:-24.49 [[ 7.38764132e-01 6.71947643e-01 5.20953138e-02 3.45024128e+02] [-6.70189341e-01 7.40598002e-01 -4.85885374e-02 -2.70094737e+02] [-7.12306385e-02 9.81744635e-04 9.97459389e-01 -2.44932882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83864 meters 0.02597990393729508 Centerline is valid? [True, True] Translation: X:345.05, Y:-270.12, Z:-24.50 [[ 7.38095564e-01 6.72709167e-01 5.17427886e-02 3.45047540e+02] [-6.70972874e-01 7.39906409e-01 -4.83105373e-02 -2.70117933e+02] [-7.07837622e-02 9.39785656e-04 9.97491241e-01 -2.44955546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters 0.02612658262453791 Centerline is valid? [True, True] Translation: X:345.07, Y:-270.14, Z:-24.50 [[ 7.35906743e-01 6.75072658e-01 5.21360991e-02 3.45068954e+02] [-6.73312163e-01 7.37750863e-01 -4.87277696e-02 -2.70142180e+02] [-7.13582371e-02 7.55224531e-04 9.97450466e-01 -2.44972066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89864 meters 0.026094682906297652 Centerline is valid? [True, True] Translation: X:345.09, Y:-270.16, Z:-24.50 [[ 7.34179186e-01 6.76829949e-01 5.36856049e-02 3.45092015e+02] [-6.74964256e-01 7.36139127e-01 -5.02238838e-02 -2.70164228e+02] [-7.35131030e-02 6.37465751e-04 9.97294048e-01 -2.44993831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters 0.026020963585318663 Centerline is valid? [True, True] Translation: X:345.12, Y:-270.19, Z:-24.50 [[ 7.32271406e-01 6.78866810e-01 5.40226012e-02 3.45115966e+02] [-6.76979394e-01 7.34261282e-01 -5.05892332e-02 -2.70187582e+02] [-7.40100558e-02 4.72861123e-04 9.97257383e-01 -2.45002849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95864 meters 0.02622814917988611 Centerline is valid? [True, True] Translation: X:345.14, Y:-270.21, Z:-24.50 [[ 7.28148518e-01 6.83215067e-01 5.49263941e-02 3.45139229e+02] [-6.81271905e-01 7.30217206e-01 -5.14919869e-02 -2.70210990e+02] [-7.52882993e-02 7.40047691e-05 9.97161806e-01 -2.45037746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters 0.02621316571756806 Centerline is valid? [True, True] Translation: X:345.16, Y:-270.23, Z:-24.51 [[ 7.26216462e-01 6.85299208e-01 5.45403137e-02 3.45162883e+02] [-6.83385003e-01 7.28261619e-01 -5.11854600e-02 -2.70233704e+02] [-7.47969724e-02 -1.00308813e-04 9.97198778e-01 -2.45065868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01864 meters 0.026357904307412753 Centerline is valid? [True, True] Translation: X:345.19, Y:-270.26, Z:-24.51 [[ 7.25075826e-01 6.86486867e-01 5.47798074e-02 3.45186398e+02] [-6.84554939e-01 7.27142178e-01 -5.14663727e-02 -2.70256698e+02] [-7.51636975e-02 -1.82765075e-04 9.97171192e-01 -2.45091781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters 0.026518792608196857 Centerline is valid? [True, True] Translation: X:345.21, Y:-270.28, Z:-24.51 [[ 7.23746790e-01 6.87856184e-01 5.51765728e-02 3.45209179e+02] [-6.85895783e-01 7.25846946e-01 -5.18959126e-02 -2.70280847e+02] [-7.57466713e-02 -2.85878439e-04 9.97127053e-01 -2.45106122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07864 meters 0.02658732986153517 Centerline is valid? [True, True] Translation: X:345.23, Y:-270.30, Z:-24.51 [[ 7.22889820e-01 6.88742636e-01 5.53524054e-02 3.45232650e+02] [-6.86767966e-01 7.25005839e-01 -5.21180847e-02 -2.70303549e+02] [-7.60267641e-02 -3.38625999e-04 9.97105720e-01 -2.45128741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10864 meters 0.02671134707534088 Centerline is valid? [True, True] Translation: X:345.26, Y:-270.33, Z:-24.52 [[ 7.21695032e-01 6.90021609e-01 5.50132796e-02 3.45255730e+02] [-6.88070562e-01 7.23788640e-01 -5.18546683e-02 -2.70326985e+02] [-7.55988284e-02 -4.29761758e-04 9.97138221e-01 -2.45153324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13864 meters 0.026675934938667604 Centerline is valid? [True, True] Translation: X:345.28, Y:-270.35, Z:-24.52 [[ 7.20139791e-01 6.91599206e-01 5.55807394e-02 3.45278039e+02] [-6.89608242e-01 7.22281262e-01 -5.24428350e-02 -2.70349387e+02] [-7.64143496e-02 -5.62763748e-04 9.97075990e-01 -2.45171542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16864 meters 0.026926623820378387 Centerline is valid? [True, True] Translation: X:345.30, Y:-270.37, Z:-24.52 [[ 7.18331675e-01 6.93463101e-01 5.57542153e-02 3.45301752e+02] [-6.91461424e-01 7.20491776e-01 -5.26564397e-02 -2.70372357e+02] [-7.66857515e-02 -7.27100517e-04 9.97055047e-01 -2.45186792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.19864 meters 0.027116963136310377 Centerline is valid? [True, True] Translation: X:345.32, Y:-270.40, Z:-24.52 [[ 7.14611232e-01 6.97283944e-01 5.59096448e-02 3.45324692e+02] [-6.95278498e-01 7.16794177e-01 -5.28575291e-02 -2.70395088e+02] [-7.69324141e-02 -1.10018981e-03 9.97035703e-01 -2.45199759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22864 meters 0.027446456292709413 Centerline is valid? [True, True] Translation: X:345.35, Y:-270.42, Z:-24.52 [[ 7.12542263e-01 6.99372513e-01 5.62282149e-02 3.45348369e+02] [-6.97346731e-01 7.14756186e-01 -5.32083768e-02 -2.70416461e+02] [-7.74019406e-02 -1.29734467e-03 9.96999126e-01 -2.45221261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.25864 meters 0.02801040820118167 Centerline is valid? [True, True] Translation: X:345.37, Y:-270.44, Z:-24.52 [[ 7.08721012e-01 7.02982577e-01 5.94140105e-02 3.45371527e+02] [-7.00728674e-01 7.11204918e-01 -5.62751271e-02 -2.70438202e+02] [-8.18159704e-02 -1.74973580e-03 9.96645918e-01 -2.45249292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28864 meters 0.028034824526739388 Centerline is valid? [True, True] Translation: X:345.39, Y:-270.46, Z:-24.53 [[ 7.07119799e-01 7.04570484e-01 5.96826793e-02 3.45394582e+02] [-7.02297814e-01 7.09631448e-01 -5.65772733e-02 -2.70459872e+02] [-8.22153830e-02 -1.90810506e-03 9.96612758e-01 -2.45256533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.31864 meters 0.028140399684950152 Centerline is valid? [True, True] Translation: X:345.42, Y:-270.48, Z:-24.53 [[ 7.06214118e-01 7.05430860e-01 6.02405363e-02 3.45418274e+02] [-7.03114449e-01 7.08775940e-01 -5.71553867e-02 -2.70481188e+02] [-8.30162163e-02 -1.99205048e-03 9.96546205e-01 -2.45273499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34864 meters 0.028298564202314393 Centerline is valid? [True, True] Translation: X:345.44, Y:-270.50, Z:-24.53 [[ 7.05138875e-01 7.06691056e-01 5.80251480e-02 3.45443368e+02] [-7.04542527e-01 7.07519358e-01 -5.51015943e-02 -2.70501637e+02] [-7.99937194e-02 -2.02690817e-03 9.96793307e-01 -2.45278685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.37864 meters 0.028230944116174966 Centerline is valid? [True, True] Translation: X:345.47, Y:-270.52, Z:-24.53 [[ 7.05256088e-01 7.06632541e-01 5.73088269e-02 3.45467809e+02] [-7.04532788e-01 7.07577986e-01 -5.44696601e-02 -2.70522083e+02] [-7.90404986e-02 -1.96088820e-03 9.96869477e-01 -2.45294878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40864 meters 0.028230944116174966 Centerline is valid? [True, True] Translation: X:345.49, Y:-270.54, Z:-24.53 [[ 7.04895622e-01 7.06994198e-01 5.72832173e-02 3.45491554e+02] [-7.04893450e-01 7.07216619e-01 -5.44965839e-02 -2.70544230e+02] [-7.90404119e-02 -1.96416128e-03 9.96869478e-01 -2.45311033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43864 meters 0.028280722417995913 Centerline is valid? [True, True] Translation: X:345.52, Y:-270.56, Z:-24.53 [[ 7.04157467e-01 7.07741036e-01 5.71392026e-02 3.45518315e+02] [-7.05648902e-01 7.06469117e-01 -5.44152101e-02 -2.70564201e+02] [-7.88789591e-02 -2.00333904e-03 9.96882188e-01 -2.45324191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46864 meters 0.02812790679373468 Centerline is valid? [True, True] Translation: X:345.54, Y:-270.58, Z:-24.53 [[ 7.03732757e-01 7.08109344e-01 5.78045386e-02 3.45543831e+02] [-7.05965027e-01 7.06099877e-01 -5.51030406e-02 -2.70583826e+02] [-7.98347554e-02 -2.03016801e-03 9.96806044e-01 -2.45327152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49864 meters 0.028382530330341528 Centerline is valid? [True, True] Translation: X:345.57, Y:-270.60, Z:-24.54 [[ 7.03388940e-01 7.08404205e-01 5.83736328e-02 3.45569762e+02] [-7.06214323e-01 7.05804000e-01 -5.56960029e-02 -2.70603271e+02] [-8.06556262e-02 -2.04834312e-03 9.96739923e-01 -2.45354370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52864 meters 0.02845183267758418 Centerline is valid? [True, True] Translation: X:345.60, Y:-270.62, Z:-24.54 [[ 7.02738531e-01 7.09068217e-01 5.81448230e-02 3.45595955e+02] [-7.06893510e-01 7.05136825e-01 -5.55303878e-02 -2.70622901e+02] [-8.03748889e-02 -2.07885485e-03 9.96762537e-01 -2.45367994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55864 meters 0.028550030600732752 Centerline is valid? [True, True] Translation: X:345.63, Y:-270.64, Z:-24.54 [[ 7.01770685e-01 7.10040527e-01 5.79685769e-02 3.45625119e+02] [-7.07877750e-01 7.04157550e-01 -5.54187296e-02 -2.70639905e+02] [-8.01685551e-02 -2.14342599e-03 9.96779017e-01 -2.45388028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58864 meters 0.02852625578191901 Centerline is valid? [True, True] Translation: X:345.65, Y:-270.66, Z:-24.54 [[ 7.00662572e-01 7.11130819e-01 5.80079160e-02 3.45653999e+02] [-7.08964458e-01 7.03056171e-01 -5.55105228e-02 -2.70656003e+02] [-8.02580669e-02 -2.23140502e-03 9.96771621e-01 -2.45419586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61863999999997 meters 0.02848374567592116 Centerline is valid? [True, True] Translation: X:345.68, Y:-270.67, Z:-24.54 [[ 7.00296287e-01 7.11564532e-01 5.71054028e-02 3.45680108e+02] [-7.09462725e-01 7.02617270e-01 -5.46956531e-02 -2.70674596e+02] [-7.90427290e-02 -2.21099189e-03 9.96868777e-01 -2.45437658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64864 meters 0.02853270644218099 Centerline is valid? [True, True] Translation: X:345.71, Y:-270.69, Z:-24.54 [[ 7.00386911e-01 7.11564755e-01 5.59801204e-02 3.45706117e+02] [-7.09541362e-01 7.02617284e-01 -5.36657136e-02 -2.70693832e+02] [-7.75192305e-02 -2.13344743e-03 9.96988574e-01 -2.45444330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67864 meters 0.02810460766566536 Centerline is valid? [True, True] Translation: X:345.74, Y:-270.71, Z:-24.55 [[ 7.03474880e-01 7.08663587e-01 5.40278939e-02 3.45735127e+02] [-7.06767966e-01 7.05544429e-01 -5.18276095e-02 -2.70709534e+02] [-7.48474192e-02 -1.72576334e-03 9.97193505e-01 -2.45450419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70864 meters 0.02802955848348641 Centerline is valid? [True, True] Translation: X:345.76, Y:-270.73, Z:-24.55 [[ 7.05009434e-01 7.07133959e-01 5.40671960e-02 3.45761212e+02] [-7.05229363e-01 7.07077907e-01 -5.18881302e-02 -2.70728624e+02] [-7.49215787e-02 -1.54815293e-03 9.97188227e-01 -2.45470268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73864 meters 0.02756089708202579 Centerline is valid? [True, True] Translation: X:345.79, Y:-270.75, Z:-24.55 [[ 7.08980822e-01 7.03195930e-01 5.34946555e-02 3.45788924e+02] [-7.01317518e-01 7.10995282e-01 -5.13755578e-02 -2.70746894e+02] [-7.41615308e-02 -1.09245384e-03 9.97245644e-01 -2.45483401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76864 meters 0.02753583880755133 Centerline is valid? [True, True] Translation: X:345.81, Y:-270.77, Z:-24.55 [[ 7.10244643e-01 7.01887726e-01 5.39088860e-02 3.45814359e+02] [-6.99974042e-01 7.12286974e-01 -5.18035429e-02 -2.70767322e+02] [-7.47588682e-02 -9.41632020e-04 9.97201196e-01 -2.45498600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79864 meters 0.02754920002128184 Centerline is valid? [True, True] Translation: X:345.84, Y:-270.79, Z:-24.55 [[ 7.11176215e-01 7.00950711e-01 5.38190624e-02 3.45839515e+02] [-6.99036742e-01 7.13209264e-01 -5.17704497e-02 -2.70787237e+02] [-7.46727874e-02 -8.03589527e-04 9.97207766e-01 -2.45509128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82864 meters 0.0273919018166418 Centerline is valid? [True, True] Translation: X:345.87, Y:-270.81, Z:-24.55 [[ 7.13041591e-01 6.99125774e-01 5.28662692e-02 3.45866957e+02] [-6.97270545e-01 7.14998483e-01 -5.09014450e-02 -2.70805188e+02] [-7.33858144e-02 -5.67245021e-04 9.97303465e-01 -2.45530121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85864 meters 0.027474659408683686 Centerline is valid? [True, True] Translation: X:345.89, Y:-270.83, Z:-24.55 [[ 7.13334687e-01 6.98814155e-01 5.30320706e-02 3.45892121e+02] [-6.96942651e-01 7.15303101e-01 -5.11117908e-02 -2.70827233e+02] [-7.36516474e-02 -5.00498556e-04 9.97283904e-01 -2.45545234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88864 meters 0.027672495394047526 Centerline is valid? [True, True] Translation: X:345.92, Y:-270.85, Z:-24.56 [[ 7.14678618e-01 6.97375347e-01 5.38711241e-02 3.45916905e+02] [-6.95435720e-01 7.16706024e-01 -5.19772413e-02 -2.70849382e+02] [-7.48574058e-02 -3.16880985e-04 9.97194198e-01 -2.45563232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91864 meters 0.02763496479854059 Centerline is valid? [True, True] Translation: X:345.94, Y:-270.87, Z:-24.56 [[ 7.14932287e-01 6.97091973e-01 5.41719955e-02 3.45941272e+02] [-6.95125475e-01 7.16981673e-01 -5.23245116e-02 -2.70872004e+02] [-7.53153250e-02 -2.47851409e-04 9.97159737e-01 -2.45572428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94864 meters 0.027639944359267393 Centerline is valid? [True, True] Translation: X:345.97, Y:-270.89, Z:-24.56 [[ 7.15714307e-01 6.96296432e-01 5.40768814e-02 3.45965621e+02] [-6.94330305e-01 7.17754320e-01 -5.22892288e-02 -2.70894569e+02] [-7.52227187e-02 -1.23068354e-04 9.97166750e-01 -2.45587642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97864 meters 0.02755471202454157 Centerline is valid? [True, True] Translation: X:345.99, Y:-270.92, Z:-24.56 [[ 7.16316021e-01 6.95746935e-01 5.31748186e-02 3.45989164e+02] [-6.93840496e-01 7.18286991e-01 -5.14700359e-02 -2.70916755e+02] [-7.40049002e-02 -2.60311565e-05 9.97257877e-01 -2.45604843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00864 meters 0.027634849457960547 Centerline is valid? [True, True] Translation: X:346.01, Y:-270.94, Z:-24.56 [[ 7.16983205e-01 6.95132693e-01 5.22074933e-02 3.46011157e+02] [-6.93289997e-01 7.18881446e-01 -5.05810938e-02 -2.70940798e+02] [-7.26915703e-02 7.08618962e-05 9.97354466e-01 -2.45620000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03864 meters 0.027346435481407923 Centerline is valid? [True, True] Translation: X:346.03, Y:-270.96, Z:-24.56 [[ 7.16968201e-01 6.95203143e-01 5.14702671e-02 3.46032421e+02] [-6.93408999e-01 7.18813314e-01 -4.99137203e-02 -2.70964603e+02] [-7.16976885e-02 9.66038034e-05 9.97426404e-01 -2.45627409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06864 meters 0.027540361267730476 Centerline is valid? [True, True] Translation: X:346.05, Y:-270.99, Z:-24.57 [[ 7.17076101e-01 6.95035784e-01 5.22218669e-02 3.46054779e+02] [-6.93184817e-01 7.18975129e-01 -5.06909593e-02 -2.70987019e+02] [-7.27782542e-02 1.49870229e-04 9.97348135e-01 -2.45665933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09864 meters 0.027403793767876848 Centerline is valid? [True, True] Translation: X:346.08, Y:-271.01, Z:-24.57 [[ 7.17279592e-01 6.94868959e-01 5.16441403e-02 3.46076327e+02] [-6.93055615e-01 7.19136352e-01 -5.01679399e-02 -2.71010825e+02] [-7.19993228e-02 1.92178092e-04 9.97404662e-01 -2.45675479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12864 meters 0.02730635217496877 Centerline is valid? [True, True] Translation: X:346.10, Y:-271.04, Z:-24.57 [[ 7.17702380e-01 6.94449284e-01 5.14148481e-02 3.46098804e+02] [-6.92648929e-01 7.19541610e-01 -4.99733228e-02 -2.71035666e+02] [-7.16990608e-02 2.53533216e-04 9.97426278e-01 -2.45699537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15864 meters 0.02726016369203106 Centerline is valid? [True, True] Translation: X:346.12, Y:-271.06, Z:-24.57 [[ 7.19058905e-01 6.93105890e-01 5.05817775e-02 3.46118847e+02] [-6.91356440e-01 7.20835661e-01 -4.92160786e-02 -2.71062140e+02] [-7.05731029e-02 4.19221988e-04 9.97506522e-01 -2.45701657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18864 meters 0.02734834633029238 Centerline is valid? [True, True] Translation: X:346.14, Y:-271.09, Z:-24.57 [[ 7.19326783e-01 6.92839995e-01 5.04154704e-02 3.46141077e+02] [-6.91097687e-01 7.21091193e-01 -4.91068055e-02 -2.71086597e+02] [-7.03773106e-02 4.81825458e-04 9.97520327e-01 -2.45711851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21864 meters 0.02733676026061529 Centerline is valid? [True, True] Translation: X:346.16, Y:-271.11, Z:-24.57 [[ 7.19242065e-01 6.92969159e-01 4.98457321e-02 3.46161161e+02] [-6.91262748e-01 7.20967055e-01 -4.86036992e-02 -2.71112974e+02] [-6.96179952e-02 5.01327192e-04 9.97573598e-01 -2.45712865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24864 meters 0.027124251943739793 Centerline is valid? [True, True] Translation: X:346.18, Y:-271.14, Z:-24.57 [[ 7.18934638e-01 6.93317806e-01 4.94308124e-02 3.46183318e+02] [-6.91636975e-01 7.20631784e-01 -4.82506655e-02 -2.71137802e+02] [-6.90744600e-02 5.00897183e-04 9.97611381e-01 -2.45722719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27864 meters 0.027061640238618262 Centerline is valid? [True, True] Translation: X:346.20, Y:-271.16, Z:-24.57 [[ 7.17962252e-01 6.94363063e-01 4.88890704e-02 3.46203778e+02] [-6.92717957e-01 7.19624729e-01 -4.77711360e-02 -2.71162713e+02] [-6.83522964e-02 4.31535444e-04 9.97661154e-01 -2.45738656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30864 meters 0.027000662957993513 Centerline is valid? [True, True] Translation: X:346.23, Y:-271.19, Z:-24.58 [[ 7.16636381e-01 6.95721738e-01 4.90261278e-02 3.46226475e+02] [-6.94067318e-01 7.18311318e-01 -4.79521518e-02 -2.71186445e+02] [-6.85773769e-02 3.36823491e-04 9.97645744e-01 -2.45760501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33864 meters 0.026908203906315317 Centerline is valid? [True, True] Translation: X:346.25, Y:-271.21, Z:-24.58 [[ 7.15761541e-01 6.96601512e-01 4.93127706e-02 3.46249097e+02] [-6.94926112e-01 7.17458186e-01 -4.82851014e-02 -2.71210017e+02] [-6.90153255e-02 2.91886689e-04 9.97615557e-01 -2.45781849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters 0.02688557311925388 Centerline is valid? [True, True] Translation: X:346.27, Y:-271.23, Z:-24.58 [[ 7.14602058e-01 6.97695253e-01 5.06481336e-02 3.46268939e+02] [-6.95926812e-01 7.16394641e-01 -4.96446405e-02 -2.71234885e+02] [-7.09208815e-02 2.28768172e-04 9.97481918e-01 -2.45803540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39864 meters 0.026873502163698836 Centerline is valid? [True, True] Translation: X:346.29, Y:-271.26, Z:-24.58 [[ 7.14338121e-01 6.98033968e-01 4.96953566e-02 3.46290689e+02] [-6.96329308e-01 7.16064613e-01 -4.87541211e-02 -2.71259254e+02] [-6.96171189e-02 2.22593971e-04 9.97573760e-01 -2.45806257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters 0.02677280201327936 Centerline is valid? [True, True] Translation: X:346.31, Y:-271.28, Z:-24.58 [[ 7.14711521e-01 6.97668123e-01 4.94634504e-02 3.46312412e+02] [-6.95975129e-01 7.16421039e-01 -4.85748301e-02 -2.71283981e+02] [-6.93257671e-02 2.91659346e-04 9.97594032e-01 -2.45817656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45864 meters 0.026812085219598516 Centerline is valid? [True, True] Translation: X:346.34, Y:-271.31, Z:-24.58 [[ 7.14090482e-01 6.98278736e-01 4.98155575e-02 3.46335668e+02] [-6.96559224e-01 7.15825909e-01 -4.89746405e-02 -2.71307890e+02] [-6.98572168e-02 2.72838522e-04 9.97556963e-01 -2.45840863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters 0.02684180112154689 Centerline is valid? [True, True] Translation: X:346.36, Y:-271.33, Z:-24.59 [[ 7.13432621e-01 6.98932703e-01 5.00696764e-02 3.46358475e+02] [-6.97193384e-01 7.15187399e-01 -4.92784927e-02 -2.71331210e+02] [-7.02515517e-02 2.48637066e-04 9.97529277e-01 -2.45851929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51864 meters 0.026747778030647835 Centerline is valid? [True, True] Translation: X:346.38, Y:-271.36, Z:-24.59 [[ 7.10946660e-01 7.01341789e-01 5.17159676e-02 3.46379127e+02] [-6.99488449e-01 7.12825148e-01 -5.09530969e-02 -2.71355364e+02] [-7.25999785e-02 5.02120895e-05 9.97361139e-01 -2.45869693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters 0.026853992487669818 Centerline is valid? [True, True] Translation: X:346.40, Y:-271.38, Z:-24.59 [[ 7.08949663e-01 7.03285988e-01 5.27180736e-02 3.46401598e+02] [-7.01361655e-01 7.10907031e-01 -5.19906068e-02 -2.71378410e+02] [-7.40419144e-02 -1.15712210e-04 9.97255124e-01 -2.45892277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57864 meters 0.02678857222749004 Centerline is valid? [True, True] Translation: X:346.42, Y:-271.40, Z:-24.59 [[ 7.04949333e-01 7.07308691e-01 5.25438162e-02 3.46424057e+02] [-7.05404353e-01 7.06904637e-01 -5.18703487e-02 -2.71402607e+02] [-7.38318158e-02 -4.98668890e-04 9.97270582e-01 -2.45897507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60864 meters 0.02692153968853183 Centerline is valid? [True, True] Translation: X:346.45, Y:-271.43, Z:-24.59 [[ 7.03726377e-01 7.08585257e-01 5.17312383e-02 3.46446767e+02] [-7.06738889e-01 7.05624966e-01 -5.11228854e-02 -2.71425862e+02] [-7.27277761e-02 -5.83954983e-04 9.97351658e-01 -2.45926634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63864 meters 0.026740601033436413 Centerline is valid? [True, True] Translation: X:346.47, Y:-271.45, Z:-24.59 [[ 7.02895122e-01 7.09540002e-01 4.99142625e-02 3.46468991e+02] [-7.07820096e-01 7.04664883e-01 -4.93772679e-02 -2.71449111e+02] [-7.02079748e-02 -6.23277346e-04 9.97532181e-01 -2.45939497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66864 meters 0.026975961698336853 Centerline is valid? [True, True] Translation: X:346.49, Y:-271.47, Z:-24.60 [[ 7.02567948e-01 7.09828291e-01 5.04190070e-02 3.46491649e+02] [-7.08070627e-01 7.04374480e-01 -4.99257375e-02 -2.71472957e+02] [-7.09525627e-02 -6.23994929e-04 9.97479496e-01 -2.45954896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.69864 meters 0.02703437127105007 Centerline is valid? [True, True] Translation: X:346.51, Y:-271.50, Z:-24.60 [[ 7.02162485e-01 7.10108876e-01 5.20886609e-02 3.46514256e+02] [-7.08229470e-01 7.04091600e-01 -5.16336764e-02 -2.71496050e+02] [-7.33407205e-02 -6.35494155e-04 9.97306741e-01 -2.45964888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72864 meters 0.026918915702366635 Centerline is valid? [True, True] Translation: X:346.54, Y:-271.52, Z:-24.60 [[ 7.02432998e-01 7.09870072e-01 5.16949133e-02 3.46537051e+02] [-7.08014835e-01 7.04332418e-01 -5.12916991e-02 -2.71518376e+02] [-7.28208454e-02 -5.71783569e-04 9.97344874e-01 -2.45983338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.75864 meters 0.026916691570103738 Centerline is valid? [True, True] Translation: X:346.56, Y:-271.54, Z:-24.60 [[ 7.02168379e-01 7.10147310e-01 5.14816937e-02 3.46559995e+02] [-7.08304455e-01 7.04052897e-01 -5.11304005e-02 -2.71542035e+02] [-7.25559519e-02 -5.62562576e-04 9.97364185e-01 -2.46006785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78864 meters 0.026995382245567044 Centerline is valid? [True, True] Translation: X:346.58, Y:-271.56, Z:-24.60 [[ 7.01684446e-01 7.10707118e-01 5.03421361e-02 3.46582345e+02] [-7.08942834e-01 7.03487787e-01 -5.00498947e-02 -2.71564832e+02] [-7.09858943e-02 -5.70463987e-04 9.97477156e-01 -2.46023041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.81864 meters 0.027036399997259264 Centerline is valid? [True, True] Translation: X:346.61, Y:-271.59, Z:-24.60 [[ 7.00092446e-01 7.12287855e-01 5.01655131e-02 3.46605991e+02] [-7.10536525e-01 7.01887121e-01 -4.99230941e-02 -2.71587310e+02] [-7.07701412e-02 -6.93648309e-04 9.97492409e-01 -2.46033181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84864 meters 0.02723344214027921 Centerline is valid? [True, True] Translation: X:346.63, Y:-271.61, Z:-24.60 [[ 6.99057311e-01 7.13230477e-01 5.11972979e-02 3.46628686e+02] [-7.11404933e-01 7.00929167e-01 -5.10031756e-02 -2.71609966e+02] [-7.22626986e-02 -7.67867532e-04 9.97385338e-01 -2.46049411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.87864 meters 0.027260368484123106 Centerline is valid? [True, True] Translation: X:346.65, Y:-271.63, Z:-24.61 [[ 6.99266143e-01 7.13021773e-01 5.12524426e-02 3.46652123e+02] [-7.11188111e-01 7.01141530e-01 -5.11079814e-02 -2.71633637e+02] [-7.23763195e-02 -7.12046820e-04 9.97377141e-01 -2.46076410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90864 meters 0.027132482078501604 Centerline is valid? [True, True] Translation: X:346.68, Y:-271.66, Z:-24.61 [[ 6.99610542e-01 7.12671970e-01 5.14174350e-02 3.46675761e+02] [-7.10821522e-01 7.01497152e-01 -5.13274848e-02 -2.71657169e+02] [-7.26488439e-02 -6.39369914e-04 9.97357377e-01 -2.46084600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93864 meters 0.027115793063239566 Centerline is valid? [True, True] Translation: X:346.70, Y:-271.68, Z:-24.61 [[ 7.00636880e-01 7.11716987e-01 5.06645026e-02 3.46698673e+02] [-7.09914208e-01 7.02466144e-01 -5.06274039e-02 -2.71678993e+02] [-7.16224812e-02 -4.96023879e-04 9.97431689e-01 -2.46109478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96864 meters 0.027067730240048493 Centerline is valid? [True, True] Translation: X:346.72, Y:-271.70, Z:-24.61 [[ 7.01985418e-01 7.10432998e-01 5.00142813e-02 3.46720618e+02] [-7.08669680e-01 7.03764767e-01 -5.00243673e-02 -2.71701896e+02] [-7.07372503e-02 -3.27228389e-04 9.97494930e-01 -2.46118944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99864 meters 0.027157109911787696 Centerline is valid? [True, True] Translation: X:346.87, Y:-271.71, Z:-23.12 [[ 7.59141943e-01 -6.50634398e-01 -1.94522678e-02 3.46869880e+02] [-6.50284312e-01 -7.59381581e-01 2.16778005e-02 -2.71709980e+02] [-2.88760165e-02 -3.80702299e-03 -9.99575751e-01 -2.31229262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02864 meters 0.027131448984190187 Centerline is valid? [True, True] Translation: X:346.77, Y:-271.76, Z:-24.61 [[ 7.55154934e-01 6.53432496e-01 5.26022708e-02 3.46769398e+02] [-6.51865251e-01 7.56984779e-01 -4.52298512e-02 -2.71764489e+02] [-6.93737729e-02 -1.34047213e-04 9.97590729e-01 -2.46148388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05864 meters 0.02706295878101818 Centerline is valid? [True, True] Translation: X:346.79, Y:-271.79, Z:-24.62 [[ 7.55080168e-01 6.53563623e-01 5.20435425e-02 3.46794068e+02] [-6.52026438e-01 7.56871574e-01 -4.47989382e-02 -2.71786043e+02] [-6.86692342e-02 -1.06975859e-04 9.97639476e-01 -2.46163987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08864 meters 0.027206485541168116 Centerline is valid? [True, True] Translation: X:346.82, Y:-271.81, Z:-24.62 [[ 7.54343342e-01 6.54348703e-01 5.28573325e-02 3.46818416e+02] [-6.52761356e-01 7.56192935e-01 -4.55506054e-02 -2.71807843e+02] [-6.97763209e-02 -1.42428138e-04 9.97562652e-01 -2.46190611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11863999999997 meters 0.027234437337471926 Centerline is valid? [True, True] Translation: X:346.84, Y:-271.83, Z:-24.62 [[ 7.54108768e-01 6.54606337e-01 5.30142386e-02 3.46841604e+02] [-6.53006598e-01 7.55969925e-01 -4.57368031e-02 -2.71831199e+02] [-7.00167711e-02 -1.28123346e-04 9.97545806e-01 -2.46189921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14864 meters 0.027141884241694246 Centerline is valid? [True, True] Translation: X:346.86, Y:-271.85, Z:-24.62 [[ 7.54058627e-01 6.54698397e-01 5.25889429e-02 3.46864877e+02] [-6.53120983e-01 7.55890204e-01 -4.54200644e-02 -2.71854208e+02] [-6.94879101e-02 -9.75506284e-05 9.97582789e-01 -2.46203060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17864 meters 0.02716512608647137 Centerline is valid? [True, True] Translation: X:346.89, Y:-271.88, Z:-24.62 [[ 7.53828899e-01 6.54978355e-01 5.23960525e-02 3.46889104e+02] [-6.53409697e-01 7.55647635e-01 -4.53036477e-02 -2.71876766e+02] [-6.92658618e-02 -8.48899292e-05 9.97598232e-01 -2.46230785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20864 meters 0.026922600181159245 Centerline is valid? [True, True] Translation: X:346.91, Y:-271.90, Z:-24.62 [[ 7.54289961e-01 6.54415806e-01 5.27883236e-02 3.46912954e+02] [-6.52818609e-01 7.56134877e-01 -4.56936637e-02 -2.71899011e+02] [-6.98177484e-02 5.07176817e-06 9.97559764e-01 -2.46240856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23864 meters 0.02721204827495376 Centerline is valid? [True, True] Translation: X:346.94, Y:-271.92, Z:-24.63 [[ 7.54814614e-01 6.53711950e-01 5.39961614e-02 3.46935211e+02] [-6.52035306e-01 7.56743467e-01 -4.67898095e-02 -2.71922449e+02] [-7.14483000e-02 1.10228414e-04 9.97444298e-01 -2.46263484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26864 meters 0.027226490072563385 Centerline is valid? [True, True] Translation: X:346.96, Y:-271.94, Z:-24.63 [[ 7.54492586e-01 6.54000566e-01 5.49926982e-02 3.46958360e+02] [-6.52258748e-01 7.56494048e-01 -4.76999045e-02 -2.71944690e+02] [-7.27974134e-02 1.19755806e-04 9.97346741e-01 -2.46282996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29864 meters 0.027226490072563385 Centerline is valid? [True, True] Translation: X:346.98, Y:-271.97, Z:-24.63 [[ 7.54134816e-01 6.54415079e-01 5.49689314e-02 3.46983077e+02] [-6.52672364e-01 7.56135498e-01 -4.77272818e-02 -2.71965718e+02] [-7.27974132e-02 1.16102531e-04 9.97346742e-01 -2.46299096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32864 meters 0.02718343642244147 Centerline is valid? [True, True] Translation: X:347.00, Y:-271.99, Z:-24.63 [[ 7.54114202e-01 6.54535414e-01 5.38067048e-02 3.47004681e+02] [-6.52862512e-01 7.56031330e-01 -4.67671707e-02 -2.71989188e+02] [-7.12903241e-02 1.39407128e-04 9.97455598e-01 -2.46309290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35864 meters 0.027325917078881833 Centerline is valid? [True, True] Translation: X:347.03, Y:-272.01, Z:-24.63 [[ 7.53589690e-01 6.55145369e-01 5.37319735e-02 3.47027767e+02] [-6.53475297e-01 7.55502834e-01 -4.67493886e-02 -2.72012209e+02] [-7.12223037e-02 1.17339891e-04 9.97460460e-01 -2.46339371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38864 meters 0.027473678493143392 Centerline is valid? [True, True] Translation: X:347.05, Y:-272.04, Z:-24.64 [[ 7.53762989e-01 6.54980452e-01 5.33100680e-02 3.47051307e+02] [-6.53332505e-01 7.55645802e-01 -4.64333945e-02 -2.72035820e+02] [-7.06964948e-02 1.70573982e-04 9.97497858e-01 -2.46360957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41864 meters 0.02764394471326224 Centerline is valid? [True, True] Translation: X:347.07, Y:-272.06, Z:-24.64 [[ 7.53323340e-01 6.55422435e-01 5.40867574e-02 3.47072635e+02] [-6.53723418e-01 7.55262473e-01 -4.71623690e-02 -2.72061297e+02] [-7.17609728e-02 1.70733386e-04 9.97421843e-01 -2.46392787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44864 meters 0.027615868390807475 Centerline is valid? [True, True] Translation: X:347.10, Y:-272.08, Z:-24.64 [[ 7.52718546e-01 6.56079654e-01 5.45369407e-02 3.47095511e+02] [-6.54350070e-01 7.54691636e-01 -4.76079860e-02 -2.72084706e+02] [-7.23932040e-02 1.49162989e-04 9.97376159e-01 -2.46404846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47864 meters 0.027546293518139447 Centerline is valid? [True, True] Translation: X:347.12, Y:-272.11, Z:-24.64 [[ 7.51419477e-01 6.57478148e-01 5.55990487e-02 3.47116455e+02] [-6.55680403e-01 7.53473611e-01 -4.85873064e-02 -2.72110091e+02] [-7.38375082e-02 5.42416697e-05 9.97270284e-01 -2.46417258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50864 meters 0.02745143529113048 Centerline is valid? [True, True] Translation: X:347.14, Y:-272.13, Z:-24.64 [[ 7.50696899e-01 6.58390846e-01 5.45496117e-02 3.47139913e+02] [-6.56659525e-01 7.52676221e-01 -4.77155562e-02 -2.72132743e+02] [-7.24736809e-02 -6.02062004e-07 9.97370325e-01 -2.46428871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53864 meters 0.027639665731306894 Centerline is valid? [True, True] Translation: X:347.16, Y:-272.16, Z:-24.65 [[ 7.50079023e-01 6.59106935e-01 5.44013638e-02 3.47164211e+02] [-6.57383428e-01 7.52049232e-01 -4.76338287e-02 -2.72155495e+02] [-7.23082907e-02 -3.34193001e-05 9.97382329e-01 -2.46451269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56864 meters 0.02751861735009421 Centerline is valid? [True, True] Translation: X:347.19, Y:-272.18, Z:-24.65 [[ 7.47201770e-01 6.62179181e-01 5.66413852e-02 3.47186968e+02] [-6.60315327e-01 7.49345475e-01 -4.96490567e-02 -2.72177894e+02] [-7.53205374e-02 -3.03311738e-04 9.97159328e-01 -2.46475564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59864 meters 0.02756604159127644 Centerline is valid? [True, True] Translation: X:347.21, Y:-272.20, Z:-24.65 [[ 7.45138377e-01 6.64499927e-01 5.66449201e-02 3.47211601e+02] [-6.62638766e-01 7.47288162e-01 -4.97017953e-02 -2.72199846e+02] [-7.53569176e-02 -5.00404868e-04 9.97156500e-01 -2.46486019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62864 meters 0.027598275454406525 Centerline is valid? [True, True] Translation: X:347.24, Y:-272.22, Z:-24.65 [[ 7.42773160e-01 6.67014537e-01 5.81346699e-02 3.47235501e+02] [-6.65057653e-01 7.45044338e-01 -5.10612656e-02 -2.72220549e+02] [-7.73715131e-02 -7.35969560e-04 9.97002060e-01 -2.46497615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65864 meters 0.027679836839542143 Centerline is valid? [True, True] Translation: X:347.26, Y:-272.24, Z:-24.65 [[ 7.41965932e-01 6.67829022e-01 5.90842857e-02 3.47259332e+02] [-6.65806468e-01 7.44314287e-01 -5.19421645e-02 -2.72241572e+02] [-7.86657629e-02 -7.99383099e-04 9.96900727e-01 -2.46516475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68864 meters 0.027699852385428783 Centerline is valid? [True, True] Translation: X:347.28, Y:-272.26, Z:-24.65 [[ 7.42351860e-01 6.67487442e-01 5.80881367e-02 3.47284106e+02] [-6.65527927e-01 7.44620711e-01 -5.11133565e-02 -2.72262042e+02] [-7.73711533e-02 -7.15181980e-04 9.97002103e-01 -2.46531045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71864 meters 0.027503814282132014 Centerline is valid? [True, True] Translation: X:347.31, Y:-272.28, Z:-24.65 [[ 7.42572448e-01 6.67262595e-01 5.78514459e-02 3.47310503e+02] [-6.65314527e-01 7.44822264e-01 -5.09546381e-02 -2.72282101e+02] [-7.70891689e-02 -6.51897041e-04 9.97023989e-01 -2.46539049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74864 meters 0.027362248788055064 Centerline is valid? [True, True] Translation: X:347.34, Y:-272.30, Z:-24.65 [[ 7.42710622e-01 6.67129547e-01 5.76116290e-02 3.47335872e+02] [-6.65193068e-01 7.44941483e-01 -5.07973375e-02 -2.72303113e+02] [-7.68056971e-02 -5.95134123e-04 9.97045902e-01 -2.46547269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77864 meters 0.027398466863991146 Centerline is valid? [True, True] Translation: X:347.36, Y:-272.32, Z:-24.66 [[ 7.43682265e-01 6.66080302e-01 5.72164272e-02 3.47361468e+02] [-6.64163306e-01 7.45879905e-01 -5.05001956e-02 -2.72323241e+02] [-7.63137689e-02 -4.44951578e-04 9.97083753e-01 -2.46566060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80864 meters 0.027303052468460338 Centerline is valid? [True, True] Translation: X:347.39, Y:-272.34, Z:-24.66 [[ 7.44035956e-01 6.65684957e-01 5.72191855e-02 3.47387081e+02] [-6.63762779e-01 7.46232808e-01 -5.05526350e-02 -2.72343433e+02] [-7.63509621e-02 -3.66987551e-04 9.97080938e-01 -2.46582493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83864 meters 0.0274598637817949 Centerline is valid? [True, True] Translation: X:347.41, Y:-272.36, Z:-24.66 [[ 7.44539410e-01 6.65169361e-01 5.66638256e-02 3.47412328e+02] [-6.63278963e-01 7.46692472e-01 -5.01135719e-02 -2.72362917e+02] [-7.56444646e-02 -2.72394274e-04 9.97134816e-01 -2.46598673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters 0.02720534218957847 Centerline is valid? [True, True] Translation: X:347.44, Y:-272.38, Z:-24.66 [[ 7.44150373e-01 6.65590090e-01 5.68335637e-02 3.47438676e+02] [-6.63685757e-01 7.46317462e-01 -5.03136370e-02 -2.72382825e+02] [-7.59041392e-02 -2.78714981e-04 9.97115081e-01 -2.46620337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89864 meters 0.02726481109912746 Centerline is valid? [True, True] Translation: X:347.46, Y:-272.40, Z:-24.66 [[ 7.43446584e-01 6.66352373e-01 5.71112195e-02 3.47464013e+02] [-6.64427413e-01 7.45636918e-01 -5.06142229e-02 -2.72403963e+02] [-7.63111412e-02 -3.17288672e-04 9.97084003e-01 -2.46632350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters 0.02714161916851547 Centerline is valid? [True, True] Translation: X:347.49, Y:-272.42, Z:-24.66 [[ 7.42186334e-01 6.67818597e-01 5.63716885e-02 3.47489021e+02] [-6.65943584e-01 7.44323950e-01 -5.00099991e-02 -2.72423926e+02] [-7.53564053e-02 -4.23626361e-04 9.97156574e-01 -2.46644499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95864 meters 0.027304003379961625 Centerline is valid? [True, True] Translation: X:347.51, Y:-272.45, Z:-24.67 [[ 7.41333090e-01 6.68768005e-01 5.63436318e-02 3.47513627e+02] [-6.66893839e-01 7.43470996e-01 -5.00348349e-02 -2.72445553e+02] [-7.53515528e-02 -4.82742102e-04 9.97156914e-01 -2.46670839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters 0.027252193017305484 Centerline is valid? [True, True] Translation: X:347.54, Y:-272.47, Z:-24.67 [[ 7.40711270e-01 6.69529363e-01 5.54729248e-02 3.47537994e+02] [-6.67711108e-01 7.42785412e-01 -4.93123556e-02 -2.72466555e+02] [-7.42205493e-02 -5.13670512e-04 9.97241719e-01 -2.46684535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01864 meters 0.027240918128634578 Centerline is valid? [True, True] Translation: X:347.56, Y:-272.49, Z:-24.67 [[ 7.39447711e-01 6.70959549e-01 5.50487592e-02 3.47563422e+02] [-6.69169432e-01 7.41493697e-01 -4.89833391e-02 -2.72487271e+02] [-7.36841471e-02 -6.16328941e-04 9.97281438e-01 -2.46699652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters 0.02722213651264364 Centerline is valid? [True, True] Translation: X:347.59, Y:-272.51, Z:-24.67 [[ 7.38304842e-01 6.72227141e-01 5.49238641e-02 3.47588856e+02] [-6.70444764e-01 7.40344635e-01 -4.89248414e-02 -2.72508436e+02] [-7.35511944e-02 -7.01969789e-04 9.97291196e-01 -2.46719083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07864 meters 0.027230971015526306 Centerline is valid? [True, True] Translation: X:347.61, Y:-272.53, Z:-24.67 [[ 7.37747441e-01 6.72847449e-01 5.48180979e-02 3.47614135e+02] [-6.71069788e-01 7.39780904e-01 -4.88830553e-02 -2.72530128e+02] [-7.34442211e-02 -7.23420392e-04 9.97299064e-01 -2.46729286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10864 meters 0.027325622764324552 Centerline is valid? [True, True] Translation: X:347.64, Y:-272.55, Z:-24.67 [[ 7.37150979e-01 6.73533129e-01 5.44202035e-02 3.47639865e+02] [-6.71779281e-01 7.39156659e-01 -4.85801542e-02 -2.72551116e+02] [-7.29453990e-02 -7.47456970e-04 9.97335656e-01 -2.46747078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13864 meters 0.02729464736347088 Centerline is valid? [True, True] Translation: X:347.67, Y:-272.57, Z:-24.68 [[ 7.36685723e-01 6.74059505e-01 5.42026643e-02 3.47665635e+02] [-6.72317328e-01 7.38676661e-01 -4.84375975e-02 -2.72571661e+02] [-7.26880661e-02 -7.58103907e-04 9.97354436e-01 -2.46756631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16864 meters 0.02748096851241362 Centerline is valid? [True, True] Translation: X:347.69, Y:-272.59, Z:-24.68 [[ 7.34835953e-01 6.75934112e-01 5.59392458e-02 3.47691698e+02] [-6.74079833e-01 7.36961466e-01 -5.00417534e-02 -2.72590925e+02] [-7.50499967e-02 -9.35037937e-04 9.97179334e-01 -2.46783254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19864 meters 0.02759319709068325 Centerline is valid? [True, True] Translation: X:347.72, Y:-272.61, Z:-24.68 [[ 7.34131029e-01 6.76655547e-01 5.64703724e-02 3.47716147e+02] [-6.74764348e-01 7.36299059e-01 -5.05645211e-02 -2.72611378e+02] [-7.57938457e-02 -9.83210121e-04 9.97123025e-01 -2.46796769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22864 meters 0.02777840544121532 Centerline is valid? [True, True] Translation: X:347.74, Y:-272.63, Z:-24.68 [[ 7.32267568e-01 6.78628458e-01 5.69879402e-02 3.47741829e+02] [-6.76704677e-01 7.34480812e-01 -5.10755957e-02 -2.72630495e+02] [-7.65179014e-02 -1.16300339e-03 9.97067529e-01 -2.46801694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25864 meters 0.0278632315676255 Centerline is valid? [True, True] Translation: X:347.77, Y:-272.65, Z:-24.68 [[ 7.31013796e-01 6.80012014e-01 5.65905503e-02 3.47767562e+02] [-6.78115395e-01 7.33199882e-01 -5.07685422e-02 -2.72650657e+02] [-7.60154034e-02 -1.26241858e-03 9.97105844e-01 -2.46816709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28864 meters 0.028037950115039602 Centerline is valid? [True, True] Translation: X:347.79, Y:-272.67, Z:-24.68 [[ 7.29561423e-01 6.81580508e-01 5.64636307e-02 3.47793481e+02] [-6.79693001e-01 7.31741825e-01 -5.07082494e-02 -2.72671171e+02] [-7.58785545e-02 -1.38315197e-03 9.97116108e-01 -2.46834077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.31864 meters 0.0281283897866533 Centerline is valid? [True, True] Translation: X:347.82, Y:-272.69, Z:-24.69 [[ 7.28480376e-01 6.82704896e-01 5.68363173e-02 3.47818850e+02] [-6.80791815e-01 7.30692724e-01 -5.10944997e-02 -2.72690567e+02] [-7.64123486e-02 -1.47235926e-03 9.97075215e-01 -2.46850357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34864 meters 0.028116460838978667 Centerline is valid? [True, True] Translation: X:347.84, Y:-272.71, Z:-24.69 [[ 7.28168476e-01 6.83052035e-01 5.66620513e-02 3.47844341e+02] [-6.81147969e-01 7.30368238e-01 -5.09870686e-02 -2.72710849e+02] [-7.62109835e-02 -1.46806512e-03 9.97090633e-01 -2.46866096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.37864 meters 0.028042790682289667 Centerline is valid? [True, True] Translation: X:347.87, Y:-272.73, Z:-24.69 [[ 7.27654124e-01 6.83674166e-01 5.57593925e-02 3.47871684e+02] [-6.81828415e-01 7.29785906e-01 -5.02249337e-02 -2.72729012e+02] [-7.50299085e-02 -1.47195808e-03 9.97180197e-01 -2.46895098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40864 meters 0.028085339066544507 Centerline is valid? [True, True] Translation: X:347.90, Y:-272.75, Z:-24.69 [[ 7.27504286e-01 6.83890508e-01 5.50571299e-02 3.47896988e+02] [-6.82088261e-01 7.29583233e-01 -4.96377952e-02 -2.72749269e+02] [-7.41155758e-02 -1.44211322e-03 9.97248616e-01 -2.46909359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43864 meters 0.02812107001342424 Centerline is valid? [True, True] Translation: X:347.92, Y:-272.77, Z:-24.69 [[ 7.27849214e-01 6.83576842e-01 5.43895457e-02 3.47923388e+02] [-6.81814613e-01 7.29877272e-01 -4.90713799e-02 -2.72768716e+02] [-7.32417522e-02 -1.36702174e-03 9.97313279e-01 -2.46916838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46864 meters 0.028088059854822264 Centerline is valid? [True, True] Translation: X:347.95, Y:-272.79, Z:-24.69 [[ 7.27542717e-01 6.83840755e-01 5.51671673e-02 3.47949280e+02] [-6.82026496e-01 7.29629960e-01 -4.97994053e-02 -2.72788208e+02] [-7.43064809e-02 -1.39427517e-03 9.97234477e-01 -2.46932758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49864 meters 0.028023553746632436 Centerline is valid? [True, True] Translation: X:347.98, Y:-272.81, Z:-24.69 [[ 7.28057695e-01 6.83309999e-01 5.49494106e-02 3.47975480e+02] [-6.81505153e-01 7.30127216e-01 -4.96485148e-02 -2.72807165e+02] [-7.40453868e-02 -1.30132316e-03 9.97254023e-01 -2.46949039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52864 meters 0.027737960426475156 Centerline is valid? [True, True] Translation: X:348.00, Y:-272.83, Z:-24.70 [[ 7.29559547e-01 6.81702549e-01 5.49954759e-02 3.48002735e+02] [-6.79886692e-01 7.31628603e-01 -4.97360380e-02 -2.72825169e+02] [-7.41414470e-02 -1.10529082e-03 9.97247123e-01 -2.46959196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55864 meters 0.02776340602708058 Centerline is valid? [True, True] Translation: X:348.03, Y:-272.85, Z:-24.70 [[ 7.30785018e-01 6.80389301e-01 5.49877851e-02 3.48027948e+02] [-6.78566808e-01 7.32850270e-01 -4.97751744e-02 -2.72845129e+02] [-7.41643093e-02 -9.37934174e-04 9.97245594e-01 -2.46984447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58864 meters 0.027453602080660226 Centerline is valid? [True, True] Translation: X:348.06, Y:-272.86, Z:-24.70 [[ 7.32864114e-01 6.78299651e-01 5.31015409e-02 3.48055629e+02] [-6.76591543e-01 7.34785096e-01 -4.81118229e-02 -2.72861899e+02] [-7.16524534e-02 -6.68624997e-04 9.97429436e-01 -2.46997865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61863999999997 meters 0.02748463177018452 Centerline is valid? [True, True] Translation: X:348.08, Y:-272.88, Z:-24.70 [[ 7.34028666e-01 6.77142143e-01 5.17729281e-02 3.48081310e+02] [-6.75512612e-01 7.35852063e-01 -4.69515967e-02 -2.72880867e+02] [-6.98901207e-02 -5.09448037e-04 9.97554566e-01 -2.47013932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64864 meters 0.027239808693480756 Centerline is valid? [True, True] Translation: X:348.11, Y:-272.90, Z:-24.70 [[ 7.35745701e-01 6.75371668e-01 5.05111312e-02 3.48107026e+02] [-6.73813583e-01 7.37477471e-01 -4.58501396e-02 -2.72899906e+02] [-6.82167065e-02 -3.01043270e-04 9.97670482e-01 -2.47005548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67864 meters 0.027209956788365647 Centerline is valid? [True, True] Translation: X:348.13, Y:-272.92, Z:-24.70 [[ 7.36201819e-01 6.74856410e-01 5.07514239e-02 3.48132599e+02] [-6.73279045e-01 7.37949034e-01 -4.61145345e-02 -2.72920732e+02] [-6.85726534e-02 -2.20266076e-04 9.97646101e-01 -2.47019640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70864 meters 0.02724632548947966 Centerline is valid? [True, True] Translation: X:348.16, Y:-272.94, Z:-24.70 [[ 7.36433168e-01 6.74525748e-01 5.17803509e-02 3.48157655e+02] [-6.72879321e-01 7.38251306e-01 -4.71001983e-02 -2.72940967e+02] [-6.99972082e-02 -1.55779093e-04 9.97547175e-01 -2.47036352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73864 meters 0.027176334794669018 Centerline is valid? [True, True] Translation: X:348.18, Y:-272.96, Z:-24.71 [[ 7.36858872e-01 6.74025529e-01 5.22358921e-02 3.48183054e+02] [-6.72345331e-01 7.38708048e-01 -4.75623419e-02 -2.72962166e+02] [-7.06453066e-02 -7.38245736e-05 9.97501496e-01 -2.47053014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76864 meters 0.02712274970215047 Centerline is valid? [True, True] Translation: X:348.21, Y:-272.98, Z:-24.71 [[ 7.36428667e-01 6.74555843e-01 5.14512653e-02 3.48207033e+02] [-6.72924250e-01 7.38223819e-01 -4.68886656e-02 -2.72984324e+02] [-6.96115729e-02 -9.26466043e-05 9.97574168e-01 -2.47060461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79864 meters 0.026982842370365398 Centerline is valid? [True, True] Translation: X:348.23, Y:-273.01, Z:-24.71 [[ 7.36156551e-01 6.74854499e-01 5.14289553e-02 3.48230981e+02] [-6.73223220e-01 7.37950808e-01 -4.68945777e-02 -2.73006641e+02] [-6.95990558e-02 -1.01416323e-04 9.97575040e-01 -2.47066035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82864 meters 0.026995166563178116 Centerline is valid? [True, True] Translation: X:348.26, Y:-273.03, Z:-24.71 [[ 7.35615220e-01 6.75419051e-01 5.17624657e-02 3.48255236e+02] [-6.73764255e-01 7.37434127e-01 -4.72507937e-02 -2.73028802e+02] [-7.00854949e-02 -1.17296132e-04 9.97540981e-01 -2.47088879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85864 meters 0.026899857520752496 Centerline is valid? [True, True] Translation: X:348.28, Y:-273.05, Z:-24.71 [[ 7.36727621e-01 6.74268099e-01 5.09405852e-02 3.48277808e+02] [-6.72659379e-01 7.38486648e-01 -4.65492319e-02 -2.73052010e+02] [-6.90056041e-02 2.84424962e-05 9.97616272e-01 -2.47099560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88864 meters 0.026873569229942596 Centerline is valid? [True, True] Translation: X:348.30, Y:-273.07, Z:-24.71 [[ 7.36964349e-01 6.74088710e-01 4.98794592e-02 3.48300513e+02] [-6.72543065e-01 7.38650395e-01 -4.56225836e-02 -2.73074821e+02] [-6.75971507e-02 7.61332669e-05 9.97712694e-01 -2.47115969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91864 meters 0.026758761313816645 Centerline is valid? [True, True] Translation: X:348.32, Y:-273.10, Z:-24.71 [[ 7.36715992e-01 6.74423312e-01 4.90177916e-02 3.48323655e+02] [-6.72928580e-01 7.38344900e-01 -4.48768904e-02 -2.73097821e+02] [-6.64580575e-02 7.60499594e-05 9.97789217e-01 -2.47130729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94864 meters 0.026634245307386572 Centerline is valid? [True, True] Translation: X:348.35, Y:-273.12, Z:-24.72 [[ 7.35518736e-01 6.75774654e-01 4.83818830e-02 3.48346062e+02] [-6.74318550e-01 7.37108280e-01 -4.43382078e-02 -2.73121697e+02] [-6.56253236e-02 -1.32186336e-05 9.97844335e-01 -2.47150186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97864 meters 0.026575049951114676 Centerline is valid? [True, True] Translation: X:348.37, Y:-273.14, Z:-24.72 [[ 7.33313233e-01 6.78065259e-01 4.97916390e-02 3.48368663e+02] [-6.76524870e-01 7.35001680e-01 -4.56796580e-02 -2.73144311e+02] [-6.75707274e-02 -1.87784417e-04 9.97714469e-01 -2.47167439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00864 meters 0.02670487304668981 Centerline is valid? [True, True] Translation: X:348.39, Y:-273.17, Z:-24.72 [[ 7.28207169e-01 6.83565187e-01 4.95273056e-02 3.48389410e+02] [-6.82050826e-01 7.29889169e-01 -4.54804530e-02 -2.73169709e+02] [-6.72382983e-02 -6.60947755e-04 9.97736726e-01 -2.47163507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03864 meters 0.026682241490741544 Centerline is valid? [True, True] Translation: X:348.41, Y:-273.19, Z:-24.72 [[ 7.25678258e-01 6.86191020e-01 5.03284124e-02 3.48411502e+02] [-6.84630435e-01 7.27420854e-01 -4.62608716e-02 -2.73193054e+02] [-6.83537314e-02 -8.85854111e-04 9.97660755e-01 -2.47179661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06864 meters 0.026882306740384856 Centerline is valid? [True, True] Translation: X:348.43, Y:-273.22, Z:-24.72 [[ 7.23219772e-01 6.88719203e-01 5.11763740e-02 3.48434087e+02] [-6.87108691e-01 7.25027327e-01 -4.70852550e-02 -2.73215576e+02] [-6.95327889e-02 -1.11074401e-03 9.97579048e-01 -2.47200739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09864 meters 0.027181520785964117 Centerline is valid? [True, True] Translation: X:348.46, Y:-273.24, Z:-24.72 [[ 7.19937784e-01 6.92007028e-01 5.30646720e-02 3.48456882e+02] [-6.90280894e-01 7.21889311e-01 -4.88682851e-02 -2.73237333e+02] [-7.21240163e-02 -1.44740431e-03 9.97394622e-01 -2.47219922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12864 meters 0.02715254930753985 Centerline is valid? [True, True] Translation: X:348.48, Y:-273.26, Z:-24.72 [[ 7.18678858e-01 6.93263174e-01 5.37296077e-02 3.48480808e+02] [-6.91493745e-01 7.20682825e-01 -4.95244015e-02 -2.73258604e+02] [-7.30554492e-02 -1.56154738e-03 9.97326658e-01 -2.47236610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15864 meters 0.02736890714871825 Centerline is valid? [True, True] Translation: X:348.51, Y:-273.28, Z:-24.73 [[ 7.17565259e-01 6.94445895e-01 5.33385281e-02 3.48505661e+02] [-6.92702013e-01 7.19543065e-01 -4.92107468e-02 -2.73280598e+02] [-7.25535691e-02 -1.63578360e-03 9.97363176e-01 -2.47269915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18864 meters 0.027213324797477522 Centerline is valid? [True, True] Translation: X:348.53, Y:-273.30, Z:-24.73 [[ 7.18438031e-01 6.93609357e-01 5.24676642e-02 3.48530033e+02] [-6.91916977e-01 7.20349789e-01 -4.84466628e-02 -2.73302459e+02] [-7.13981294e-02 -1.49734258e-03 9.97446773e-01 -2.47272335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21864 meters 0.027213324797477522 Centerline is valid? [True, True] Translation: X:348.55, Y:-273.32, Z:-24.73 [[ 7.18075388e-01 6.93985788e-01 5.24544010e-02 3.48554087e+02] [-6.92293362e-01 7.19987104e-01 -4.84610192e-02 -2.73324266e+02] [-7.13977509e-02 -1.51516846e-03 9.97446773e-01 -2.47288432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24864 meters 0.02718482545125227 Centerline is valid? [True, True] Translation: X:348.58, Y:-273.35, Z:-24.73 [[ 7.17793553e-01 6.94281421e-01 5.23996531e-02 3.48579237e+02] [-6.92589678e-01 7.19702049e-01 -4.84613064e-02 -2.73345818e+02] [-7.13579224e-02 -1.50624557e-03 9.97449637e-01 -2.47306141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27864 meters 0.027479889918283176 Centerline is valid? [True, True] Translation: X:348.60, Y:-273.37, Z:-24.73 [[ 7.17083385e-01 6.94921654e-01 5.36219610e-02 3.48604805e+02] [-6.93148031e-01 7.19083743e-01 -4.96424973e-02 -2.73366125e+02] [-7.30563267e-02 -1.57014670e-03 9.97326580e-01 -2.47312372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30864 meters 0.02732952587080246 Centerline is valid? [True, True] Translation: X:348.63, Y:-273.39, Z:-24.73 [[ 7.16260096e-01 6.95722689e-01 5.42348118e-02 3.48629454e+02] [-6.93907115e-01 7.18308609e-01 -5.02559285e-02 -2.73386743e+02] [-7.39215220e-02 -1.63760560e-03 9.97262717e-01 -2.47331213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33864 meters 0.027390339110671107 Centerline is valid? [True, True] Translation: X:348.66, Y:-273.41, Z:-24.73 [[ 7.14563183e-01 6.97480577e-01 5.40398221e-02 3.48655443e+02] [-6.95679709e-01 7.16601476e-01 -5.01205252e-02 -2.73405394e+02] [-7.36831091e-02 -1.78012570e-03 9.97280116e-01 -2.47348539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters 0.02748681500618551 Centerline is valid? [True, True] Translation: X:348.68, Y:-273.43, Z:-24.74 [[ 7.13106054e-01 6.98933073e-01 5.45189452e-02 3.48680572e+02] [-6.97100867e-01 7.15184519e-01 -5.06111161e-02 -2.73425860e+02] [-7.43648885e-02 -1.91411065e-03 9.97229261e-01 -2.47381159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39864 meters 0.02739412405904701 Centerline is valid? [True, True] Translation: X:348.71, Y:-273.45, Z:-24.74 [[ 7.12803553e-01 6.99311975e-01 5.36083511e-02 3.48706010e+02] [-6.97538319e-01 7.14814097e-01 -4.98106346e-02 -2.73446136e+02] [-7.31531784e-02 -1.88868175e-03 9.97318929e-01 -2.47393163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters 0.027436491773139237 Centerline is valid? [True, True] Translation: X:348.73, Y:-273.47, Z:-24.74 [[ 7.12108021e-01 6.99840701e-01 5.59031302e-02 3.48731359e+02] [-6.97909652e-01 7.14296175e-01 -5.19912676e-02 -2.73465542e+02] [-7.63169972e-02 -1.99193553e-03 9.97081616e-01 -2.47419379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45864 meters 0.02740532603890698 Centerline is valid? [True, True] Translation: X:348.76, Y:-273.49, Z:-24.74 [[ 7.12577278e-01 6.99328565e-01 5.63309998e-02 3.48757098e+02] [-6.97362330e-01 7.14797795e-01 -5.24394198e-02 -2.73486286e+02] [-7.69376586e-02 -1.91597821e-03 9.97034065e-01 -2.47434136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters 0.026914551431052983 Centerline is valid? [True, True] Translation: X:348.78, Y:-273.51, Z:-24.75 [[ 7.15451286e-01 6.96315384e-01 5.72218861e-02 3.48781914e+02] [-6.94273450e-01 7.17734191e-01 -5.33104871e-02 -2.73506591e+02] [-7.81910164e-02 -1.58657976e-03 9.96937133e-01 -2.47452922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51864 meters 0.026998043739359347 Centerline is valid? [True, True] Translation: X:348.81, Y:-273.53, Z:-24.75 [[ 7.16640783e-01 6.95061259e-01 5.75832861e-02 3.48805885e+02] [-6.92987026e-01 7.18949080e-01 -5.36768231e-02 -2.73527965e+02] [-7.87081308e-02 -1.43746963e-03 9.96896667e-01 -2.47472083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters 0.026799327899465285 Centerline is valid? [True, True] Translation: X:348.83, Y:-273.55, Z:-24.75 [[ 7.17939357e-01 6.93658550e-01 5.83172039e-02 3.48831159e+02] [-6.91522101e-01 7.20302871e-01 -5.44146879e-02 -2.73549516e+02] [-7.97512629e-02 -1.26118930e-03 9.96813997e-01 -2.47500532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57864 meters 0.026684096339108683 Centerline is valid? [True, True] Translation: X:348.86, Y:-273.57, Z:-24.75 [[ 7.19758494e-01 6.91934971e-01 5.63356557e-02 3.48855331e+02] [-6.89932141e-01 7.21959143e-01 -5.26178355e-02 -2.73570556e+02] [-7.70801622e-02 -9.95645538e-04 9.97024402e-01 -2.47514265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60864 meters 0.026491039951033617 Centerline is valid? [True, True] Translation: X:348.88, Y:-273.59, Z:-24.75 [[ 7.19478880e-01 6.92240612e-01 5.61522691e-02 3.48878304e+02] [-6.90247799e-01 7.21666100e-01 -5.24977771e-02 -2.73593837e+02] [-7.68642824e-02 -9.87938250e-04 9.97041075e-01 -2.47537031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63864 meters 0.026380925686463316 Centerline is valid? [True, True] Translation: X:348.90, Y:-273.62, Z:-24.75 [[ 7.17271002e-01 6.94662063e-01 5.44695124e-02 3.48901184e+02] [-6.92790184e-01 7.19335279e-01 -5.09756537e-02 -2.73616577e+02] [-7.45926946e-02 -1.17258526e-03 9.97213395e-01 -2.47541956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66864 meters 0.026440876137210665 Centerline is valid? [True, True] Translation: X:348.93, Y:-273.64, Z:-24.76 [[ 7.15501988e-01 6.96488919e-01 5.44067207e-02 3.48925223e+02] [-6.94623078e-01 7.17566321e-01 -5.09642496e-02 -2.73637816e+02] [-7.45364655e-02 -1.32714191e-03 9.97217406e-01 -2.47560065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.69864 meters 0.026853836813538885 Centerline is valid? [True, True] Translation: X:348.95, Y:-273.66, Z:-24.76 [[ 7.12056168e-01 6.99922664e-01 5.55362763e-02 3.48950096e+02] [-6.97985053e-01 7.14216650e-01 -5.20715118e-02 -2.73658475e+02] [-7.61109645e-02 -1.68564960e-03 9.97097929e-01 -2.47595204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72864 meters 0.026988489319318326 Centerline is valid? [True, True] Translation: X:348.97, Y:-273.68, Z:-24.76 [[ 7.10618540e-01 7.01367484e-01 5.57220215e-02 3.48973815e+02] [-6.99417615e-01 7.12797565e-01 -5.22937001e-02 -2.73679994e+02] [-7.63956221e-02 -1.81209055e-03 9.97075938e-01 -2.47609194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.75864 meters 0.026971736557664754 Centerline is valid? [True, True] Translation: X:349.00, Y:-273.70, Z:-24.76 [[ 7.09665260e-01 7.02335494e-01 5.56782880e-02 3.48999141e+02] [-7.00387833e-01 7.11843608e-01 -5.23025832e-02 -2.73701125e+02] [-7.63681940e-02 -1.87906917e-03 9.97077915e-01 -2.47622305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78864 meters 0.027085482120468244 Centerline is valid? [True, True] Translation: X:349.03, Y:-273.72, Z:-24.76 [[ 7.08553736e-01 7.03500631e-01 5.51222895e-02 3.49025812e+02] [-7.01591171e-01 7.10691969e-01 -5.18339077e-02 -2.73721061e+02] [-7.56401552e-02 -1.94620266e-03 9.97133281e-01 -2.47631881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.81864 meters 0.027077908989760428 Centerline is valid? [True, True] Translation: X:349.05, Y:-273.74, Z:-24.76 [[ 7.08301172e-01 7.03760231e-01 5.50544112e-02 3.49051890e+02] [-7.01852164e-01 7.10434938e-01 -5.18241075e-02 -2.73741119e+02] [-7.55843231e-02 -1.93298158e-03 9.97137540e-01 -2.47645532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84864 meters 0.026777786181811234 Centerline is valid? [True, True] Translation: X:349.08, Y:-273.76, Z:-24.77 [[ 7.08997693e-01 7.03096045e-01 5.45730913e-02 3.49078681e+02] [-7.01215468e-01 7.11092593e-01 -5.14216943e-02 -2.73759647e+02] [-7.49609109e-02 -1.80963313e-03 9.97184831e-01 -2.47662059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.87864 meters 0.026765011535455376 Centerline is valid? [True, True] Translation: X:349.10, Y:-273.78, Z:-24.77 [[ 7.08662388e-01 7.03436278e-01 5.45437790e-02 3.49104709e+02] [-7.01555049e-01 7.10756026e-01 -5.14430247e-02 -2.73780124e+02] [-7.49542094e-02 -1.80972680e-03 9.97185335e-01 -2.47683128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90864 meters 0.026656534508907426 Centerline is valid? [True, True] Translation: X:349.13, Y:-273.80, Z:-24.77 [[ 7.08641370e-01 7.03524478e-01 5.36723218e-02 3.49130107e+02] [-7.01699501e-01 7.10668863e-01 -5.06712662e-02 -2.73799528e+02] [-7.37917240e-02 -1.75408598e-03 9.97272132e-01 -2.47691434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93864 meters 0.026702442498492355 Centerline is valid? [True, True] Translation: X:349.16, Y:-273.82, Z:-24.77 [[ 7.07702907e-01 7.04497534e-01 5.32899598e-02 3.49159487e+02] [-7.02697713e-01 7.09704132e-01 -5.03583975e-02 -2.73816482e+02] [-7.32974716e-02 -1.80794860e-03 9.97308484e-01 -2.47706244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96864 meters 0.026775258951842396 Centerline is valid? [True, True] Translation: X:349.19, Y:-273.83, Z:-24.77 [[ 7.07147955e-01 7.04919952e-01 5.50420818e-02 3.49187885e+02] [-7.02996896e-01 7.09284390e-01 -5.20674434e-02 -2.73832896e+02] [-7.57438691e-02 -1.87502652e-03 9.97125544e-01 -2.47714988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99864 meters 0.02683882593160316 Centerline is valid? [True, True] Translation: X:349.21, Y:-273.85, Z:-24.77 [[ 7.07239011e-01 7.04826829e-01 5.50647138e-02 3.49214067e+02] [-7.02898098e-01 7.09377045e-01 -5.21389713e-02 -2.73852729e+02] [-7.58105898e-02 -1.83016808e-03 9.97120557e-01 -2.47734204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02864 meters 0.02682921070553837 Centerline is valid? [True, True] Translation: X:349.24, Y:-273.87, Z:-24.78 [[ 7.06661426e-01 7.05387390e-01 5.53015269e-02 3.49240113e+02] [-7.03439509e-01 7.08819563e-01 -5.24183600e-02 -2.73872651e+02] [-7.61740543e-02 -1.85924591e-03 9.97092802e-01 -2.47751209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05864 meters 0.026861529650749057 Centerline is valid? [True, True] Translation: X:349.27, Y:-273.89, Z:-24.78 [[ 7.07553080e-01 7.04397442e-01 5.65056049e-02 3.49268946e+02] [-7.02356099e-01 7.09803621e-01 -5.36165154e-02 -2.73889495e+02] [-7.78752192e-02 -1.75052562e-03 9.96961577e-01 -2.47771362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08864 meters 0.02668593542171784 Centerline is valid? [True, True] Translation: X:349.30, Y:-273.91, Z:-24.78 [[ 7.08004116e-01 7.03891444e-01 5.71577406e-02 3.49297460e+02] [-7.01796458e-01 7.10305592e-01 -5.42926922e-02 -2.73906939e+02] [-7.88156243e-02 -1.67365036e-03 9.96887805e-01 -2.47785166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11863999999997 meters 0.026639217819517967 Centerline is valid? [True, True] Translation: X:349.32, Y:-273.93, Z:-24.78 [[ 7.07896630e-01 7.03995197e-01 5.72112156e-02 3.49324367e+02] [-7.01892074e-01 7.10202825e-01 -5.44009490e-02 -2.73927038e+02] [-7.89295738e-02 -1.64585028e-03 9.96878836e-01 -2.47807713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14864 meters 0.02668518758009733 Centerline is valid? [True, True] Translation: X:349.35, Y:-273.95, Z:-24.78 [[ 7.07841204e-01 7.04113293e-01 5.64384652e-02 3.49350617e+02] [-7.02062864e-01 7.10085851e-01 -5.37198223e-02 -2.73946065e+02] [-7.79009966e-02 -1.59824681e-03 9.96959819e-01 -2.47830022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17864 meters 0.02658041804640504 Centerline is valid? [True, True] Translation: X:349.38, Y:-273.96, Z:-24.79 [[ 7.08141088e-01 7.03928917e-01 5.49570662e-02 3.49379455e+02] [-7.01980680e-01 7.10268838e-01 -5.23574481e-02 -2.73962598e+02] [-7.58902133e-02 -1.50233842e-03 9.97115048e-01 -2.47852223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20864 meters 0.026647111609090685 Centerline is valid? [True, True] Translation: X:349.41, Y:-273.98, Z:-24.79 [[ 7.09057628e-01 7.03038493e-01 5.45358398e-02 3.49405189e+02] [-7.01113770e-01 7.11150493e-01 -5.20044022e-02 -2.73982331e+02] [-7.53442859e-02 -1.36171018e-03 9.97156650e-01 -2.47865008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23864 meters 0.026235570504581012 Centerline is valid? [True, True] Translation: X:349.43, Y:-274.00, Z:-24.79 [[ 7.13067026e-01 6.99046227e-01 5.35704054e-02 3.49432239e+02] [-6.97174303e-01 7.15075929e-01 -5.11312712e-02 -2.74000207e+02] [-7.40500296e-02 -8.87886602e-04 9.97254133e-01 -2.47879869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26864 meters 0.026166071486028484 Centerline is valid? [True, True] Translation: X:349.46, Y:-274.02, Z:-24.79 [[ 7.16514127e-01 6.95586776e-01 5.25979413e-02 3.49457907e+02] [-6.93770225e-01 7.18441921e-01 -5.02402327e-02 -2.74020629e+02] [-7.27350075e-02 -4.93049078e-04 9.97351180e-01 -2.47887006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29864 meters 0.02612657257026662 Centerline is valid? [True, True] Translation: X:349.48, Y:-274.04, Z:-24.79 [[ 7.19700424e-01 6.92306838e-01 5.23692884e-02 3.49483249e+02] [-6.90495445e-01 7.21603231e-01 -5.00481526e-02 -2.74040027e+02] [-7.24385259e-02 -1.41078482e-04 9.97372869e-01 -2.47905336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32864 meters 0.026359473986054958 Centerline is valid? [True, True] Translation: X:349.51, Y:-274.06, Z:-24.79 [[ 7.24749537e-01 6.87053374e-01 5.19207995e-02 3.49510744e+02] [-6.85255898e-01 7.26606831e-01 -4.96675694e-02 -2.74058577e+02] [-7.18502787e-02 4.17513895e-04 9.97415341e-01 -2.47924598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35864 meters 0.02660116792226435 Centerline is valid? [True, True] Translation: X:349.54, Y:-274.08, Z:-24.79 [[ 7.26567210e-01 6.85117736e-01 5.20939333e-02 3.49535002e+02] [-6.83299592e-01 7.28432062e-01 -4.98838618e-02 -2.74079106e+02] [-7.21232097e-02 6.48214973e-04 9.97395520e-01 -2.47948737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38864 meters 0.026459240194481592 Centerline is valid? [True, True] Translation: X:349.56, Y:-274.10, Z:-24.79 [[ 7.29310866e-01 6.82359146e-01 4.99164881e-02 3.49560347e+02] [-6.80680479e-01 7.31016524e-01 -4.78427429e-02 -2.74100684e+02] [-6.91357108e-02 9.15053261e-04 9.97606845e-01 -2.47949998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41864 meters 0.026644006299223356 Centerline is valid? [True, True] Translation: X:349.58, Y:-274.12, Z:-24.80 [[ 7.29729574e-01 6.81917398e-01 4.98338379e-02 3.49584385e+02] [-6.80239853e-01 7.31428519e-01 -4.78127903e-02 -2.74122927e+02] [-6.90542638e-02 9.91444509e-04 9.97612413e-01 -2.47962954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44864 meters 0.0266847718724814 Centerline is valid? [True, True] Translation: X:349.61, Y:-274.15, Z:-24.80 [[ 7.30263640e-01 6.81392406e-01 4.91874404e-02 3.49608060e+02] [-6.79753662e-01 7.31917522e-01 -4.72408732e-02 -2.74145824e+02] [-6.81907217e-02 1.06294930e-03 9.97671737e-01 -2.47978997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47864 meters 0.02688321281443681 Centerline is valid? [True, True] Translation: X:349.63, Y:-274.17, Z:-24.80 [[ 7.31245303e-01 6.80377050e-01 4.86556981e-02 3.49631053e+02] [-6.78768096e-01 7.32861294e-01 -4.67781463e-02 -2.74169440e+02] [-6.74846551e-02 1.18036412e-03 9.97719614e-01 -2.48004882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50864 meters 0.02697378970512836 Centerline is valid? [True, True] Translation: X:349.65, Y:-274.19, Z:-24.80 [[ 7.31463475e-01 6.80138544e-01 4.87108362e-02 3.49654428e+02] [-6.78522131e-01 7.33082550e-01 -4.68795611e-02 -2.74192362e+02] [-6.75936604e-02 1.23930625e-03 9.97712164e-01 -2.48032176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53864 meters 0.026952079517323094 Centerline is valid? [True, True] Translation: X:349.68, Y:-274.22, Z:-24.80 [[ 7.32511091e-01 6.79014289e-01 4.86528259e-02 3.49676085e+02] [-6.77396105e-01 7.34123766e-01 -4.68701832e-02 -2.74216480e+02] [-6.75427198e-02 1.37569429e-03 9.97715435e-01 -2.48031750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56864 meters 0.02727678483506361 Centerline is valid? [True, True] Translation: X:349.70, Y:-274.24, Z:-24.81 [[ 7.33055379e-01 6.78398559e-01 4.90429052e-02 3.49698024e+02] [-6.76750017e-01 7.34692602e-01 -4.72884287e-02 -2.74240276e+02] [-6.81118615e-02 1.47525010e-03 9.97676600e-01 -2.48055120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59864 meters 0.027479846134738466 Centerline is valid? [True, True] Translation: X:349.72, Y:-274.26, Z:-24.81 [[ 7.34136407e-01 6.77253366e-01 4.86992286e-02 3.49720140e+02] [-6.75622524e-01 7.35748133e-01 -4.69988342e-02 -2.74264078e+02] [-6.76604851e-02 1.60125950e-03 9.97707119e-01 -2.48064324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62864 meters 0.028102915379984186 Centerline is valid? [True, True] Translation: X:349.74, Y:-274.29, Z:-24.81 [[ 7.36598223e-01 6.74519379e-01 4.94637845e-02 3.49739118e+02] [-6.72827748e-01 7.38254662e-01 -4.77794478e-02 -2.74290817e+02] [-6.87450330e-02 1.91364959e-03 9.97632427e-01 -2.48080248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65864 meters 0.0281398430087242 Centerline is valid? [True, True] Translation: X:349.76, Y:-274.32, Z:-24.81 [[ 7.37373579e-01 6.73695967e-01 4.91319639e-02 3.49760054e+02] [-6.72022349e-01 7.39005896e-01 -4.74999796e-02 -2.74315151e+02] [-6.83093557e-02 2.00745218e-03 9.97662168e-01 -2.48105172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68864 meters 0.02841669722673596 Centerline is valid? [True, True] Translation: X:349.78, Y:-274.34, Z:-24.81 [[ 7.37885499e-01 6.73228868e-01 4.78318021e-02 3.49779932e+02] [-6.71639036e-01 7.39431392e-01 -4.62841446e-02 -2.74342379e+02] [-6.65281583e-02 2.02669369e-03 9.97782490e-01 -2.48122882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71864 meters 0.02821907958228116 Centerline is valid? [True, True] Translation: X:349.80, Y:-274.37, Z:-24.81 [[ 7.36797793e-01 6.74435288e-01 4.76030949e-02 3.49800529e+02] [-6.72860184e-01 7.38331411e-01 -4.61074789e-02 -2.74367558e+02] [-6.62433711e-02 1.94166153e-03 9.97801606e-01 -2.48140314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74864 meters 0.0277123599895169 Centerline is valid? [True, True] Translation: X:349.82, Y:-274.39, Z:-24.82 [[ 7.34963421e-01 6.76361013e-01 4.86266353e-02 3.49820213e+02] [-6.74718711e-01 7.36567990e-01 -4.71408192e-02 -2.74393677e+02] [-6.77010352e-02 1.83747700e-03 9.97703961e-01 -2.48163110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77864 meters 0.02718067362757359 Centerline is valid? [True, True] Translation: X:349.84, Y:-274.42, Z:-24.82 [[ 7.31303081e-01 6.80279210e-01 4.91528278e-02 3.49837412e+02] [-6.78607524e-01 7.32951495e-01 -4.76857882e-02 -2.74422875e+02] [-6.84662890e-02 1.51728503e-03 9.97652277e-01 -2.48156129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80864 meters 0.02654348701702699 Centerline is valid? [True, True] Translation: X:349.86, Y:-274.45, Z:-24.82 [[ 7.27222943e-01 6.84533388e-01 5.06046701e-02 3.49855006e+02] [-6.82770270e-01 7.28980579e-01 -4.91128605e-02 -2.74450788e+02] [-7.05092145e-02 1.16463466e-03 9.97510448e-01 -2.48179288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83864 meters 0.026354164652961354 Centerline is valid? [True, True] Translation: X:349.88, Y:-274.48, Z:-24.82 [[ 7.24523518e-01 6.87309104e-01 5.16901125e-02 3.49876469e+02] [-6.85474006e-01 7.26364450e-01 -5.02003255e-02 -2.74476358e+02] [-7.20490009e-02 9.39087996e-04 9.97400652e-01 -2.48212783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters 0.026116459893484035 Centerline is valid? [True, True] Translation: X:349.90, Y:-274.50, Z:-24.82 [[ 7.22660863e-01 6.89288791e-01 5.14027129e-02 3.49897418e+02] [-6.87475432e-01 7.24486275e-01 -4.99716752e-02 -2.74501376e+02] [-7.16854756e-02 7.74471736e-04 9.97426986e-01 -2.48228527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89864 meters 0.025902289224429477 Centerline is valid? [True, True] Translation: X:349.92, Y:-274.53, Z:-24.82 [[ 7.20865005e-01 6.91250603e-01 5.02618012e-02 3.49917469e+02] [-6.89518593e-01 7.22614866e-01 -4.89066938e-02 -2.74526641e+02] [-7.01267063e-02 5.98677569e-04 9.97537912e-01 -2.48238943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters 0.0259731142200207 Centerline is valid? [True, True] Translation: X:349.94, Y:-274.55, Z:-24.83 [[ 7.19923995e-01 6.92270853e-01 4.97042007e-02 3.49940086e+02] [-6.90576467e-01 7.21637575e-01 -4.84081884e-02 -2.74549624e+02] [-6.93799968e-02 5.25665020e-04 9.97590166e-01 -2.48257277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95864 meters 0.025863516936410688 Centerline is valid? [True, True] Translation: X:349.96, Y:-274.57, Z:-24.83 [[ 7.17798492e-01 6.94471440e-01 4.97468061e-02 3.49961554e+02] [-6.92776141e-01 7.19520187e-01 -4.84965939e-02 -2.74574337e+02] [-6.94733306e-02 3.47381624e-04 9.97583749e-01 -2.48269754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters 0.025929132602948275 Centerline is valid? [True, True] Translation: X:349.98, Y:-274.60, Z:-24.83 [[ 7.16620672e-01 6.95706071e-01 4.94759993e-02 3.49984565e+02] [-6.94028567e-01 7.18326523e-01 -4.82841099e-02 -2.74597860e+02] [-6.91314709e-02 2.63634380e-04 9.97607523e-01 -2.48295344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01864 meters 0.0259015576759282 Centerline is valid? [True, True] Translation: X:350.01, Y:-274.62, Z:-24.83 [[ 7.13420818e-01 6.98890759e-01 5.08177388e-02 3.50006487e+02] [-6.97125220e-01 7.15228429e-01 -4.96459593e-02 -2.74620914e+02] [-7.10433937e-02 -7.86641705e-06 9.97473226e-01 -2.48307727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters 0.025852223764800286 Centerline is valid? [True, True] Translation: X:350.03, Y:-274.64, Z:-24.83 [[ 7.11502081e-01 7.00790611e-01 5.15490836e-02 3.50029510e+02] [-6.98975306e-01 7.13367011e-01 -5.04086353e-02 -2.74643700e+02] [-7.20993140e-02 -1.65687586e-04 9.97397444e-01 -2.48331018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07864 meters 0.026144214897878583 Centerline is valid? [True, True] Translation: X:350.05, Y:-274.67, Z:-24.83 [[ 7.09737671e-01 7.02489044e-01 5.27407074e-02 3.50052357e+02] [-7.00589705e-01 7.11694490e-01 -5.16238190e-02 -2.74665782e+02] [-7.38004381e-02 -3.10227606e-04 9.97272981e-01 -2.48349393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10864 meters 0.026144214897878583 Centerline is valid? [True, True] Translation: X:350.08, Y:-274.69, Z:-24.84 [[ 7.09355951e-01 7.02876421e-01 5.27150062e-02 3.50075789e+02] [-7.00976200e-01 7.11311914e-01 -5.16500544e-02 -2.74688283e+02] [-7.38004173e-02 -3.13691356e-04 9.97272982e-01 -2.48365496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13864 meters 0.025922059906157476 Centerline is valid? [True, True] Translation: X:350.10, Y:-274.71, Z:-24.84 [[ 7.08454904e-01 7.03786441e-01 5.26905474e-02 3.50100195e+02] [-7.01886335e-01 7.10411507e-01 -5.16823369e-02 -2.74710471e+02] [-7.38052992e-02 -3.68170154e-04 9.97272602e-01 -2.48388343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16864 meters 0.026084927978686695 Centerline is valid? [True, True] Translation: X:350.12, Y:-274.73, Z:-24.84 [[ 7.07591539e-01 7.04779476e-01 5.09912122e-02 3.50124056e+02] [-7.02999025e-01 7.09426327e-01 -5.00665355e-02 -2.74731733e+02] [-7.14603751e-02 -4.20115539e-04 9.97443351e-01 -2.48403727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.19864 meters 0.025989185610201977 Centerline is valid? [True, True] Translation: X:350.15, Y:-274.75, Z:-24.84 [[ 7.07253894e-01 7.05101203e-01 5.12271712e-02 3.50148329e+02] [-7.03301460e-01 7.09106563e-01 -5.03481800e-02 -2.74753383e+02] [-7.18260856e-02 -4.19197956e-04 9.97417083e-01 -2.48421837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22864 meters 0.0259816882970572 Centerline is valid? [True, True] Translation: X:350.17, Y:-274.78, Z:-24.84 [[ 7.06369989e-01 7.05970921e-01 5.14441143e-02 3.50172996e+02] [-7.04154173e-01 7.08240663e-01 -5.06168361e-02 -2.74775671e+02] [-7.21688281e-02 -4.70373763e-04 9.97392320e-01 -2.48431291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.25864 meters 0.02607471426627108 Centerline is valid? [True, True] Translation: X:350.20, Y:-274.80, Z:-24.84 [[ 7.04988410e-01 7.07307450e-01 5.20337661e-02 3.50199145e+02] [-7.05448429e-01 7.06905821e-01 -5.12510907e-02 -2.74795271e+02] [-7.30332505e-02 -5.75713621e-04 9.97329340e-01 -2.48441505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28864 meters 0.026080149011310148 Centerline is valid? [True, True] Translation: X:350.22, Y:-274.82, Z:-24.85 [[ 7.03522144e-01 7.08672740e-01 5.32873416e-02 3.50223280e+02] [-7.06723065e-01 7.05537001e-01 -5.25361779e-02 -2.74816226e+02] [-7.48271483e-02 -6.99028852e-04 9.97196274e-01 -2.48460969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.31864 meters 0.026328185785921995 Centerline is valid? [True, True] Translation: X:350.25, Y:-274.84, Z:-24.85 [[ 7.01771641e-01 7.10384504e-01 5.35763082e-02 3.50249028e+02] [-7.08414783e-01 7.03813280e-01 -5.28711767e-02 -2.74836215e+02] [-7.52665819e-02 -8.50756326e-04 9.97163085e-01 -2.48466720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34864 meters 0.02621886765672656 Centerline is valid? [True, True] Translation: X:350.27, Y:-274.86, Z:-24.85 [[ 7.00714538e-01 7.11463217e-01 5.30964003e-02 3.50274130e+02] [-7.09527896e-01 7.02722735e-01 -5.24492372e-02 -2.74857957e+02] [-7.46277507e-02 -9.21434190e-04 9.97211036e-01 -2.48479197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.37864 meters 0.026232186256247556 Centerline is valid? [True, True] Translation: X:350.30, Y:-274.88, Z:-24.85 [[ 7.00406652e-01 7.11779102e-01 5.29247779e-02 3.50299569e+02] [-7.09852988e-01 7.02402789e-01 -5.23360076e-02 -2.74878843e+02] [-7.44261881e-02 -9.12323853e-04 9.97226108e-01 -2.48501270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40864 meters 0.025977855523019816 Centerline is valid? [True, True] Translation: X:350.33, Y:-274.90, Z:-24.85 [[ 7.02180725e-01 7.10155201e-01 5.12037195e-02 3.50326878e+02] [-7.08345160e-01 7.04044828e-01 -5.06755844e-02 -2.74897705e+02] [-7.20372437e-02 -6.86488323e-04 9.97401707e-01 -2.48520658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43864 meters 0.026072154934891373 Centerline is valid? [True, True] Translation: X:350.35, Y:-274.92, Z:-24.85 [[ 7.03133616e-01 7.09236118e-01 5.08649883e-02 3.50352035e+02] [-7.07445675e-01 7.04970783e-01 -5.03667691e-02 -2.74918277e+02] [-7.15802624e-02 -5.69647518e-04 9.97434680e-01 -2.48538709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46864 meters 0.02589595904470713 Centerline is valid? [True, True] Translation: X:350.38, Y:-274.94, Z:-24.85 [[ 7.04929616e-01 7.07615513e-01 4.85234192e-02 3.50379392e+02] [-7.05979450e-01 7.06597594e-01 -4.80921644e-02 -2.74936247e+02] [-6.83172928e-02 -3.54945893e-04 9.97663581e-01 -2.48540189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49864 meters 0.0261025594874739 Centerline is valid? [True, True] Translation: X:350.41, Y:-274.96, Z:-24.86 [[ 7.05470213e-01 7.07041470e-01 4.90320181e-02 3.50405445e+02] [-7.05366178e-01 7.07172036e-01 -4.86442809e-02 -2.74956884e+02] [-6.90675959e-02 -2.68436002e-04 9.97611946e-01 -2.48557096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52864 meters 0.026123923471782894 Centerline is valid? [True, True] Translation: X:350.43, Y:-274.98, Z:-24.86 [[ 7.06634841e-01 7.05895435e-01 4.87733174e-02 3.50433412e+02] [-7.04231473e-01 7.08316046e-01 -4.84397692e-02 -2.74975842e+02] [-6.87403352e-02 -1.18476557e-04 9.97634579e-01 -2.48573147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55864 meters 0.026090374498156023 Centerline is valid? [True, True] Translation: X:350.46, Y:-275.00, Z:-24.86 [[ 7.06305567e-01 7.06222110e-01 4.88136954e-02 3.50459442e+02] [-7.04552541e-01 7.07990338e-01 -4.85324478e-02 -2.74996983e+02] [-6.88343124e-02 -1.13075106e-04 9.97628099e-01 -2.48585695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58864 meters 0.026160645661778385 Centerline is valid? [True, True] Translation: X:350.49, Y:-275.02, Z:-24.86 [[ 7.06354691e-01 7.06155564e-01 4.90649537e-02 3.50485442e+02] [-7.04464905e-01 7.08056717e-01 -4.88352665e-02 -2.75017299e+02] [-6.92260652e-02 -6.95183751e-05 9.97600996e-01 -2.48607973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61863999999997 meters 0.026148269557696682 Centerline is valid? [True, True] Translation: X:350.51, Y:-275.03, Z:-24.86 [[ 7.05588693e-01 7.06936522e-01 4.88400431e-02 3.50514573e+02] [-7.05259591e-01 7.07276991e-01 -4.86638219e-02 -2.75034795e+02] [-6.89456717e-02 -1.08266368e-04 9.97620410e-01 -2.48605123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64864 meters 0.026219380381223262 Centerline is valid? [True, True] Translation: X:350.54, Y:-275.06, Z:-24.86 [[ 7.04939302e-01 7.07545399e-01 4.93972557e-02 3.50540317e+02] [-7.05827707e-01 7.06667878e-01 -4.92722759e-02 -2.75055595e+02] [-6.97698260e-02 -1.31987960e-04 9.97563108e-01 -2.48623697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67864 meters 0.026222227347299412 Centerline is valid? [True, True] Translation: X:350.57, Y:-275.07, Z:-24.86 [[ 7.04717019e-01 7.07785379e-01 4.91302433e-02 3.50567537e+02] [-7.06083172e-01 7.06427521e-01 -4.90582378e-02 -2.75074958e+02] [-6.94296594e-02 -1.17862914e-04 9.97586843e-01 -2.48641575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70864 meters 0.02608946164733369 Centerline is valid? [True, True] Translation: X:350.59, Y:-275.10, Z:-24.87 [[ 7.05164820e-01 7.07383227e-01 4.84927454e-02 3.50594179e+02] [-7.05720474e-01 7.06830226e-01 -4.84731388e-02 -2.75095381e+02] [-6.85652235e-02 -4.07710813e-05 9.97646635e-01 -2.48652562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73864 meters 0.02637560801071723 Centerline is valid? [True, True] Translation: X:350.56, Y:-275.25, Z:-23.38 [[ 7.54247775e-01 -6.56257643e-01 -2.08854276e-02 3.50564904e+02] [-6.55871523e-01 -7.54528854e-01 2.27761791e-02 -2.75253281e+02] [-3.07056993e-02 -3.48072521e-03 -9.99522408e-01 -2.33781794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76864 meters 0.026457910151868255 Centerline is valid? [True, True] Translation: X:350.62, Y:-275.13, Z:-24.87 [[ 7.56945448e-01 6.51550859e-01 5.01504461e-02 3.50621010e+02] [-6.50098110e-01 7.58604890e-01 -4.34864132e-02 -2.75127290e+02] [-6.63779835e-02 3.14132337e-04 9.97794500e-01 -2.48677538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79864 meters 0.02655988953660876 Centerline is valid? [True, True] Translation: X:350.65, Y:-275.15, Z:-24.87 [[ 7.58018148e-01 6.50286589e-01 5.03571098e-02 3.50645909e+02] [-6.48815894e-01 7.59688843e-01 -4.37126753e-02 -2.75148912e+02] [-6.66815010e-02 4.62507983e-04 9.97774205e-01 -2.48683742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82864 meters 0.02669043903034563 Centerline is valid? [True, True] Translation: X:350.67, Y:-275.17, Z:-24.87 [[ 7.59768917e-01 6.48204760e-01 5.08112378e-02 3.50671053e+02] [-6.46699644e-01 7.61465769e-01 -4.41526060e-02 -2.75169168e+02] [-6.73109476e-02 6.86168207e-04 9.97731810e-01 -2.48697568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85864 meters 0.026790509072501353 Centerline is valid? [True, True] Translation: X:350.70, Y:-275.19, Z:-24.87 [[ 7.59598812e-01 6.48412009e-01 5.07100718e-02 3.50695993e+02] [-6.46910514e-01 7.61289287e-01 -4.41067824e-02 -2.75190096e+02] [-6.72044018e-02 6.98580829e-04 9.97738984e-01 -2.48710309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88864 meters 0.026724996265172614 Centerline is valid? [True, True] Translation: X:350.72, Y:-275.21, Z:-24.87 [[ 7.58814434e-01 6.49283267e-01 5.13019904e-02 3.50720703e+02] [-6.47745231e-01 7.60546381e-01 -4.46689787e-02 -2.75211777e+02] [-6.80203635e-02 6.64846122e-04 9.97683711e-01 -2.48734627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91864 meters 0.026580770822730988 Centerline is valid? [True, True] Translation: X:350.74, Y:-275.23, Z:-24.88 [[ 7.57252056e-01 6.51099492e-01 5.13690022e-02 3.50744190e+02] [-6.49558357e-01 7.58992201e-01 -4.47747603e-02 -2.75234960e+02] [-6.81414957e-02 5.38614576e-04 9.97675522e-01 -2.48754472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94864 meters 0.02647780038550008 Centerline is valid? [True, True] Translation: X:350.77, Y:-275.26, Z:-24.88 [[ 7.55691795e-01 6.52831545e-01 5.23534617e-02 3.50768668e+02] [-6.51231439e-01 7.57502998e-01 -4.56817343e-02 -2.75257474e+02] [-6.94803814e-02 4.27091607e-04 9.97583227e-01 -2.48773278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97864 meters 0.026453255352707056 Centerline is valid? [True, True] Translation: X:350.79, Y:-275.28, Z:-24.88 [[ 7.53212895e-01 6.55751053e-01 5.15838335e-02 3.50792000e+02] [-6.54201386e-01 7.54977166e-01 -4.50558060e-02 -2.75280154e+02] [-6.84900086e-02 1.90398700e-04 9.97651784e-01 -2.48793351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00864 meters 0.026407158348505322 Centerline is valid? [True, True] Translation: X:350.82, Y:-275.30, Z:-24.88 [[ 7.52634514e-01 6.56439704e-01 5.12660076e-02 3.50816360e+02] [-6.54907749e-01 7.54378479e-01 -4.48213186e-02 -2.75302075e+02] [-6.80964659e-02 1.59565747e-04 9.97678729e-01 -2.48806515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03864 meters 0.026317587656392402 Centerline is valid? [True, True] Translation: X:350.84, Y:-275.32, Z:-24.88 [[ 7.52164816e-01 6.57075069e-01 5.00044303e-02 3.50840044e+02] [-6.55616122e-01 7.53825136e-01 -4.37626024e-02 -2.75324088e+02] [-6.64499115e-02 1.32979099e-04 9.97789753e-01 -2.48822305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06864 meters 0.026226870848855107 Centerline is valid? [True, True] Translation: X:350.86, Y:-275.35, Z:-24.88 [[ 7.51134229e-01 6.58211737e-01 5.05438404e-02 3.50863459e+02] [-6.56720774e-01 7.52832853e-01 -4.42777649e-02 -2.75347289e+02] [-6.71952081e-02 6.53548515e-05 9.97739846e-01 -2.48836818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09864 meters 0.02624200921090936 Centerline is valid? [True, True] Translation: X:350.89, Y:-275.37, Z:-24.88 [[ 7.50606710e-01 6.58805357e-01 5.06465053e-02 3.50887895e+02] [-6.57306441e-01 7.52313432e-01 -4.44155769e-02 -2.75369053e+02] [-6.73632662e-02 4.83559272e-05 9.97728514e-01 -2.48846992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12864 meters 0.026414226940120047 Centerline is valid? [True, True] Translation: X:350.91, Y:-275.39, Z:-24.89 [[ 7.49736829e-01 6.59754043e-01 5.11790004e-02 3.50912411e+02] [-6.58222293e-01 7.51481605e-01 -4.49311672e-02 -2.75390814e+02] [-6.81035966e-02 -6.08168610e-07 9.97678255e-01 -2.48871306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15864 meters 0.026298919697341844 Centerline is valid? [True, True] Translation: X:350.94, Y:-275.41, Z:-24.89 [[ 7.48638455e-01 6.60990572e-01 5.13023202e-02 3.50936864e+02] [-6.59451004e-01 7.50394202e-01 -4.50878668e-02 -2.75412819e+02] [-6.82996184e-02 -7.68556375e-05 9.97664852e-01 -2.48883723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18864 meters 0.026061224846928834 Centerline is valid? [True, True] Translation: X:350.96, Y:-275.43, Z:-24.89 [[ 7.46182173e-01 6.63829705e-01 5.04210932e-02 3.50961360e+02] [-6.62345930e-01 7.47883704e-01 -4.43602800e-02 -2.75434535e+02] [-6.71567856e-02 -2.95355711e-04 9.97742391e-01 -2.48894600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21864 meters 0.026002735097243757 Centerline is valid? [True, True] Translation: X:350.99, Y:-275.46, Z:-24.89 [[ 7.44954102e-01 6.65162113e-01 5.10171456e-02 3.50986236e+02] [-6.63642865e-01 7.46698879e-01 -4.49325224e-02 -2.75455363e+02] [-6.79818569e-02 -3.84497805e-04 9.97686483e-01 -2.48924760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24864 meters 0.026101386966448543 Centerline is valid? [True, True] Translation: X:351.01, Y:-275.48, Z:-24.89 [[ 7.42022408e-01 6.68322252e-01 5.24224542e-02 3.51011016e+02] [-6.66722628e-01 7.43871586e-01 -4.62168932e-02 -2.75475557e+02] [-6.98833522e-02 -6.57266035e-04 9.97554953e-01 -2.48933752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27864 meters 0.026273734101276838 Centerline is valid? [True, True] Translation: X:351.04, Y:-275.50, Z:-24.89 [[ 7.40916611e-01 6.69550152e-01 5.23943703e-02 3.51036718e+02] [-6.67952138e-01 7.42766483e-01 -4.62373623e-02 -2.75496711e+02] [-6.98750151e-02 -7.38901896e-04 9.97555480e-01 -2.48940281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30864 meters 0.026234987085997745 Centerline is valid? [True, True] Translation: X:351.06, Y:-275.52, Z:-24.89 [[ 7.39856765e-01 6.70783366e-01 5.15911158e-02 3.51062646e+02] [-6.69233662e-01 7.41652902e-01 -4.55771749e-02 -2.75517804e+02] [-6.88351115e-02 -8.05930229e-04 9.97627725e-01 -2.48949528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33864 meters 0.026163086803749545 Centerline is valid? [True, True] Translation: X:351.09, Y:-275.54, Z:-24.90 [[ 7.38458531e-01 6.72308113e-01 5.17764270e-02 3.51088587e+02] [-6.70747552e-01 7.40270872e-01 -4.57903584e-02 -2.75537658e+02] [-6.91138103e-02 -9.14630857e-04 9.97608362e-01 -2.48960896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters 0.0264171291100886 Centerline is valid? [True, True] Translation: X:351.12, Y:-275.56, Z:-24.90 [[ 7.37097731e-01 6.73798924e-01 5.17875053e-02 3.51115817e+02] [-6.72237927e-01 7.38914051e-01 -4.58497094e-02 -2.75556693e+02] [-6.91600002e-02 -1.01780837e-03 9.97605061e-01 -2.48982715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39864 meters 0.026396470328185755 Centerline is valid? [True, True] Translation: X:351.14, Y:-275.58, Z:-24.90 [[ 7.35879164e-01 6.75137277e-01 5.16866722e-02 3.51142669e+02] [-6.73582233e-01 7.37691288e-01 -4.58098167e-02 -2.75576684e+02] [-6.90567227e-02 -1.10473446e-03 9.97612123e-01 -2.48995210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters 0.026448198362157203 Centerline is valid? [True, True] Translation: X:351.17, Y:-275.60, Z:-24.90 [[ 7.34874695e-01 6.76259634e-01 5.13039101e-02 3.51169276e+02] [-6.74726940e-01 7.36662440e-01 -4.55192892e-02 -2.75595976e+02] [-6.85765214e-02 -1.16515654e-03 9.97645179e-01 -2.49011645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45864 meters 0.02648346368793372 Centerline is valid? [True, True] Translation: X:351.20, Y:-275.61, Z:-24.90 [[ 7.33908208e-01 6.77216131e-01 5.25076628e-02 3.51195798e+02] [-6.75609632e-01 7.35783088e-01 -4.66355181e-02 -2.75613820e+02] [-7.02165754e-02 -1.24849326e-03 9.97530989e-01 -2.49027449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters 0.026390842635901083 Centerline is valid? [True, True] Translation: X:351.22, Y:-275.63, Z:-24.90 [[ 7.33834631e-01 6.77382890e-01 5.13727168e-02 3.51221463e+02] [-6.75842812e-01 7.35629637e-01 -4.56676107e-02 -2.75633095e+02] [-6.87257511e-02 -1.20740720e-03 9.97634860e-01 -2.49043478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51864 meters 0.026405815282262872 Centerline is valid? [True, True] Translation: X:351.25, Y:-275.65, Z:-24.91 [[ 7.33647368e-01 6.77630057e-01 5.07842989e-02 3.51250154e+02] [-6.76122711e-01 7.35402001e-01 -4.51882355e-02 -2.75650018e+02] [-6.79677816e-02 -1.18418779e-03 9.97686814e-01 -2.49062479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters 0.026323427391840116 Centerline is valid? [True, True] Translation: X:351.28, Y:-275.67, Z:-24.91 [[ 7.34207179e-01 6.77028408e-01 5.07183675e-02 3.51276158e+02] [-6.75520352e-01 7.35956073e-01 -4.51764694e-02 -2.75668688e+02] [-6.79122438e-02 -1.09240129e-03 9.97690700e-01 -2.49076421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57864 meters 0.026448145665613987 Centerline is valid? [True, True] Translation: X:351.30, Y:-275.69, Z:-24.91 [[ 7.34113296e-01 6.77053168e-01 5.17366035e-02 3.51302109e+02] [-6.75480755e-01 7.35933308e-01 -4.61293313e-02 -2.75688821e+02] [-6.93066997e-02 -1.08292454e-03 9.97594812e-01 -2.49106793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60864 meters 0.026279666237981295 Centerline is valid? [True, True] Translation: X:351.33, Y:-275.71, Z:-24.91 [[ 7.34656138e-01 6.76440541e-01 5.20437596e-02 3.51330038e+02] [-6.74844307e-01 7.36496576e-01 -4.64537920e-02 -2.75706487e+02] [-6.97532790e-02 -9.93871492e-04 9.97563779e-01 -2.49123084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63864 meters 0.026424978958463678 Centerline is valid? [True, True] Translation: X:351.36, Y:-275.72, Z:-24.91 [[ 7.34080027e-01 6.77144220e-01 5.10119508e-02 3.51358270e+02] [-6.75609231e-01 7.35849642e-01 -4.55792902e-02 -2.75722881e+02] [-6.84008786e-02 -1.00529828e-03 9.97657411e-01 -2.49138931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66864 meters 0.0263084070198502 Centerline is valid? [True, True] Translation: X:351.38, Y:-275.74, Z:-24.92 [[ 7.33253659e-01 6.78090242e-01 5.03258938e-02 3.51384395e+02] [-6.76595592e-01 7.34977910e-01 -4.50097426e-02 -2.75743184e+02] [-6.75090874e-02 -1.04671949e-03 9.97718110e-01 -2.49154460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.69864 meters 0.026315553396371684 Centerline is valid? [True, True] Translation: X:351.41, Y:-275.76, Z:-24.92 [[ 7.31835132e-01 6.79645094e-01 4.99988617e-02 3.51410589e+02] [-6.78170245e-01 7.33540204e-01 -4.47648224e-02 -2.75763330e+02] [-6.71003671e-02 -1.14727054e-03 9.97745571e-01 -2.49160796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72864 meters 0.026472850971386568 Centerline is valid? [True, True] Translation: X:351.44, Y:-275.78, Z:-24.92 [[ 7.30078481e-01 6.81461027e-01 5.09537178e-02 3.51439597e+02] [-6.79930382e-01 7.31853242e-01 -4.56673570e-02 -2.75779593e+02] [-6.84111676e-02 -1.30422616e-03 9.97656359e-01 -2.49179597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.75864 meters 0.026406158117952282 Centerline is valid? [True, True] Translation: X:351.47, Y:-275.80, Z:-24.92 [[ 7.29344291e-01 6.82174656e-01 5.19099597e-02 3.51466742e+02] [-6.80584670e-01 7.31187990e-01 -4.65685613e-02 -2.75797826e+02] [-6.97238313e-02 -1.36460846e-03 9.97565399e-01 -2.49208058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78864 meters 0.02660228385903664 Centerline is valid? [True, True] Translation: X:351.49, Y:-275.82, Z:-24.92 [[ 7.30172517e-01 6.81243691e-01 5.24893201e-02 3.51494646e+02] [-6.79612305e-01 7.32055637e-01 -4.71344801e-02 -2.75816525e+02] [-7.05351698e-02 -1.25608587e-03 9.97508502e-01 -2.49232616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.81864 meters 0.026391229493541384 Centerline is valid? [True, True] Translation: X:351.52, Y:-275.84, Z:-24.92 [[ 7.31314898e-01 6.80035654e-01 5.22496768e-02 3.51520203e+02] [-6.78412660e-01 7.33178220e-01 -4.69676594e-02 -2.75836052e+02] [-7.02480080e-02 -1.09869322e-03 9.97528952e-01 -2.49239733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84864 meters 0.02616215131356765 Centerline is valid? [True, True] Translation: X:351.55, Y:-275.85, Z:-24.92 [[ 7.34008619e-01 6.77201052e-01 5.12843188e-02 3.51548430e+02] [-6.75627702e-01 7.35797612e-01 -4.61419796e-02 -2.75852680e+02] [-6.89822764e-02 -7.80495765e-04 9.97617580e-01 -2.49231223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.87864 meters 0.02596067932843391 Centerline is valid? [True, True] Translation: X:351.57, Y:-275.87, Z:-24.93 [[ 7.34437795e-01 6.76807900e-01 5.03208906e-02 3.51573537e+02] [-6.75289439e-01 7.36159343e-01 -4.53166193e-02 -2.75872254e+02] [-6.77148397e-02 -6.98928083e-04 9.97704471e-01 -2.49254319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90864 meters 0.026018438709809005 Centerline is valid? [True, True] Translation: X:351.60, Y:-275.89, Z:-24.93 [[ 7.35218743e-01 6.75979501e-01 5.00511092e-02 3.51598898e+02] [-6.74473098e-01 7.36920186e-01 -4.51074196e-02 -2.75892703e+02] [-6.73753638e-02 -5.94306334e-04 9.97727522e-01 -2.49265831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93864 meters 0.025885339577769936 Centerline is valid? [True, True] Translation: X:351.63, Y:-275.91, Z:-24.93 [[ 7.36679037e-01 6.74331065e-01 5.08095496e-02 3.51625096e+02] [-6.72773723e-01 7.38429022e-01 -4.58049866e-02 -2.75913124e+02] [-6.84069714e-02 -4.39756390e-04 9.97657403e-01 -2.49273684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96864 meters 0.026176709952887147 Centerline is valid? [True, True] Translation: X:351.65, Y:-275.93, Z:-24.93 [[ 7.37498596e-01 6.73363072e-01 5.17493398e-02 3.51649899e+02] [-6.71743931e-01 7.39311880e-01 -4.66694318e-02 -2.75933329e+02] [-6.96843737e-02 -3.43664485e-04 9.97569030e-01 -2.49304994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99864 meters 0.026135270292086978 Centerline is valid? [True, True] Translation: X:351.67, Y:-275.95, Z:-24.93 [[ 7.39323750e-01 6.71465171e-01 5.03479589e-02 3.51674547e+02] [-6.69927419e-01 7.41036100e-01 -4.54175370e-02 -2.75954356e+02] [-6.78059493e-02 -1.51214416e-04 9.97698517e-01 -2.49324233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02864 meters 0.026135270292086978 Centerline is valid? [True, True] Translation: X:351.70, Y:-275.98, Z:-24.93 [[ 7.39190867e-01 6.71611964e-01 5.03411462e-02 3.51698717e+02] [-6.70074038e-01 7.40903061e-01 -4.54250872e-02 -2.75976081e+02] [-6.78059414e-02 -1.54485515e-04 9.97698517e-01 -2.49340292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05864 meters 0.025983717999591347 Centerline is valid? [True, True] Translation: X:351.72, Y:-276.00, Z:-24.94 [[ 7.39921979e-01 6.70864535e-01 4.95604783e-02 3.51722402e+02] [-6.69371239e-01 7.41579915e-01 -4.47367218e-02 -2.75997867e+02] [-6.67653354e-02 -7.26749604e-05 9.97768703e-01 -2.49356430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08864 meters 0.02621352940992169 Centerline is valid? [True, True] Translation: X:351.75, Y:-276.02, Z:-24.94 [[ 7.40538760e-01 6.70156192e-01 4.99301815e-02 3.51746718e+02] [-6.68637980e-01 7.42220101e-01 -4.50840780e-02 -2.76020509e+02] [-6.72725583e-02 1.29154522e-06 9.97734636e-01 -2.49373859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11863999999997 meters 0.02632014597240743 Centerline is valid? [True, True] Translation: X:351.77, Y:-276.04, Z:-24.94 [[ 7.41791690e-01 6.68800442e-01 4.95081498e-02 3.51769718e+02] [-6.67303707e-01 7.43441962e-01 -4.47192623e-02 -2.76043076e+02] [-6.67146984e-02 1.35405290e-04 9.97772084e-01 -2.49379877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14864 meters 0.02629781067141627 Centerline is valid? [True, True] Translation: X:351.79, Y:-276.07, Z:-24.94 [[ 7.43075057e-01 6.67436759e-01 4.86583279e-02 3.51793129e+02] [-6.65987341e-01 7.44666438e-01 -4.39631332e-02 -2.76065175e+02] [-6.55768348e-02 2.62077232e-04 9.97847488e-01 -2.49395558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17864 meters 0.02622028670786063 Centerline is valid? [True, True] Translation: X:351.82, Y:-276.09, Z:-24.94 [[ 7.43820848e-01 6.66640511e-01 4.81765059e-02 3.51817573e+02] [-6.65217186e-01 7.45379309e-01 -4.35405658e-02 -2.76087709e+02] [-6.49356758e-02 3.38540852e-04 9.97889394e-01 -2.49410974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20864 meters 0.026391850491015115 Centerline is valid? [True, True] Translation: X:351.84, Y:-276.11, Z:-24.94 [[ 7.44328159e-01 6.66120466e-01 4.75301710e-02 3.51840883e+02] [-6.64733055e-01 7.45844067e-01 -4.29720029e-02 -2.76109371e+02] [-6.40746266e-02 3.90396037e-04 9.97945033e-01 -2.49430774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23864 meters 0.026134707724005578 Centerline is valid? [True, True] Translation: X:351.86, Y:-276.13, Z:-24.94 [[ 7.44730456e-01 6.65649994e-01 4.78187582e-02 3.51862341e+02] [-6.64243960e-01 7.46263955e-01 -4.32443128e-02 -2.76132948e+02] [-6.44709921e-02 4.42035465e-04 9.97919484e-01 -2.49449880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26864 meters 0.026291231838787482 Centerline is valid? [True, True] Translation: X:351.89, Y:-276.16, Z:-24.95 [[ 7.44968677e-01 6.65426802e-01 4.72106193e-02 3.51885827e+02] [-6.64054707e-01 7.46462961e-01 -4.27129351e-02 -2.76156921e+02] [-6.36633104e-02 4.69364743e-04 9.97971324e-01 -2.49460442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29864 meters 0.026468036777016823 Centerline is valid? [True, True] Translation: X:351.91, Y:-276.18, Z:-24.95 [[ 7.46326638e-01 6.63926862e-01 4.68793230e-02 3.51909393e+02] [-6.62568219e-01 7.47797251e-01 -4.24573512e-02 -2.76180602e+02] [-6.32448048e-02 6.26302604e-04 9.97997847e-01 -2.49472837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32864 meters 0.02655013112623452 Centerline is valid? [True, True] Translation: X:351.93, Y:-276.20, Z:-24.95 [[ 7.46590241e-01 6.63616404e-01 4.70773972e-02 3.51933948e+02] [-6.62242786e-01 7.48072720e-01 -4.26813569e-02 -2.76202966e+02] [-6.35413651e-02 6.88817826e-04 9.97978968e-01 -2.49486596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35864 meters 0.02679380951631502 Centerline is valid? [True, True] Translation: X:351.96, Y:-276.22, Z:-24.95 [[ 7.47253966e-01 6.62836127e-01 4.75371341e-02 3.51956896e+02] [-6.61431167e-01 7.48764072e-01 -4.31413441e-02 -2.76224803e+02] [-6.41897396e-02 7.94998397e-04 9.97937396e-01 -2.49505391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38864 meters 0.026663353254745344 Centerline is valid? [True, True] Translation: X:351.98, Y:-276.25, Z:-24.95 [[ 7.47477874e-01 6.62489924e-01 4.88254854e-02 3.51978152e+02] [-6.61004414e-01 7.49070313e-01 -4.43489756e-02 -2.76249486e+02] [-6.59544711e-02 8.76016707e-04 9.97822249e-01 -2.49512445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41864 meters 0.02657924768484808 Centerline is valid? [True, True] Translation: X:352.00, Y:-276.27, Z:-24.95 [[ 7.47053130e-01 6.63029186e-01 4.79991683e-02 3.52001234e+02] [-6.61592191e-01 7.48593072e-01 -4.36369718e-02 -2.76271990e+02] [-6.48644307e-02 8.43261406e-04 9.97893729e-01 -2.49511527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44864 meters 0.02656319528563826 Centerline is valid? [True, True] Translation: X:352.02, Y:-276.30, Z:-24.95 [[ 7.46052830e-01 6.64181012e-01 4.76314833e-02 3.52023900e+02] [-6.62765806e-01 7.47571399e-01 -4.33415582e-02 -2.76295259e+02] [-6.43945745e-02 7.66573807e-04 9.97924221e-01 -2.49540324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47864 meters 0.02627208155340486 Centerline is valid? [True, True] Translation: X:352.05, Y:-276.32, Z:-24.96 [[ 7.45090189e-01 6.65221515e-01 4.81762117e-02 3.52046351e+02] [-6.63773175e-01 7.46645716e-01 -4.38787821e-02 -2.76319622e+02] [-6.51596719e-02 7.15573002e-04 9.97874594e-01 -2.49553664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50864 meters 0.026099113905240365 Centerline is valid? [True, True] Translation: X:352.07, Y:-276.35, Z:-24.96 [[ 7.42354650e-01 6.68102735e-01 5.04807753e-02 3.52067849e+02] [-6.66515605e-01 7.44068856e-01 -4.60270184e-02 -2.76345758e+02] [-6.83119496e-02 5.22146717e-04 9.97663874e-01 -2.49568476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53864 meters 0.02594860403163748 Centerline is valid? [True, True] Translation: X:352.09, Y:-276.37, Z:-24.96 [[ 7.40701709e-01 6.69951809e-01 5.02548742e-02 3.52091651e+02] [-6.68379973e-01 7.42404490e-01 -4.58670384e-02 -2.76367648e+02] [-6.80381496e-02 3.84442257e-04 9.97682646e-01 -2.49588101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56864 meters 0.025784550826360487 Centerline is valid? [True, True] Translation: X:352.12, Y:-276.39, Z:-24.96 [[ 7.35947511e-01 6.75064039e-01 5.16701617e-02 3.52115701e+02] [-6.73411598e-01 7.37759135e-01 -4.72046554e-02 -2.76390538e+02] [-6.99862991e-02 -5.51375279e-05 9.97547951e-01 -2.49618409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59864 meters 0.025839027776388038 Centerline is valid? [True, True] Translation: X:352.14, Y:-276.41, Z:-24.96 [[ 7.33628641e-01 6.77636192e-01 5.09726232e-02 3.52139850e+02] [-6.76030935e-01 7.35397256e-01 -4.66159868e-02 -2.76412491e+02] [-6.90738070e-02 -2.60247096e-04 9.97611518e-01 -2.49629487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62864 meters 0.025782675522871442 Centerline is valid? [True, True] Translation: X:352.16, Y:-276.43, Z:-24.96 [[ 7.32334265e-01 6.79091884e-01 5.02069474e-02 3.52164712e+02] [-6.77534699e-01 7.34053190e-01 -4.59635240e-02 -2.76434183e+02] [-6.80680261e-02 -3.56285459e-04 9.97680619e-01 -2.49641440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65864 meters 0.0259093181131292 Centerline is valid? [True, True] Translation: X:352.19, Y:-276.45, Z:-24.97 [[ 7.30033957e-01 6.81505076e-01 5.10024918e-02 3.52190729e+02] [-6.79900615e-01 7.31813176e-01 -4.67400191e-02 -2.76454062e+02] [-6.91778558e-02 -5.54824532e-04 9.97604188e-01 -2.49657522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68864 meters 0.02599495654022439 Centerline is valid? [True, True] Translation: X:352.22, Y:-276.47, Z:-24.97 [[ 7.30111426e-01 6.81453855e-01 5.05761704e-02 3.52216152e+02] [-6.79872968e-01 7.31860903e-01 -4.63936055e-02 -2.76474650e+02] [-6.86298230e-02 -5.12869565e-04 9.97642062e-01 -2.49671517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71864 meters 0.025824562285328936 Centerline is valid? [True, True] Translation: X:352.24, Y:-276.49, Z:-24.97 [[ 7.32461108e-01 6.78992204e-01 4.97022442e-02 3.52242006e+02] [-6.77456733e-01 7.34145441e-01 -4.56382137e-02 -2.76493773e+02] [-6.74766673e-02 -2.42903447e-04 9.97720823e-01 -2.49678203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74864 meters 0.025850107577772924 Centerline is valid? [True, True] Translation: X:352.27, Y:-276.51, Z:-24.97 [[ 7.33858459e-01 6.77477261e-01 4.97626709e-02 3.52267958e+02] [-6.75931582e-01 7.35543715e-01 -4.57377337e-02 -2.76514885e+02] [-6.75888943e-02 -7.11381134e-05 9.97713254e-01 -2.49691560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77864 meters 0.026089647028413977 Centerline is valid? [True, True] Translation: X:352.30, Y:-276.53, Z:-24.97 [[ 7.36658769e-01 6.74500737e-01 4.88120275e-02 3.52295837e+02] [-6.73003950e-01 7.38274137e-01 -4.49108229e-02 -2.76534048e+02] [-6.63290406e-02 2.33264251e-04 9.97797777e-01 -2.49704531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80864 meters 0.026035652083458163 Centerline is valid? [True, True] Translation: X:352.32, Y:-276.55, Z:-24.97 [[ 7.37637096e-01 6.73438584e-01 4.87030542e-02 3.52321603e+02] [-6.71943031e-01 7.39243087e-01 -4.48577966e-02 -2.76554288e+02] [-6.62123672e-02 3.63096959e-04 9.97805487e-01 -2.49722891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83864 meters 0.026302174780453106 Centerline is valid? [True, True] Translation: X:352.35, Y:-276.58, Z:-24.97 [[ 7.38237934e-01 6.72840357e-01 4.78602812e-02 3.52346827e+02] [-6.71391929e-01 7.39787576e-01 -4.41273166e-02 -2.76575087e+02] [-6.50970809e-02 4.43452593e-04 9.97878837e-01 -2.49739777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters 0.02664093523387217 Centerline is valid? [True, True] Translation: X:352.37, Y:-276.60, Z:-24.98 [[ 7.39997945e-01 6.70913932e-01 4.77235520e-02 3.52372312e+02] [-6.69466882e-01 7.41534949e-01 -4.40455754e-02 -2.76595368e+02] [-6.49394719e-02 6.44297725e-04 9.97888997e-01 -2.49753919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89864 meters 0.026588165138466156 Centerline is valid? [True, True] Translation: X:352.40, Y:-276.62, Z:-24.98 [[ 7.40592007e-01 6.70252596e-01 4.78010216e-02 3.52396944e+02] [-6.68796749e-01 7.42132683e-01 -4.41586855e-02 -2.76617115e+02] [-6.50721740e-02 7.34401670e-04 9.97880290e-01 -2.49767974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters 0.02695462326897538 Centerline is valid? [True, True] Translation: X:352.42, Y:-276.64, Z:-24.98 [[ 7.43085928e-01 6.67532336e-01 4.71580819e-02 3.52421269e+02] [-6.66107161e-01 7.44580148e-01 -4.36079575e-02 -2.76637896e+02] [-6.42226933e-02 9.92123490e-04 9.97935099e-01 -2.49781864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95864 meters 0.026988868574411854 Centerline is valid? [True, True] Translation: X:352.44, Y:-276.66, Z:-24.98 [[ 7.43665933e-01 6.66894569e-01 4.70384316e-02 3.52444760e+02] [-6.65472776e-01 7.45151313e-01 -4.35373983e-02 -2.76660687e+02] [-6.40856036e-02 1.07448424e-03 9.97943827e-01 -2.49795355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters 0.027218442000675493 Centerline is valid? [True, True] Translation: X:352.47, Y:-276.68, Z:-24.98 [[ 7.45250834e-01 6.65134227e-01 4.68791477e-02 3.52468013e+02] [-6.63715830e-01 7.46722765e-01 -4.34328213e-02 -2.76682458e+02] [-6.38943828e-02 1.25391391e-03 9.97955879e-01 -2.49812396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01864 meters 0.027752397290185804 Centerline is valid? [True, True] Translation: X:352.49, Y:-276.70, Z:-24.98 [[ 7.46993313e-01 6.63096140e-01 4.80052074e-02 3.52491892e+02] [-6.61601905e-01 7.48532753e-01 -4.45155826e-02 -2.76703485e+02] [-6.54515810e-02 1.49250589e-03 9.97854630e-01 -2.49817194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04864 meters 0.027807290330809913 Centerline is valid? [True, True] Translation: X:352.52, Y:-276.73, Z:-24.98 [[ 7.48130400e-01 6.61851633e-01 4.74691574e-02 3.52516116e+02] [-6.60385772e-01 7.49633125e-01 -4.40546397e-02 -2.76725162e+02] [-6.47420880e-02 1.61065908e-03 9.97900730e-01 -2.49829401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07864 meters 0.028014763591720355 Centerline is valid? [True, True] Translation: X:352.54, Y:-276.75, Z:-24.98 [[ 7.49381710e-01 6.60461331e-01 4.70944039e-02 3.52537126e+02] [-6.59013366e-01 7.50858031e-01 -4.37447141e-02 -2.76749465e+02] [-6.42529035e-02 1.74564697e-03 9.97932121e-01 -2.49848170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10864 meters 0.028379686098564158 Centerline is valid? [True, True] Translation: X:352.56, Y:-276.77, Z:-24.99 [[ 7.49774628e-01 6.60012655e-01 4.71307028e-02 3.52559368e+02] [-6.58559092e-01 7.51252290e-01 -4.38168774e-02 -2.76772273e+02] [-6.43267420e-02 1.81443013e-03 9.97927241e-01 -2.49858180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13864 meters 0.028281800641470203 Centerline is valid? [True, True] Translation: X:352.58, Y:-276.80, Z:-24.99 [[ 7.49632069e-01 6.60213880e-01 4.65767404e-02 3.52583554e+02] [-6.58792246e-01 7.51075478e-01 -4.33405363e-02 -2.76795114e+02] [-6.35966712e-02 1.80506046e-03 9.97974050e-01 -2.49851979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16864 meters 0.0280837811904392 Centerline is valid? [True, True] Translation: X:352.61, Y:-276.82, Z:-24.99 [[ 7.48852102e-01 6.61125107e-01 4.61965581e-02 3.52607092e+02] [-6.59725725e-01 7.50273649e-01 -4.30281244e-02 -2.76817637e+02] [-6.31070336e-02 1.74464364e-03 9.98005240e-01 -2.49864803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.19864 meters 0.027659804020665625 Centerline is valid? [True, True] Translation: X:352.63, Y:-276.84, Z:-24.99 [[ 7.47071698e-01 6.63020215e-01 4.78337942e-02 3.52627565e+02] [-6.61521030e-01 7.48599627e-01 -4.45928852e-02 -2.76842859e+02] [-6.53743449e-02 1.67102164e-03 9.97859410e-01 -2.49893757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22864 meters 0.02758410592476774 Centerline is valid? [True, True] Translation: X:352.65, Y:-276.87, Z:-24.99 [[ 7.46171151e-01 6.63990522e-01 4.84272712e-02 3.52651346e+02] [-6.62453157e-01 7.47739198e-01 -4.51874697e-02 -2.76866134e+02] [-6.62150205e-02 1.63678754e-03 9.97804035e-01 -2.49914700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.25864 meters 0.027254001583591182 Centerline is valid? [True, True] Translation: X:352.67, Y:-276.89, Z:-24.99 [[ 7.44633264e-01 6.65743688e-01 4.80275277e-02 3.52674453e+02] [-6.64232413e-01 7.46178992e-01 -4.48576911e-02 -2.76888317e+02] [-6.57008569e-02 1.50108836e-03 9.97838235e-01 -2.49926614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28864 meters 0.027010871738624587 Centerline is valid? [True, True] Translation: X:352.70, Y:-276.91, Z:-24.99 [[ 7.43143729e-01 6.67441272e-01 4.75346939e-02 3.52697421e+02] [-6.65962227e-01 7.44661195e-01 -4.44299074e-02 -2.76911489e+02] [-6.50515958e-02 1.36149640e-03 9.97880973e-01 -2.49942603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.31864 meters 0.026906052625012215 Centerline is valid? [True, True] Translation: X:352.72, Y:-276.93, Z:-25.00 [[ 7.42766787e-01 6.67839606e-01 4.78305418e-02 3.52720704e+02] [-6.66341468e-01 7.44303994e-01 -4.47282141e-02 -2.76934216e+02] [-6.54717362e-02 1.35115842e-03 9.97853509e-01 -2.49963744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34864 meters 0.02685058294193126 Centerline is valid? [True, True] Translation: X:352.74, Y:-276.96, Z:-25.00 [[ 7.41733669e-01 6.68990046e-01 4.77858017e-02 3.52743170e+02] [-6.67494224e-01 7.43270259e-01 -4.47301168e-02 -2.76957569e+02] [-6.54417680e-02 1.28108701e-03 9.97855568e-01 -2.49968765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.37864 meters 0.02660115904228163 Centerline is valid? [True, True] Translation: X:352.77, Y:-276.98, Z:-25.00 [[ 7.40376567e-01 6.70430182e-01 4.86406268e-02 3.52767149e+02] [-6.68880569e-01 7.41971642e-01 -4.55726636e-02 -2.76980853e+02] [-6.66432548e-02 1.20616209e-03 9.97776138e-01 -2.49993130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40864 meters 0.026115354528721074 Centerline is valid? [True, True] Translation: X:352.79, Y:-277.00, Z:-25.00 [[ 7.37097802e-01 6.74028419e-01 4.87085285e-02 3.52789509e+02] [-6.72479273e-01 7.38704847e-01 -4.56812416e-02 -2.77004478e+02] [-6.67716812e-02 9.16066950e-04 9.97767861e-01 -2.50013949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43864 meters 0.02596673674351081 Centerline is valid? [True, True] Translation: X:352.81, Y:-277.03, Z:-25.00 [[ 7.35388008e-01 6.75888750e-01 4.87737140e-02 3.52812532e+02] [-6.74336795e-01 7.37003251e-01 -4.57831312e-02 -2.77026695e+02] [-6.68906891e-02 7.78455617e-04 9.97760006e-01 -2.50033010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46864 meters 0.02567368194614351 Centerline is valid? [True, True] Translation: X:352.84, Y:-277.05, Z:-25.00 [[ 7.33566553e-01 6.77832138e-01 4.92311481e-02 3.52837071e+02] [-6.76252315e-01 7.35216420e-01 -4.62560481e-02 -2.77049529e+02] [-6.75493844e-02 6.39211852e-04 9.97715727e-01 -2.50047741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49864 meters 0.02562790240552468 Centerline is valid? [True, True] Translation: X:352.86, Y:-277.07, Z:-25.01 [[ 7.30125894e-01 6.81508424e-01 4.96230491e-02 3.52860874e+02] [-6.79908559e-01 7.31810190e-01 -4.66711518e-02 -2.77070987e+02] [-6.81214361e-02 3.36680592e-04 9.97676980e-01 -2.50073381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52864 meters 0.025320472832271887 Centerline is valid? [True, True] Translation: X:352.89, Y:-277.09, Z:-25.01 [[ 7.26476457e-01 6.85483219e-01 4.84222507e-02 3.52885192e+02] [-6.83966453e-01 7.28088426e-01 -4.55755928e-02 -2.77091950e+02] [-6.64969844e-02 -9.59993494e-06 9.97786626e-01 -2.50080068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55864 meters 0.025511422723976985 Centerline is valid? [True, True] Translation: X:352.91, Y:-277.11, Z:-25.01 [[ 7.24635083e-01 6.87405556e-01 4.87606261e-02 3.52910606e+02] [-6.85870211e-01 7.26273759e-01 -4.59181989e-02 -2.77113316e+02] [-6.69779882e-02 -1.69523016e-04 9.97754439e-01 -2.50108583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58864 meters 0.025609344008672156 Centerline is valid? [True, True] Translation: X:352.94, Y:-277.13, Z:-25.01 [[ 7.23846347e-01 6.88168901e-01 4.96993816e-02 3.52935486e+02] [-6.86572253e-01 7.25550494e-01 -4.68510679e-02 -2.77134076e+02] [-6.83008588e-02 -2.09241986e-04 9.97664748e-01 -2.50130051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61863999999997 meters 0.025658918106600013 Centerline is valid? [True, True] Translation: X:352.96, Y:-277.15, Z:-25.01 [[ 7.23502438e-01 6.88461952e-01 5.06395331e-02 3.52962219e+02] [-6.86801852e-01 7.25272429e-01 -4.77819957e-02 -2.77153106e+02] [-6.96235432e-02 -2.08934726e-04 9.97573315e-01 -2.50135268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64864 meters 0.025678710108932558 Centerline is valid? [True, True] Translation: X:352.99, Y:-277.17, Z:-25.02 [[ 7.23696062e-01 6.88221699e-01 5.11361175e-02 3.52988436e+02] [-6.86524949e-01 7.25500426e-01 -4.82972700e-02 -2.77174017e+02] [-7.03385043e-02 -1.53676360e-04 9.97523168e-01 -2.50154441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67864 meters 0.025490072759366957 Centerline is valid? [True, True] Translation: X:353.02, Y:-277.19, Z:-25.02 [[ 7.25891629e-01 6.86119476e-01 4.81809756e-02 3.53015521e+02] [-6.84605769e-01 7.27488871e-01 -4.55508888e-02 -2.77191869e+02] [-6.63044755e-02 8.00350636e-05 9.97799434e-01 -2.50160838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70864 meters 0.02536964041973983 Centerline is valid? [True, True] Translation: X:353.04, Y:-277.21, Z:-25.02 [[ 7.27017901e-01 6.84903551e-01 4.84984277e-02 3.53041379e+02] [-6.83364162e-01 7.28633704e-01 -4.58949584e-02 -2.77212857e+02] [-6.67712090e-02 2.24368911e-04 9.97768287e-01 -2.50177778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73864 meters 0.025493285936239177 Centerline is valid? [True, True] Translation: X:353.07, Y:-277.23, Z:-25.02 [[ 7.27696480e-01 6.84220903e-01 4.79540232e-02 3.53066946e+02] [-6.82711310e-01 7.29274745e-01 -4.54270166e-02 -2.77233638e+02] [-6.60537723e-02 3.18326120e-04 9.97816014e-01 -2.50185850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76864 meters 0.025808083540280274 Centerline is valid? [True, True] Translation: X:353.09, Y:-277.25, Z:-25.02 [[ 7.28429642e-01 6.83374188e-01 4.88873864e-02 3.53092662e+02] [-6.81800068e-01 7.30068167e-01 -4.63588074e-02 -2.77253359e+02] [-6.73715369e-02 4.37706138e-04 9.97727861e-01 -2.50190816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79864 meters 0.025737801527770783 Centerline is valid? [True, True] Translation: X:353.12, Y:-277.28, Z:-25.02 [[ 7.28621072e-01 6.83082507e-01 5.00961304e-02 3.53116955e+02] [-6.81425770e-01 7.30341037e-01 -4.75488107e-02 -2.77275035e+02] [-6.90670206e-02 5.08271134e-04 9.97611893e-01 -2.50207592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82864 meters 0.025863656156824816 Centerline is valid? [True, True] Translation: X:353.14, Y:-277.30, Z:-25.02 [[ 7.30491373e-01 6.81128710e-01 4.94573962e-02 3.53142353e+02] [-6.79506543e-01 7.32163348e-01 -4.69860599e-02 -2.77297053e+02] [-6.82144471e-02 7.16287111e-04 9.97670425e-01 -2.50213381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85864 meters 0.025965610012038842 Centerline is valid? [True, True] Translation: X:353.17, Y:-277.32, Z:-25.02 [[ 7.31645091e-01 6.79913738e-01 4.91199565e-02 3.53166766e+02] [-6.78307677e-01 7.33291600e-01 -4.67132151e-02 -2.77319201e+02] [-6.77802082e-02 8.59050926e-04 9.97699908e-01 -2.50230506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88864 meters 0.025914517156605855 Centerline is valid? [True, True] Translation: X:353.19, Y:-277.34, Z:-25.02 [[ 7.32909162e-01 6.78577406e-01 4.87531063e-02 3.53189916e+02] [-6.76989247e-01 7.34528207e-01 -4.64098318e-02 -2.77340926e+02] [-6.73031950e-02 1.00886217e-03 9.97732059e-01 -2.50249528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91864 meters 0.025914517156605855 Centerline is valid? [True, True] Translation: X:353.21, Y:-277.36, Z:-25.03 [[ 7.32563030e-01 6.78952598e-01 4.87316818e-02 3.53213711e+02] [-6.77363773e-01 7.34181421e-01 -4.64323200e-02 -2.77363143e+02] [-6.73032397e-02 1.00552520e-03 9.97732060e-01 -2.50265594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94864 meters 0.0261669498585079 Centerline is valid? [True, True] Translation: X:353.24, Y:-277.39, Z:-25.03 [[ 7.35289685e-01 6.76078214e-01 4.76164526e-02 3.53235595e+02] [-6.74552410e-01 7.36828765e-01 -4.54138520e-02 -2.77386271e+02] [-6.57884880e-02 1.27254412e-03 9.97832779e-01 -2.50286661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97864 meters 0.026388499118597156 Centerline is valid? [True, True] Translation: X:353.26, Y:-277.41, Z:-25.03 [[ 7.35698883e-01 6.75650462e-01 4.73667273e-02 3.53258367e+02] [-6.74137040e-01 7.37220911e-01 -4.52170193e-02 -2.77409677e+02] [-6.54706418e-02 1.33444524e-03 9.97853604e-01 -2.50300908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00864 meters 0.026301673236716686 Centerline is valid? [True, True] Translation: X:353.28, Y:-277.44, Z:-25.03 [[ 7.34969848e-01 6.76401880e-01 4.79564358e-02 3.53279674e+02] [-6.74848992e-01 7.36531574e-01 -4.58266095e-02 -2.77435072e+02] [-6.63186340e-02 1.31782380e-03 9.97797626e-01 -2.50311518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03864 meters 0.026091094912151995 Centerline is valid? [True, True] Translation: X:353.30, Y:-277.46, Z:-25.03 [[ 7.34010999e-01 6.77450761e-01 4.78363918e-02 3.53301948e+02] [-6.75904907e-01 7.35567058e-01 -4.57565284e-02 -2.77458563e+02] [-6.61846689e-02 1.25294318e-03 9.97806604e-01 -2.50317639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06864 meters 0.025732558006253355 Centerline is valid? [True, True] Translation: X:353.32, Y:-277.48, Z:-25.03 [[ 7.32382032e-01 6.79190698e-01 4.81306026e-02 3.53324306e+02] [-6.77626769e-01 7.33960975e-01 -4.60787286e-02 -2.77481622e+02] [-6.66222278e-02 1.13264821e-03 9.97777628e-01 -2.50331889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09864 meters 0.025253192725712394 Centerline is valid? [True, True] Translation: X:353.35, Y:-277.50, Z:-25.03 [[ 7.30010331e-01 6.81848517e-01 4.65566006e-02 3.53346853e+02] [-6.80388210e-01 7.31492863e-01 -4.46102500e-02 -2.77504863e+02] [-6.44732539e-02 8.89381188e-04 9.97919039e-01 -2.50336527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12864 meters 0.02548132494875886 Centerline is valid? [True, True] Translation: X:353.37, Y:-277.53, Z:-25.04 [[ 7.29084743e-01 6.82841944e-01 4.65007192e-02 3.53370611e+02] [-6.81384516e-01 7.30565664e-01 -4.45976702e-02 -2.77527787e+02] [-6.44249886e-02 8.30610910e-04 9.97922207e-01 -2.50364001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15864 meters 0.02527549385154626 Centerline is valid? [True, True] Translation: X:353.39, Y:-277.55, Z:-25.04 [[ 7.27934523e-01 6.84052371e-01 4.67299019e-02 3.53392999e+02] [-6.82580007e-01 7.29432502e-01 -4.48637926e-02 -2.77551535e+02] [-6.47754930e-02 7.61006726e-04 9.97899572e-01 -2.50382037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18864 meters 0.025162969437181604 Centerline is valid? [True, True] Translation: X:353.42, Y:-277.57, Z:-25.04 [[ 7.27300001e-01 6.84691469e-01 4.72472308e-02 3.53415874e+02] [-6.83184588e-01 7.28832653e-01 -4.54068621e-02 -2.77574711e+02] [-6.55250157e-02 7.45830893e-04 9.97850648e-01 -2.50394723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21864 meters 0.025151299902830947 Centerline is valid? [True, True] Translation: X:353.44, Y:-277.60, Z:-25.04 [[ 7.27169982e-01 6.84849334e-01 4.69596392e-02 3.53440359e+02] [-6.83358203e-01 7.28684303e-01 -4.51746906e-02 -2.77597465e+02] [-6.51566087e-02 7.59424239e-04 9.97874762e-01 -2.50408200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24864 meters 0.02493553715176414 Centerline is valid? [True, True] Translation: X:353.46, Y:-277.62, Z:-25.04 [[ 7.27244977e-01 6.84764324e-01 4.70379048e-02 3.53464836e+02] [-6.83264967e-01 7.28764144e-01 -4.52968834e-02 -2.77619094e+02] [-6.52972281e-02 8.02578419e-04 9.97865536e-01 -2.50421732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27864 meters 0.025094838585659463 Centerline is valid? [True, True] Translation: X:353.49, Y:-277.64, Z:-25.05 [[ 7.27421976e-01 6.84600635e-01 4.66823296e-02 3.53487858e+02] [-6.83120552e-01 7.28917868e-01 -4.50006035e-02 -2.77642137e+02] [-6.48350259e-02 8.44769154e-04 9.97895639e-01 -2.50451729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30864 meters 0.024953263859086406 Centerline is valid? [True, True] Translation: X:353.51, Y:-277.66, Z:-25.05 [[ 7.27181159e-01 6.84892758e-01 4.61462079e-02 3.53511420e+02] [-6.83444178e-01 7.28643397e-01 -4.45292612e-02 -2.77664762e+02] [-6.41218982e-02 8.42482678e-04 9.97941718e-01 -2.50455026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33864 meters 0.024867464654675545 Centerline is valid? [True, True] Translation: X:353.54, Y:-277.69, Z:-25.05 [[ 7.27240263e-01 6.84865273e-01 4.56197095e-02 3.53535610e+02] [-6.83446708e-01 7.28669202e-01 -4.40657754e-02 -2.77687235e+02] [-6.34207966e-02 8.67765830e-04 9.97986498e-01 -2.50464950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters 0.024922799415843702 Centerline is valid? [True, True] Translation: X:353.56, Y:-277.71, Z:-25.05 [[ 7.27261693e-01 6.84828258e-01 4.58332522e-02 3.53559200e+02] [-6.83393369e-01 7.28703940e-01 -4.43178478e-02 -2.77709981e+02] [-6.37489860e-02 9.08532407e-04 9.97965551e-01 -2.50476963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39864 meters 0.02471969367451206 Centerline is valid? [True, True] Translation: X:353.58, Y:-277.73, Z:-25.05 [[ 7.26907747e-01 6.85246416e-01 4.51937630e-02 3.53582132e+02] [-6.83849335e-01 7.28310753e-01 -4.37439628e-02 -2.77733149e+02] [-6.28904973e-02 8.92100672e-04 9.98020035e-01 -2.50484688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters 0.024787340689912334 Centerline is valid? [True, True] Translation: X:353.61, Y:-277.76, Z:-25.05 [[ 7.26497007e-01 6.85695347e-01 4.49887775e-02 3.53605520e+02] [-6.84309003e-01 7.27888119e-01 -4.35898499e-02 -2.77756166e+02] [-6.26361539e-02 8.81669938e-04 9.98036039e-01 -2.50498291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45864 meters 0.024416500655675268 Centerline is valid? [True, True] Translation: X:353.63, Y:-277.78, Z:-25.05 [[ 7.25952677e-01 6.86317429e-01 4.42842741e-02 3.53629154e+02] [-6.84972743e-01 7.27301637e-01 -4.29496214e-02 -2.77777957e+02] [-6.16850988e-02 8.45871898e-04 9.98095303e-01 -2.50511986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters 0.02447984788392527 Centerline is valid? [True, True] Translation: X:353.65, Y:-277.80, Z:-25.05 [[ 7.25289577e-01 6.86999075e-01 4.45791617e-02 3.53653227e+02] [-6.85635183e-01 7.26657825e-01 -4.32758635e-02 -2.77800649e+02] [-6.21242749e-02 8.22491038e-04 9.98068083e-01 -2.50539644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51864 meters 0.02439036424949316 Centerline is valid? [True, True] Translation: X:353.68, Y:-277.82, Z:-25.06 [[ 7.24158293e-01 6.88129449e-01 4.55261237e-02 3.53676163e+02] [-6.86706239e-01 7.25587528e-01 -4.42411624e-02 -2.77824192e+02] [-6.34768343e-02 7.74531472e-04 9.97983012e-01 -2.50553337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54864 meters 0.02431918328722685 Centerline is valid? [True, True] Translation: X:353.70, Y:-277.85, Z:-25.06 [[ 7.23052798e-01 6.89320034e-01 4.50837267e-02 3.53699048e+02] [-6.87923951e-01 7.24456630e-01 -4.38546354e-02 -2.77847184e+02] [-6.28910834e-02 6.95041433e-04 9.98020154e-01 -2.50569907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57864 meters 0.02402236943244057 Centerline is valid? [True, True] Translation: X:353.72, Y:-277.87, Z:-25.06 [[ 7.22247025e-01 6.90242120e-01 4.38753902e-02 3.53722288e+02] [-6.88919334e-01 7.23578209e-01 -4.27168313e-02 -2.77869187e+02] [-6.12322324e-02 6.25499721e-04 9.98123350e-01 -2.50580519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60864 meters 0.02417017025909445 Centerline is valid? [True, True] Translation: X:353.75, Y:-277.89, Z:-25.06 [[ 7.21768511e-01 6.90720291e-01 4.42232548e-02 3.53746244e+02] [-6.89374828e-01 7.23121771e-01 -4.30958287e-02 -2.77891629e+02] [-6.17459617e-02 6.18813459e-04 9.98091706e-01 -2.50597680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63864 meters 0.02397722535317848 Centerline is valid? [True, True] Translation: X:353.77, Y:-277.91, Z:-25.06 [[ 7.21137573e-01 6.91389561e-01 4.40576560e-02 3.53770238e+02] [-6.90052668e-01 7.22481921e-01 -4.29789434e-02 -2.77913923e+02] [-6.15460527e-02 5.91627890e-04 9.98104069e-01 -2.50608789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66864 meters 0.023926749658265255 Centerline is valid? [True, True] Translation: X:353.79, Y:-277.94, Z:-25.06 [[ 7.20964450e-01 6.91565251e-01 4.41334900e-02 3.53794848e+02] [-6.90221308e-01 7.22313735e-01 -4.30977328e-02 -2.77936715e+02] [-6.16831204e-02 6.10058021e-04 9.98095597e-01 -2.50621686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.69864 meters 0.024053012358630943 Centerline is valid? [True, True] Translation: X:353.82, Y:-277.96, Z:-25.06 [[ 7.23093488e-01 6.89374833e-01 4.35677319e-02 3.53817339e+02] [-6.88058576e-01 7.24404356e-01 -4.25878490e-02 -2.77960192e+02] [-6.09196461e-02 8.17844701e-04 9.98142339e-01 -2.50633063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72864 meters 0.02423842770062065 Centerline is valid? [True, True] Translation: X:353.84, Y:-277.98, Z:-25.06 [[ 7.24288381e-01 6.88175550e-01 4.26702971e-02 3.53840574e+02] [-6.86908667e-01 7.25543625e-01 -4.17484248e-02 -2.77983513e+02] [-5.96894073e-02 9.27302082e-04 9.98216567e-01 -2.50648762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.75864 meters 0.024072833490714467 Centerline is valid? [True, True] Translation: X:353.86, Y:-278.01, Z:-25.07 [[ 7.24326922e-01 6.88153333e-01 4.23733380e-02 3.53863979e+02] [-6.86901489e-01 7.25564664e-01 -4.15001631e-02 -2.78007248e+02] [-5.93030723e-02 9.53376397e-04 9.98239569e-01 -2.50664576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78864 meters 0.024025004783503057 Centerline is valid? [True, True] Translation: X:353.89, Y:-278.03, Z:-25.07 [[ 7.23946525e-01 6.88570338e-01 4.20989226e-02 3.53886957e+02] [-6.87332897e-01 7.25168946e-01 -4.12733453e-02 -2.78030585e+02] [-5.89484326e-02 9.43720435e-04 9.98260583e-01 -2.50672471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.81864 meters 0.023665730150211773 Centerline is valid? [True, True] Translation: X:353.91, Y:-278.06, Z:-25.07 [[ 7.22305267e-01 6.90251859e-01 4.27489426e-02 3.53908284e+02] [-6.88976257e-01 7.23568690e-01 -4.19531784e-02 -2.78055489e+02] [-5.98900557e-02 8.49995273e-04 9.98204618e-01 -2.50673948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84864 meters 0.023229475056175605 Centerline is valid? [True, True] Translation: X:353.93, Y:-278.08, Z:-25.07 [[ 7.19794756e-01 6.92827182e-01 4.34281730e-02 3.53929145e+02] [-6.91512984e-01 7.21103350e-01 -4.26585508e-02 -2.78080168e+02] [-6.08712046e-02 6.74255636e-04 9.98145401e-01 -2.50673057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87864 meters 0.02302860288994836 Centerline is valid? [True, True] Translation: X:353.95, Y:-278.10, Z:-25.07 [[ 7.18533567e-01 6.94128524e-01 4.35328099e-02 3.53951988e+02] [-6.92807924e-01 7.19850845e-01 -4.28011923e-02 -2.78103785e+02] [-6.10466584e-02 5.94217688e-04 9.98134737e-01 -2.50678117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90864 meters 0.023102232031428832 Centerline is valid? [True, True] Translation: X:353.97, Y:-278.13, Z:-25.07 [[ 7.16839457e-01 6.95898626e-01 4.32006453e-02 3.53974360e+02] [-6.94598720e-01 7.18139875e-01 -4.25174965e-02 -2.78126622e+02] [-6.06119734e-02 4.71106137e-04 9.98161293e-01 -2.50692879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93864 meters 0.02284227723189618 Centerline is valid? [True, True] Translation: X:354.00, Y:-278.15, Z:-25.07 [[ 7.16003082e-01 6.96777674e-01 4.29005881e-02 3.53998487e+02] [-6.95494978e-01 7.17287038e-01 -4.22615749e-02 -2.78149879e+02] [-6.02189576e-02 4.22274344e-04 9.98185103e-01 -2.50701236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96864 meters 0.022680422929346453 Centerline is valid? [True, True] Translation: X:354.02, Y:-278.17, Z:-25.07 [[ 7.15749982e-01 6.97062419e-01 4.24964420e-02 3.54022281e+02] [-6.95801672e-01 7.17010322e-01 -4.19074116e-02 -2.78173328e+02] [-5.96824693e-02 4.26133725e-04 9.98217322e-01 -2.50720993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99864 meters 0.022742753253699344 Centerline is valid? [True, True] Translation: X:354.05, Y:-278.20, Z:-25.07 [[ 7.16533806e-01 6.96292070e-01 4.19125081e-02 3.54047547e+02] [-6.95061925e-01 7.17758378e-01 -4.13742897e-02 -2.78195430e+02] [-5.88916436e-02 5.14288732e-04 9.98264249e-01 -2.50731792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02864 meters 0.02275850626850147 Centerline is valid? [True, True] Translation: X:354.07, Y:-278.22, Z:-25.07 [[ 7.16757127e-01 6.96076097e-01 4.16808014e-02 3.54072453e+02] [-6.94856647e-01 7.17967795e-01 -4.11884144e-02 -2.78216947e+02] [-5.85957438e-02 5.59907604e-04 9.98281636e-01 -2.50734684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05864 meters 0.022631749877447576 Centerline is valid? [True, True] Translation: X:354.10, Y:-278.24, Z:-25.07 [[ 7.16543276e-01 6.96312189e-01 4.14133790e-02 3.54097720e+02] [-6.95106249e-01 7.17738819e-01 -4.09669338e-02 -2.78239010e+02] [-5.82497651e-02 5.67882445e-04 9.98301879e-01 -2.50749592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08864 meters 0.022913508160032833 Centerline is valid? [True, True] Translation: X:354.12, Y:-278.26, Z:-25.08 [[ 7.16563942e-01 6.96140519e-01 4.38690711e-02 3.54122866e+02] [-6.94784004e-01 7.17905256e-01 -4.34422762e-02 -2.78258756e+02] [-6.17357654e-02 6.49639850e-04 9.98092317e-01 -2.50790258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11863999999997 meters 0.022688053386704495 Centerline is valid? [True, True] Translation: X:354.15, Y:-278.28, Z:-25.08 [[ 7.15890475e-01 6.96868579e-01 4.33014121e-02 3.54147214e+02] [-6.95545899e-01 7.17198588e-01 -4.29195506e-02 -2.78281213e+02] [-6.09649978e-02 6.07577822e-04 9.98139720e-01 -2.50790598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14864 meters 0.022829044901055397 Centerline is valid? [True, True] Translation: X:354.17, Y:-278.30, Z:-25.08 [[ 7.15336346e-01 6.97392362e-01 4.40205112e-02 3.54172980e+02] [-6.96023505e-01 7.16689283e-01 -4.36778205e-02 -2.78302658e+02] [-6.20096070e-02 6.05021994e-04 9.98075369e-01 -2.50812041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17864 meters 0.022801304728258417 Centerline is valid? [True, True] Translation: X:354.20, Y:-278.33, Z:-25.08 [[ 7.15170783e-01 6.97578406e-01 4.37620611e-02 3.54197203e+02] [-6.96223172e-01 7.16508189e-01 -4.34661808e-02 -2.78325094e+02] [-6.16769443e-02 6.17581587e-04 9.98095974e-01 -2.50825281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20864 meters 0.02280050147411188 Centerline is valid? [True, True] Translation: X:354.22, Y:-278.35, Z:-25.08 [[ 7.15303297e-01 6.97432596e-01 4.39200055e-02 3.54221365e+02] [-6.96064480e-01 7.16650077e-01 -4.36681558e-02 -2.78347874e+02] [-6.19308705e-02 6.64820015e-04 9.98080220e-01 -2.50843255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23864 meters 0.02296893599589792 Centerline is valid? [True, True] Translation: X:354.25, Y:-278.37, Z:-25.09 [[ 7.16781794e-01 6.95921378e-01 4.37869254e-02 3.54245257e+02] [-6.94556021e-01 7.18117508e-01 -4.35795633e-02 -2.78369555e+02] [-6.17721075e-02 8.24564936e-04 9.98089939e-01 -2.50862964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26864 meters 0.022881414399974313 Centerline is valid? [True, True] Translation: X:354.27, Y:-278.39, Z:-25.09 [[ 7.17482742e-01 6.95226905e-01 4.33366549e-02 3.54269208e+02] [-6.93885836e-01 7.18789770e-01 -4.31707389e-02 -2.78392511e+02] [-6.11634034e-02 9.03569045e-04 9.98127357e-01 -2.50871504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29864 meters 0.023059164065933047 Centerline is valid? [True, True] Translation: X:354.29, Y:-278.41, Z:-25.09 [[ 7.18559595e-01 6.94133101e-01 4.30272771e-02 3.54292795e+02] [-6.92806575e-01 7.19845954e-01 -4.29051675e-02 -2.78414605e+02] [-6.07549083e-02 1.02033929e-03 9.98152193e-01 -2.50893114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32864 meters 0.023118184043521704 Centerline is valid? [True, True] Translation: X:354.32, Y:-278.44, Z:-25.09 [[ 7.19238310e-01 6.93419229e-01 4.31975320e-02 3.54316181e+02] [-6.92078526e-01 7.20533507e-01 -4.31135561e-02 -2.78437123e+02] [-6.10210380e-02 1.11283690e-03 9.98135860e-01 -2.50904090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35864 meters 0.023528568402370713 Centerline is valid? [True, True] Translation: X:354.34, Y:-278.46, Z:-25.09 [[ 7.20613920e-01 6.92038391e-01 4.24080664e-02 3.54337769e+02] [-6.90741675e-01 7.21859642e-01 -4.23626787e-02 -2.78461435e+02] [-5.99292716e-02 1.23411716e-03 9.98201863e-01 -2.50912100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38864 meters 0.023733154378197917 Centerline is valid? [True, True] Translation: X:354.36, Y:-278.49, Z:-25.09 [[ 7.20894281e-01 6.91825136e-01 4.11025098e-02 3.54360294e+02] [-6.90604642e-01 7.22064017e-01 -4.10948160e-02 -2.78486161e+02] [-5.81090700e-02 1.23943376e-03 9.98309471e-01 -2.50912053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41864 meters 0.02383937306094488 Centerline is valid? [True, True] Translation: X:354.26, Y:-278.71, Z:-23.65 [[ 7.39980214e-01 -6.72059644e-01 -2.76607616e-02 3.54264359e+02] [-6.71454043e-01 -7.40492371e-01 2.86446676e-02 -2.78711350e+02] [-3.97335081e-02 -2.62355711e-03 -9.99206868e-01 -2.36524666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44864 meters 0.023458024081766983 Centerline is valid? [True, True] Translation: X:354.26, Y:-278.78, Z:-23.65 [[ 7.90608773e-01 -6.11656738e-01 -2.85272185e-02 3.54262913e+02] [-6.11117341e-01 -7.91117548e-01 2.58576961e-02 -2.78784009e+02] [-3.83844172e-02 -3.00984353e-03 -9.99258514e-01 -2.36536891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47864 meters 0.02357800956484052 Centerline is valid? [True, True] Translation: X:354.26, Y:-278.85, Z:-23.65 [[ 8.36139368e-01 -5.47744534e-01 -2.91012419e-02 3.54263409e+02] [-5.47282591e-01 -8.36640075e-01 2.26969260e-02 -2.78854613e+02] [-3.67793824e-02 -3.05119025e-03 -9.99318752e-01 -2.36547084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50864 meters 0.023130814515778742 Centerline is valid? [True, True] Translation: X:354.34, Y:-278.66, Z:-25.10 [[ 8.56325791e-01 5.13844218e-01 5.16745639e-02 3.54341699e+02] [-5.12831119e-01 8.57882762e-01 -3.22708743e-02 -2.78657017e+02] [-6.09129197e-02 1.13405752e-03 9.98142440e-01 -2.50981396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53864 meters 0.0228956587032705 Centerline is valid? [True, True] Translation: X:354.37, Y:-278.67, Z:-25.10 [[ 8.55259513e-01 5.15577061e-01 5.20716782e-02 3.54368020e+02] [-5.14549809e-01 8.56842581e-01 -3.25466801e-02 -2.78674945e+02] [-6.13975527e-02 1.04238573e-03 9.98112846e-01 -2.50996347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56864 meters 0.022438240348690634 Centerline is valid? [True, True] Translation: X:354.39, Y:-278.69, Z:-25.10 [[ 8.53199634e-01 5.19049439e-01 5.13620912e-02 3.54394123e+02] [-5.18055714e-01 8.54743854e-01 -3.21126446e-02 -2.78694707e+02] [-6.05694819e-02 7.90071822e-04 9.98163671e-01 -2.51021643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59864 meters 0.022403737519769717 Centerline is valid? [True, True] Translation: X:354.42, Y:-278.71, Z:-25.10 [[ 8.51890383e-01 5.21149876e-01 5.18226027e-02 3.54421777e+02] [-5.20141083e-01 8.53464920e-01 -3.24173343e-02 -2.78713595e+02] [-6.11230632e-02 6.60950637e-04 9.98130019e-01 -2.51046486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62864 meters 0.022193083170927278 Centerline is valid? [True, True] Translation: X:354.45, Y:-278.73, Z:-25.11 [[ 8.50095207e-01 5.23778274e-01 5.47216573e-02 3.54449204e+02] [-5.22656094e-01 8.51854468e-01 -3.42720306e-02 -2.78732605e+02] [-6.45658333e-02 5.33881226e-04 9.97913307e-01 -2.51072348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65864 meters 0.022096824284389353 Centerline is valid? [True, True] Translation: X:354.48, Y:-278.75, Z:-25.11 [[ 8.49660555e-01 5.24420000e-01 5.53227310e-02 3.54477121e+02] [-5.23271717e-01 8.51459564e-01 -3.46889262e-02 -2.78750500e+02] [-6.52966351e-02 5.24991836e-04 9.97865759e-01 -2.51085274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68864 meters 0.02224332801300358 Centerline is valid? [True, True] Translation: X:354.50, Y:-278.77, Z:-25.11 [[ 8.49301280e-01 5.25023152e-01 5.51182854e-02 3.54504665e+02] [-5.23882025e-01 8.51087792e-01 -3.46005024e-02 -2.78768221e+02] [-6.50765646e-02 5.10771990e-04 9.97880143e-01 -2.51102167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71864 meters 0.022098571786328694 Centerline is valid? [True, True] Translation: X:354.53, Y:-278.79, Z:-25.11 [[ 8.48416199e-01 5.26374762e-01 5.58530518e-02 3.54532230e+02] [-5.25203186e-01 8.50252556e-01 -3.51027694e-02 -2.78787082e+02] [-6.59664120e-02 4.47557412e-04 9.97821744e-01 -2.51122097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74864 meters 0.021977944225542115 Centerline is valid? [True, True] Translation: X:354.56, Y:-278.81, Z:-25.11 [[ 8.47565931e-01 5.27676829e-01 5.64726128e-02 3.54560105e+02] [-5.26479196e-01 8.49445122e-01 -3.55336581e-02 -2.78805073e+02] [-6.67206735e-02 3.85462270e-04 9.97771619e-01 -2.51138067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77864 meters 0.021891511005097133 Centerline is valid? [True, True] Translation: X:354.59, Y:-278.82, Z:-25.12 [[ 8.45928873e-01 5.30113214e-01 5.81749349e-02 3.54586359e+02] [-5.28845059e-01 8.47926840e-01 -3.66466670e-02 -2.78822822e+02] [-6.87549712e-02 2.34946820e-04 9.97633549e-01 -2.51167623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80864 meters 0.021838679958670674 Centerline is valid? [True, True] Translation: X:354.61, Y:-278.84, Z:-25.12 [[ 8.45192468e-01 5.31363655e-01 5.74661523e-02 3.54614076e+02] [-5.30126647e-01 8.47143813e-01 -3.62367011e-02 -2.78840024e+02] [-6.79369613e-02 1.62648234e-04 9.97689602e-01 -2.51182161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83864 meters 0.021838679958670674 Centerline is valid? [True, True] Translation: X:354.64, Y:-278.86, Z:-25.12 [[ 8.44913925e-01 5.31808317e-01 5.74488751e-02 3.54641764e+02] [-5.30570475e-01 8.46864740e-01 -3.62640753e-02 -2.78857107e+02] [-6.79369636e-02 1.59345279e-04 9.97689603e-01 -2.51198086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters 0.021769894185525128 Centerline is valid? [True, True] Translation: X:354.67, Y:-278.88, Z:-25.12 [[ 8.44249678e-01 5.32867772e-01 5.73970263e-02 3.54669994e+02] [-5.31631740e-01 8.46198515e-01 -3.62735083e-02 -2.78875156e+02] [-6.78982619e-02 1.09816760e-04 9.97692244e-01 -2.51207864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89864 meters 0.021850404865749847 Centerline is valid? [True, True] Translation: X:354.70, Y:-278.89, Z:-25.12 [[ 8.43580230e-01 5.33774598e-01 5.87968819e-02 3.54696334e+02] [-5.32476762e-01 8.45626793e-01 -3.71998045e-02 -2.78892766e+02] [-6.95765294e-02 7.30463828e-05 9.97576614e-01 -2.51230043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters 0.02169849445403903 Centerline is valid? [True, True] Translation: X:354.72, Y:-278.91, Z:-25.13 [[ 8.42874374e-01 5.34906081e-01 5.86368000e-02 3.54724497e+02] [-5.33615433e-01 8.44911525e-01 -3.71360377e-02 -2.78910614e+02] [-6.94072005e-02 1.15130921e-05 9.97588412e-01 -2.51252575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95864 meters 0.021630657342036383 Centerline is valid? [True, True] Translation: X:354.75, Y:-278.93, Z:-25.13 [[ 8.42221881e-01 5.35934770e-01 5.86193348e-02 3.54752550e+02] [-5.34644356e-01 8.44259392e-01 -3.71684202e-02 -2.78927362e+02] [-6.94097727e-02 -3.64397028e-05 9.97588233e-01 -2.51264868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters 0.021725878342956268 Centerline is valid? [True, True] Translation: X:354.78, Y:-278.95, Z:-25.13 [[ 8.41759393e-01 5.36741423e-01 5.78771968e-02 3.54779949e+02] [-5.35482496e-01 8.43746787e-01 -3.67403788e-02 -2.78945462e+02] [-6.85537820e-02 -6.56668802e-05 9.97647420e-01 -2.51279703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01864 meters 0.02153982732232253 Centerline is valid? [True, True] Translation: X:354.81, Y:-278.96, Z:-25.13 [[ 8.41771862e-01 5.36741343e-01 5.76962999e-02 3.54807309e+02] [-5.35487337e-01 8.43746840e-01 -3.66685535e-02 -2.78964746e+02] [-6.83625994e-02 -2.90814475e-05 9.97660541e-01 -2.51302207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04864 meters 0.021744176079714076 Centerline is valid? [True, True] Translation: X:354.83, Y:-278.98, Z:-25.13 [[ 8.41502867e-01 5.37260947e-01 5.67767581e-02 3.54834575e+02] [-5.36045104e-01 8.43416074e-01 -3.61244059e-02 -2.78982400e+02] [-6.72946630e-02 -3.61121071e-05 9.97733144e-01 -2.51317970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07864 meters 0.021633134740361288 Centerline is valid? [True, True] Translation: X:354.86, Y:-279.00, Z:-25.13 [[ 8.41174305e-01 5.37818997e-01 5.63605765e-02 3.54862635e+02] [-5.36619638e-01 8.43060332e-01 -3.58976389e-02 -2.79000027e+02] [-6.68217985e-02 -4.80207339e-05 9.97764925e-01 -2.51342090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10864 meters 0.02177975502921681 Centerline is valid? [True, True] Translation: X:354.89, Y:-279.02, Z:-25.14 [[ 8.39184734e-01 5.40841983e-01 5.70870548e-02 3.54889925e+02] [-5.39615502e-01 8.41124179e-01 -3.64036553e-02 -2.79019270e+02] [-6.77059272e-02 -2.55667896e-04 9.97705288e-01 -2.51373000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13864 meters 0.02177715614545842 Centerline is valid? [True, True] Translation: X:354.92, Y:-279.04, Z:-25.14 [[ 8.38279182e-01 5.42348992e-01 5.60855059e-02 3.54917485e+02] [-5.41165819e-01 8.40153235e-01 -3.58063902e-02 -2.79037265e+02] [-6.65399789e-02 -3.35807251e-04 9.97783703e-01 -2.51381860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16864 meters 0.021997403595335308 Centerline is valid? [True, True] Translation: X:354.95, Y:-279.05, Z:-25.14 [[ 8.35597837e-01 5.46595185e-01 5.48630955e-02 3.54946092e+02] [-5.45469554e-01 8.37396748e-01 -3.50664024e-02 -2.79054659e+02] [-6.51093045e-02 -6.24738204e-04 9.97877943e-01 -2.51402238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19864 meters 0.022097238916487502 Centerline is valid? [True, True] Translation: X:354.97, Y:-279.07, Z:-25.14 [[ 8.34563051e-01 5.48177988e-01 5.48215939e-02 3.54974718e+02] [-5.47054805e-01 8.36361396e-01 -3.50807084e-02 -2.79071645e+02] [-6.50811369e-02 -7.13353353e-04 9.97879721e-01 -2.51416317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22864 meters 0.02229382996329019 Centerline is valid? [True, True] Translation: X:355.00, Y:-279.09, Z:-25.14 [[ 8.33812584e-01 5.49164810e-01 5.63434711e-02 3.55002261e+02] [-5.47977792e-01 8.35713711e-01 -3.60961654e-02 -2.79088022e+02] [-6.69097552e-02 -7.77533930e-04 9.97758728e-01 -2.51442813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25864 meters 0.022346026467360555 Centerline is valid? [True, True] Translation: X:355.03, Y:-279.10, Z:-25.15 [[ 8.33565845e-01 5.49375324e-01 5.79200798e-02 3.55030189e+02] [-5.48118700e-01 8.35575334e-01 -3.71450223e-02 -2.79103792e+02] [-6.88031487e-02 -7.84256954e-04 9.97629947e-01 -2.51454435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28864 meters 0.02241309384694196 Centerline is valid? [True, True] Translation: X:355.06, Y:-279.12, Z:-25.15 [[ 8.33766444e-01 5.49028359e-01 5.83213335e-02 3.55059374e+02] [-5.47750608e-01 8.35803405e-01 -3.74424779e-02 -2.79120149e+02] [-6.93021513e-02 -7.27264214e-04 9.97595451e-01 -2.51476286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31864 meters 0.022384929006243125 Centerline is valid? [True, True] Translation: X:355.09, Y:-279.13, Z:-25.15 [[ 8.35453896e-01 5.46545443e-01 5.74879749e-02 3.55089289e+02] [-5.45295284e-01 8.37429310e-01 -3.69486633e-02 -2.79132558e+02] [-6.83362387e-02 -4.79016927e-04 9.97662232e-01 -2.51494181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34864 meters 0.0223721326986533 Centerline is valid? [True, True] Translation: X:355.12, Y:-279.15, Z:-25.15 [[ 8.36075958e-01 5.45706470e-01 5.64042746e-02 3.55117297e+02] [-5.44498697e-01 8.37976319e-01 -3.62885468e-02 -2.79147833e+02] [-6.70683412e-02 -3.72072504e-04 9.97748315e-01 -2.51510261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37864 meters 0.02239658153208709 Centerline is valid? [True, True] Translation: X:355.15, Y:-279.16, Z:-25.15 [[ 8.36264774e-01 5.45390128e-01 5.66642362e-02 3.55146029e+02] [-5.44167840e-01 8.38182264e-01 -3.64945723e-02 -2.79163994e+02] [-6.73987373e-02 -3.15729757e-04 9.97726070e-01 -2.51527062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40864 meters 0.022490420765687098 Centerline is valid? [True, True] Translation: X:355.18, Y:-279.18, Z:-25.15 [[ 8.36576194e-01 5.44870363e-01 5.70662626e-02 3.55175307e+02] [-5.43626554e-01 8.38520262e-01 -3.67959296e-02 -2.79178609e+02] [-6.79002289e-02 -2.40136925e-04 9.97692087e-01 -2.51544932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43864 meters 0.02233963715081911 Centerline is valid? [True, True] Translation: X:355.20, Y:-279.19, Z:-25.16 [[ 8.36843563e-01 5.44390213e-01 5.77247601e-02 3.55203525e+02] [-5.43113509e-01 8.38832086e-01 -3.72618980e-02 -2.79194867e+02] [-6.87063935e-02 -1.68717572e-04 9.97636909e-01 -2.51561399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46864 meters 0.022729365616877453 Centerline is valid? [True, True] Translation: X:355.23, Y:-279.21, Z:-25.16 [[ 8.38183900e-01 5.42100606e-01 5.97886504e-02 3.55231343e+02] [-5.40722003e-01 8.40313590e-01 -3.86365848e-02 -2.79210742e+02] [-7.11861315e-02 5.55244814e-05 9.97463048e-01 -2.51579826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49864 meters 0.022726977865570475 Centerline is valid? [True, True] Translation: X:355.26, Y:-279.23, Z:-25.16 [[ 8.39534429e-01 5.40057671e-01 5.93266688e-02 3.55259516e+02] [-5.38692371e-01 8.41627972e-01 -3.83781908e-02 -2.79228569e+02] [-7.06574204e-02 2.60988611e-04 9.97500607e-01 -2.51593620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52864 meters 0.02335270528273717 Centerline is valid? [True, True] Translation: X:355.29, Y:-279.25, Z:-25.16 [[ 8.42680392e-01 5.35315058e-01 5.76848775e-02 3.55287295e+02] [-5.34010339e-01 8.44652195e-01 -3.73580988e-02 -2.79246683e+02] [-6.87220112e-02 6.76616379e-04 9.97635619e-01 -2.51608811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55864 meters 0.02339977878655813 Centerline is valid? [True, True] Translation: X:355.31, Y:-279.26, Z:-25.16 [[ 8.43748712e-01 5.33648547e-01 5.75094739e-02 3.55313976e+02] [-5.32345093e-01 8.45705927e-01 -3.72852029e-02 -2.79264345e+02] [-6.85332973e-02 8.44455658e-04 9.97648472e-01 -2.51627153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58864 meters 0.023544261129321422 Centerline is valid? [True, True] Translation: X:355.34, Y:-279.28, Z:-25.16 [[ 8.44342535e-01 5.32822325e-01 5.64451427e-02 3.55341644e+02] [-5.31562395e-01 8.46226632e-01 -3.66320474e-02 -2.79283358e+02] [-6.72837557e-02 9.25880433e-04 9.97733451e-01 -2.51635323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61863999999997 meters 0.02374576786047997 Centerline is valid? [True, True] Translation: X:355.37, Y:-279.30, Z:-25.17 [[ 8.44644703e-01 5.32345551e-01 5.64228788e-02 3.55367675e+02] [-5.31082790e-01 8.46526561e-01 -3.66585834e-02 -2.79303761e+02] [-6.72784993e-02 9.98258341e-04 9.97733736e-01 -2.51656166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64864 meters 0.023713804013192608 Centerline is valid? [True, True] Translation: X:355.39, Y:-279.32, Z:-25.17 [[ 8.44682412e-01 5.32345011e-01 5.58606478e-02 3.55394518e+02] [-5.31104629e-01 8.46526871e-01 -3.63335821e-02 -2.79323526e+02] [-6.66295405e-02 1.02248911e-03 9.97777259e-01 -2.51672588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67864 meters 0.02388466388372379 Centerline is valid? [True, True] Translation: X:355.42, Y:-279.34, Z:-25.17 [[ 8.44811603e-01 5.32316293e-01 5.41545995e-02 3.55419116e+02] [-5.31148120e-01 8.46544927e-01 -3.52613195e-02 -2.79344556e+02] [-6.46144763e-02 1.02505817e-03 9.97909775e-01 -2.51689283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70864 meters 0.024101194740562812 Centerline is valid? [True, True] Translation: X:355.45, Y:-279.36, Z:-25.17 [[ 8.44579370e-01 5.32620021e-01 5.47868635e-02 3.55445572e+02] [-5.31422623e-01 8.46353840e-01 -3.57095754e-02 -2.79364120e+02] [-6.53887071e-02 1.04459200e-03 9.97859322e-01 -2.51711237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73864 meters 0.024167776615879957 Centerline is valid? [True, True] Translation: X:355.47, Y:-279.38, Z:-25.17 [[ 8.44576317e-01 5.32590298e-01 5.51218652e-02 3.55472502e+02] [-5.31375459e-01 8.46372490e-01 -3.59684593e-02 -2.79383733e+02] [-6.58100828e-02 1.08770239e-03 9.97831574e-01 -2.51724355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76864 meters 0.024096873366870795 Centerline is valid? [True, True] Translation: X:355.50, Y:-279.40, Z:-25.17 [[ 8.43846916e-01 5.33676259e-01 5.57856087e-02 3.55498492e+02] [-5.32431575e-01 8.45688210e-01 -3.64426893e-02 -2.79403520e+02] [-6.66258296e-02 1.05003148e-03 9.97777478e-01 -2.51737273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79864 meters 0.02420351765252308 Centerline is valid? [True, True] Translation: X:355.53, Y:-279.42, Z:-25.18 [[ 8.43308392e-01 5.34486340e-01 5.61721378e-02 3.55525832e+02] [-5.33223345e-01 8.45176488e-01 -3.67364751e-02 -2.79421716e+02] [-6.71105143e-02 1.02788256e-03 9.97745019e-01 -2.51754167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82864 meters 0.024146059085429068 Centerline is valid? [True, True] Translation: X:355.55, Y:-279.44, Z:-25.18 [[ 8.42825807e-01 5.35466484e-01 5.40398372e-02 3.55551108e+02] [-5.34297267e-01 8.44555949e-01 -3.53790871e-02 -2.79441118e+02] [-6.45839813e-02 9.45070314e-04 9.97911828e-01 -2.51787008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85864 meters 0.024274018491320874 Centerline is valid? [True, True] Translation: X:355.58, Y:-279.46, Z:-25.18 [[ 8.42501467e-01 5.36057117e-01 5.32357504e-02 3.55577871e+02] [-5.34921509e-01 8.44181219e-01 -3.48862218e-02 -2.79459704e+02] [-6.36416282e-02 9.14745161e-04 9.97972398e-01 -2.51796512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88864 meters 0.024013920499506552 Centerline is valid? [True, True] Translation: X:355.60, Y:-279.48, Z:-25.18 [[ 8.41330627e-01 5.37956427e-01 5.25895218e-02 3.55603599e+02] [-5.36849847e-01 8.42972276e-01 -3.44961349e-02 -2.79479277e+02] [-6.28889264e-02 7.89978079e-04 9.98020220e-01 -2.51809126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91864 meters 0.02416855091487959 Centerline is valid? [True, True] Translation: X:355.63, Y:-279.50, Z:-25.18 [[ 8.40718389e-01 5.38769278e-01 5.40393987e-02 3.55630658e+02] [-5.37600080e-01 8.42453000e-01 -3.54837615e-02 -2.79497786e+02] [-6.46432141e-02 7.80265733e-04 9.97908135e-01 -2.51833057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94864 meters 0.02408271829138047 Centerline is valid? [True, True] Translation: X:355.66, Y:-279.52, Z:-25.18 [[ 8.39527979e-01 5.40563600e-01 5.46238722e-02 3.55657726e+02] [-5.39370067e-01 8.41302875e-01 -3.59082632e-02 -2.79517566e+02] [-6.53659207e-02 6.83509976e-04 9.97861127e-01 -2.51847772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97864 meters 0.02410382537417852 Centerline is valid? [True, True] Translation: X:355.69, Y:-279.54, Z:-25.19 [[ 8.38845582e-01 5.41621908e-01 5.46241623e-02 3.55685147e+02] [-5.40427943e-01 8.40621975e-01 -3.59490381e-02 -2.79535632e+02] [-6.53890578e-02 6.35268094e-04 9.97859643e-01 -2.51860521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00864 meters 0.02405085395205566 Centerline is valid? [True, True] Translation: X:355.71, Y:-279.55, Z:-25.19 [[ 8.37808852e-01 5.43118942e-01 5.56609663e-02 3.55712774e+02] [-5.41879657e-01 8.39655582e-01 -3.66734254e-02 -2.79553516e+02] [-6.66540731e-02 5.63775121e-04 9.97775985e-01 -2.51895207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03864 meters 0.024182959783245566 Centerline is valid? [True, True] Translation: X:355.74, Y:-279.57, Z:-25.19 [[ 8.37358040e-01 5.43674301e-01 5.70067232e-02 3.55739618e+02] [-5.42372697e-01 8.39296093e-01 -3.76022088e-02 -2.79571867e+02] [-6.82888747e-02 5.67621655e-04 9.97665429e-01 -2.51918255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06864 meters 0.02415188126618851 Centerline is valid? [True, True] Translation: X:355.77, Y:-279.59, Z:-25.19 [[ 8.37117961e-01 5.44131978e-01 5.61596884e-02 3.55765841e+02] [-5.42867371e-01 8.38999454e-01 -3.70800879e-02 -2.79590434e+02] [-6.72944095e-02 5.53145094e-04 9.97733009e-01 -2.51937917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09864 meters 0.02425970205344674 Centerline is valid? [True, True] Translation: X:355.79, Y:-279.61, Z:-25.19 [[ 8.37773154e-01 5.43238468e-01 5.50282492e-02 3.55791438e+02] [-5.42019989e-01 8.39578199e-01 -3.63700330e-02 -2.79610798e+02] [-6.59581194e-02 6.43426270e-04 9.97822185e-01 -2.51944904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12864 meters 0.024163922688703345 Centerline is valid? [True, True] Translation: X:355.82, Y:-279.63, Z:-25.20 [[ 8.38025185e-01 5.42924786e-01 5.42813588e-02 3.55818798e+02] [-5.41735919e-01 8.39781041e-01 -3.59165330e-02 -2.79629317e+02] [-6.50844320e-02 6.92797435e-04 9.97879520e-01 -2.51956467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15864 meters 0.02429244122764545 Centerline is valid? [True, True] Translation: X:355.85, Y:-279.65, Z:-25.20 [[ 8.37679777e-01 5.43425529e-01 5.46011504e-02 3.55846153e+02] [-5.42220960e-01 8.39457096e-01 -3.61692555e-02 -2.79648389e+02] [-6.54906199e-02 6.92365735e-04 9.97852945e-01 -2.51974480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18864 meters 0.02429625067683802 Centerline is valid? [True, True] Translation: X:355.87, Y:-279.67, Z:-25.20 [[ 8.37066857e-01 5.44306451e-01 5.52228693e-02 3.55873131e+02] [-5.43073402e-01 8.38886193e-01 -3.66228870e-02 -2.79666921e+02] [-6.62597762e-02 6.65733407e-04 9.97802184e-01 -2.51995721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21864 meters 0.024251821420921277 Centerline is valid? [True, True] Translation: X:355.90, Y:-279.69, Z:-25.20 [[ 8.36119003e-01 5.45755017e-01 5.52853985e-02 3.55900276e+02] [-5.44519564e-01 8.37944579e-01 -3.67059445e-02 -2.79685495e+02] [-6.63585533e-02 5.86556644e-04 9.97795670e-01 -2.52013866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24864 meters 0.024005848432181846 Centerline is valid? [True, True] Translation: X:355.93, Y:-279.71, Z:-25.20 [[ 8.34931148e-01 5.47550529e-01 5.54833050e-02 3.55927369e+02] [-5.46307356e-01 8.36772483e-01 -3.68793285e-02 -2.79705015e+02] [-6.66201987e-02 4.80762358e-04 9.97778291e-01 -2.52022511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27864 meters 0.023820319210038566 Centerline is valid? [True, True] Translation: X:355.95, Y:-279.72, Z:-25.20 [[ 8.31920580e-01 5.52119253e-01 5.54299494e-02 3.55954892e+02] [-5.50885858e-01 8.33765140e-01 -3.68844667e-02 -2.79722329e+02] [-6.65801837e-02 1.49371690e-04 9.97781067e-01 -2.52026134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30864 meters 0.023966868366031284 Centerline is valid? [True, True] Translation: X:355.98, Y:-279.74, Z:-25.20 [[ 8.30122399e-01 5.54806454e-01 5.55571874e-02 3.55982759e+02] [-5.53570791e-01 8.31979445e-01 -3.70078662e-02 -2.79739557e+02] [-6.67546410e-02 -3.37774776e-05 9.97769421e-01 -2.52046975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33864 meters 0.0241449248723001 Centerline is valid? [True, True] Translation: X:356.01, Y:-279.76, Z:-25.21 [[ 8.27938822e-01 5.58060347e-01 5.55513905e-02 3.56010875e+02] [-5.56829369e-01 8.29800326e-01 -3.70468986e-02 -2.79757055e+02] [-6.67709670e-02 -2.60080118e-04 9.97768295e-01 -2.52073207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters 0.024195698245498727 Centerline is valid? [True, True] Translation: X:356.04, Y:-279.77, Z:-25.21 [[ 8.25520513e-01 5.61588335e-01 5.59859244e-02 3.56039824e+02] [-5.60343282e-01 8.27416628e-01 -3.73782058e-02 -2.79771474e+02] [-6.73148492e-02 -5.14860920e-04 9.97731650e-01 -2.52090306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39864 meters 0.024283509930276927 Centerline is valid? [True, True] Translation: X:356.07, Y:-279.79, Z:-25.21 [[ 8.24531594e-01 5.62913720e-01 5.72345604e-02 3.56068297e+02] [-5.61612941e-01 8.26515444e-01 -3.82508258e-02 -2.79786987e+02] [-6.88371627e-02 -6.04655489e-04 9.97627726e-01 -2.52112606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters 0.024328705789076692 Centerline is valid? [True, True] Translation: X:356.10, Y:-279.80, Z:-25.21 [[ 8.24108812e-01 5.63411892e-01 5.84098158e-02 3.56098439e+02] [-5.62055517e-01 8.26175918e-01 -3.90761882e-02 -2.79800338e+02] [-7.02727723e-02 -6.26528183e-04 9.97527616e-01 -2.52128903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45864 meters 0.02466465572347064 Centerline is valid? [True, True] Translation: X:356.13, Y:-279.82, Z:-25.22 [[ 8.23559289e-01 5.64145870e-01 5.90722866e-02 3.56127238e+02] [-5.62757411e-01 8.25674875e-01 -3.95613193e-02 -2.79816689e+02] [-7.10928577e-02 -6.62275101e-04 9.97469482e-01 -2.52153999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters 0.024409685655738204 Centerline is valid? [True, True] Translation: X:356.16, Y:-279.83, Z:-25.22 [[ 8.23897055e-01 5.63779136e-01 5.78509129e-02 3.56155578e+02] [-5.62443704e-01 8.25925388e-01 -3.87857364e-02 -2.79831575e+02] [-6.96471267e-02 -5.82427713e-04 9.97571521e-01 -2.52155239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51864 meters 0.02466156796327715 Centerline is valid? [True, True] Translation: X:356.19, Y:-279.84, Z:-25.22 [[ 8.24435606e-01 5.62945065e-01 5.82991057e-02 3.56187033e+02] [-5.61583860e-01 8.26494175e-01 -3.91273131e-02 -2.79843744e+02] [-7.02103991e-02 -4.81886779e-04 9.97532089e-01 -2.52179155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54864 meters 0.02438066167230628 Centerline is valid? [True, True] Translation: X:356.22, Y:-279.86, Z:-25.22 [[ 8.24777002e-01 5.62441540e-01 5.83301966e-02 3.56216088e+02] [-5.61074436e-01 8.26836957e-01 -3.91934246e-02 -2.79859408e+02] [-7.02735723e-02 -4.01746907e-04 9.97527676e-01 -2.52191621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57864 meters 0.024466058567288427 Centerline is valid? [True, True] Translation: X:356.25, Y:-279.87, Z:-25.22 [[ 8.24773960e-01 5.62222432e-01 6.04471012e-02 3.56245574e+02] [-5.60750198e-01 8.26985978e-01 -4.06621137e-02 -2.79873565e+02] [-7.28500576e-02 -3.58671408e-04 9.97342840e-01 -2.52211826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60864 meters 0.02449991857977667 Centerline is valid? [True, True] Translation: X:356.27, Y:-279.89, Z:-25.22 [[ 8.24182025e-01 5.62945789e-01 6.17740145e-02 3.56273469e+02] [-5.61406971e-01 8.26493727e-01 -4.15972551e-02 -2.79889023e+02] [-7.44728351e-02 -3.96652436e-04 9.97222964e-01 -2.52225836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63864 meters 0.02462924379438591 Centerline is valid? [True, True] Translation: X:356.30, Y:-279.91, Z:-25.22 [[ 8.24018389e-01 5.63212967e-01 6.15211216e-02 3.56302851e+02] [-5.61684276e-01 8.26311689e-01 -4.14700697e-02 -2.79905141e+02] [-7.41921028e-02 -3.83346654e-04 9.97243894e-01 -2.52245054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66864 meters 0.02453515072167301 Centerline is valid? [True, True] Translation: X:356.33, Y:-279.92, Z:-25.23 [[ 8.23450796e-01 5.64020387e-01 6.17234959e-02 3.56333009e+02] [-5.62480324e-01 8.25760757e-01 -4.16540166e-02 -2.79918780e+02] [-7.44625552e-02 -4.18218889e-04 9.97223723e-01 -2.52274504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69864 meters 0.024672658721440227 Centerline is valid? [True, True] Translation: X:356.36, Y:-279.93, Z:-25.23 [[ 8.22659867e-01 5.65248062e-01 6.10358300e-02 3.56361932e+02] [-5.63742104e-01 8.24920841e-01 -4.12364752e-02 -2.79934972e+02] [-7.36585659e-02 -4.84874039e-04 9.97283400e-01 -2.52284216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72864 meters 0.024672658721440227 Centerline is valid? [True, True] Translation: X:356.39, Y:-279.95, Z:-25.23 [[ 8.22363101e-01 5.65682077e-01 6.10140801e-02 3.56389079e+02] [-5.64174926e-01 8.24623279e-01 -4.12686377e-02 -2.79952930e+02] [-7.36585595e-02 -4.84809263e-04 9.97283401e-01 -2.52300140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75864 meters 0.02473636152667145 Centerline is valid? [True, True] Translation: X:356.42, Y:-279.97, Z:-25.23 [[ 8.20200615e-01 5.68760496e-01 6.15016211e-02 3.56418987e+02] [-5.67234371e-01 8.22502867e-01 -4.16437459e-02 -2.79966281e+02] [-7.42705772e-02 -7.29607319e-04 9.97237860e-01 -2.52325468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78864 meters 0.024914812317531534 Centerline is valid? [True, True] Translation: X:356.45, Y:-279.98, Z:-25.23 [[ 8.18925902e-01 5.70552769e-01 6.18862161e-02 3.56447173e+02] [-5.69009465e-01 8.21260490e-01 -4.19456367e-02 -2.79981918e+02] [-7.47569034e-02 -8.63474373e-04 9.97201414e-01 -2.52344435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81864 meters 0.02495895223736017 Centerline is valid? [True, True] Translation: X:356.48, Y:-280.00, Z:-25.24 [[ 8.18402003e-01 5.71429953e-01 6.07122006e-02 3.56475304e+02] [-5.69944894e-01 8.20650351e-01 -4.11803320e-02 -2.79997240e+02] [-7.33551639e-02 -9.00542522e-04 9.97305474e-01 -2.52356021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84864 meters 0.024987806241993163 Centerline is valid? [True, True] Translation: X:356.51, Y:-280.01, Z:-25.24 [[ 8.18449405e-01 5.71335767e-01 6.09591089e-02 3.56507120e+02] [-5.69837309e-01 8.20715943e-01 -4.13616027e-02 -2.80009661e+02] [-7.36614755e-02 -8.84395426e-04 9.97282911e-01 -2.52367241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87864 meters 0.024869917478814715 Centerline is valid? [True, True] Translation: X:356.54, Y:-280.03, Z:-25.24 [[ 8.18478598e-01 5.71272202e-01 6.11625361e-02 3.56536623e+02] [-5.69762220e-01 8.20760209e-01 -4.15173822e-02 -2.80025167e+02] [-7.39175022e-02 -8.67013606e-04 9.97263983e-01 -2.52388233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90864 meters 0.02478341020859655 Centerline is valid? [True, True] Translation: X:356.57, Y:-280.04, Z:-25.24 [[ 8.20021466e-01 5.69210455e-01 5.97013698e-02 3.56566579e+02] [-5.67765283e-01 8.22191603e-01 -4.05407265e-02 -2.80037616e+02] [-7.21621703e-02 -6.52099218e-04 9.97392699e-01 -2.52403771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93864 meters 0.024633372612246223 Centerline is valid? [True, True] Translation: X:356.60, Y:-280.05, Z:-25.24 [[ 8.20658918e-01 5.68235475e-01 6.02277832e-02 3.56595060e+02] [-5.66761056e-01 8.22865804e-01 -4.09117840e-02 -2.80054197e+02] [-7.28069103e-02 -5.60141644e-04 9.97345898e-01 -2.52433817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96864 meters 0.024604271850257365 Centerline is valid? [True, True] Translation: X:356.62, Y:-280.07, Z:-25.25 [[ 8.22605798e-01 5.65478475e-01 5.96137190e-02 3.56623199e+02] [-5.64025656e-01 8.24762999e-01 -4.05099452e-02 -2.80069209e+02] [-7.20746917e-02 -2.99951173e-04 9.97399192e-01 -2.52453117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99864 meters 0.024370457639360233 Centerline is valid? [True, True] Translation: X:356.65, Y:-280.09, Z:-25.25 [[ 8.24043804e-01 5.63590543e-01 5.75978264e-02 3.56651083e+02] [-5.62229063e-01 8.26054287e-01 -3.91509319e-02 -2.80085813e+02] [-6.96440264e-02 -1.21089100e-04 9.97571900e-01 -2.52461511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02864 meters 0.02460523980860588 Centerline is valid? [True, True] Translation: X:356.68, Y:-280.10, Z:-25.25 [[ 8.26477285e-01 5.59941026e-01 5.83210430e-02 3.56679107e+02] [-5.58535197e-01 8.28532442e-01 -3.96538289e-02 -2.80101926e+02] [-7.05246819e-02 1.98633589e-04 9.97510015e-01 -2.52488101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05864 meters 0.024587438532192817 Centerline is valid? [True, True] Translation: X:356.71, Y:-280.12, Z:-25.25 [[ 8.28150988e-01 5.57576167e-01 5.72255126e-02 3.56705484e+02] [-5.56216319e-01 8.30125687e-01 -3.89197828e-02 -2.80119750e+02] [-6.92051113e-02 4.01692584e-04 9.97602371e-01 -2.52505142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08864 meters 0.024658997251096347 Centerline is valid? [True, True] Translation: X:356.73, Y:-280.14, Z:-25.25 [[ 8.29658556e-01 5.55364727e-01 5.68920161e-02 3.56732159e+02] [-5.54014760e-01 8.31606680e-01 -3.87036913e-02 -2.80138469e+02] [-6.88064456e-02 5.91831938e-04 9.97629853e-01 -2.52508583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11863999999997 meters 0.025199581165380548 Centerline is valid? [True, True] Translation: X:356.76, Y:-280.16, Z:-25.25 [[ 8.32132568e-01 5.51682606e-01 5.65834864e-02 3.56757797e+02] [-5.50338058e-01 8.34053650e-01 -3.85036357e-02 -2.80156906e+02] [-6.84354495e-02 9.00083242e-04 9.97655140e-01 -2.52537138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14864 meters 0.025361680351427742 Centerline is valid? [True, True] Translation: X:356.78, Y:-280.18, Z:-25.25 [[ 8.33053479e-01 5.50299690e-01 5.64991399e-02 3.56784259e+02] [-5.48955380e-01 8.34966594e-01 -3.84548956e-02 -2.80175689e+02] [-6.83366115e-02 1.01947779e-03 9.97661801e-01 -2.52548689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17864 meters 0.025520460703692755 Centerline is valid? [True, True] Translation: X:356.81, Y:-280.20, Z:-25.26 [[ 8.33948344e-01 5.48866897e-01 5.72301427e-02 3.56808657e+02] [-5.47483472e-01 8.35908957e-01 -3.89623436e-02 -2.80196017e+02] [-6.92243295e-02 1.16002472e-03 9.97600444e-01 -2.52566008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20864 meters 0.0255281048766055 Centerline is valid? [True, True] Translation: X:356.83, Y:-280.22, Z:-25.26 [[ 8.33865951e-01 5.49056240e-01 5.66111427e-02 3.56834489e+02] [-5.47702466e-01 8.35784630e-01 -3.85494585e-02 -2.80215575e+02] [-6.84805437e-02 1.13901834e-03 9.97651802e-01 -2.52588665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23864 meters 0.025598356289212764 Centerline is valid? [True, True] Translation: X:356.86, Y:-280.23, Z:-25.26 [[ 8.33759276e-01 5.49209911e-01 5.66916498e-02 3.56861062e+02] [-5.47851812e-01 8.35683660e-01 -3.86162270e-02 -2.80234449e+02] [-6.85846999e-02 1.13801440e-03 9.97644648e-01 -2.52605512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26864 meters 0.025540978323742677 Centerline is valid? [True, True] Translation: X:356.89, Y:-280.25, Z:-25.26 [[ 8.33220506e-01 5.50157180e-01 5.54135840e-02 3.56887428e+02] [-5.48860859e-01 8.35060465e-01 -3.77594747e-02 -2.80253213e+02] [-6.70473393e-02 1.04762125e-03 9.97749245e-01 -2.52613407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29864 meters 0.025297462329498328 Centerline is valid? [True, True] Translation: X:356.91, Y:-280.27, Z:-25.26 [[ 8.32159687e-01 5.51700567e-01 5.60066125e-02 3.56913694e+02] [-5.50379089e-01 8.34041724e-01 -3.81740847e-02 -2.80272568e+02] [-6.77725158e-02 9.42065972e-04 9.97700355e-01 -2.52625275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32864 meters 0.025083397324608 Centerline is valid? [True, True] Translation: X:356.94, Y:-280.29, Z:-25.26 [[ 8.30311174e-01 5.54438691e-01 5.64011754e-02 3.56940256e+02] [-5.53104080e-01 8.32224249e-01 -3.84535627e-02 -2.80291020e+02] [-6.82585688e-02 7.32702558e-04 9.97667395e-01 -2.52641398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35864 meters 0.02499177676146336 Centerline is valid? [True, True] Translation: X:356.97, Y:-280.31, Z:-25.27 [[ 8.29140150e-01 5.56189407e-01 5.63910901e-02 3.56967242e+02] [-5.54858588e-01 8.31055345e-01 -3.84572659e-02 -2.80308571e+02] [-6.82536407e-02 5.97382582e-04 9.97667822e-01 -2.52653164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38864 meters 0.024864201513548442 Centerline is valid? [True, True] Translation: X:357.00, Y:-280.32, Z:-25.27 [[ 8.27338830e-01 5.58809758e-01 5.69395662e-02 3.56995461e+02] [-5.57458336e-01 8.29295785e-01 -3.88420440e-02 -2.80324003e+02] [-6.89250555e-02 3.94095410e-04 9.97621763e-01 -2.52680136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41864 meters 0.02500138236411658 Centerline is valid? [True, True] Translation: X:357.02, Y:-280.34, Z:-25.27 [[ 8.26327576e-01 5.60288855e-01 5.70888434e-02 3.57023791e+02] [-5.58932933e-01 8.28297241e-01 -3.89571329e-02 -2.80341880e+02] [-6.91137789e-02 2.82518506e-04 9.97608744e-01 -2.52700837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44864 meters 0.025051337883745035 Centerline is valid? [True, True] Translation: X:357.05, Y:-280.36, Z:-25.27 [[ 8.26651957e-01 5.59813838e-01 5.70526855e-02 3.57052226e+02] [-5.58457235e-01 8.28618340e-01 -3.89507876e-02 -2.80358657e+02] [-6.90800914e-02 3.37259773e-04 9.97611060e-01 -2.52716590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47864 meters 0.025251544308701926 Centerline is valid? [True, True] Translation: X:357.08, Y:-280.38, Z:-25.27 [[ 8.27158685e-01 5.59081618e-01 5.68880824e-02 3.57079361e+02] [-5.57729991e-01 8.29112523e-01 -3.88546312e-02 -2.80376615e+02] [-6.88895316e-02 4.10756022e-04 9.97624210e-01 -2.52739233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50864 meters 0.025245223223552913 Centerline is valid? [True, True] Translation: X:357.11, Y:-280.40, Z:-25.28 [[ 8.28229784e-01 5.57556887e-01 5.62649362e-02 3.57106877e+02] [-5.56230137e-01 8.30138555e-01 -3.84449435e-02 -2.80395022e+02] [-6.81429359e-02 5.44994087e-04 9.97675420e-01 -2.52755608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53864 meters 0.025665871180943958 Centerline is valid? [True, True] Translation: X:357.13, Y:-280.41, Z:-25.28 [[ 8.30468672e-01 5.54135210e-01 5.70609725e-02 3.57133551e+02] [-5.52761497e-01 8.32426241e-01 -3.90036096e-02 -2.80412843e+02] [-6.91123242e-02 8.50167289e-04 9.97608522e-01 -2.52775751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56864 meters 0.02593413852462696 Centerline is valid? [True, True] Translation: X:357.16, Y:-280.43, Z:-25.28 [[ 8.31397626e-01 5.52816970e-01 5.63150494e-02 3.57161086e+02] [-5.51475140e-01 8.33302155e-01 -3.85057011e-02 -2.80431533e+02] [-6.82140570e-02 9.57198700e-04 9.97670249e-01 -2.52782148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59864 meters 0.026356328320162943 Centerline is valid? [True, True] Translation: X:357.19, Y:-280.45, Z:-25.28 [[ 8.33615661e-01 5.49454498e-01 5.64330042e-02 3.57187600e+02] [-5.48098334e-01 8.35522710e-01 -3.86007494e-02 -2.80450256e+02] [-6.83604120e-02 1.24735360e-03 9.97659911e-01 -2.52799163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62864 meters 0.026872495260282906 Centerline is valid? [True, True] Translation: X:357.21, Y:-280.47, Z:-25.28 [[ 8.34488888e-01 5.48031530e-01 5.73562466e-02 3.57213657e+02] [-5.46626465e-01 8.36456511e-01 -3.92429890e-02 -2.80468509e+02] [-6.94824012e-02 1.39539591e-03 9.97582202e-01 -2.52840057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65864 meters 0.027253651901795316 Centerline is valid? [True, True] Translation: X:357.24, Y:-280.49, Z:-25.29 [[ 8.35952151e-01 5.45862822e-01 5.67254893e-02 3.57238477e+02] [-5.44482773e-01 8.37873094e-01 -3.88225339e-02 -2.80489045e+02] [-6.87205391e-02 1.56772907e-03 9.97634718e-01 -2.52856564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68864 meters 0.027357333128352142 Centerline is valid? [True, True] Translation: X:357.26, Y:-280.51, Z:-25.29 [[ 8.36126689e-01 5.45475156e-01 5.78706634e-02 3.57263148e+02] [-5.44036935e-01 8.38125382e-01 -3.96189064e-02 -2.80509038e+02] [-7.01140010e-02 1.64264673e-03 9.97537633e-01 -2.52885622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71864 meters 0.027513064305351012 Centerline is valid? [True, True] Translation: X:357.29, Y:-280.53, Z:-25.29 [[ 8.36070971e-01 5.45550806e-01 5.79624851e-02 3.57288527e+02] [-5.44107321e-01 8.38076129e-01 -3.96941493e-02 -2.80529707e+02] [-7.02321503e-02 1.64931351e-03 9.97529310e-01 -2.52894653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74864 meters 0.027409811631289516 Centerline is valid? [True, True] Translation: X:357.31, Y:-280.55, Z:-25.29 [[ 8.36165806e-01 5.45250882e-01 5.93988332e-02 3.57313134e+02] [-5.43732961e-01 8.38271128e-01 -4.06937622e-02 -2.80551537e+02] [-7.19806366e-02 1.72962904e-03 9.97404530e-01 -2.52902957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77864 meters 0.02838273789956615 Centerline is valid? [True, True] Translation: X:357.34, Y:-280.57, Z:-25.29 [[ 8.36426335e-01 5.44756942e-01 6.02566288e-02 3.57340066e+02] [-5.43192546e-01 8.38592035e-01 -4.12947549e-02 -2.80569452e+02] [-7.30263334e-02 1.80906884e-03 9.97328372e-01 -2.52946549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80864 meters 0.02848252074652561 Centerline is valid? [True, True] Translation: X:357.36, Y:-280.59, Z:-25.30 [[ 8.35603894e-01 5.46126823e-01 5.92589777e-02 3.57363502e+02] [-5.44615930e-01 8.37700830e-01 -4.06301494e-02 -2.80591393e+02] [-7.18305092e-02 1.67732782e-03 9.97415442e-01 -2.52968120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83864 meters 0.02853999925076923 Centerline is valid? [True, True] Translation: X:357.39, Y:-280.61, Z:-25.30 [[ 8.34224229e-01 5.48100510e-01 6.04629364e-02 3.57388715e+02] [-5.46529795e-01 8.36411001e-01 -4.14948343e-02 -2.80612771e+02] [-7.33152050e-02 1.57119995e-03 9.97307581e-01 -2.52988580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters 0.028458114053893733 Centerline is valid? [True, True] Translation: X:357.41, Y:-280.63, Z:-25.30 [[ 8.32730856e-01 5.50275283e-01 6.12897579e-02 3.57413439e+02] [-5.48664053e-01 8.34982071e-01 -4.21034283e-02 -2.80633648e+02] [-7.43443248e-02 1.43333689e-03 9.97231601e-01 -2.53011422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89864 meters 0.02801076333523536 Centerline is valid? [True, True] Translation: X:357.44, Y:-280.66, Z:-25.30 [[ 8.28455926e-01 5.56464201e-01 6.33116939e-02 3.57436661e+02] [-5.54759649e-01 8.30871053e-01 -4.35318986e-02 -2.80656435e+02] [-7.68277970e-02 9.41486348e-04 9.97043932e-01 -2.53026551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters 0.027903490797906088 Centerline is valid? [True, True] Translation: X:357.46, Y:-280.68, Z:-25.30 [[ 8.26187837e-01 5.59707741e-01 6.43498428e-02 3.57463396e+02] [-5.57953211e-01 8.28689794e-01 -4.42881561e-02 -2.80676374e+02] [-7.81144818e-02 6.86134492e-04 9.96944159e-01 -2.53042449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95864 meters 0.02863896058988384 Centerline is valid? [True, True] Translation: X:357.49, Y:-280.70, Z:-25.31 [[ 8.22179274e-01 5.65129695e-01 6.81884833e-02 3.57488006e+02] [-5.63174463e-01 8.25002050e-01 -4.69695916e-02 -2.80696524e+02] [-8.27995495e-02 2.15412242e-04 9.96566199e-01 -2.53072982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters 0.029134967714796883 Centerline is valid? [True, True] Translation: X:357.51, Y:-280.72, Z:-25.31 [[ 8.20388217e-01 5.67492143e-01 7.01130600e-02 3.57513289e+02] [-5.65430607e-01 8.23378812e-01 -4.83276422e-02 -2.80716006e+02] [-8.51551653e-02 3.35812687e-06 9.96367702e-01 -2.53096683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01864 meters 0.029941153068448294 Centerline is valid? [True, True] Translation: X:357.54, Y:-280.74, Z:-25.31 [[ 8.19037005e-01 5.69043166e-01 7.32684127e-02 3.57538776e+02] [-5.66794787e-01 8.22307641e-01 -5.05352591e-02 -2.80735902e+02] [-8.90059194e-02 -1.37907100e-04 9.96031088e-01 -2.53118334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04864 meters 0.031037623628331457 Centerline is valid? [True, True] Translation: X:357.56, Y:-280.75, Z:-25.31 [[ 8.17620154e-01 5.70929198e-01 7.44119315e-02 3.57564889e+02] [-5.68615080e-01 8.20999236e-01 -5.13531374e-02 -2.80754676e+02] [-9.04111445e-02 -3.24386322e-04 9.95904473e-01 -2.53125073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07864 meters 0.033011904258083424 Centerline is valid? [True, True] Translation: X:357.59, Y:-280.77, Z:-25.31 [[ 8.16271622e-01 5.72710911e-01 7.55172263e-02 3.57592264e+02] [-5.70330528e-01 8.19757265e-01 -5.21643147e-02 -2.80771966e+02] [-9.17808671e-02 -4.89529793e-04 9.95779108e-01 -2.53139467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10864 meters 0.03409588359512718 Centerline is valid? [True, True] Translation: X:357.62, Y:-280.79, Z:-25.32 [[ 8.14824726e-01 5.74576093e-01 7.69608903e-02 3.57619385e+02] [-5.72107266e-01 8.18450891e-01 -5.32110409e-02 -2.80789519e+02] [-9.35625012e-02 -6.72212634e-04 9.95613181e-01 -2.53163231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13864 meters 0.03488572877423749 Centerline is valid? [True, True] Translation: X:357.65, Y:-280.81, Z:-25.32 [[ 8.14133234e-01 5.75424967e-01 7.79306395e-02 3.57646983e+02] [-5.72892533e-01 8.17854242e-01 -5.39312946e-02 -2.80806121e+02] [-9.47693175e-02 -7.38622170e-04 9.95498986e-01 -2.53184392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16864 meters 0.03610939067687194 Centerline is valid? [True, True] Translation: X:357.67, Y:-280.82, Z:-25.32 [[ 8.12682090e-01 5.77103563e-01 8.06182258e-02 3.57673769e+02] [-5.74396318e-01 8.16670448e-01 -5.58412886e-02 -2.80823275e+02] [-9.80647292e-02 -9.25596893e-04 9.95179608e-01 -2.53211073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.19864 meters 0.038854711364796825 Centerline is valid? [True, True] Translation: X:357.70, Y:-280.84, Z:-25.32 [[ 8.11902793e-01 5.77588298e-01 8.48858805e-02 3.57700015e+02] [-5.74585917e-01 8.16327587e-01 -5.88242712e-02 -2.80839074e+02] [-1.03270897e-01 -1.01464146e-03 9.94652750e-01 -2.53229473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22864 meters 0.03858412331438949 Centerline is valid? [True, True] Translation: X:357.73, Y:-280.85, Z:-25.32 [[ 8.11734477e-01 5.77936231e-01 8.41240289e-02 3.57728669e+02] [-5.74986483e-01 8.16081284e-01 -5.83256625e-02 -2.80854044e+02] [-1.02360559e-01 -1.02522838e-03 9.94746835e-01 -2.53231420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.25864 meters 0.04307293843463056 Centerline is valid? [True, True] Translation: X:357.76, Y:-280.87, Z:-25.33 [[ 8.12748485e-01 5.75433413e-01 9.11936797e-02 3.57756064e+02] [-5.71946494e-01 8.17848293e-01 -6.32564474e-02 -2.80869106e+02] [-1.10982469e-01 -7.46323546e-04 9.93822084e-01 -2.53284207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28864 meters 0.04454000754251282 Centerline is valid? [True, True] Translation: X:357.78, Y:-280.89, Z:-25.33 [[ 8.13488965e-01 5.73816140e-01 9.47139977e-02 3.57782419e+02] [-5.70042512e-01 8.18983970e-01 -6.57022933e-02 -2.80885309e+02] [-1.15270282e-01 -5.42914585e-04 9.93334016e-01 -2.53324787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.31864 meters 0.047816065478002316 Centerline is valid? [True, True] Translation: X:357.81, Y:-280.90, Z:-25.34 [[ 8.15057363e-01 5.70614912e-01 1.00399788e-01 3.57809857e+02] [-5.66348035e-01 8.21217763e-01 -6.96511958e-02 -2.80899718e+02] [-1.22194100e-01 -9.15025716e-05 9.92506218e-01 -2.53368007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34864 meters 0.049206913904206985 Centerline is valid? [True, True] Translation: X:357.84, Y:-280.92, Z:-25.34 [[ 8.15917333e-01 5.69049702e-01 1.02280708e-01 3.57837952e+02] [-5.64606937e-01 8.22303115e-01 -7.09689652e-02 -2.80915616e+02] [-1.24490613e-01 1.56411697e-04 9.92220773e-01 -2.53385957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.37864 meters 0.05331485007762298 Centerline is valid? [True, True] Translation: X:357.87, Y:-280.93, Z:-25.34 [[ 8.17434615e-01 5.65702827e-01 1.08540141e-01 3.57866503e+02] [-5.60666446e-01 8.24608877e-01 -7.53215557e-02 -2.80928181e+02] [-1.32112780e-01 7.15631941e-04 9.91234433e-01 -2.53448649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40864 meters 0.05363327694546504 Centerline is valid? [True, True] Translation: X:357.89, Y:-280.95, Z:-25.35 [[ 8.17481388e-01 5.65541302e-01 1.09028509e-01 3.57894025e+02] [-5.60452130e-01 8.24719605e-01 -7.57032567e-02 -2.80945504e+02] [-1.32731267e-01 7.80743319e-04 9.91151755e-01 -2.53459191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43864 meters 0.057806193719965926 Centerline is valid? [True, True] Translation: X:357.92, Y:-280.96, Z:-25.35 [[ 8.18405108e-01 5.62874047e-01 1.15697392e-01 3.57921087e+02] [-5.57108892e-01 8.26541636e-01 -8.03654521e-02 -2.80960975e+02] [-1.40864339e-01 1.31545051e-03 9.90028034e-01 -2.53522380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46864 meters 0.06193629555851071 Centerline is valid? [True, True] Translation: X:357.95, Y:-280.97, Z:-25.36 [[ 8.20159037e-01 5.58358885e-01 1.24797878e-01 3.57949319e+02] [-5.51591639e-01 8.29596414e-01 -8.66974812e-02 -2.80974286e+02] [-1.51940181e-01 2.26825640e-03 9.88387088e-01 -2.53579293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49864 meters 0.06404093674559345 Centerline is valid? [True, True] Translation: X:357.98, Y:-280.99, Z:-25.36 [[ 8.21372107e-01 5.55750038e-01 1.28412452e-01 3.57975995e+02] [-5.48548507e-01 8.31344575e-01 -8.92229372e-02 -2.80989577e+02] [-1.56340646e-01 2.84477314e-03 9.87699099e-01 -2.53613440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52864 meters 0.07489503195458937 Centerline is valid? [True, True] Translation: X:358.00, Y:-281.00, Z:-25.38 [[ 8.22696776e-01 5.48226304e-01 1.50392599e-01 3.58003306e+02] [-5.38196089e-01 8.36314845e-01 -1.04510524e-01 -2.81003742e+02] [-1.83070981e-01 5.03976263e-03 9.83086780e-01 -2.53767632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55864 meters 0.07667292587952242 Centerline is valid? [True, True] Translation: X:358.03, Y:-281.02, Z:-25.38 [[ 8.22397152e-01 5.46502068e-01 1.58108869e-01 3.58029290e+02] [-5.35370687e-01 8.37438184e-01 -1.09888652e-01 -2.81020985e+02] [-1.92460780e-01 5.72526074e-03 9.81287965e-01 -2.53793632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58864 meters 0.08561250231071703 Centerline is valid? [True, True] Translation: X:358.06, Y:-281.04, Z:-25.39 [[ 8.20003515e-01 5.44838857e-01 1.75342106e-01 3.58056449e+02] [-5.31073431e-01 8.38512950e-01 -1.21889475e-01 -2.81035089e+02] [-2.13436749e-01 6.83026424e-03 9.76933008e-01 -2.53922530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61863999999997 meters 0.08561250231071703 Centerline is valid? [True, True] Translation: X:358.08, Y:-281.05, Z:-25.39 [[ 8.19777521e-01 5.45192485e-01 1.75299661e-01 3.58083769e+02] [-5.31422010e-01 8.38283199e-01 -1.21950507e-01 -2.81053628e+02] [-2.13437260e-01 6.81418581e-03 9.76933008e-01 -2.53938704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64864 meters 0.07842781237972483 Centerline is valid? [True, True] Translation: X:358.11, Y:-281.07, Z:-25.39 [[ 8.18411957e-01 5.47832327e-01 1.73440511e-01 3.58111334e+02] [-5.34395588e-01 8.36565676e-01 -1.20744464e-01 -2.81068834e+02] [-2.11242099e-01 6.13286906e-03 9.77414530e-01 -2.53928189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67864 meters 0.08339378752100217 Centerline is valid? [True, True] Translation: X:358.14, Y:-281.08, Z:-25.40 [[ 8.17619949e-01 5.45776027e-01 1.83374335e-01 3.58137987e+02] [-5.30672966e-01 8.37901012e-01 -1.27703160e-01 -2.81084466e+02] [-2.23346865e-01 7.10084912e-03 9.74713166e-01 -2.53994322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70864 meters 0.09309766253319193 Centerline is valid? [True, True] Translation: X:358.17, Y:-281.10, Z:-25.41 [[ 8.13261372e-01 5.42066385e-01 2.11589166e-01 3.58165380e+02] [-5.21730967e-01 8.40282303e-01 -1.47385376e-01 -2.81100135e+02] [-2.57687289e-01 9.47021281e-03 9.66181958e-01 -2.54097124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73864 meters 0.09246847690580166 Centerline is valid? [True, True] Translation: X:358.19, Y:-281.12, Z:-25.41 [[ 8.12788673e-01 5.42256481e-01 2.12914259e-01 3.58191855e+02] [-5.21656235e-01 8.40159217e-01 -1.48348452e-01 -2.81117429e+02] [-2.59324787e-01 9.50789095e-03 9.65743369e-01 -2.54117615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76864 meters 0.11194825695434524 Centerline is valid? [True, False] Translation: X:358.26, Y:-281.24, Z:-25.42 [[ 8.57479249e-01 4.73753330e-01 2.00716515e-01 3.58263244e+02] [-4.70074165e-01 8.79945650e-01 -6.87454153e-02 -2.81243162e+02] [-2.09187994e-01 -3.54038812e-02 9.77234336e-01 -2.54211181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79864 meters 0.1124250010213689 Centerline is valid? [False, False] Translation: X:358.35, Y:-281.33, Z:-25.43 [[ 8.83035965e-01 4.35370958e-01 1.75213053e-01 3.58353796e+02] [-4.37854278e-01 8.98660913e-01 -2.63096113e-02 -2.81329806e+02] [-1.68911562e-01 -5.34854516e-02 9.84178942e-01 -2.54336907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82864 meters 0.10938139244039125 Centerline is valid? [False, False] Translation: X:358.46, Y:-281.40, Z:-25.44 [[ 9.06588719e-01 3.98076848e-01 1.40113232e-01 3.58461722e+02] [-4.02013659e-01 9.15633643e-01 -2.24863500e-04 -2.81401625e+02] [-1.28381902e-01 -5.61235745e-02 9.90135461e-01 -2.54403384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85864 meters 0.12095509392109424 Centerline is valid? [False, False] Translation: X:358.57, Y:-281.46, Z:-25.44 [[ 9.28720347e-01 3.56761288e-01 1.00994556e-01 3.58572669e+02] [-3.59817234e-01 9.32928933e-01 1.32349606e-02 -2.81457949e+02] [-8.94990219e-02 -4.86311591e-02 9.94798942e-01 -2.54428481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88864 meters 0.12004338060401674 Centerline is valid? [False, False] Translation: X:358.68, Y:-281.50, Z:-25.44 [[ 9.47358827e-01 3.14051460e-01 6.23131875e-02 3.58680358e+02] [-3.15809313e-01 9.48602078e-01 2.04591177e-02 -2.81503366e+02] [-5.26852033e-02 -3.90612107e-02 9.97846928e-01 -2.54413067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91864 meters 0.1243605564843497 Centerline is valid? [False, False] Translation: X:358.78, Y:-281.54, Z:-25.44 [[ 9.62321867e-01 2.70116563e-01 3.12036276e-02 3.58777560e+02] [-2.70895361e-01 9.62305586e-01 2.41591061e-02 -2.81544133e+02] [-2.35016505e-02 -3.17017540e-02 9.99221032e-01 -2.54373614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94864 meters 0.1295734838540103 Centerline is valid? [False, False] Translation: X:358.86, Y:-281.57, Z:-25.43 [[ 9.73893104e-01 2.26768323e-01 1.04091427e-02 3.58862527e+02] [-2.26938511e-01 9.73701879e-01 2.00888607e-02 -2.81572178e+02] [-5.57988451e-03 -2.19266383e-02 9.99744011e-01 -2.54294220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97864 meters 0.13160258342005676 Centerline is valid? [False, False] Translation: X:358.92, Y:-281.59, Z:-25.42 [[ 9.83676198e-01 1.79889323e-01 4.57915853e-03 3.58916862e+02] [-1.79940275e-01 9.83547185e-01 1.60134997e-02 -2.81593129e+02] [-1.62316086e-03 -1.65760735e-02 9.99861290e-01 -2.54244745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00864 meters 0.13297418133162076 Centerline is valid? [False, False] Translation: X:358.96, Y:-281.61, Z:-25.42 [[ 9.90963008e-01 1.34116041e-01 2.28146219e-03 3.58963898e+02] [-1.34132089e-01 9.90915174e-01 9.78266455e-03 -2.81608093e+02] [-9.48723263e-04 -1.00002760e-02 9.99949546e-01 -2.54200680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03864 meters 0.20894796390480647 Centerline is valid? [False, False] Translation: X:359.00, Y:-281.62, Z:-25.42 [[ 9.95569923e-01 9.39314660e-02 4.17236088e-03 3.59000392e+02] [-9.39504642e-02 9.95566164e-01 4.61780899e-03 -2.81616731e+02] [-3.72010375e-03 -4.98934698e-03 9.99980633e-01 -2.54179779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06864 meters 0.22268815299253317 Centerline is valid? [False, False] Translation: X:359.03, Y:-281.63, Z:-25.41 [[ 9.98276652e-01 5.82349566e-02 7.23982392e-03 3.59032494e+02] [-5.82642548e-02 9.98293562e-01 3.90382692e-03 -2.81625816e+02] [-7.00013042e-03 -4.31892222e-03 9.99966172e-01 -2.54149634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09864 meters 0.2536789992323433 Centerline is valid? [False, False] Translation: X:359.03, Y:-281.63, Z:-25.42 [[ 9.99444418e-01 2.72372690e-02 1.92090274e-02 3.59033917e+02] [-2.73472905e-02 9.99610926e-01 5.48831256e-03 -2.81632607e+02] [-1.90520670e-02 -6.01057820e-03 9.99800426e-01 -2.54159179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12864 meters SLAMing on 432.15864 meters SLAMing on 432.18864 meters 0.5813088385963152 Centerline is valid? [False, False] Translation: X:359.03, Y:-281.64, Z:-25.42 [[ 9.99646940e-01 7.30879320e-03 2.55455871e-02 3.59033254e+02] [-7.42669967e-03 9.99962189e-01 4.52370658e-03 -2.81639520e+02] [-2.55115584e-02 -4.71182884e-03 9.99663423e-01 -2.54198809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21864 meters SLAMing on 432.24864 meters 0.6208761060651414 Centerline is valid? [False, False] Translation: X:359.07, Y:-281.64, Z:-25.42 [[ 9.99999287e-01 7.24854947e-04 -9.49380729e-04 3.59072874e+02] [-7.23456066e-04 9.99998653e-01 1.47298201e-03 -2.81639205e+02] [ 9.50447149e-04 -1.47229412e-03 9.99998464e-01 -2.54201454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27864 meters 0.6299102101949973 Centerline is valid? [False, False] Translation: X:359.08, Y:-281.64, Z:-25.43 [[ 9.99994950e-01 2.57052845e-04 -3.16754047e-03 3.59084209e+02] [-2.52857529e-04 9.99999090e-01 1.32480032e-03 -2.81640765e+02] [ 3.16787813e-03 -1.32399269e-03 9.99994106e-01 -2.54311194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30864 meters 0.5885619459331044 Centerline is valid? [False, False] Translation: X:359.12, Y:-281.64, Z:-25.43 [[ 9.99996768e-01 -1.20198317e-03 -2.24039214e-03 3.59122527e+02] [ 1.20387989e-03 9.99998918e-01 8.45444700e-04 -2.81640557e+02] [ 2.23937351e-03 -8.48139131e-04 9.99997133e-01 -2.54250674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33864 meters SLAMing on 432.36863999999997 meters SLAMing on 432.39864 meters SLAMing on 432.42864 meters SLAMing on 432.45864 meters SLAMing on 432.48864 meters SLAMing on 432.51864 meters SLAMing on 432.54864 meters SLAMing on 432.57864 meters SLAMing on 432.60864 meters SLAMing on 432.63864 meters SLAMing on 432.66864 meters SLAMing on 432.69864 meters 0.8062105466616282 Centerline is valid? [False, False] Translation: X:359.09, Y:-281.63, Z:-25.47 [[ 9.99451012e-01 -7.23858160e-04 3.31232507e-02 3.59088911e+02] [ 6.16567045e-04 9.99994531e-01 3.24924762e-03 -2.81628325e+02] [-3.31254215e-02 -3.22704112e-03 9.99445993e-01 -2.54729821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72864 meters 0.7484405058481601 Centerline is valid? [False, False] Translation: X:359.15, Y:-281.62, Z:-25.47 [[ 9.99994311e-01 3.33071288e-03 5.32667371e-04 3.59146346e+02] [-3.33086854e-03 9.99994410e-01 2.91606897e-04 -2.81624221e+02] [-5.31693134e-04 -2.93379483e-04 9.99999816e-01 -2.54679179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.75864 meters 0.3185993873658119 Centerline is valid? [False, False] Translation: X:359.17, Y:-281.63, Z:-25.45 [[ 9.99966311e-01 1.56753414e-03 8.05723839e-03 3.59172479e+02] [-1.56448056e-03 9.99998702e-01 -3.85275262e-04 -2.81625609e+02] [-8.05783186e-03 3.72656890e-04 9.99967466e-01 -2.54526790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78864 meters 0.31407724121276653 Centerline is valid? [False, False] Translation: X:359.19, Y:-281.63, Z:-25.45 [[ 9.99937550e-01 -7.70557446e-03 8.09442090e-03 3.59193202e+02] [ 7.69959161e-03 9.99970061e-01 7.70034830e-04 -2.81629628e+02] [-8.10011212e-03 -7.07663007e-04 9.99966943e-01 -2.54504430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.81864 meters 0.31630597267612764 Centerline is valid? [False, False] Translation: X:359.21, Y:-281.63, Z:-25.45 [[ 9.99967417e-01 7.82467332e-04 8.03444453e-03 3.59214887e+02] [-7.84965881e-04 9.99999645e-01 3.07830988e-04 -2.81627986e+02] [-8.03420080e-03 -3.14127722e-04 9.99967676e-01 -2.54492982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84864 meters 0.8487068046156491 Centerline is valid? [False, False] Translation: X:359.23, Y:-281.63, Z:-25.46 [[ 9.99981385e-01 1.61189097e-04 6.09944284e-03 3.59226487e+02] [-1.65585725e-04 9.99999727e-01 7.20326386e-04 -2.81632746e+02] [-6.09932507e-03 -7.21322958e-04 9.99981139e-01 -2.54615258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87864 meters 0.8560448216243235 Centerline is valid? [False, False] Translation: X:359.24, Y:-281.64, Z:-25.47 [[ 9.99990990e-01 -4.20062334e-04 4.22426933e-03 3.59237979e+02] [ 4.16139586e-04 9.99999481e-01 9.29457697e-04 -2.81636369e+02] [-4.22465757e-03 -9.27691436e-04 9.99990646e-01 -2.54735873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90864 meters 0.3127509602045816 Centerline is valid? [False, False] Translation: X:359.27, Y:-281.64, Z:-25.46 [[ 9.99890249e-01 -1.78789486e-03 -1.47069486e-02 3.59273170e+02] [ 1.79354483e-03 9.99998323e-01 3.70989796e-04 -2.81639766e+02] [ 1.47062607e-02 -3.97326651e-04 9.99891778e-01 -2.54622562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93864 meters 0.8648090700648742 Centerline is valid? [False, False] Translation: X:359.26, Y:-281.65, Z:-25.50 [[ 9.99997071e-01 -2.29505251e-03 -7.69067178e-04 3.59259438e+02] [ 2.29477701e-03 9.99997303e-01 -3.58915349e-04 -2.81646014e+02] [ 7.69888833e-04 3.57149460e-04 9.99999640e-01 -2.54961030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96864 meters 0.8340752486126594 Centerline is valid? [False, False] Translation: X:359.28, Y:-281.65, Z:-25.42 [[ 9.99998524e-01 -1.67577170e-03 -3.78491239e-04 3.59283264e+02] [ 1.67480992e-03 9.99995404e-01 -2.52727792e-03 -2.81646957e+02] [ 3.82724640e-04 2.52664029e-03 9.99996735e-01 -2.54164088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99864 meters 0.8225687368920669 Centerline is valid? [False, False] Translation: X:359.26, Y:-281.66, Z:-25.44 [[ 9.99869007e-01 -2.08649427e-03 1.60504099e-02 3.59260641e+02] [ 2.14529722e-03 9.99991047e-01 -3.64729699e-03 -2.81655041e+02] [-1.60426562e-02 3.68125212e-03 9.99864532e-01 -2.54389306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02864 meters 0.8454667290241585 Centerline is valid? [False, False] Translation: X:359.27, Y:-281.66, Z:-25.44 [[ 9.99883843e-01 -6.25161236e-04 1.52285849e-02 3.59266000e+02] [ 6.40315561e-04 9.99999305e-01 -9.90268103e-04 -2.81662590e+02] [-1.52279553e-02 9.99904177e-04 9.99883548e-01 -2.54449790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05864 meters 0.8626633659786408 Centerline is valid? [False, False] Translation: X:359.29, Y:-281.67, Z:-25.47 [[ 9.99938355e-01 -1.14732311e-03 1.10440311e-02 3.59288510e+02] [ 1.15193293e-03 9.99999252e-01 -4.11051793e-04 -2.81667409e+02] [-1.10435512e-02 4.23748437e-04 9.99938928e-01 -2.54682278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08864 meters 0.8563177963924491 Centerline is valid? [False, False] Translation: X:359.31, Y:-281.67, Z:-25.46 [[ 9.99910970e-01 6.84347739e-03 1.14550446e-02 3.59308385e+02] [-6.84024076e-03 9.99976554e-01 -3.21706310e-04 -2.81672699e+02] [-1.14569776e-02 2.43322406e-04 9.99934337e-01 -2.54648641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11863999999997 meters 0.8536598680967984 Centerline is valid? [False, False] Translation: X:359.34, Y:-281.67, Z:-25.46 [[ 9.99955955e-01 5.67177020e-03 -7.47796766e-03 3.59344128e+02] [-5.68978427e-03 9.99980957e-01 -2.38988398e-03 -2.81673387e+02] [ 7.46427039e-03 2.43232674e-03 9.99969184e-01 -2.54560777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14864 meters 0.8515181477878081 Centerline is valid? [False, False] Translation: X:359.35, Y:-281.68, Z:-25.44 [[ 9.99990113e-01 -2.05371683e-03 -3.94417322e-03 3.59349715e+02] [ 2.05746149e-03 9.99997436e-01 9.45593470e-04 -2.81681567e+02] [ 3.94222113e-03 -9.53699105e-04 9.99991775e-01 -2.54398240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17864 meters 0.3126069524884238 Centerline is valid? [False, False] Translation: X:359.37, Y:-281.68, Z:-25.46 [[ 9.99964359e-01 -2.06680056e-03 -8.18592399e-03 3.59372294e+02] [ 2.07616501e-03 9.99997200e-01 1.13563810e-03 -2.81682142e+02] [ 8.18355393e-03 -1.15259296e-03 9.99965850e-01 -2.54618941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20864 meters 0.8430677282779145 Centerline is valid? [False, False] Translation: X:359.39, Y:-281.68, Z:-25.44 [[ 9.99998609e-01 -1.64974858e-03 2.44872702e-04 3.59393721e+02] [ 1.64918808e-03 9.99996060e-01 2.27177186e-03 -2.81684734e+02] [-2.48619589e-04 -2.27136486e-03 9.99997390e-01 -2.54421178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23864 meters 0.8569712196711939 Centerline is valid? [False, False] Translation: X:359.38, Y:-281.68, Z:-25.48 [[ 9.99916049e-01 -9.72021177e-04 1.29208808e-02 3.59380978e+02] [ 9.42820725e-04 9.99996989e-01 2.26584205e-03 -2.81683888e+02] [-1.29230444e-02 -2.25346975e-03 9.99913955e-01 -2.54764825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26864 meters 0.8392182040873436 Centerline is valid? [False, False] Translation: X:359.42, Y:-281.68, Z:-25.42 [[ 9.99966000e-01 -9.87557775e-04 -8.18678969e-03 3.59417914e+02] [ 1.00109635e-03 9.99998138e-01 1.64977709e-03 -2.81682167e+02] [ 8.18514519e-03 -1.65791676e-03 9.99965127e-01 -2.54231070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29864 meters 0.2541351818366009 Centerline is valid? [False, False] Translation: X:359.44, Y:-281.68, Z:-25.40 [[ 9.99999844e-01 -5.46210411e-04 -1.19698446e-04 3.59438684e+02] [ 5.46442409e-04 9.99997956e-01 1.94680002e-03 -2.81677605e+02] [ 1.18634839e-04 -1.94686513e-03 9.99998098e-01 -2.54019396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32864 meters 0.3097646539902416 Centerline is valid? [False, False] Translation: X:359.42, Y:-281.68, Z:-25.45 [[ 9.99899627e-01 -2.48968384e-03 1.39476701e-02 3.59421616e+02] [ 2.44449562e-03 9.99991712e-01 3.25595238e-03 -2.81679028e+02] [-1.39556608e-02 -3.22153055e-03 9.99897425e-01 -2.54457661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35864 meters 0.26642631407451556 Centerline is valid? [False, False] Translation: X:359.48, Y:-281.68, Z:-25.42 [[ 9.99931471e-01 -3.94196774e-03 -1.10233555e-02 3.59480736e+02] [ 3.96230197e-03 9.99990488e-01 1.82341923e-03 -2.81676274e+02] [ 1.10160628e-02 -1.86697214e-03 9.99937578e-01 -2.54176927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38864 meters 0.24596552964834226 Centerline is valid? [False, False] Translation: X:359.49, Y:-281.68, Z:-25.34 [[ 9.99969206e-01 -3.90796797e-03 -6.80557304e-03 3.59491411e+02] [ 3.92356294e-03 9.99989704e-01 2.27965812e-03 -2.81675590e+02] [ 6.79659414e-03 -2.30629001e-03 9.99974243e-01 -2.53415110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41864 meters 0.8307938369427399 Centerline is valid? [False, False] Translation: X:359.47, Y:-281.67, Z:-25.41 [[ 9.99928089e-01 -4.49047624e-03 1.11198970e-02 3.59472976e+02] [ 4.46283216e-03 9.99986893e-01 2.50956878e-03 -2.81674706e+02] [-1.11310204e-02 -2.45976209e-03 9.99935023e-01 -2.54138797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44864 meters 0.24944158977818748 Centerline is valid? [False, False] Translation: X:359.52, Y:-281.67, Z:-25.34 [[ 9.99987950e-01 5.09275094e-05 -4.90897513e-03 3.59519777e+02] [-5.16276188e-05 9.99999989e-01 -1.42491640e-04 -2.81672687e+02] [ 4.90896781e-03 1.42743361e-04 9.99987941e-01 -2.53426077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47864 meters 0.251271947844883 Centerline is valid? [False, False] Translation: X:359.52, Y:-281.67, Z:-25.34 [[ 9.99987791e-01 4.63017763e-07 -4.94153949e-03 3.59519860e+02] [ 6.52287596e-07 9.99999975e-01 2.25698365e-04 -2.81674858e+02] [ 4.94153947e-03 -2.25698833e-04 9.99987765e-01 -2.53428547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50864 meters 0.8345380792933851 Centerline is valid? [False, False] Translation: X:359.51, Y:-281.68, Z:-25.38 [[ 9.99976053e-01 -9.96145609e-04 6.84849363e-03 3.59512188e+02] [ 9.97206343e-04 9.99999491e-01 -1.51472843e-04 -2.81675988e+02] [-6.84833926e-03 1.58298577e-04 9.99976537e-01 -2.53821154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53864 meters 0.8345380792933851 Centerline is valid? [False, False] Translation: X:359.51, Y:-281.68, Z:-25.38 [[ 9.99976053e-01 -9.96145609e-04 6.84849363e-03 3.59512188e+02] [ 9.97206343e-04 9.99999491e-01 -1.51472843e-04 -2.81675988e+02] [-6.84833926e-03 1.58298577e-04 9.99976537e-01 -2.53821154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56864 meters 0.30085481552996357 Centerline is valid? [False, False] Translation: X:359.55, Y:-281.68, Z:-25.37 [[ 9.99929103e-01 -2.18747542e-03 -1.17048251e-02 3.59545693e+02] [ 2.17907599e-03 9.99997359e-01 -7.30308881e-04 -2.81678886e+02] [ 1.17063917e-02 7.04751402e-04 9.99931229e-01 -2.53696055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59864 meters 0.30942245985740185 Centerline is valid? [False, False] Translation: X:359.51, Y:-281.68, Z:-25.42 [[ 9.99955627e-01 -3.49591809e-03 8.74771141e-03 3.59513084e+02] [ 3.49663817e-03 9.99993884e-01 -6.70236566e-05 -2.81682537e+02] [-8.74742360e-03 9.76082641e-05 9.99961736e-01 -2.54248066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62864 meters 0.3276948137840077 Centerline is valid? [False, False] Translation: X:359.56, Y:-281.69, Z:-25.31 [[ 9.99927719e-01 1.42398046e-03 -1.19385806e-02 3.59561989e+02] [-1.43560147e-03 9.99998504e-01 -9.64886178e-04 -2.81688370e+02] [ 1.19371888e-02 9.81955479e-04 9.99928267e-01 -2.53059339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65864 meters 0.3022902987500116 Centerline is valid? [False, False] Translation: X:359.55, Y:-281.69, Z:-25.34 [[ 9.99997445e-01 1.03776544e-03 2.00830334e-03 3.59545686e+02] [-1.03435114e-03 9.99998019e-01 -1.70038459e-03 -2.81692943e+02] [-2.01006396e-03 1.69830296e-03 9.99996538e-01 -2.53363611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68864 meters 0.29766613788481017 Centerline is valid? [False, False] Translation: X:359.59, Y:-281.70, Z:-25.29 [[ 9.99994712e-01 1.26613973e-03 -2.99551424e-03 3.59590520e+02] [-1.26836827e-03 9.99998920e-01 -7.42177405e-04 -2.81697694e+02] [ 2.99457130e-03 7.45972896e-04 9.99995238e-01 -2.52931005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71864 meters 0.3050410778383675 Centerline is valid? [False, False] Translation: X:359.55, Y:-281.70, Z:-25.35 [[ 9.99835363e-01 8.57940704e-04 1.81248456e-02 3.59554984e+02] [-8.51543703e-04 9.99999572e-01 -3.60655716e-04 -2.81700596e+02] [-1.81251472e-02 3.45162240e-04 9.99835666e-01 -2.53464243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74864 meters 0.30233095454529246 Centerline is valid? [False, False] Translation: X:359.58, Y:-281.70, Z:-25.32 [[ 9.99995356e-01 7.74599514e-04 2.94763636e-03 3.59578744e+02] [-7.72156441e-04 9.99999358e-01 -8.29872144e-04 -2.81703532e+02] [-2.94827728e-03 8.27592253e-04 9.99995311e-01 -2.53221219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77864 meters 0.305453366494439 Centerline is valid? [False, False] Translation: X:359.60, Y:-281.71, Z:-25.35 [[ 9.99999399e-01 2.32540739e-04 -1.07171110e-03 3.59601652e+02] [-2.32660421e-04 9.99999967e-01 -1.11550025e-04 -2.81709705e+02] [ 1.07168512e-03 1.11799303e-04 9.99999419e-01 -2.53456446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80864 meters 0.2981838698132036 Centerline is valid? [False, False] Translation: X:359.65, Y:-281.72, Z:-25.25 [[ 9.99936133e-01 1.59143924e-03 -1.11891425e-02 3.59645502e+02] [-1.57590688e-03 9.99997783e-01 1.39684297e-03 -2.81715799e+02] [ 1.11913407e-02 -1.37912071e-03 9.99936424e-01 -2.52510035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83864 meters 0.29849361086076237 Centerline is valid? [False, False] Translation: X:359.62, Y:-281.72, Z:-25.28 [[ 9.99993211e-01 1.71576681e-03 3.26104587e-03 3.59624229e+02] [-1.72076558e-03 9.99997348e-01 1.53068661e-03 -2.81717539e+02] [-3.25841092e-03 -1.53628771e-03 9.99993511e-01 -2.52759360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters 0.3021700131370868 Centerline is valid? [False, False] Translation: X:359.60, Y:-281.72, Z:-25.30 [[ 9.99834612e-01 2.12779737e-03 1.80616132e-02 3.59601881e+02] [-2.15992638e-03 9.99996119e-01 1.75953486e-03 -2.81718987e+02] [-1.80577992e-02 -1.79825561e-03 9.99835328e-01 -2.53008611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89864 meters 0.30399669286309594 Centerline is valid? [False, False] Translation: X:359.62, Y:-281.72, Z:-25.32 [[ 9.99899531e-01 2.16429405e-03 1.40086910e-02 3.59624152e+02] [-2.18551228e-03 9.99996487e-01 1.49951640e-03 -2.81717447e+02] [-1.40053964e-02 -1.52998191e-03 9.99900749e-01 -2.53244193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters 0.29640653765358727 Centerline is valid? [False, False] Translation: X:359.68, Y:-281.72, Z:-25.23 [[ 9.99841814e-01 2.36186539e-03 -1.76286482e-02 3.59679942e+02] [-2.32089233e-03 9.99994559e-01 2.34432826e-03 -2.81717485e+02] [ 1.76340893e-02 -2.30304323e-03 9.99841855e-01 -2.52337846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95864 meters 0.294357373048325 Centerline is valid? [False, False] Translation: X:359.70, Y:-281.72, Z:-25.22 [[ 9.99939659e-01 3.54932180e-03 -1.03962284e-02 3.59704977e+02] [-3.51136232e-03 9.99987111e-01 3.66725388e-03 -2.81716579e+02] [ 1.04091107e-02 -3.63052767e-03 9.99939233e-01 -2.52165828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters 0.29728690878809144 Centerline is valid? [False, False] Translation: X:359.70, Y:-281.71, Z:-25.26 [[ 9.99995005e-01 2.90342386e-03 1.24879832e-03 3.59697076e+02] [-2.90707933e-03 9.99991466e-01 2.93540733e-03 -2.81714417e+02] [-1.24026493e-03 -2.93902302e-03 9.99994912e-01 -2.52561603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01864 meters 0.30068174215866666 Centerline is valid? [False, False] Translation: X:359.68, Y:-281.71, Z:-25.28 [[ 9.99870208e-01 2.64159969e-03 1.58930212e-02 3.59675941e+02] [-2.68701640e-03 9.99992366e-01 2.83697603e-03 -2.81713571e+02] [-1.58854057e-02 -2.87931262e-03 9.99869673e-01 -2.52814843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7602.89 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%| | 0/14451 [00:00